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Magnus Egerstedt

48 accepted papers

2026

Collaborative Task Allocation for Heterogeneous Multi-Robot Systems Through Iterative Clustering

David R. Martin, Brooks A. Butler, Scott Nivison, Magnus Egerstedt, Mohammad Abdullah Al Faruque, Pramod P. Khargonekar
RA-L 2026

Multi-robot systems face the challenge of efficiently allocating teams of heterogeneous robots to tasks. The task allocation problem is complicated by collaborative interactions between robots where teams of robots develop emergent capabilities that enable them to complete tasks that would be ineffi

Cited by 1Source ↗Scholar ↗
2026

Collaborative Task Allocation for Heterogeneous Multi-Robot Systems through Iterative Clustering

David R. Martin, Brooks A. Butler, Scott Nivison, Magnus Egerstedt, Mohammad Abdullah Al Faruque, Pramod Khargonekar
ICRA 2026poster

Multi-robot systems face the challenge of efficiently allocating teams of heterogeneous robots to tasks. The task allocation problem is complicated by collaborative interactions between robots where teams of robots develop emergent capabilities that enable them to complete tasks that would be ineffi…

Cited by 0Source ↗Scholar ↗
2025

"Hierarchy of Needs" for Robots: Control Synthesis for Compositions of Hierarchical, Complex Objectives

Ruoyu Lin, Magnus Egerstedt
ICRA 2025

Drawing inspiration from Maslow's “hierarchy of needs”, this paper develops a real-time control synthesis framework for robots to address hierarchical, complex objectives, recognizing that their behaviors are inherently driven by underlying needs. Each need is encoded by the zero-superlevel set of a

Cited by 2Source ↗Scholar ↗
2025

RaccoonBot: An Autonomous Wire-Traversing Solar-Tracking Robot for Persistent Environmental Monitoring

Efrain Mendez-Flores, Agaton Pourshahidi, Magnus Egerstedt
ICRA 2025

Environmental monitoring is used to characterize the health and relationship between organisms and their environments. In forest ecosystems, robots can serve as platforms to acquire such data, even in hard-to-reach places where wire-traversing platforms are particularly promising due to their effici

Cited by 3Source ↗Scholar ↗
2025

Safe Reinforcement Learning Using Robust Control Barrier Functions

Yousef Emam, Gennaro Notomista, Paul Glotfelter, Zsolt Kira, Magnus Egerstedt
RA-L 2025

Reinforcement Learning (RL) has been shown to be effective in many scenarios. However, it typically requires the exploration of a sufficiently large number of state-action pairs, some of which may be unsafe. Consequently, its application to safety-critical systems remains a challenge. An increasingl

Cited by 85Source ↗code ↗Scholar ↗
2023

Learning Deep Neural Network Controller for Path Following of Unicycle Robots

Priyabrata Saha, Luis Guerrero-Bonilla, Magnus Egerstedt, Saibal Mukhopadhyay
RA-L 2023

This letter investigates the scope of deep neural network (DNN) based controller in the path following task for unicycle mobile robots. A DNN-based controller is trained to follow paths with arbitrary curvature in two-dimensional space. The training process does not require initialization or supervi

Cited by 3Source ↗Scholar ↗
2022

Coverage Control of Mobile Robots With Different Maximum Speeds for Time-Sensitive Applications

Soobum Kim, María Santos, Luis Guerrero-Bonilla, Anthony J. Yezzi, Magnus Egerstedt
RA-L 2022

This letter presents a coverage control algorithm for robots with different maximum speeds to effectively cover an area in terms of time of travel. In order to utilize the different speeds of the robots, the region of dominance of a robot is approximated by the set of points where the robot can arri

Cited by 24Source ↗Scholar ↗
2021

Area Defense and Surveillance on Rectangular Regions Using Control Barrier Functions

Luis Guerrero-Bonilla, Magnus Egerstedt, Dimos V. Dimarogonas
IROS 2021poster

A formulation of the area defense and surveillance problem for one intruder and one defense and surveillance robot and its corresponding solution using control barrier functions is presented. The defense robot must follow the intruder as it moves through a rectangular region in the plane, ensuring t…

Cited by 5Source ↗Scholar ↗
2021

Data-Driven Adaptive Task Allocation for Heterogeneous Multi-Robot Teams Using Robust Control Barrier Functions

Yousef Emam, Gennaro Notomista, Paul Glotfelter, Magnus Egerstedt
ICRA 2021poster

Multi-robot task allocation is a ubiquitous problem in robotics due to its applicability in a variety of scenarios. Adaptive task-allocation algorithms account for unknown disturbances and unpredicted phenomena in the environment where robots are deployed to execute tasks. However, this adaptivity t…

Cited by 15Source ↗Scholar ↗
2021

Safety With Limited Range Sensing Constraints For Fixed Wing Aircraft

Eric Squires, Rohit Konda, Pietro Pierpaoli, Samuel Coogan, Magnus Egerstedt
ICRA 2021poster

In this paper we discuss how to use a barrier function that is subject to kinematic constraints and limited sensing in order to guarantee that fixed wing unmanned aerial vehicles (UAVs) will maintain safe distances from each other at all times despite being subject to sensing constraints. Prior work…

Cited by 6Source ↗Scholar ↗
2021

The Robotarium: Automation of a Remotely Accessible, Multi-Robot Testbed

Sean Wilson, Paul Glotfelter, Siddharth Mayya, Gennaro Notomista, Yousef Emam, Xiaoyi Cai +1
RA-L 2021

The cost, in terms of both time and money, of instantiating a physical testbed can be prohibitive. To help resolve this issue, the Robotarium offers a free, remotely accessible robotics lab to users around the world. Since allowing the general public to use it, hundreds of users have submitted thous

Cited by 19Source ↗Scholar ↗
2020

Adaptive Task Allocation for Heterogeneous Multi-Robot Teams with Evolving and Unknown Robot Capabilities

Yousef Emam, Siddharth Mayya, Gennaro Notomista, Addison Bohannon, Magnus Egerstedt
ICRA 2020poster

For multi-robot teams with heterogeneous capabilities, typical task allocation methods assign tasks to robots based on the suitability of the robots to perform certain tasks as well as the requirements of the task itself. However, in real-world deployments of robot teams, the suitability of a robot…

Cited by 55Source ↗Scholar ↗
2020

Enhancing Game-Theoretic Autonomous Car Racing Using Control Barrier Functions

Gennaro Notomista, Mingyu Wang, Mac Schwager, Magnus Egerstedt
ICRA 2020poster

In this paper, we consider a two-player racing game, where an autonomous ego vehicle has to be controlled to race against an opponent vehicle, which is either autonomous or human-driven. The approach to control the ego vehicle is based on a Sensitivity-ENhanced NAsh equilibrium seeking (SENNA) metho…

Cited by 42Source ↗Scholar ↗
2020

Multi-Agent Task Allocation using Cross-Entropy Temporal Logic Optimization

Christopher Banks, Sean Wilson, Samuel Coogan, Magnus Egerstedt
ICRA 2020poster

In this paper, we propose a graph-based search method to optimally allocate tasks to a team of robots given a global task specification. In particular, we define these agents as discrete transition systems. In order to allocate tasks to the team of robots, we decompose finite linear temporal logic (…

Cited by 37Source ↗Scholar ↗
2020

Multi-Robot Coordination for Estimation and Coverage of Unknown Spatial Fields

Alessia Benevento, María Santos, Giuseppe Notarstefano, Kamran Paynabar, Matthieu Bloch, Magnus Egerstedt
ICRA 2020poster

We present an algorithm for multi-robot coverage of an initially unknown spatial scalar field characterized by a density function, whereby a team of robots simultaneously estimates and optimizes its coverage of the density function over the domain. The proposed algorithm borrows powerful concepts fr…

Cited by 62Source ↗Scholar ↗
2020

Optimization-Based Distributed Flocking Control for Multiple Rigid Bodies

Tatsuya Ibuki, Sean Wilson, Junya Yamauchi, Masayuki Fujita, Magnus Egerstedt
RA-L 2020

This letter considers distributed flocking control on the Special Euclidean group for networked rigid bodies. The method captures the three flocking rules proposed by Reynolds: cohesion; alignment; and separation. The proposed controller is based only on relative pose (position and attitude) informa

Cited by 52Source ↗Scholar ↗
2020

Visual Coverage Maintenance for Quadcopters Using Nonsmooth Barrier Functions

Riku Funada, María Santos, Takuma Gencho, Junya Yamauchi, Masayuki Fujita, Magnus Egerstedt
ICRA 2020poster

This paper presents a coverage control algorithm for teams of quadcopters with downward facing visual sensors that prevents the appearance of coverage holes in-between the monitored areas while maximizing the coverage quality as much as possible. We derive necessary and sufficient conditions for pre…

Cited by 14Source ↗Scholar ↗
2019

A Decentralized Heterogeneous Control Strategy for a Class of Infinitesimally Shape-Similar Formations

Ian Buckley, Magnus Egerstedt
ICRA 2019poster

The sensing modalities available to individual agents in a multi-robot team have a significant effect on what the team can accomplish. Previous work on infinitesimal shape-similarity has shown that maintaining relative angles between robots equipped with bearing-only sensors can render a formation o…

Cited by 3Source ↗Scholar ↗
2019

A Study of a Class of Vibration-Driven Robots: Modeling, Analysis, Control and Design of the Brushbot

Gennaro Notomista, Siddharth Mayya, Anirban Mazumdar, Seth Hutchinson, Magnus Egerstedt
IROS 2019poster

In this paper we present a study of a specific class of vibration-driven robots: the brushbots. In a bottom-up fashion, we start by deriving dynamic models of the brushes and we discuss the conditions under which these models can be employed to describe the motion of brushbots. Then, we present two…

Cited by 29Source ↗Scholar ↗
2019

Hybrid Nonsmooth Barrier Functions With Applications to Provably Safe and Composable Collision Avoidance for Robotic Systems

Paul Glotfelter, Ian Buckley, Magnus Egerstedt
RA-L 2019

Robots are entering an age of ubiquity, and to operate effectively, these systems must typically satisfy a series of constraints (e.g., collision avoidance, obeying speed limits, maintaining connectivity). In addition, modern applications hinge on the completion of particular tasks, such as driving

Cited by 90Source ↗Scholar ↗
2019

Non-Uniform Robot Densities in Vibration Driven Swarms Using Phase Separation Theory

Siddharth Mayya, Gennaro Notomista, Dylan Shell, Seth Hutchinson, Magnus Egerstedt
IROS 2019poster

In robot swarms operating under highly restrictive sensing and communication constraints, individuals may need to use direct physical proximity to facilitate information exchange. However, in certain task-related scenarios, this requirement might conflict with the need for robots to spread out in th…

Cited by 22Source ↗Scholar ↗
2019

Sensor Coverage Control Using Robots Constrained to a Curve

Gennaro Notomista, María Santos, Seth Hutchinson, Magnus Egerstedt
ICRA 2019poster

In this paper we consider a constrained coverage control problem for a team of mobile robots. The robots are asked to provide sensor coverage over a two-dimensional domain, while being constrained to only move on a curve. The unconstrained coverage problem can be effectively solved by defining a loc…

Cited by 2Source ↗Scholar ↗
2019

Specification-Based Maneuvering of Quadcopters Through Hoops

Christopher Banks, Kyle Slovak, Samuel Coogan, Magnus Egerstedt
IROS 2019poster

In this paper, we study the problem of navigating quadcopters through a sequence of hoops. The specification may be given directly or indirectly via a linear temporal logic (LTL) formula. We approach this problem in three phases. First, we introduce a planner that generates a path through a given se…

Cited by 2Source ↗Scholar ↗
2019

Visual Coverage Control for Teams of Quadcopters via Control Barrier Functions

Riku Funada, María Santos, Junya Yamauchi, Takeshi Hatanaka, Masayuki Fujita, Magnus Egerstedt
ICRA 2019poster

This paper presents a coverage control strategy for teams of quadcopters that ensures that no area is left unsurveyed in between the fields of view of the visual sensors mounted on the quadcopters. We present a locational cost that quantifies the team's coverage performance according to the sensors'…

Cited by 29Source ↗Scholar ↗
2019

Voluntary Retreat for Decentralized Interference Reduction in Robot Swarms

Siddharth Mayya, Pietro Pierpaoli, Magnus Egerstedt
ICRA 2019poster

In densely-packed robot swarms operating in confined regions, spatial interference-which manifests itself as a competition for physical space-forces robots to spend more time navigating around each other rather than performing the primary task. This paper develops a decentralized algorithm that enab…

Cited by 22Source ↗Scholar ↗
2018

A Parametric MPC Approach to Balancing the Cost of Abstraction for Differential-Drive Mobile Robots

Paul Glotfelter, Magnus Egerstedt
ICRA 2018poster

When designing control strategies for differential-drive mobile robots, one standard tool is the consideration of a point at a fixed distance along a line orthogonal to the wheel axis instead of the full pose of the vehicle. This abstraction supports replacing the non-holonomic, three-state unicycle…

Cited by 8Source ↗Scholar ↗
2018

Coverage Control for Multi-Robot Teams with Heterogeneous Sensing Capabilities Using Limited Communications

María Santos, Magnus Egerstedt
IROS 2018poster

This paper presents a coverage algorithm for multi-robot systems where the robots are equipped with qualitatively different sensing modalities. Unlike previous approaches to the problem of coverage for teams with heterogeneous sensing capabilities, in this paper the robots have access to information…

Cited by 44Source ↗Scholar ↗
2018

Coverage Control for Multirobot Teams With Heterogeneous Sensing Capabilities

Maria Santos, Yancy Diaz-Mercado, Magnus Egerstedt
RA-L 2018

This letter investigates how mobile agents with qualitatively different sensing capabilities should be organized in order to effectively cover an area. In particular, by encoding the different capabilities as different density functions in the locational cost, the result is a heterogeneous coverage

Cited by 107Source ↗Scholar ↗
2018

Formally Correct Composition of Coordinated Behaviors Using Control Barrier Certificates

Anqi Li, Li Wang, Pietro Pierpaoli, Magnus Egerstedt
IROS 2018poster

In multi-robot systems, although the idea of behaviors allows for an efficient solution to low-level tasks, high-level missions can rarely be achieved by the execution of a single behavior. In contrast to this, a sequence of behaviors would provide the requisite expressiveness, but there are no a pr…

Cited by 81Source ↗Scholar ↗
2017

Collisions as Information Sources in Densely Packed Multi-Robot Systems Under Mean-Field Approximations

Siddharth Mayya, Pietro Pierpaoli, Girish Nair, Magnus Egerstedt
RSS 2017poster

As the spatial scale of robots decrease in multi-robot systems, collisions cease to be catastrophic events that need to be avoided at all costs. This implies that less conservative, coordinated control strategies can be employed, where collisions are not only tolerated, but can potentially be harnes…

Cited by 24Source ↗PDF ↗Scholar ↗
2017

Safe certificate-based maneuvers for teams of quadrotors using differential flatness

Li Wang, Aaron D. Ames, Magnus Egerstedt
ICRA 2017poster

Safety Barrier Certificates that ensure collision-free maneuvers for teams of differential flatness-based quadrotors are presented in this paper. Synthesized with control barrier functions, the certificates are used to modify the nominal trajectory in a minimally invasive way to avoid collisions. Th…

Cited by 151Source ↗Scholar ↗
2017

Safe open-loop strategies for handling intermittent communications in multi-robot systems

Siddharth Mayya, Magnus Egerstedt
ICRA 2017poster

In multi-robot systems where a central decision maker is specifying the movement of each individual robot, a communication failure can severely impair the performance of the system. This paper develops a motion strategy that allows robots to safely handle critical communication failures for such mul…

Cited by 7Source ↗Scholar ↗
2017

The Robotarium: A remotely accessible swarm robotics research testbed

Daniel Pickem, Paul Glotfelter, Li Wang, Mark Mote, Aaron Ames, Eric Feron +1
ICRA 2017poster

This paper describes the Robotarium - a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-robot research cycle, yet they are expensive, complex, and time-consuming to develop, oper…

Cited by 460Source ↗Scholar ↗