Patrick Martin

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In this paper, we consider the problem of going from high-level specifications of complex control tasks for cyber-physical systems to their actual implementation and execution on physical devices. This transition between abstraction levels inevitably results in a specification-to-execution gap, and we discuss two sources for this gap; namely model based and(More)
Sensor networks primarily have two competing objectives: they must sense as much as possible, yet last as long as possible when deployed. In this paper, we approach this problem using optimal control. We describe a model that relates each sensor’s “footprint” to their power consumption and use this model to derive optimal control laws that maintain the area(More)
In this paper we extend the definition of a motion description language (MDL) to networked systems. This new construction (MDLn) supports inter-agent specification rules as well as desired network topologies, enabling us to specify high-level control programs for group interactions. In particular, MDLn-strings specify multi-modal executions of the system(More)
In this paper, we consider the problem of generating optimized, executable control code from high-level, symbolic specifications. In particular, we construct symbolic control programs using strings from a motion description language with a nominal set of motion parameters, such as temporal duration and energy, embedded within each mode. These parameters are(More)
This technical note investigates how to produce control programs for complex systems in a systematic manner. In particular, we present an abstraction-based approach to the specification and optimization of motion programs for controlling robot marionettes. The resulting programs are based on the concatenation of motion primitives and are further improved(More)
We present an optimal timing control formulation for the problem of controlling autonomous puppets. In particular, by appropriately timing the different movements, entire plays can be performed. Such plays are produced by concatenating sequences of motion primitives and a compiler optimizes these sequences, using recent results in optimal switch-time(More)
We explore the effect that bounded inputs have when we specifying sequences of control laws for driving a linear, dynamical system through intermediary equilibrium points. These sequences, given in the Motion Description Language (MDL) formalism, may not be feasible in that they may violate the bounded input constraints. To overcome this problem, we augment(More)
The West Nile virus outbreak of 1999 revealed many weaknesses in this country's ability to respond to disease threats that cross species lines. There were issues of poor communication among human, domestic animal, and wildlife health agencies that delayed diagnosis; a lack of diagnostic capacity of wildlife agencies at the state level; the exclusion of(More)
To see a world in a grain of sand, And a heaven in a wild flower, ... ACKNOWLEDGMENTS First and foremost, I would like to express my appreciation to my advisor, Dr. Magnus Egerstedt, for his guidance and support, without which this dissertation would not have materialized. Your unquenchable enthusiasm and tireless hardwork have been the most invaluable(More)
The development of control applications for multi-agent robot and sensor networks is complicated by the heterogeneous nature of the systems involved, as well as their physical capabilities (or limitations). We propose a software framework that unifies these networked systems, thus facilitating the development of multiagent control across multiple platforms(More)