CaliBree: a Self-Calibration System for Mobile Sensor Networks (2009)
Emiliano Miluzzo, Nicholas D. Lane, Andrew T. Campbell, Reza Olfati-saber
Abstract. We propose CaliBree, a self-calibration system for mobile wireless sensor networks. Sensors calibration is a fundamental problem in a sensor network. If sensor devices are not properly...
Controller Design for a Class of Underactuated Nonlinear Systems (2008)
In this paper, we design a controller for a class of underactuated nonlinear systems. First, we try to find an appropriate global change of coordinates to transform the dynamics of the system into a...
In this paper, we address ɛ-tracking and ɛ-stabilization for a class of SE(2) autonomous vehicles with firstorder nonholonomic constrains. We introduce a class of transformations called...
Controller Design for a Class of Underactuated Nonlinear Systems (2007)
Reza Olfati-saber, Alexandre Megretski
In this paper, we design a controller for a class of underactuated nonlinear systems. First, we try to find an appropriate global change of coordinates to transform the dynamics of the system into a...
Global Conguration Stabilization for the VTOL Aircraft with Strong Input Coupling (2007)
Abstract | Trajectory tracking and conguration stabilization for the VTOL aircraft (vertical take o and landing) has been so far considered in the literature only in the presence of a slight (or...
Nonlinear and Cooperative Control of Multiple Hovercraft with Input Constraints ∗ (2007)
William B. Dunbar, Reza Olfati-saber, Richard M. Murray
systems, unidirectional/bounded control Abstract: In this paper, we introduce an approach for distributed nonlinear control of multiple hovercraft-type underactuated vehicles with bounded and...
Rational Stability and Characterization of (2007)
Stabilizability Of Nonlinear, Reza Olfati-saber
We introduce a new notion of stability for nonlinear systems called Rational Stability (RS). Rational Stability is defined for autonomous systems that are globally asymptotically stable as a property...
Consensus and cooperation in networked multi-agent systems (2007)
Reza Olfati-saber, J. Alex Fax, Richard M. Murray
Summary. This paper provides a theoretical framework for analysis of consensus algorithms for multi-agent networked systems with an emphasis on the role of directed information flow, robustness to...
Flocking for multi-agent dynamic systems: Algorithms and theory (2006)
Submitted to the IEEE Transactions on Automatic Control Technical Report CIT-CDS 2004-005 In this paper, we present a theoretical framework for design and analysis of distributed flocking algorithms....
Belief consensus and distributed hypothesis testing in sensor networks (2006)
Reza Olfati-saber, Elisa Franco, Emilio Frazzoli, Jeff S. Shamma
Summary. In this paper, we address distributed hypothesis testing (DHT) in sensor networks and Bayesian networks using the average-consensus algorithm of Olfati-Saber & Murray. As a byproduct, we...
Distributed Kalman filtering and sensor fusion in sensor networks (2006)
Summary. The problem of distributed Kalman filtering (DKF) for sensor networks is one of the most fundamental distributed estimation problems for scalable sensor fusion. This paper addresses the DKF...
Ultrafast Consensus in Small-World Networks (2005)
In this paper, we demonstrate a phase transition phenomenon in algebraic connectivity of small-world networks. Algebraic connectivity of a graph is the second smallest eigenvalue of its Laplacian...
Approximate distributed Kalman filtering in sensor networks with quantifiable performance (2005)
Spanos, Demetri P., Olfati-Saber, Reza, Murray, Richard M.
We analyze the performance of an approximate distributed Kalman filter proposed in recent work on distributed coordination. This approach to distributed estimation is novel in that it admits a...
Distributed Kalman filtering in sensor networks with quantifiable performance (2005)
Demetri P. Spanos, Reza Olfati-saber, Richard M. Murray
We analyze the performance of a distributed Kalman filter proposed in recent work on distributed dynamical systems. This approach to distributed estimation is novel in that it admits a systematic...
Consensus filters for sensor networks and distributed sensor fusion (2005)
Reza Olfati-saber, Jeff S. Shamma
Abstract — Consensus algorithms for networked dynamic systems provide scalable algorithms for sensor fusion in sensor networks. This paper introduces a distributed filter that allows the nodes of a...
Consensus problems in networks of agents with switching topology and time-delays (2004)
Olfati-Saber, Reza, Murray, Richard M.
In this paper, we discuss consensus problems for networks of dynamic agents with fixed and switching topologies. We analyze three cases: 1) directed networks with fixed topology; 2) directed networks...
Flocking for Multi-Agent Dynamic Systems: Algorithms and Theory (2004)
In this paper, we present a theoretical framework for design and analysis of distributed flocking algorithms. Two cases of flocking in free-space and presence of multiple obstacles are considered. We...
Collision avoidance for multiple agent systems (2003)
Chang, Dong Eui, Shadden, Shawn C., Marsden, Jerrold E., Olfati-Saber, Reza
Techniques using gyroscopic forces and scalar potentials are used to create swarming behaviors for multiple agent systems. The methods result in collision avoidance between the agents as well as with...
Agreement Problems in Networks with Directed Graphs and Switching Topology (2003)
Olfati-Saber, Dr. Reza, Murray, Professor Richard M.
In this paper, we provide tools for convergence and performance analysis of an agreement protocol for a network of integrator agents with directed information flow. Moreover, we analyze algorithmic...
Flocking with Obstacle Avoidance (2003)
In this paper, we provide a dynamic graph theoretical framework for flocking in presence of multiple obstacles. In particular, we give formal definitions of nets and flocks as spatially induced...
A Unified Analytical Look at Reynolds Flocking Rules (2003)
In this paper, we present a unified theoretical view of the so-called ``Flocking Rules of Reynolds'' introduced in 1987. No equations describing the rules or mathematical models of the mobile agents...
Cooperative control of multi-vehicle systems using cost graphs and optimization (2003)
Reza Olfati-saber, William B. Dunbar, Richard M. Murray
ACC03–IEEE0705 In this paper, we introduce a class of triangulated graphs for algebraic representation of formations that allows us to specify a mission cost for a group of vehicles. This...
Consensus Protocols for Undirected Networks of Dynamic Agents with Communication Time-Delays (2003)
Reza Olfati-Saber, Richard M. Murray
In this paper, we introduce linear and nonlinear consensus protocols for networks of dynamic agents that allow the agents to agree in a distributed and cooperative fashion. We consider the cases of...
Distributed structural stabilization and tracking for formations of dynamic multi-agents (2002)
Olfati-Saber, Reza, Murray, Richard M.
We provide a theoretical framework that consists of graph theoretical and Lyapunov-based approaches to stability analysis and distributed control of multi-agent formations. This framework relays on...
Graph rigidity and distributed formation stabilization of multi-vehicle systems (2002)
Olfati-Saber, Reza, Murray, Richard M.
We provide a graph theoretical framework that allows us to formally define formations of multiple vehicles and the issues arising in uniqueness of graph realizations and its connection to stability...
Global configuration stabilization for the VTOL aircraft with strong input coupling (2002)
Trajectory tracking and configuration stabilization for the vertical takeoff and landing (VTOL) aircraft has been so far considered in the literature only in the presence of a slight (or zero) input...
In this paper, we address the problem of ε-tracking and ε-stabilization for a class of SE(2) vehicles with second-order nonholonomic constraints. We introduce a class of transformations called...
Normal forms for underactuated mechanical systems with symmetry (2002)
We introduce cascade normal forms for underactuated mechanical systems that are convenient for control design. These normal forms include three classes of cascade systems, namely, nonlinear systems...
Graph rigidity and distributed formation stabilization of multi-vehicle systems (2002)
Reza Olfati-saber, Richard M. Murray
In this paper, we provide a graph theoretical framework that allows us to formally dene formations of multiple vehicles and the issues arising in uniqueness of graph realizations and its connection...
In this paper, we address -tracking and -stabilization for a class of SE(2) autonomous vehicles with rstorder nonholonomic constrains. We introduce a class of transformations called near-identity...
In this paper, we address the problem of -tracking and -stabilization for a class of SE(2) vehicles with second-order nonholonomic constraints. We introduce a class of transformations called...
Graph rigidity and distributed formation stabilization of multi-vehicle systems (2002)
Reza Olfati-saber, Richard M. Murray
CDC02-INV2103 In this paper, we provide a graph theoretical framework that allows us to formally define formations of multiple vehicles and the issues arising in graph realizations and unicity and...
Distributed Structural Stabilization and Tracking for Formations of Dynamic Multi-Agents (2002)
Reza Olfati-Saber, Richard M. Murray
In this paper, we provide a theoretical framework that consists of graph theoretical and Lyapunov-based approaches to stability analysis and distributed control of multi-agent formations. This...
Reza Olfati-Saber, Richard M. Murray
In this paper, we propose a framework for formation stabilization of multiple autonomous vehicles in a distributed fashion. Each vehicle is assumed to have simple dynamics, i.e. a double-integrator,...
Reza Olfati-saber, Richard M. Murray
Abstract: In this paper, we propose a framework for formation stabilization of multiple autonomous vehicles in a distributed fashion. Each vehicle is assumed to have simple dynamics, i.e. a...
Reza Olfati-saber, Richard M. Murray
Technical Report CIT-CDS 03–007 In this paper, we introduce linear and nonlinear consensus protocols for networks of dynamic agents that allow the agents to agree in a distributed and cooperative...
In this paper, we address nonlinear control and reduction of high-order underactuated mechanical systems with kinetic symmetry and input coupling. In some aerospace vehicles, the effects of the...
Global stabilization of a flat underactuated system: the inertia wheel pendulum (2001)
Inertial Wheel Pendulum (IWP) is a planar pendulum with a revolving wheel (that has a uniform mass distribution) at the end. The pendulum is unactuated and the wheel is actuated. Our main result is...
For pt. I see ibid., p.4158-63 (2001). We address nonlinear control and reduction of two classes of high-order underactuated mechanical systems with kinetic symmetry called Class-II and Class-III...
Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2001.
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2001.
Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2001.
Global Stabilization of a Flat Underactuated System: the Inertia Wheel Pendulum (2001)
Inertial Wheel Pendulum (IWP) is a planar pendulum with a revolving wheel (that has a uniform mass distribution) at the end. The pendulum is unactuated and the wheel is actuated. Our main result is...
In this paper, we address nonlinear control and reduction of two classes of high-order underactuated mechanical systems with kinetic symmetry called Class-II and Class-III systems. Class-II systems...
In this paper, we address nonlinear control and reduction of high-order underactuated mechanical systems with kinetic symmetry and input coupling. In some aerospace vehicles, the eects of the control...
In this paper, we consider a special class of underactuated mechanical systems with two degrees of freedom and symmetry. By symmetry, we mean the inertia matrix of the system is independent of the...
Nonlinear Control and Reduction of (2001)
Underactuated Systems With, Reza Olfati-saber
In this paper, we address nonlinear control and reduction of a class of high-order underactuated mechanical systems with kinetic symmetry called Class-I systems. Class-I systems are underactuated...
Cascacde normal forms for underactuated mechanical systems (2000)
In this paper, we introduce cascade normal forms for underactuated mechanical systems that are convenient for control design. These normal forms are partially linear which results from a well-known...
Cascacde normal forms for underactuated mechanical systems (2000)
Abstract | In this paper, we introduce cascade normal forms for underactuated mechanical systems that are convenient for control design. These normal forms include three classes of cascade systems,...
Global configuration stabilization for the VTOL aircraft with strong input coupling (2000)
Trajectory tracking and configuration stabilization for the VTOL aircraft (vertical take off and landing) in the literature has been only considered for the case of slight or zero input coupling. In...
Trajectory tracking for a flexible one-link robot using a nonlinear noncollocated output (2000)
flexible-link robots, underactuated mechanical systems, normal forms In this paper, we introduce a method that provides a nonlinear noncollocated output for trajectory tracking of a flexible one-link...
Nonlinear Control of Underactuated (2000)
This thesis is devoted to nonlinear control, reduction, and classification of underactuated mechanical systems. Underactuated systems are mechanical control systems with fewer controls than the...
Global configuration stabilization for the VTOL aircraft with strong input coupling (2000)
Abstract — Trajectory tracking and configuration stabilization for the VTOL aircraft (vertical take off and landing) has been so far considered in the literature only in the presence of a slight...
Cascacde normal forms for underactuated mechanical systems (2000)
Abstract — In this paper, we introduce cascade normal forms for underactuated mechanical systems that are convenient for control design. These normal forms include three classes of cascade systems,...
Fixed Point Controllers and Stabilization of the Cart-pole (1999)
System And The, Reza Olfati-saber
In this paper, we consider stabilization of nonlinear systems in a special normal form as the cascade of a nonlinear subsystem and a linear subsystem. These systems do not possess any particular...
Controller design for the beam-and-ball System (1998)
Reza Olfati-saber, Alexandre Megretski
We design a controller for the Beam-and-Ball system that renders the origin semiglobally asymptotically stable (semi-GAS). First, we view the problem as designing a controller for a second-order...
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1997.