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- D.P. Spanos, R. M. Murray
- 2004 43rd IEEE Conference on Decision and Controlâ€¦
- 2004

We present a simple geometric analysis of wireless connectivity in vehicle networks. We introduce a localized notion of connectedness, and construct a function that measures the robustness of thisâ€¦ (More)

- Zhipu Jin, R. M. Murray
- Proceedings of the 45th IEEE Conference onâ€¦
- 2006

Consensus protocols are distributed algorithms in networked multi-agent systems. Based on the local information, agents automatically converge to a common consensus state and the convergence speed isâ€¦ (More)

- T. Chung, Vijay Gupta, J. W. Burdick, R. M. Murray
- 2004 43rd IEEE Conference on Decision and Controlâ€¦
- 2004

In this paper, we consider the problem of active sensing using mobile nodes as a sensor network to estimate the state of a dynamic target. We propose a gradient-search-based decentralized algorithmâ€¦ (More)

- Zhipu Jin, Stephen Waydo, +5 authors R. M. Murray
- Proceedings of the 2004 American Controlâ€¦
- 2004

The Caltech Multi-Vehicle Wireless Testbed is an experimental platform for validating theoretical advances in multiple-vehicle coordination and cooperation, real-time networked control system, andâ€¦ (More)

- D.P. Spanos, R. M. Murray
- Proceedings of the 2005, American Controlâ€¦
- 2005

This work discusses feasibility aspects of motion planning for groups of agents connected by a range-constrained wireless network. Specifically, we address the difficulties encountered whenâ€¦ (More)

We study the synthesis problem of an LQR controller when the matrix describing the control law is constrained to lie in a particular vector space. Our motivation is the use of such control laws toâ€¦ (More)

- B.Q. Nguyen, Yao-Ling Chuang, +6 authors R. M. Murray
- Proceedings of the 2005, American Controlâ€¦
- 2005

We consider a motion planning method based on cooperative biological swarming models with virtual attractive and repulsive potentials (VARP). We derive a map between the model and fan speeds for theâ€¦ (More)

- Ather Gattami, R. M. Murray
- Proceedings of the 2004 American Controlâ€¦
- 2004

Analysis of interconnected dynamical systems is considered. A framework for the analysis of stability of the interconnection is given. The results of Fax and Murray that studies the SISO-case for aâ€¦ (More)

- Magnus Linderoth, Kristian Soltesz, R. M. Murray
- 2008 American Control Conference
- 2008

This paper proposes an intuitive nonlinear lateral control strategy for trajectory tracking in autonomous nonholonomic vehicles. The controller has been implemented and verified in Alice, Teamâ€¦ (More)

- Stefania Tonetti, R. M. Murray
- Proceedings of the 2010 American Controlâ€¦
- 2010

This paper explores some tradeoffs and limits of performance in feedback control of interconnected multi-agent systems, focused on the network sensitivity functions. We consider the interactionâ€¦ (More)