Richard M. Murray

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In this paper, we discuss consensus problems for networks of dynamic agents with fixed and switching topologies. We analyze three cases: 1) directed networks with fixed topology; 2) directed networks with switching topology; and 3) undirected networks with communication time-delays and fixed topology. We introduce two consensus protocols for networks with(More)
This paper provides a theoretical framework for analysis of consensus algorithms for multi-agent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, time-delays, and performance guarantees. An overview of basic concepts of information consensus in networks and(More)
We consider the problem of cooperation among a collection of vehicles performing a shared task using intervehicle communication to coordinate their actions. We apply tools from graph theory to relate the topology of the communication network to formation stability. We prove a Nyquist criterion that uses the eigenvalues of the graph Laplacian matrix to(More)
-In this paper, we investigate methods for steering systems with nonholonomic constraints between arbitrary configurations. Early work by Brockett derives the optimal controls for a set of canonical systems in which the tangent space to the configuration manifold is spanned by the input vector fields and their first order Lie brackets. Using Brockett’s(More)
Version v2.10c (March 4, 2010) This is the electronic edition of Feedback Systems and is available from http://www.cds.caltech.edu/∼murray/amwiki. Hardcover editions may be purchased from Princeton Univeristy Press, http://press.princeton.edu/titles/8701.html. This manuscript is for personal use only and may not be reproduced, in whole or in part, without(More)
ly, the derivation of the grasp kinematics is identical to the<lb>fixed contact case except that the grasp map and hand Jacobian depend<lb>on the instantaneous contact location, which in turn depends on ηi, the<lb>contact coordinates for each finger. Thus, the contact kinematics have<lb>the form<lb>Jh(θ, xo, η)θ̇ = G<lb>T (η)V b<lb>po<lb>η̇i = Ai(ηi)V(More)
In this paper we present a definition of “configuration controllability” for mechanical systems whose Lagrangian is kinetic energy with respect to a Riemannian metric minus potential energy. A computable test for this new version of controllability is derived. This condition involves an object which we call the symmetric product . Of particular interest is(More)
Preliminary results of a new computational approach to generate aggressive trajectories in real-time for constrained mechanical systems are presented. The algorithm is based on a combination of nonlinear control theory, spline theory, and sequential quadratic programming. It is demonstrated that real-time trajectory generation for constrained mechanical(More)
We consider the control of interacting subsystems whose dynamics and constraints are decoupled, but whose state vectors are coupled non-separably in a single cost function of a finite horizon optimal control problem. For a given cost structure, we generate distributed optimal control problems for each subsystem and establish that a distributed receding(More)