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Publications of year 2008

Thesis

  1. J. J. Enright. Efficient routing of multiple vehicles: limited sensing and nonholonomic constraints. PhD thesis, University of California -- Los Angeles, Los Angeles, CA, 2008.
    @phdthesis{Enright:PhD08,
    Address = {Los Angeles, CA},
    Author = {J. J. Enright},
    Date-Added = {2009-09-15 17:40:54 -0400},
    Date-Modified = {2009-09-15 17:42:10 -0400},
    School = {University of California -- Los Angeles},
    Title = {Efficient routing of multiple vehicles: limited sensing and nonholonomic constraints},
    Year = {2008}
    }
    

Articles in journal, book chapters

  1. P. Cheng, E. Frazzoli, and S. LaValle. Improving the Performance of Sampling-Based Motion Planning with Symmetry-Based Gap Reduction. IEEE Trans. on Robotics, 24(2):488-494, April 2008. [PDF] Keyword(s): Motion Planning.
    @article{Cheng.Frazzoli.ea:TRO08,
    Author = {P. Cheng and E. Frazzoli and S. {LaValle}},
    Date-Added = {2005-10-17 12:41:07 -0700},
    Date-Modified = {2008-04-27 20:50:15 -0400},
    Journal = {IEEE Trans. on Robotics},
    Keywords = {Motion Planning},
    Month = {April},
    Number = {2},
    Pages = {488--494},
    Pdf = {/papers/Cheng.Frazzoli.ea.TRO05.DRAFT.pdf},
    Title = {Improving the Performance of Sampling-Based Motion Planning with Symmetry-Based Gap Reduction},
    Volume = {24},
    Year = {2008}
    }
    

  2. E. Frazzoli. Discussion on ``Optimality Properties and Driver Input Parameterization for Trail-Braking Cornering. European Journal of Control, 14(4):321-324, July-August 2008.
    @article{Frazzoli:EJC08,
    Author = {E.~Frazzoli},
    Date-Added = {2008-07-11 23:09:42 -0400},
    Date-Modified = {2010-07-29 01:49:57 +0800},
    Journal = {European Journal of Control},
    Month = {July-August},
    Number = {4},
    Pages = {321--324},
    Title = {Discussion on ``{O}ptimality Properties and Driver Input Parameterization for Trail-Braking Cornering"}, Volume = {14}, Year = {2008}
    }
    

  3. J. Leonard, J. How, S. Teller, M. Berger, S. Campbell, G. Fiore, L. Fletcher, E. Frazzoli, A. Huang, S. Karaman, O. Koch, Y. Kuwata, D. Moore, E. Olson, S. Peters, J. Teo, R. Truax, M. Walter, D. Barrett, A. Epstein, K. Maheloni, K. Moyer, T. Jones, R. Buckley, M. Antone, R. Galejs, S. Krishnamurthy, and J. Williams.. A Perception Driven Autonomous Urban Vehicle. Journal of Field Robotics, 25(10):725-860, September 2008. [PDF]
    @article{Leonard.How.ea:JFR08,
    Author = {J.~Leonard and J.~How and S.~Teller and M.~Berger and S.~Campbell and G.~Fiore and L.~Fletcher and E.~Frazzoli and A.~Huang and S.~Karaman and O.~Koch and Y.~Kuwata and D.~Moore and E.~Olson and S.~Peters and J.~Teo and R.~Truax and M.~Walter and D.~Barrett and A.~Epstein and K.~Maheloni and K.~Moyer and T.~Jones and R.~Buckley and M.~Antone and R.~Galejs and S.~Krishnamurthy and J.~Williams.},
    Date-Added = {2008-03-28 01:52:25 -0400},
    Date-Modified = {2014-01-29 11:04:03 +0000},
    Journal = {Journal of Field Robotics},
    Month = {September},
    Number = {10},
    Pages = {725--860},
    Title = {A Perception Driven Autonomous Urban Vehicle},
    Url = {http://ares.lids.mit.edu/papers/Leonard.How.ea.JFR08.pdf},
    Volume = {25},
    Year = {2008},
    Bdsk-Url-1 = {http://ares.lids.mit.edu/papers/Leonard.How.ea.JFR08.pdf}
    }
    

  4. K. Savla, E. Frazzoli, and F. Bullo. Traveling Salesperson Problems for the Dubins vehicle. IEEE Trans. on Automatic Control, 53(6):1378-1391, 2008. [PDF] Keyword(s): Motion Planning, Robotics, Vehicle Routing.
    @article{Savla.Frazzoli.ea:TAC08,
    Author = {K. Savla and E. Frazzoli and F. Bullo},
    Date-Added = {2006-06-30 13:38:57 -0400},
    Date-Modified = {2009-01-17 10:48:52 -0500},
    Journal = {IEEE Trans. on Automatic Control},
    Keywords = {Motion Planning, Robotics, Vehicle Routing},
    Number = {6},
    Pages = {1378--1391},
    Pdf = {/papers/Savla.Frazzoli.ea.TAC08.pdf},
    Title = {Traveling Salesperson Problems for the {Dubins} vehicle},
    Volume = {53},
    Year = {2008}
    }
    

  5. L. Stirling, A. Arsie, K. Willcox, E. Frazzoli, and D. Newman. Application of Quantized Control and Optimal Control to Human Reorientation Maneuvers in Microgravity. Journal of Biomechanics, 2008. Note: Submitted.
    @article{Stirling.Arsie.ea:JBM08,
    Author = {L.~Stirling and A.~Arsie and K.~Willcox and E.~Frazzoli and D.~Newman},
    Date-Added = {2008-08-08 12:56:31 -0400},
    Date-Modified = {2009-01-28 01:02:39 -0500},
    Journal = {Journal of Biomechanics},
    Note = {Submitted},
    Title = {Application of Quantized Control and Optimal Control to Human Reorientation Maneuvers in Microgravity},
    Year = {2008}
    }
    

  6. A. Arsie, J. J. Enright, and E. Frazzoli. On the Value of Information in Dynamic Multiple-Vehicle Routing Problems. In J. Shamma, editor, Cooperative Control of Distributed Multi-Agent Systems, pages 139-176. John Wiley & Sons, 2008. [PDF] Keyword(s): Vehicle Routing, Robotic Networks.
    @incollection{Arsie.Enright.ea:Shamma08,
    Author = {A. Arsie and J. J. Enright and E. Frazzoli},
    Booktitle = {Cooperative Control of Distributed Multi-Agent Systems},
    Date-Added = {2007-03-22 18:39:42 -0400},
    Date-Modified = {2011-03-30 23:08:37 -0400},
    Editor = {J. Shamma},
    Keywords = {Vehicle Routing, Robotic Networks},
    Pages = {139--176},
    Publisher = {{J}ohn {W}iley \& {S}ons},
    Title = {On the Value of Information in Dynamic Multiple-Vehicle Routing Problems},
    Url = {http://ares.lids.mit.edu/papers/Arsie.Enright.ea.SHAMMA07.DRAFT.pdf},
    Year = 2008,
    Bdsk-Url-1 = {http://ares.lids.mit.edu/papers/Arsie.Enright.ea.SHAMMA07.DRAFT.pdf}
    }
    

  7. A. Bhatia and E. Frazzoli. Sampling-Based Resolution-Complete Algorithms for Safety Falsification of Linear Systems. In M. Egerstedt and B. Mishra, editors, Hybrid Systems: Computation and Control, volume 4981/2008 of Lecture Notes in Computer Science, pages 606-609. Springer Verlag, St. Louis, MO, 2008. [PDF] Keyword(s): Embedded Software Verification.

    In this paper, we describe a novel approach for checking safety specifications of a dynamical system with exogenous inputs over infinite time horizon. We introduce the notion of resolution completeness for analysis of safety falsification algorithms and present sampling-based resolution-complete algorithms for safety falsification of discrete-time lin- ear time-invariant systems. Given a target resolution of inputs, the al- gorithms terminate either with a reachable state that violates the safety specification, or prove that the system does not violate the specification at the given resolution of inputs.


  8. @incollection{Bhatia.Frazzoli:HSCC08,
    Abstract = {In this paper, we describe a novel approach for checking safety specifications of a dynamical system with exogenous inputs over infinite time horizon. We introduce the notion of resolution completeness for analysis of safety falsification algorithms and present sampling-based resolution-complete algorithms for safety falsification of discrete-time lin- ear time-invariant systems. Given a target resolution of inputs, the al- gorithms terminate either with a reachable state that violates the safety specification, or prove that the system does not violate the specification at the given resolution of inputs. },
    Address = {St. Louis, MO},
    Author = {A.~Bhatia and E.~Frazzoli},
    Booktitle = {Hybrid Systems: Computation and Control},
    Date-Added = {2007-12-09 14:55:12 +0100},
    Date-Modified = {2008-07-18 15:01:57 -0400},
    Editor = {M.~Egerstedt and B.~Mishra},
    Keywords = {Embedded Software Verification},
    Local-Url = {/www/papers/Bhatia.Frazzoli.HSCC08.pdf},
    Pages = {606--609},
    Pdf = {/papers/Bhatia.Frazzoli.HSCC08.pdf},
    Publisher = {Springer Verlag},
    Series = {Lecture Notes in Computer Science},
    Title = {Sampling-Based Resolution-Complete Algorithms for Safety Falsification of Linear Systems},
    Volume = {4981/2008},
    Year = {2008},
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    }
    

  9. M. Roozbehani, A. Megretski, E. Frazzoli, and E. Feron. Distributed Lyapunov Functions in Analysis of Graph Models of Software. In M. Egerstedt and B. Mishra, editors, Hybrid Systems: Computation and Control, volume 4981/2008 of Lecture Notes in Computer Science, pages 443-456. Springer Verlag, St. Louis, MO, 2008. [PDF] Keyword(s): Embedded Software Verification.

    In previous works, the authors introduced a framework for software analysis, which is based on optimization of Lyapunov invari- ants. These invariants prove critical software properties such as absence of overflow and termination in finite time. In this paper, graph models of software are introduced and the software analysis framework is fur- ther developed and extended on graph models. A distributed Lyapunov function is assigned to the software by assigning a Lyapunov function to every node on its graph model. The global decremental condition is then enforced by requiring that the Lyapunov functions on each node decrease as transitions take place along the arcs. The concept of graph reduction and optimality of graphs for Lyapunov analysis is briefly discussed.


  10. @incollection{Roozbehani.Megretski.ea:HSCC08,
    Abstract = {In previous works, the authors introduced a framework for software analysis, which is based on optimization of Lyapunov invari- ants. These invariants prove critical software properties such as absence of overflow and termination in finite time. In this paper, graph models of software are introduced and the software analysis framework is fur- ther developed and extended on graph models. A distributed Lyapunov function is assigned to the software by assigning a Lyapunov function to every node on its graph model. The global decremental condition is then enforced by requiring that the Lyapunov functions on each node decrease as transitions take place along the arcs. The concept of graph reduction and optimality of graphs for Lyapunov analysis is briefly discussed.},
    Address = {St. Louis, MO},
    Author = {M.~Roozbehani and A. Megretski and E.~Frazzoli and E.~Feron},
    Booktitle = {Hybrid Systems: Computation and Control},
    Date-Added = {2007-12-09 14:51:51 +0100},
    Date-Modified = {2008-07-18 15:01:32 -0400},
    Editor = {M.~Egerstedt and B.~Mishra},
    Keywords = {Embedded Software Verification},
    Local-Url = {/www/papers/Roozbehani.Megretski.ea.HSCC08.pdf},
    Pages = {443-456},
    Pdf = {/papers/Roozbehani.Megretski.ea.HSCC08.pdf},
    Publisher = {Springer Verlag},
    Series = {Lecture Notes in Computer Science},
    Title = {Distributed {Lyapunov} Functions in Analysis of Graph Models of Software},
    Volume = {4981/2008},
    Year = {2008},
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    }
    

  11. R. Sanfelice and E. Frazzoli. On the optimality of Dubins paths across heterogeneous terrain. In M. Egerstedt and B. Mishra, editors, Hybrid Systems: Computation and Control, volume 4981/2008 of Lecture Notes in Computer Science, pages 457-470. Springer Verlag, St. Louis, MO, 2008. [PDF] Keyword(s): Hybrid Systems, Optimal Control.

    We derive optimality conditions for the paths of a Dubins ve- hicle when the state space is partitioned into two patches with different ve- hicle's forward velocity. We recast this problem as a hybrid optimal control problem and solve it using optimality principles for hybrid systems. Among the optimality conditions, we derive a ``refraction'' law at the boundary of the patches which generalizes the so-called Snell's law of refraction in optics to the case of paths with bounded maximum curvature.


  12. @incollection{Sanfelice.Frazzoli:HSCC08,
    Abstract = {We derive optimality conditions for the paths of a Dubins ve- hicle when the state space is partitioned into two patches with different ve- hicle's forward velocity. We recast this problem as a hybrid optimal control problem and solve it using optimality principles for hybrid systems. Among the optimality conditions, we derive a ``refraction'' law at the boundary of the patches which generalizes the so-called Snell's law of refraction in optics to the case of paths with bounded maximum curvature. },
    Address = {St. Louis, MO},
    Author = {R.~Sanfelice and E.~Frazzoli},
    Booktitle = {Hybrid Systems: Computation and Control},
    Date-Added = {2007-12-09 14:49:52 +0100},
    Date-Modified = {2008-07-18 15:03:05 -0400},
    Editor = {M.~Egerstedt and B.~Mishra},
    Keywords = {Hybrid Systems, Optimal Control},
    Local-Url = {/www/papers/Sanfelice.Frazzoli.HSCC08.pdf},
    Pages = {457--470},
    Pdf = {/papers/Sanfelice.Frazzoli.HSCC08.pdf},
    Publisher = {Springer Verlag},
    Series = {Lecture Notes in Computer Science},
    Title = {On the optimality of Dubins paths across heterogeneous terrain},
    Volume = {4981/2008},
    Year = {2008},
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    }
    

Conference articles

  1. A. Bhatia and E. Frazzoli. Decentralized algorithm for minimum-time rendezvous of Dubins vehicles. In Proc. American Control Conf., pages 1343-1349, 2008.
    @conference{Bhatia.Frazzoli:ACC08,
    Author = {A. Bhatia and E. Frazzoli},
    Booktitle = {Proc. American Control Conf.},
    Date-Added = {2011-01-19 22:48:40 -0500},
    Date-Modified = {2014-05-28 19:26:25 +0000},
    Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
    Pages = {1343--1349},
    Title = {Decentralized algorithm for minimum-time rendezvous of {Dubins} vehicles},
    Year = {2008}
    }
    

  2. A. Bhatia, M. Graziano, S. Karaman, R. Naldi, and E. Frazzoli. Tracking Dubins paths using commercial off-the-shelf autopilots. In AIAA Conf. on Guidance, Navigation, and Control, Honolulu, HI, 2008.
    @conference{Bhatia.Graziano.ea:GNC08,
    Address = {Honolulu, HI},
    Author = {A.~Bhatia and M.~Graziano and S.~Karaman and R.~Naldi and E.~Frazzoli},
    Booktitle = {AIAA Conf. on Guidance, Navigation, and Control},
    Date-Added = {2008-03-28 01:40:05 -0400},
    Date-Modified = {2014-05-28 19:26:25 +0000},
    Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
    Title = {Tracking Dubins paths using commercial off-the-shelf autopilots},
    Year = {2008}
    }
    

  3. J.J. Enright, K. Savla, and E. Frazzoli. Coverage Control for Nonholonomic Agents. In IEEE Conf. on Decision and Control, pages 4250-4256, 2008. [PDF]

    Consider a coverage problem for a team of agents in the plane: target points appear sporadically over time in a bounded environment and must be visited by one of the agents. It is desired to minimize the expected elapsed time between the appearance of a target point, and the instant it is visited. For holonomic agents, this reduces to the continuous Weber problem, well studied in the locational optimization literature. In this paper, we consider a team of nonholonomic vehicles constrained to move with constant forward speed along paths of bounded curvature. We show that, in this case, the optimal policy depends on the density of vehicles in the environment. In low density scenarios, the optimal policy resembles that of holonomic agents: the environment is partitioned into subregions of dominance, and each agent is responsible for targets appearing in its own subregion (territorial behavior). As the density increases, the optimal policy exhibits a transition to a gregarious behavior in which the team loiters in a coordinated pattern, and each agent visits targets that appear immediately in front of it.


  4. @conference{Enright.Savla.ea:CDC08,
    Abstract = {Consider a coverage problem for a team of agents in the plane: target points appear sporadically over time in a bounded environment and must be visited by one of the agents. It is desired to minimize the expected elapsed time between the appearance of a target point, and the instant it is visited. For holonomic agents, this reduces to the continuous Weber problem, well studied in the locational optimization literature. In this paper, we consider a team of nonholonomic vehicles constrained to move with constant forward speed along paths of bounded curvature. We show that, in this case, the optimal policy depends on the density of vehicles in the environment. In low density scenarios, the optimal policy resembles that of holonomic agents: the environment is partitioned into subregions of dominance, and each agent is responsible for targets appearing in its own subregion (territorial behavior). As the density increases, the optimal policy exhibits a transition to a gregarious behavior in which the team loiters in a coordinated pattern, and each agent visits targets that appear immediately in front of it. },
    Author = {J.J.~Enright and K.~Savla and E.~Frazzoli},
    Booktitle = {IEEE Conf. on Decision and Control},
    Date-Added = {2008-03-26 20:54:36 -0400},
    Date-Modified = {2014-05-28 19:26:25 +0000},
    Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
    Pages = {4250-4256},
    Pdf = {http://ares.lids.mit.edu/papers/Enright.Savla.ea.CDC08.pdf},
    Title = {Coverage Control for Nonholonomic Agents},
    Year = {2008}
    }
    

  5. E. Garone, R. Naldi, A. Casavola, and E. Frazzoli. Cooperative path planning for a class of carrier-vehicle systems. In IEEE Conf. on Decision and Control, pages 2456-2462, 2008.

    In this work we concentrate on the problem of path planning in a scenario in which two different vehicles with complementary capabilities are employed cooperatively to perform a desired task in an optimal way. In particular we consider the case in which a vehicle carrier, typically slow but with virtually infinite operativity range, and a carried vehicle, which on the contrary is typically fast but with a shorter operative range, can be controlled together to pursuit a certain mission while minimizing a pre-defined cost function. In particular we will concentrate on a particular scenario, that we denoted as "fast-rescue" problem, providing optimal and heuristic solutions to various cases.


  6. @conference{Garone.Naldi.ea:CDC08,
    Abstract = {In this work we concentrate on the problem of path planning in a scenario in which two different vehicles with complementary capabilities are employed cooperatively to perform a desired task in an optimal way. In particular we consider the case in which a vehicle carrier, typically slow but with virtually infinite operativity range, and a carried vehicle, which on the contrary is typically fast but with a shorter operative range, can be controlled together to pursuit a certain mission while minimizing a pre-defined cost function. In particular we will concentrate on a particular scenario, that we denoted as "fast-rescue" problem, providing optimal and heuristic solutions to various cases.},
    Author = {E.~Garone and R.~Naldi and A.~Casavola and E.~Frazzoli},
    Booktitle = {IEEE Conf. on Decision and Control},
    Date-Added = {2008-03-26 20:27:09 -0400},
    Date-Modified = {2011-01-19 22:17:08 -0500},
    Pages = {2456--2462},
    Title = {Cooperative path planning for a class of carrier-vehicle systems},
    Year = {2008}
    }
    

  7. S. Itani, E. Frazzoli, and M.A. Dahleh. Dynamic Travelling Repairperson Problem for Dynamic Systems. In IEEE Conf. on Decision and Control, pages 465-470, 2008.

    In this paper, we study the Dynamic Travelling Repairman Problem (DTRP) for dynamic systems. In the DTRP, customers are arising dynamically and randomly in a bounded region R, and when customers arrive, they wait for the repairperson to visit their location and offer a ``service'' -that will take a certain random amount of time s-. In our study, the repairperson is modelled as a dynamic system whose output space contains R and our objective is the average time a customer has to wait to be serviced. We present schemes (for low and high traffic intensities) that guarantee that the expected waiting time for a customer scales within a constant factor of the optimum in terms of traffic intensity.


  8. @conference{Itani.Frazzoli.ea:CDC08,
    Abstract = {In this paper, we study the Dynamic Travelling Repairman Problem (DTRP) for dynamic systems. In the DTRP, customers are arising dynamically and randomly in a bounded region R, and when customers arrive, they wait for the repairperson to visit their location and offer a ``service'' -that will take a certain random amount of time s-. In our study, the repairperson is modelled as a dynamic system whose output space contains R and our objective is the average time a customer has to wait to be serviced. We present schemes (for low and high traffic intensities) that guarantee that the expected waiting time for a customer scales within a constant factor of the optimum in terms of traffic intensity. },
    Author = {S.~Itani and E.~Frazzoli and M.A.~Dahleh},
    Booktitle = {IEEE Conf. on Decision and Control},
    Date-Added = {2008-03-26 20:53:04 -0400},
    Date-Modified = {2014-05-28 19:26:25 +0000},
    Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
    Pages = {465--470},
    Title = {Dynamic Travelling Repairperson Problem for Dynamic Systems},
    Year = {2008}
    }
    

  9. S. Itani, E. Frazzoli, and M.A. Dahleh. Travelling Salesperson Problem for dynamic systems. In IFAC World Congress, 2008.
    @conference{Itani.Frazzoli.ea:IFAC08,
    Author = {S.~Itani and E.~Frazzoli and M.A.~Dahleh},
    Booktitle = {IFAC World Congress},
    Date-Added = {2008-03-28 01:50:13 -0400},
    Date-Modified = {2014-05-28 19:26:25 +0000},
    Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
    Title = {Travelling Salesperson Problem for dynamic systems},
    Year = {2008}
    }
    

  10. S. Karaman and E. Frazzoli. Complex Mission Optimization for Multiple UAVs using Linear Temporal Logic. In American Control Conference, Seattle, WA, pages 2003-2009, 2008.
    @conference{Karaman.Frazzoli:ACC08,
    Address = {Seattle, WA},
    Author = {S.~Karaman and E.~Frazzoli},
    Booktitle = {American Control Conference},
    Date-Added = {2008-07-24 23:18:22 -0400},
    Date-Modified = {2014-05-28 19:26:25 +0000},
    Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
    Pages = {2003--2009},
    Title = {Complex Mission Optimization for Multiple {UAVs} using Linear Temporal Logic},
    Year = {2008}
    }
    

  11. S. Karaman and E. Frazzoli. Vehicle Routing Problem with Metric Temporal Logic Specifications. In IEEE Conf. on Decision and Control, pages 3953-3958, 2008. Keyword(s): Vehicle Routing.

    This paper proposes a novel version of the Vehicle Routing Problem (VRP), in which not all customers have to be serviced nor all the vehicles have to be employed. Instead, feasible solutions of the VRP instance are forced to satisfy a set of complex high-level tasks given as a Metric Temporal Logic (MTL) specification. For the resulting Vehicle Routing Problem with Metric Temporal Logic Specifications (VRPMTL), a Mixed-Integer Linear Programming (MILP) based algorithm is provided that solves the problem to optimality. Examples for optimal multi-UAV mission planning is provided where MTL is used as a high level language to specify complex mission tasks.


  12. @conference{Karaman.Frazzoli:CDC08,
    Abstract = {This paper proposes a novel version of the Vehicle Routing Problem (VRP), in which not all customers have to be serviced nor all the vehicles have to be employed. Instead, feasible solutions of the VRP instance are forced to satisfy a set of complex high-level tasks given as a Metric Temporal Logic (MTL) specification. For the resulting Vehicle Routing Problem with Metric Temporal Logic Specifications (VRPMTL), a Mixed-Integer Linear Programming (MILP) based algorithm is provided that solves the problem to optimality. Examples for optimal multi-UAV mission planning is provided where MTL is used as a high level language to specify complex mission tasks.},
    Author = {S.~Karaman and E.~Frazzoli},
    Booktitle = {IEEE Conf. on Decision and Control},
    Date-Added = {2008-03-26 20:48:43 -0400},
    Date-Modified = {2014-05-28 19:26:25 +0000},
    Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
    Keywords = {Vehicle Routing},
    Pages = {3953--3958},
    Title = {Vehicle Routing Problem with Metric Temporal Logic Specifications},
    Year = {2008}
    }
    

  13. S. Karaman and E. Frazzoli. Vehicle Routing with Linear Temporal Logic Specifications: Applications to Multi-UAV Mission Planning. In AIAA Conf. on Guidance, Navigation, and Control, Honolulu, HI, 2008. Keyword(s): Vehicle Routing.
    @conference{Karaman.Frazzoli:GNC08,
    Address = {Honolulu, HI},
    Author = {S.~Karaman and E.~Frazzoli},
    Booktitle = {AIAA Conf. on Guidance, Navigation, and Control},
    Date-Added = {2008-03-28 01:42:38 -0400},
    Date-Modified = {2014-05-28 19:26:25 +0000},
    Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
    Keywords = {Vehicle Routing},
    Title = {Vehicle Routing with Linear Temporal Logic Specifications: Applications to Multi-{UAV} Mission Planning},
    Year = {2008}
    }
    

  14. S. Karaman, R. Sanfelice, and E. Frazzoli. Optimal Control of Mixed Logical Dynamical Systems with Linear Temporal Logic Specifications. In IEEE Conf. on Decision and Control, pages 2117-2122, 2008.

    Recently, Linear Temporal Logic (LTL) has been introduced as a tool for formal specification of dynamical control systems. Employing this formal approach, control systems can be designed to provably accomplish a large class of complex tasks specified via LTL. For this purpose, many authors have employed language generator Buchi automata with finite abstractions of dynamical systems. In this paper, we take a mathematical programming-based approach to design optimal control laws that satisfy a LTL formula considering a broad class of discrete-time dynamical systems including hybrid piecewise linear systems. We also present similar tools for LTL model checking of such systems. The algorithms presented in this paper differ from the aforementioned existing approaches by employing mathematical programming instead of the language generator automata leading to a new tool for LTL model checking and satisfiability solver.


  15. @conference{Karaman.Sanfelice.ea:CDC08,
    Abstract = {Recently, Linear Temporal Logic (LTL) has been introduced as a tool for formal specification of dynamical control systems. Employing this formal approach, control systems can be designed to provably accomplish a large class of complex tasks specified via LTL. For this purpose, many authors have employed language generator Buchi automata with finite abstractions of dynamical systems. In this paper, we take a mathematical programming-based approach to design optimal control laws that satisfy a LTL formula considering a broad class of discrete-time dynamical systems including hybrid piecewise linear systems. We also present similar tools for LTL model checking of such systems. The algorithms presented in this paper differ from the aforementioned existing approaches by employing mathematical programming instead of the language generator automata leading to a new tool for LTL model checking and satisfiability solver. },
    Author = {S.~Karaman and R.~Sanfelice and E.~Frazzoli},
    Booktitle = {IEEE Conf. on Decision and Control},
    Date-Added = {2008-03-26 20:51:33 -0400},
    Date-Modified = {2014-05-28 19:26:25 +0000},
    Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
    Pages = {2117--2122},
    Read = {Yes},
    Title = {Optimal Control of Mixed Logical Dynamical Systems with Linear Temporal Logic Specifications},
    Year = {2008}
    }
    

  16. Y. Kuwata, G.A. Fiore, J. Teo, E. Frazzoli, and J.P. How. Motion planning for urban driving using RRT. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages 1681-1686, 2008.
    @conference{Kuwata.Fiore.ea:IROS08,
    Author = {Y. Kuwata and G.A. Fiore and J. Teo and E. Frazzoli and J.P. How},
    Booktitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
    Date-Added = {2011-01-19 22:57:57 -0500},
    Date-Modified = {2011-01-19 23:00:45 -0500},
    Pages = {1681--1686},
    Title = {Motion planning for urban driving using {RRT}},
    Year = {2008}
    }
    

  17. Y. Kuwata, J. Teo, S. Karaman, G. Fiore, E. Frazzoli, and J.P. How. Motion Planning in Complex Environments using Closed-loop Prediction. In AIAA Conf. on Guidance, Navigation, and Control, Honolulu, HI, 2008.
    @conference{Kuwata.Teo.ea:GNC08,
    Address = {Honolulu, HI},
    Author = {Y.~Kuwata and J.~Teo and S.~Karaman and G.~Fiore and E.~Frazzoli and J.P.~How},
    Booktitle = {AIAA Conf. on Guidance, Navigation, and Control},
    Date-Added = {2008-03-28 01:47:23 -0400},
    Date-Modified = {2011-03-30 23:08:14 -0400},
    Title = {Motion Planning in Complex Environments using Closed-loop Prediction},
    Year = {2008}
    }
    

  18. J. Le Ny, M.A. Dahleh, E. Feron, and E. Frazzoli. Continuous Path Planning for a Data Harvesting Mobile Server. In IEEE Conf. on Decision and Control, pages 1489-1494, 2008.

    We consider a queueing system composed of two queues in a continuous environment and a mobile server serving the jobs in the queues with spatially varying rates. For a fluid model of this system, we provide a necessary and sufficient stabilizability condition. Then we investigate the question of server trajectory optimization for the problem of draining the initial fluid of the system when no further arrival occur.


  19. @conference{LeNy.Dahleh.ea:CDC08,
    Abstract = {We consider a queueing system composed of two queues in a continuous environment and a mobile server serving the jobs in the queues with spatially varying rates. For a fluid model of this system, we provide a necessary and sufficient stabilizability condition. Then we investigate the question of server trajectory optimization for the problem of draining the initial fluid of the system when no further arrival occur. },
    Author = {J.~{Le Ny} and M.A.~Dahleh and E.~Feron and E.~Frazzoli},
    Booktitle = {IEEE Conf. on Decision and Control},
    Date-Added = {2008-03-26 20:22:06 -0400},
    Date-Modified = {2011-01-19 23:02:08 -0500},
    Pages = {1489--1494},
    Title = {Continuous Path Planning for a Data Harvesting Mobile Server},
    Year = {2008}
    }
    

  20. M. Pavone, E. Frazzoli, and F. Bullo. Distributed Policies for Equitable Partitioning: Theory and Applications. In IEEE Conf. on Decision and Control, pages 4191-4197, 2008.

    The most widely applied resource allocation strategy is to balance, or equalize, the total workload assigned to each resource. In mobile multi-agent systems, this principle directly leads to equitable partitioning policies in which (i) the workspace is divided into subregions of equal measure, (ii) each agent is assigned to a unique subregion, and (iii) each agent is responsible for service requests originating within its own subregion. In this paper, we design distributed and adaptive policies that allow a team of agents to achieve a convex and equitable partition of a convex workspace. Our approach is related to the classic Lloyd algorithm, and exploits the unique features of Power Diagrams. We discuss possible applications to routing of vehicles in stochastic and dynamic environments, and to wireless networks. Simulation results are presented and discussed.


  21. @conference{Pavone.Frazzoli.ea:CDC08,
    Abstract = {The most widely applied resource allocation strategy is to balance, or equalize, the total workload assigned to each resource. In mobile multi-agent systems, this principle directly leads to equitable partitioning policies in which (i) the workspace is divided into subregions of equal measure, (ii) each agent is assigned to a unique subregion, and (iii) each agent is responsible for service requests originating within its own subregion. In this paper, we design distributed and adaptive policies that allow a team of agents to achieve a convex and equitable partition of a convex workspace. Our approach is related to the classic Lloyd algorithm, and exploits the unique features of Power Diagrams. We discuss possible applications to routing of vehicles in stochastic and dynamic environments, and to wireless networks. Simulation results are presented and discussed. },
    Author = {M.~Pavone and E.~Frazzoli and F.~Bullo},
    Booktitle = {IEEE Conf. on Decision and Control},
    Date-Added = {2008-03-26 21:04:31 -0400},
    Date-Modified = {2014-05-28 19:26:25 +0000},
    Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
    Pages = {4191--4197},
    Title = {Distributed Policies for Equitable Partitioning: Theory and Applications},
    Year = {2008}
    }
    

  22. M. Roozbehani, A. Megretski, and E. Frazzoli. Lyapunov Analysis of Quadratically Symmetric Neighborhood Consensus Algorithms. In IEEE Conf. on Decision and Control, pages 2252-2257, 2008.

    We consider a class of neighborhood consensus algorithms for multi-agent systems. Within this class, the agents move along the gradients of a particular function, which can be represented as the sum of the minimums of several quadratically symmetric non-negative functions. We provide generic Lyapunov functions that are non-increasing along the trajectories of these systems. Under some mild technical assumptions, the Lyapunov functions prove convergence of the algorithms when the number of agents is finite. We show that a well-known model of multi-agent systems, namely the opinion dynamics model, is a special case of this class. The opinion dynamics model was first introduced by Krause and consists of a distribution of agents on the real line, where the agents simultaneously update their positions by moving to the average of the positions of their neighbors including themselves. We show that a specific Lyapunov function that was previously proposed for the opinion dynamics model by Blondel et. al. can be recovered from our generic Lyapunov function. In addition to providing intuition about the dynamics of neighborhood consensus algorithms, our Lyapunov analysis is particularly useful for analysis of the infinite-dimensional case, where combinatorial approaches may not be extended as easily.


  23. @conference{Roozbehani.Megretski.ea:CDC08,
    Abstract = {We consider a class of neighborhood consensus algorithms for multi-agent systems. Within this class, the agents move along the gradients of a particular function, which can be represented as the sum of the minimums of several quadratically symmetric non-negative functions. We provide generic Lyapunov functions that are non-increasing along the trajectories of these systems. Under some mild technical assumptions, the Lyapunov functions prove convergence of the algorithms when the number of agents is finite. We show that a well-known model of multi-agent systems, namely the opinion dynamics model, is a special case of this class. The opinion dynamics model was first introduced by Krause and consists of a distribution of agents on the real line, where the agents simultaneously update their positions by moving to the average of the positions of their neighbors including themselves. We show that a specific Lyapunov function that was previously proposed for the opinion dynamics model by Blondel et. al. can be recovered from our generic Lyapunov function. In addition to providing intuition about the dynamics of neighborhood consensus algorithms, our Lyapunov analysis is particularly useful for analysis of the infinite-dimensional case, where combinatorial approaches may not be extended as easily. },
    Author = {M.~Roozbehani and A.~Megretski and E.~Frazzoli},
    Booktitle = {IEEE Conf. on Decision and Control},
    Date-Added = {2008-03-26 21:00:50 -0400},
    Date-Modified = {2011-01-19 22:15:51 -0500},
    Pages = {2252--2257},
    Title = {Lyapunov Analysis of Quadratically Symmetric Neighborhood Consensus Algorithms},
    Year = {2008}
    }
    

  24. R.G. Sanfelice and E. Frazzoli. A Hybrid Control Framework for Robust Maneuver-based motion planning. In American Control Conference, Seattle, WA, pages 2254-2259, 2008.
    @conference{Sanfelice.Frazzoli:ACC08,
    Address = {Seattle, WA},
    Author = {R.G.~Sanfelice and E.~Frazzoli},
    Booktitle = {American Control Conference},
    Date-Added = {2008-08-04 01:38:48 -0400},
    Date-Modified = {2011-01-19 22:46:01 -0500},
    Pages = {2254--2259},
    Title = {A Hybrid Control Framework for Robust Maneuver-based motion planning},
    Year = {2008}
    }
    

  25. K. Savla and E. Frazzoli. On Endogenous Reconfiguration for Mobile Robotic Networks. In Workshop on Algorithmic Foundations of Robotics (WAFR), Guanajuato, Mexico, December 2008.
    @conference{Savla.Frazzoli:WAFR08,
    Address = {Guanajuato, Mexico},
    Author = {K.~Savla and E.~Frazzoli},
    Booktitle = {Workshop on Algorithmic Foundations of Robotics (WAFR)},
    Date-Added = {2008-09-10 23:54:16 -0400},
    Date-Modified = {2008-09-10 23:56:23 -0400},
    Month = {December},
    Title = {On Endogenous Reconfiguration for Mobile Robotic Networks},
    Year = {2008}
    }
    

  26. K. Savla, C. Nehme, T. Temple, and E. Frazzoli. Efficient routing of multiple vehicles for human-supervised services in a dynamic environment. In AIAA Conf. on Guidance, Navigation, and Control, Honolulu, HI, 2008.
    @conference{Savla.Nehme.ea:GNC08,
    Address = {Honolulu, HI},
    Author = {K.~Savla and C. Nehme and T.~Temple and E.~Frazzoli},
    Booktitle = {AIAA Conf. on Guidance, Navigation, and Control},
    Date-Added = {2008-07-25 00:25:49 -0400},
    Date-Modified = {2014-05-28 19:26:25 +0000},
    Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
    Title = {Efficient routing of multiple vehicles for human-supervised services in a dynamic environment},
    Year = {2008}
    }
    

  27. K. Savla, T. Temple, and E. Frazzoli. Human-in-the-loop vehicle routing policies for dynamic environments. In IEEE Conf. on Decision and Control, pages 1145-1150, 2008.

    In this paper we design coordination policies for a heterogeneous team, composed of autonomous vehicles and remotely located human operators, for a routing problem requiring human-assisted classification of targets through analysis of information gathered on site by autonomous vehicles. More precisely, we consider the following problem. Targets are generated according to a spatio-temporal Poisson process, uniformly in a region of interest. It is desired to classify targets as friends or foes. In order to enable human operators to classify a target, one of the vehicles needs to travel to the target's location and gather sufficient information. In other words, the autonomous vehicles provide access to on-site information, and the human operator provide the judgment capabilities necessary to process such information. The objective of our analysis is to design joint motion coordination and operator scheduling policies that minimize the expected time needed to classify a target after its appearance; in addition, we want to analyze how the achievable system performance depends on the number of autonomous vehicles and of human operators. We present novel policies for joint motion coordination and human operator scheduling and compare the performance of these policies with respect to asymptotic performance bounds. Simulation results are presented and discussed.


  28. @conference{Savla.Temple.ea:CDC08,
    Abstract = { In this paper we design coordination policies for a heterogeneous team, composed of autonomous vehicles and remotely located human operators, for a routing problem requiring human-assisted classification of targets through analysis of information gathered on site by autonomous vehicles. More precisely, we consider the following problem. Targets are generated according to a spatio-temporal Poisson process, uniformly in a region of interest. It is desired to classify targets as friends or foes. In order to enable human operators to classify a target, one of the vehicles needs to travel to the target's location and gather sufficient information. In other words, the autonomous vehicles provide access to on-site information, and the human operator provide the judgment capabilities necessary to process such information. The objective of our analysis is to design joint motion coordination and operator scheduling policies that minimize the expected time needed to classify a target after its appearance; in addition, we want to analyze how the achievable system performance depends on the number of autonomous vehicles and of human operators. We present novel policies for joint motion coordination and human operator scheduling and compare the performance of these policies with respect to asymptotic performance bounds. Simulation results are presented and discussed.},
    Author = {K.~Savla and T.~Temple and E.~Frazzoli},
    Booktitle = {IEEE Conf. on Decision and Control},
    Date-Added = {2008-03-26 20:58:09 -0400},
    Date-Modified = {2014-05-28 19:26:25 +0000},
    Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
    Pages = {1145--1150},
    Title = {Human-in-the-loop vehicle routing policies for dynamic environments},
    Year = {2008}
    }
    

  29. S.L. Smith, M. Pavone, F. Bullo, and E. Frazzoli. Dynamic vehicle routing with heterogeneous demands. In IEEE Conf. on Decision and Control, Cancun, Mexico, pages 1206-1211, 2008.

    In this paper we study a variation of the Dynamic Traveling Repairperson Problem (DTRP) in which there are two classes of demands; high priority, and low priority. In the problem, demands arrive in the environment randomly over time and assume a random location and on-site service requirement. A service vehicle must travel to each demand's location and provide the required on-site service. The quality of service provided to each class of demands is measured by the expected delay between a demand's arrival and its service completion. The goal is to design policies for the service vehicle which minimize a convex combination of the delay for each class. We provide a lower bound on the achievable delay for this problem, and propose a policy which performs within a known constant factor of the optimal in heavy load (i.e., when the fraction of time the service vehicle spends performing on-site service approaches one). The problem studied in this paper is analogous to the multi-class queuing problem in classical queuing theory.


  30. @conference{Smith.Pavone.ea:CDC08,
    Abstract = { In this paper we study a variation of the Dynamic Traveling Repairperson Problem (DTRP) in which there are two classes of demands; high priority, and low priority. In the problem, demands arrive in the environment randomly over time and assume a random location and on-site service requirement. A service vehicle must travel to each demand's location and provide the required on-site service. The quality of service provided to each class of demands is measured by the expected delay between a demand's arrival and its service completion. The goal is to design policies for the service vehicle which minimize a convex combination of the delay for each class. We provide a lower bound on the achievable delay for this problem, and propose a policy which performs within a known constant factor of the optimal in heavy load (i.e., when the fraction of time the service vehicle spends performing on-site service approaches one). The problem studied in this paper is analogous to the multi-class queuing problem in classical queuing theory.},
    Address = {Cancun, Mexico},
    Author = {S.L.~Smith and M.~Pavone and F.~Bullo and E.~Frazzoli},
    Booktitle = {IEEE Conf. on Decision and Control},
    Date-Added = {2008-03-26 20:25:05 -0400},
    Date-Modified = {2013-08-06 02:51:06 +0000},
    Funding = {NSF-ECCS-0705451, NSF-CMMI-0707453},
    Pages = {1206--1211},
    Title = {Dynamic vehicle routing with heterogeneous demands},
    Year = {2008}
    }
    

Internal reports

  1. K. Savla and E. Frazzoli. On Endogenous Reconfiguration for Mobile Robotic Networks. Technical report, LIDS, MIT, 2008. Note: Available for download at \texttthttp://web.mit.edu/ksavla/www/publications.html.
    @techreport{Savla.Frazzoli:WAFR08-techreport,
    Author = {K. Savla and E. Frazzoli},
    Institution = {LIDS, MIT},
    Note = {Available for download at 	exttt{http://web.mit.edu/ksavla/www/publications.html}},
    Title = {On Endogenous Reconfiguration for Mobile Robotic Networks},
    Year = {2008}
    }
    


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Last modified: Tue Aug 18 08:30:35 2015
Author: frazzoli.


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