BACK TO INDEX

# Publications of year 2009

## Articles in journal, book chapters

1. A. Arsie, K. Savla, and E. Frazzoli. Efficient routing algorithms for multiple vehicles with no explicit communications. IEEE Trans. on Automatic Control, 54(10):2302-2317, 2009. [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.Savla.ea:TAC09,
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 K. Savla and E. Frazzoli},
Date-Modified = {2014-05-28 19:23:32 +0000},
Funding = {NSF-CMMI-0707453, NSF-ECCS-0705451; AFOSR-MACCCS-FA8650-07-2-3744},
Journal = {IEEE Trans. on Automatic Control},
Keywords = {Robotic Networks},
Number = {10},
Pages = {2302--2317},
Pdf = {/papers/Arsie.Savla.ea.TAC09.pdf},
Title = {Efficient routing algorithms for multiple vehicles with no explicit communications},
Volume = {54},
Year = {2009}
}


3. J. J. Enright, K. Savla, E. Frazzoli, and F. Bullo. Stochastic and Dynamic Routing Problems for multiple UAVs. AIAA J. of Guidance, Control, and Dynamics, 32(4):1152-1166, 2009. [PDF]
@article{Enright.Savla.ea:JGCD09,
Author = {J. J. Enright and K. Savla and E. Frazzoli and F. Bullo},
Date-Modified = {2013-08-06 03:58:09 +0000},
Funding = {AFOSR-MACCCS-FA8650-07-2-3744, NSF-CMMI-0707453, NSF-ECCS-0705451},
Journal = {AIAA J. of Guidance, Control, and Dynamics},
Number = {4},
Pages = {1152--1166},
Pdf = {/papers/Enright.Savla.ea.JGCD09.pdf},
Title = {Stochastic and Dynamic Routing Problems for multiple {UAV}s},
Volume = {32},
Year = {2009}
}


4. Y. Kuwata, J. Teo, G. Fiore, S. Karaman, E. Frazzoli, and J.P. How. Real-time Motion Planning with Applications to Autonomous Urban Driving. IEEE Trans. on Control Systems Technologies, 17(5):1105-1118, 2009. [PDF]
@article{Kuwata.Teo.ea:TCST09,
Author = {Y.~Kuwata and J.~Teo and G.~Fiore and S.~Karaman and E.~Frazzoli and J.P.~How},
Date-Modified = {2009-08-29 17:20:23 -0400},
Journal = {IEEE Trans. on Control Systems Technologies},
Number = {5},
Pages = {1105--1118},
Pdf = {http://ares.lids.mit.edu/papers/Kuwata.Teo.ea.TCST09.pdf},
Title = {Real-time Motion Planning with Applications to Autonomous Urban Driving},
Volume = {17},
Year = {2009}
}


5. M. Pavone, N. Bisnik, E. Frazzoli, and V. Isler. A Stochastic and Dynamic Vehicle Routing Problem with Time Windows and Customer Impatience. ACM/Springer Mobile Networks and Applications Journal, 14(3):350-364, 2009. [PDF]
@article{Pavone.Bisnik.ea:MONET09,
Author = {M.~Pavone and N.~Bisnik and E.~Frazzoli and V.~Isler},
Date-Modified = {2014-05-28 19:23:39 +0000},
Funding = {NSF-CMMI-0707453, NSF-ECCS-0705451; AFOSR-MACCCS-FA8650-07-2-3744},
Journal = {ACM/Springer Mobile Networks and Applications Journal},
Number = {3},
Pages = {350--364},
Pdf = {/papers/Pavone.Bisnik.ea.MONE08.pdf},
Title = {A Stochastic and Dynamic Vehicle Routing Problem with Time Windows and Customer Impatience},
Volume = {14},
Year = {2009}
}


6. M. Pavone, K. Savla, and E. Frazzoli. Sharing the Load. IEEE Robotics and Automation Magazine, 16(2):52-61, 2009. [PDF]
@article{Pavone.Savla.ea:RAM09,
Author = {M.~Pavone and K.~Savla and E.~Frazzoli},
Date-Modified = {2013-08-06 03:53:28 +0000},
Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
Journal = {IEEE Robotics and Automation Magazine},
Number = {2},
Pages = {52--61},
Pdf = {http://ares.lids.mit.edu/papers/Pavone.Frazzoli.JDSMC07.pdf},
Volume = {16},
Year = {2009}
}


7. K. Savla, F. Bullo, and E. Frazzoli. Traveling Salesperson Problems for a double integrator. IEEE Trans. on Automatic Control, 54(4):788-793, 2009. Keyword(s): Vehicle Routing.
@article{Savla.Bullo.ea:TRO09,
Author = {K. Savla and F. Bullo and E. Frazzoli},
Date-Modified = {2014-05-28 19:23:45 +0000},
Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
Journal = {IEEE Trans. on Automatic Control},
Keywords = {Vehicle Routing},
Number = {4},
Pages = {788--793},
Title = {Traveling Salesperson Problems for a double integrator},
Volume = {54},
Year = {2009}
}


## Conference articles

1. D. Bernardini, D. Muñoz de la Peña, A. Bemporad, and E. Frazzoli. Simultaneous Optimal Control and Discrete Stochastic Sensor Selection. In R. Majumdar and P. Tabuada, editors, Hybrid Systems: Computation and Control, 2009.
@conference{Bernardini.Munoz.ea:HSCC09,
Author = {D.~Bernardini and D. {Mu\~noz de la Pe\~na} and A.~Bemporad and E.~Frazzoli},
Booktitle = {Hybrid Systems: Computation and Control},
Date-Modified = {2013-08-06 02:40:34 +0000},
Funding = {None},
Title = {Simultaneous Optimal Control and Discrete Stochastic Sensor Selection},
Year = {2009}
}


2. D.V. Dimarogonas and E. Frazzoli. Distributed event-triggered control strategies for multi-agent systems. In Allerton Conference, pages 906-910, 2009.
@conference{Dimarogonas.Frazzoli:Allerton09,
Author = {D.V. Dimarogonas and E. Frazzoli},
Booktitle = {Allerton Conference},
Date-Modified = {2011-01-19 23:14:11 -0500},
Pages = {906--910},
Title = {Distributed event-triggered control strategies for multi-agent systems},
Year = {2009}
}


3. S. Karaman, M. Faied, A. Girard, and E. Frazzoli. Complex Adversarial UAV Operations. In AIAA Conf. on Guidance, Navigation, and Control, Chicago, IL, 2009.
@conference{Karaman.Faied.ea:GNC09,
Author = {S. Karaman and M. Faied and A. Girard and E. Frazzoli},
Booktitle = {AIAA Conf. on Guidance, Navigation, and Control},
Date-Modified = {2013-08-06 04:01:13 +0000},
Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
Title = {Complex Adversarial {UAV} Operations},
Year = {2009}
}


4. S. Karaman and E. Frazzoli. Sampling-based Motion Planning with Deterministic $\mu$-calculus Specifications. In IEEE Conf. on Decision and Control, pages 2222-2229, 2009. [PDF]

In this paper, we propose algorithms for the on-line computation of control programs for dynamical systems that provably satisfy a class of temporal logic specifications. Such specifications have recently been proposed in the literature as a powerful tool to synthesize provably correct control programs, for example for embedded systems and robotic applications. The proposed algorithms, generalizing state-of-the-art algorithms for point-to-point motion planning, incrementally build finite transition systems representing a discrete subset of dynamically feasible trajectories. At each iteration, local $\mu$-calculus model-checking methods are used to establish whether the current transition system satisfies the specifications. Efficient sampling strategies are presented, ensuring the probabilistic completeness of the algorithms. We demonstrate the effectiveness of the proposed approach on simulation examples.

5. @conference{Karaman.Frazzoli:CDC09,
Abstract = { In this paper, we propose algorithms for the on-line computation of control programs for dynamical systems that provably satisfy a class of temporal logic specifications. Such specifications have recently been proposed in the literature as a powerful tool to synthesize provably correct control programs, for example for embedded systems and robotic applications. The proposed algorithms, generalizing state-of-the-art algorithms for point-to-point motion planning, incrementally build finite transition systems representing a discrete subset of dynamically feasible trajectories. At each iteration, local $\mu$-calculus model-checking methods are used to establish whether the current transition system satisfies the specifications. Efficient sampling strategies are presented, ensuring the probabilistic completeness of the algorithms. We demonstrate the effectiveness of the proposed approach on simulation examples. },
Author = {S. Karaman and E. Frazzoli},
Booktitle = {IEEE Conf. on Decision and Control},
Date-Modified = {2013-08-06 04:04:34 +0000},
Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
Pages = {2222--2229},
Pdf = {http://ares.lids.mit.edu/papers/Karaman.Frazzoli.CDC09.pdf},
Title = {Sampling-based Motion Planning with Deterministic $\mu$-calculus Specifications},
Year = {2009}
}


6. S. Karaman, S. Rasmussen, D. Kingston, and E. Frazzoli. Specification and planning of UAV missions: a Process Algebra approach. In American Control Conference, pages 1442-1447, 2009.
@conference{Karaman.Rasmussen.ea:ACC09,
Author = {S. Karaman and S. Rasmussen and D. Kingston and E. Frazzoli},
Booktitle = {American Control Conference},
Date-Modified = {2013-08-06 02:45:37 +0000},
Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
Pages = {1442--1447},
Title = {Specification and planning of {UAV} missions: a Process Algebra approach},
Year = {2009}
}


7. S. Karaman, T. Shima, and E. Frazzoli. Task Assignment for Complex UAV Operations using Genetic Algorithms. In AIAA Conf. on Guidance, Navigation, and Control, Chicago, IL, 2009.
@conference{Karaman.Shima.ea:GNC09,
Author = {S. Karaman and T. Shima and E. Frazzoli},
Booktitle = {AIAA Conf. on Guidance, Navigation, and Control},
Date-Modified = {2013-08-06 04:01:20 +0000},
Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
Title = {Task Assignment for Complex UAV Operations using Genetic Algorithms},
Year = {2009}
}


8. M. Pavone, A. Arsie, E. Frazzoli, and F. Bullo. Equitable partitioning policies for robotic networks. In IEEE Int. Conf. on Robotics and Automation, Kobe, Japan, pages 2356-2361, 2009.
@conference{Pavone.Arsie.ea:ICRA09,
Author = {M. Pavone and A. Arsie and E. Frazzoli and F. Bullo},
Booktitle = {IEEE Int. Conf. on Robotics and Automation},
Date-Modified = {2013-08-06 04:00:59 +0000},
Funding = {NSF-CMMI-0707453, NSF-ECCS-0705451},
Pages = {2356--2361},
Title = {Equitable partitioning policies for robotic networks},
Year = {2009}
}


9. M. Pavone, S.L. Smith, F. Bullo, and E. Frazzoli. Dynamic Multi-Vehicle Routing with Multiple Classes of Demands. In Proc. of the American Control Conference, St. Louis, MO, pages 604-609, 2009.
@conference{Pavone.Smith.ea:ACC09,
Author = {M.~Pavone and S.L.~Smith and F.~Bullo and E.~Frazzoli},
Booktitle = {Proc. of the American Control Conference},
Date-Modified = {2013-08-06 02:54:19 +0000},
Funding = {NSF-ECCS-0705451, NSF-CMMI-0707453},
Pages = {604--609},
Title = {Dynamic Multi-Vehicle Routing with Multiple Classes of Demands},
Year = {2009}
}


10. S. Ponda and E. Frazzoli. Trajectory Optimization for Target Localization Using Small Unmanned Aerial Vehicles. In AIAA Conf. on Guidance, Navigation, and Control, Chicago, IL, 2009.
@conference{Ponda.Frazzoli:GNC09,
Author = {S. Ponda and E. Frazzoli},
Booktitle = {AIAA Conf. on Guidance, Navigation, and Control},
Date-Modified = {2013-08-06 04:02:30 +0000},
Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
Title = {Trajectory Optimization for Target Localization Using Small Unmanned Aerial Vehicles},
Year = {2009}
}


11. J.L. Ramirez, M. Pavone, and E. Frazzoli. Cyclic Pursuit for Spacecraft Formation Control. In Proc. of the American Control Conference, 2009. Keyword(s): Spacecraft control.
@conference{Ramirez.Pavone.ea:ACC09,
Author = {J.L.~Ramirez and M.~Pavone and E.~Frazzoli},
Booktitle = {Proc. of the American Control Conference},
Date-Modified = {2011-03-30 23:09:13 -0400},
Keywords = {Spacecraft control},
Title = {Cyclic Pursuit for Spacecraft Formation Control},
Year = {2009}
}


12. J.L. Ramirez, M. Pavone, E. Frazzoli, and D.W. Miller. Distributed Control of Spacecraft Formations via Cyclic Pursuit: Theory and Experiments. In American Control Conference, St. Louis, MO, pages 4811-4817, 2009.
@conference{Ramirez.Pavone.ea:GNC09,
Author = {J.L.~Ramirez and M.~Pavone and E.~Frazzoli and D.W.~Miller},
Booktitle = {American Control Conference},
Date-Modified = {2009-12-29 23:05:12 +0100},
Pages = {4811--4817},
Title = {Distributed Control of Spacecraft Formations via Cyclic Pursuit: Theory and Experiments},
Year = {2009}
}


13. K. Savla and E. Frazzoli. Game-theoretic learning algorithm for a spatial coverage problem. In Allerton Conference, Monticello, IL, pages 984-990, 2009.
@conference{Savla.Frazzoli:Allerton09,
Author = {K. Savla and E. Frazzoli},
Booktitle = {Allerton Conference},
Date-Modified = {2011-01-19 23:07:35 -0500},
Pages = {984--990},
Title = {Game-theoretic learning algorithm for a spatial coverage problem},
Year = {2009}
}


14. E. Velenis, E. Frazzoli, and P. Tsiotras. On Steady-State Cornering Equilibria for Wheeled Vehicles with Drift. In IEEE Conf. on Decision and Control, pages 3545-3550, 2009. [PDF]

In this work we derive steady-state cornering conditions for a single-track vehicle model without restricting the operation of the tires to their linear region (i.e. allowing the vehicle to drift). For each steady-state equilibrium we calculate the corresponding tire friction forces at the front and rear tires, as well as the required front steering angle and front and rear wheel longitudinal slip, to maintain constant velocity, turning rate and vehicle sideslip angle. We design a linear controller that stabilizes the vehicle dynamics with respect to the steady- state cornering equilibria using longitudinal slip at the front and the rear wheels as the control inputs. The wheel torques necessary to maintain the given equilibria are calculated and a sliding-mode controller is proposed to stabilize the vehicle using only front and rear wheel torques as control inputs.

15. @conference{Velenis.Frazzoli.ea:CDC09,
Abstract = {In this work we derive steady-state cornering conditions for a single-track vehicle model without restricting the operation of the tires to their linear region (i.e. allowing the vehicle to drift). For each steady-state equilibrium we calculate the corresponding tire friction forces at the front and rear tires, as well as the required front steering angle and front and rear wheel longitudinal slip, to maintain constant velocity, turning rate and vehicle sideslip angle. We design a linear controller that stabilizes the vehicle dynamics with respect to the steady- state cornering equilibria using longitudinal slip at the front and the rear wheels as the control inputs. The wheel torques necessary to maintain the given equilibria are calculated and a sliding-mode controller is proposed to stabilize the vehicle using only front and rear wheel torques as control inputs.},
Author = {E. Velenis and E. Frazzoli and P. Tsiotras},
Booktitle = {IEEE Conf. on Decision and Control},
Date-Modified = {2011-01-19 23:04:28 -0500},
Pages = {3545--3550},
Pdf = {http://ares.lids.mit.edu/papers/Velenis.Frazzoli.ea.CDC09.pdf},
Title = {On Steady-State Cornering Equilibria for Wheeled Vehicles with Drift},
Year = {2009}
}


BACK TO INDEX

Disclaimer:

This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All person copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.