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# Publications of year 2007

## Articles in journal, book chapters

1. A. Arsie and E. Frazzoli. Efficient Routing of Multiple Vehicles with No Explicit Communications. International Journal of Robust and Nonlinear Control, 18(2):154-164, January 2007. [PDF] Keyword(s): Robotic Networks.

In this paper we consider a class of dynamic vehicle routing problems, in which a number of mobile agents in the plane must visit target points generated over time by a stochastic process. It is desired to design motion coordination strategies in order to minimize the expected time between the appearance of a target point and the time it is visited by one of the agents. We propose control strategies that, while making minimal or no assumptions on communications between agents, provide the same level of steady-state performance achieved by the best known decentralized strategies. In other words, we demonstrate that inter-agent communication does not improve the efficiency of such systems, but merely affects the rate of convergence to the steady state. Furthermore, the proposed strategies do not rely on the knowledge of the details of the underlying stochastic process. Finally, we show that our proposed strategies provide an efficient, pure Nash equilibrium in a game theoretic formulation of the problem, in which each agent's objective is to maximize the number of targets it visits. Simulation results are presented and discussed.

2. @article{Arsie.Frazzoli:IJRNC07,
Abstract = {In this paper we consider a class of dynamic vehicle routing problems, in which a number of mobile agents in the plane must visit target points generated over time by a stochastic process. It is desired to design motion coordination strategies in order to minimize the expected time between the appearance of a target point and the time it is visited by one of the agents. We propose control strategies that, while making minimal or no assumptions on communications between agents, provide the same level of steady-state performance achieved by the best known decentralized strategies. In other words, we demonstrate that inter-agent communication does not improve the efficiency of such systems, but merely affects the rate of convergence to the steady state. Furthermore, the proposed strategies do not rely on the knowledge of the details of the underlying stochastic process. Finally, we show that our proposed strategies provide an efficient, pure Nash equilibrium in a game theoretic formulation of the problem, in which each agent's objective is to maximize the number of targets it visits. Simulation results are presented and discussed. },
Author = {A. Arsie and E. Frazzoli},
Date-Modified = {2008-01-20 19:56:14 -0500},
Journal = {International Journal of Robust and Nonlinear Control},
Keywords = {Robotic Networks},
Month = {January},
Number = {2},
Pages = {154--164},
Pdf = {/papers/Arsie.Frazzoli.IJRNC07.DRAFT.pdf},
Title = {Efficient Routing of Multiple Vehicles with No Explicit Communications},
Volume = {18},
Year = {2007}
}


3. C. Belta, A. Bicchi, M. Egerstedt, E. Frazzoli, E. Klavins, and G. J. Pappas. Symbolic Planning and Control of Robot Motion. IEEE Robotics and Automation Magazine, 14(1):61-70, March 2007. [PDF] Keyword(s): Symbolic Control, Robotics.
@article{Belta.Bicchi.ea:RAM07,
Author = {C. Belta and A. Bicchi and M. Egerstedt and E. Frazzoli and E. Klavins and G. J. Pappas},
Date-Modified = {2011-01-19 22:23:41 -0500},
Journal = {IEEE Robotics and Automation Magazine},
Keywords = {Symbolic Control, Robotics},
Month = {March},
Number = {1},
Pages = {61--70},
Pdf = {/papers/Belta.Bicchi.ea.RAM07.pdf},
Title = {Symbolic Planning and Control of Robot Motion},
Volume = {14},
Year = {2007}
}


4. E. Frazzoli. Rush hour 2. Control and Automation, 18(6):32-35, 2007. Keyword(s): Robotics.

A different perspective on the Urban Challenge with insight from a member of one of the competing teams.

5. @article{Frazzoli:CA07,
Abstract = {A different perspective on the Urban Challenge with insight from a member of one of the competing teams.},
Author = {E.~Frazzoli},
Date-Modified = {2011-01-19 22:11:13 -0500},
Journal = {Control and Automation},
Keywords = {Robotics},
Number = {6},
Pages = {32--35},
Title = {Rush hour 2},
Volume = {18},
Year = {2007}
}


6. S. Martìnez, F. Bullo, J. Cortés, and E. Frazzoli. On Synchronous Robotic Networks --- Part I: Models, Tasks and Complexity. IEEE Trans. on Automatic Control, 52(12):2199-2213, December 2007. [PDF] Keyword(s): Robotic Networks.
@article{Martinez.Bullo.ea:TAC07a,
Author = {S. Mart{\'\i}nez and F. Bullo and J. Cort{\'e}s and E. Frazzoli},
Date-Modified = {2008-07-19 01:13:41 -0400},
Journal = {IEEE Trans. on Automatic Control},
Keywords = {Robotic Networks},
Local-Url = {/www/papers/Martinez.Bullo.ea.TAC07a.pdf},
Month = {December},
Number = {12},
Pages = {2199--2213},
Pdf = {/papers/Martinez.Bullo.ea.TAC07a.pdf},
Title = {On Synchronous Robotic Networks --- {Part I}: Models, Tasks and Complexity},
Volume = {52},
Year = {2007},
}


7. S. Martìnez, F. Bullo, J. Cortés, and E. Frazzoli. On Synchronous Robotic Networks --- Part II: Time Complexity of Rendezvous and Deployment Algorithms. IEEE Trans. on Automatic Control, 52(12):2214-2226, December 2007. [PDF] Keyword(s): Robotic Networks.
@article{Martinez.Bullo.ea:TAC07b,
Author = {S. Mart{\'\i}nez and F. Bullo and J. Cort{\'e}s and E. Frazzoli},
Date-Modified = {2008-07-19 01:13:04 -0400},
Journal = {IEEE Trans. on Automatic Control},
Keywords = {Robotic Networks},
Local-Url = {/www/papers/Martinez.Bullo.ea.TAC07b.pdf},
Month = {December},
Number = {12},
Pages = {2214--2226},
Pdf = {/papers/Martinez.Bullo.ea.TAC07b.pdf},
Title = {On Synchronous Robotic Networks --- {Part II}: Time Complexity of Rendezvous and Deployment Algorithms},
Volume = {52},
Year = {2007},
}


8. L. Pallottino, V.G. Scordio, E. Frazzoli, and A. Bicchi. Decentralized cooperative policy for conflict resolution in multi-vehicle systems. IEEE Trans. on Robotics, 23(6):1170-1183, December 2007. [PDF] Keyword(s): Air Traffic Control, Robotic Networks.
@article{Pallottino.Scordio.ea:TRO07,
Author = {L. Pallottino and V.G. Scordio and E. Frazzoli and A. Bicchi},
Comment = {IEEE RAS Italian Section Young Author Best Paper Award},
Date-Modified = {2009-08-28 22:43:31 -0400},
Journal = {IEEE Trans. on Robotics},
Keywords = {Air Traffic Control, Robotic Networks},
Month = {December},
Number = {6},
Pages = {1170--1183},
Pdf = {/papers/Pallottino.Scordio.ea.TRO06.pdf},
Title = {Decentralized cooperative policy for conflict resolution in multi-vehicle systems},
Volume = {23},
Year = {2007}
}


9. M. Pavone and E. Frazzoli. Decentralized policies for geometric pattern formation and path coverage. ASME J. of Dynamic Systems, Measurement, and Control, 129(5):633-643, September 2007. [PDF] Keyword(s): Robotic Networks, UAVs/Autonomous Systems.

This paper presents a decentralized control policy for symmetric formations in multi-agent systems. It is shown that n agents, each one pursuing its leading neighbor along the line of sight rotated by a common offset angle \alpha, eventually converge to a single point, a circle or a logarithmic spiral pattern, depending on the value of \alpha. In the final part of the paper, we present a strategy to make the agents totally anonymous and we discuss a potential application to coverage path planning.

10. @article{Pavone.Frazzoli:JDSMC07,
Abstract = {This paper presents a decentralized control policy for symmetric formations in multi-agent systems. It is shown that n agents, each one pursuing its leading neighbor along the line of sight rotated by a common offset angle \alpha, eventually converge to a single point, a circle or a logarithmic spiral pattern, depending on the value of \alpha. In the final part of the paper, we present a strategy to make the agents totally anonymous and we discuss a potential application to coverage path planning. },
Author = {M. Pavone and E. Frazzoli},
Date-Modified = {2009-08-28 01:53:00 -0400},
Journal = {ASME J. of Dynamic Systems, Measurement, and Control},
Keywords = {Robotic Networks; UAVs/Autonomous Systems},
Local-Url = {/www/papers/Pavone.Frazzoli.JDSMC07.pdf},
Month = {September},
Number = {5},
Pages = {633--643},
Pdf = {http://ares.lids.mit.edu/papers/Pavone.Frazzoli.JDSMC07.pdf},
Title = {Decentralized policies for geometric pattern formation and path coverage},
Volume = {129},
Year = {2007},
}


11. V. Sharma, M. Savchenko, E. Frazzoli, and P. Voulgaris. Transfer Time Complexity of Conflict-Free Vehicle Routing with No Communications. International Journal of Robotics Research, 26(3):255-272, March 2007. [PDF] Keyword(s): Robotic Networks.

In this paper, we study the following motion coordination problem: given n mobile vehicles and n source-destination pairs in the plane, what is the minimum time needed to transfer each vehicle from its source to its destination, avoiding conflicts with other vehicles? In our model, vehicles do not explicitly communicate their intentions, and only have sensory information about the current position and velocity of their neighbors to ensure no conflicts. The environment is free of obstacles and a conflict occurs when the distance between any two vehicles is smaller than a velocity-dependent safety distance. We analyze the situation when the vehicle size is such that at least a constant fraction of the n vehicles can be fit inside the environment simultaneously. In the best'' case in which the source and destination points can be chosen ideally to maximize the transfer efficiency, we show that the transfer takes \Theta(L n^(1/2)) time to complete, where L is the average distance between the source and destination points. We show that there exist a "worst case" distribution of the source and destination points for which the transfer of vehicles takes at least \Omega(n) time. We also analyze the case in which source and destination points are generated randomly according to a uniform distribution, and present an algorithm providing a constructive upper bound on the time needed to transfer vehicles from sources to their corresponding destinations, proving that the transfer takes \Theta(n^(1/2)) time, with high probability, thus recovering the best case performance.

12. @article{Sharma.Savchenko.ea:IJRR07,
Abstract = {In this paper, we study the following motion coordination problem: given n mobile vehicles and n source-destination pairs in the plane, what is the minimum time needed to transfer each vehicle from its source to its destination, avoiding conflicts with other vehicles? In our model, vehicles do not explicitly communicate their intentions, and only have sensory information about the current position and velocity of their neighbors to ensure no conflicts. The environment is free of obstacles and a conflict occurs when the distance between any two vehicles is smaller than a velocity-dependent safety distance. We analyze the situation when the vehicle size is such that at least a constant fraction of the n vehicles can be fit inside the environment simultaneously. In the best'' case in which the source and destination points can be chosen ideally to maximize the transfer efficiency, we show that the transfer takes \Theta(L n^(1/2)) time to complete, where L is the average distance between the source and destination points. We show that there exist a "worst case" distribution of the source and destination points for which the transfer of vehicles takes at least \Omega(n) time. We also analyze the case in which source and destination points are generated randomly according to a uniform distribution, and present an algorithm providing a constructive upper bound on the time needed to transfer vehicles from sources to their corresponding destinations, proving that the transfer takes \Theta(n^(1/2)) time, with high probability, thus recovering the best case performance. },
Author = {V. Sharma and M. Savchenko and E. Frazzoli and P. Voulgaris},
Date-Modified = {2007-10-20 21:06:11 -0400},
Journal = {International Journal of Robotics Research},
Keywords = {Robotic Networks},
Month = {March},
Number = {3},
Pages = {255--272},
Pdf = {/papers/Sharma.Savchenko.ea.IJRR07.pdf},
Title = {Transfer Time Complexity of Conflict-Free Vehicle Routing with No Communications},
Volume = {26},
Year = {2007}
}


13. A. Arsie and E. Frazzoli. Groupoids in control systems and the reachability problem for a class of quantized control systems with nonabelian symmetries. In A. Bemporad, A. Bicchi, and G. Buttazzo, editors, Hybrid Systems: Computation and Control, volume 4416/2007 of Lecture Notes in Computer Science, pages 18-31. Springer-Verlag, Pisa, Italy, 2007. [PDF]

The aim of this paper is twofold. On one hand we present an approach to the general problem of nonlinear control in the framework of (differentiable) groupoids, which, in our opinion deserves further investigation. On the other hand, using recently-developed algebraic tools, we show that for a control system whose state space is a semisimple Lie group (like SO(3)), it is possible to reach a dense subset of the state space using just two properly chosen discrete controls, and this property is robust with respect to the choice of controls.

14. @incollection{Arsie.Frazzoli:HSCC07,
Abstract = {The aim of this paper is twofold. On one hand we present an approach to the general problem of nonlinear control in the framework of (differentiable) groupoids, which, in our opinion deserves further investigation. On the other hand, using recently-developed algebraic tools, we show that for a control system whose state space is a semisimple Lie group (like SO(3)), it is possible to reach a dense subset of the state space using just two properly chosen discrete controls, and this property is robust with respect to the choice of controls.},
Author = {A. Arsie and E. Frazzoli},
Booktitle = {Hybrid Systems: Computation and Control},
Date-Modified = {2009-02-05 00:42:38 -0500},
Editor = {A. Bemporad and A. Bicchi and G. Buttazzo},
Pages = {18--31},
Pdf = {/papers/Arsie.Frazzoli.HSCC07.pdf},
Publisher = {Springer-Verlag},
Series = {Lecture Notes in Computer Science},
Title = {Groupoids in control systems and the reachability problem for a class of quantized control systems with nonabelian symmetries},
Volume = {4416/2007},
Year = {2007}
}


## Conference articles

1. A. Arsie and E. Frazzoli. Efficient routing of multiple vehicles with no communication. In American Control Conference, New York, NY, pages 449-454, July 2007. Keyword(s): Robotic Networks.
@conference{Arsie.Frazzoli:ACC07,
Author = {A. Arsie and E. Frazzoli},
Booktitle = {American Control Conference},
Date-Modified = {2014-05-28 19:26:25 +0000},
Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
Keywords = {Robotic Networks},
Month = {July},
Pages = {449--454},
Title = {Efficient routing of multiple vehicles with no communication},
Year = {2007}
}


2. A. Arsie and E. Frazzoli. Motion planning for a quantized control system on SO(3). In IEEE Conf. on Decision and Control, New Orleans, LA, pages 2265-2270, 2007.
@conference{Arsie.Frazzoli:CDC07,
Author = {A. Arsie and E. Frazzoli},
Booktitle = {IEEE Conf. on Decision and Control},
Date-Modified = {2011-01-19 22:36:56 -0500},
Pages = {2265--2270},
Title = {Motion planning for a quantized control system on {SO}(3)},
Year = {2007}
}


3. A. Bhatia and E. Frazzoli. Sampling-based resolution-complete safety falsification of linear hybrid systems. In IEEE Conf. on Decision and Control, New Orleans, LA, pages 3405-3411, 2007.
@conference{Bhatia.Frazzoli:CDC07,
Author = {A. Bhatia and E. Frazzoli},
Booktitle = {IEEE Conf. on Decision and Control},
Date-Modified = {2011-01-19 22:10:03 -0500},
Pages = {3405--3411},
Title = {Sampling-based resolution-complete safety falsification of linear hybrid systems},
Year = {2007}
}


4. N. Ceccarelli, J. J. Enright, E. Frazzoli, S. Rasmussen, and C. Schumacher. Micro UAV Path Planning for Reconnaissance in Wind. In American Control Conference, New York, NY, pages 5310-5315, July 2007. [PDF] Keyword(s): UAVs/Autonomous Systems, Vehicle Routing.
@conference{Ceccarelli.Enright.ea:ACC07,
Author = {N. Ceccarelli and J. J. Enright and E. Frazzoli and S. Rasmussen and C. Schumacher},
Booktitle = {American Control Conference},
Date-Modified = {2011-01-19 22:40:46 -0500},
Keywords = {UAVs/Autonomous Systems, Vehicle Routing},
Month = {July},
Pages = {5310--5315},
Pdf = {http://ares.lids.mit.edu/papers/Ceccarelli.Enright.ea.ACC07.pdf},
Title = {Micro {UAV} Path Planning for Reconnaissance in Wind},
Year = {2007}
}


5. J. Le Ny, E. Frazzoli, and E. Feron. The Curvature-Constrained Traveling Salesman Problem For High Point Densities. In IEEE Conf. on Decision and Control, New Orleans, LA, pages 5985-5990, 2007.
@conference{LeNy.Frazzoli.ea:CDC07,
Author = {J. {Le Ny} and E. Frazzoli and E. Feron},
Booktitle = {IEEE Conf. on Decision and Control},
Date-Modified = {2011-01-19 22:16:38 -0500},
Pages = {5985--5990},
Title = {The Curvature-Constrained Traveling Salesman Problem For High Point Densities},
Year = {2007}
}


6. M. Mandic and E. Frazzoli. Efficient Coverage for Acoustic Localization. In IEEE Conf. on Decision and Control, New Orleans, LA, pages 3597-3602, 2007.
@conference{Mandic.Frazzoli:CDC07,
Author = {M. Mandic and E. Frazzoli},
Booktitle = {IEEE Conf. on Decision and Control},
Date-Modified = {2011-01-19 22:15:25 -0500},
Pages = {3597--3602},
Title = {Efficient Coverage for Acoustic Localization},
Year = {2007}
}


7. L. Pallottino, A. Bicchi, and E. Frazzoli. Probabilistic Verification of Decentralized Conflict Resolution Policies. In American Control Conference, New York, NY, pages 170-175, July 2007.
@conference{Pallottino.Bicchi.ea:ACC07,
Author = {L. Pallottino and A. Bicchi and E. Frazzoli},
Booktitle = {American Control Conference},
Date-Modified = {2011-01-19 22:21:38 -0500},
Month = {July},
Pages = {170--175},
Title = {Probabilistic Verification of Decentralized Conflict Resolution Policies},
Year = {2007}
}


8. M. Pavone, N. Bisnik, E. Frazzoli, and V. Isler. Decentralized Vehicle Routing in a Stochastic and Dynamic Environment with Customer Impatience. In Robocomm, Athens, Greece, 2007. Note: Best student paper finalist.
@conference{Pavone.Bisnik.ea:Robocomm07,
Author = {M. Pavone and N. Bisnik and E. Frazzoli and V. Isler},
Booktitle = {Robocomm},
Date-Modified = {2007-10-20 21:06:11 -0400},
Note = {Best student paper finalist},
Title = {Decentralized Vehicle Routing in a Stochastic and Dynamic Environment with Customer Impatience},
Year = {2007}
}


9. M. Pavone and E. Frazzoli. Decentralized policies for geometric pattern formation. In American Control Conference, New York, NY, pages 3949-3954, 2007.
@conference{Pavone.Frazzoli:ACC07,
Author = {M. Pavone and E. Frazzoli},
Booktitle = {American Control Conference},
Date-Modified = {2009-12-29 23:09:20 +0100},
Pages = {3949--3954},
Title = {Decentralized policies for geometric pattern formation},
Year = {2007}
}


10. M. Pavone, E. Frazzoli, and F. Bullo. Decentralized Algorithms for Stochastic and Dynamic Vehicle Routing with General Demand Distribution. In IEEE Conf. on Decision and Control, New Orleans, LA, pages 4869-4874, 2007. Keyword(s): Vehicle Routing, Robotic Networks.
@conference{Pavone.Frazzoli.ea:cdc07,
Author = {M. Pavone and E. Frazzoli and F. Bullo},
Booktitle = {IEEE Conf. on Decision and Control},
Date-Modified = {2011-01-19 22:47:48 -0500},
Keywords = {Vehicle Routing; Robotic Networks},
Pages = {4869--4874},
Title = {Decentralized Algorithms for Stochastic and Dynamic Vehicle Routing with General Demand Distribution},
Year = {2007}
}


11. K. Savla, F. Bullo, and E. Frazzoli. The coverage problem for loitering Dubins vehicles. In IEEE Conf. on Decision and Control, New Orleans, LA, pages 1398-1403, 2007.
@conference{Savla.Bullo.ea:CDC07,
Author = {K. Savla and F. Bullo and E. Frazzoli},
Booktitle = {IEEE Conf. on Decision and Control},
Date-Modified = {2011-01-19 23:13:00 -0500},
Pages = {1398--1403},
Title = {The coverage problem for loitering {Dubins} vehicles},
Year = {2007}
}


12. L. Stirling, A. Arsie, K. Willcox, E. Frazzoli, and D. Newman. Application of Quantized Control to Human Self-Rotation Maneuvers in Microgravity. In IEEE Conf. on Decision and Control, New Orleans, LA, pages 3907-3912, 2007. Keyword(s): Quantized Control.
@conference{Stirling.Arsie.ea:CDC07,
Author = {L. Stirling and A. Arsie and K. Willcox and E. Frazzoli and D. Newman},
Booktitle = {IEEE Conf. on Decision and Control},
Date-Modified = {2011-01-19 23:11:30 -0500},
Keywords = {Quantized Control},
Pages = {3907--3912},
Title = {Application of Quantized Control to Human Self-Rotation Maneuvers in Microgravity},
Year = {2007}
}


13. O. Toupet, J. Paduano, R. Panish, R. Sedwick, and E. Frazzoli. Augmenting State Estimates with Multiple Camera Visual Measurements. In AIAA Infotech@Aerospace Conference and Exhibit, number AIAA-2007-2983, Rohnert Park, CA, 2007. Keyword(s): Vision-based control.
@conference{Toupet.Paduano.ea:07,
Author = {O. Toupet and J. Paduano and R. Panish and R. Sedwick and E. Frazzoli},
Booktitle = {AIAA Infotech@Aerospace Conference and Exhibit},
Date-Modified = {2008-08-08 11:56:39 -0400},
Keywords = {Vision-based control},
Number = {AIAA-2007-2983},
Title = {Augmenting State Estimates with Multiple Camera Visual Measurements},
Year = {2007}
}


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