Current Projects

  • The GRITSBot in all its glory

    The GRITSBot

    The goal of the GRITSBot project is to make multi-agent experiments more accessible to the research community at large as well as to students of all age groups (highschool, undergraduate education, as well as graduate education). In a further step, we intend to open up a show testbed to the general public. Revision 1 of […]

  • Form_robust_graphs

    Robust Multi-Agent Networks

    The objective of this research is to develop decentralized methods for achieving robustness in multi-agent networks through self-organization. Multi-agent networks typically consist of numerous components that interact with each other to achieve some collaborative tasks. In many applications, the network may face functional or structural challenges such as failures, noise, or malicious attacks, to name a few. Under such perturbations, a desirable […]

  • Robotic Mixing Using Braids

    Robotic Mixing Using Braids

    We approach the problem of having robots mix, or interact with each other consistently in the same space, by borrowing concepts from algebraic topology, namely from the Braid Group.

  • simiam-slam

    Sim.I.am

    Sim.I.am is a mobile robot simulator designed to allow students to bridge the gap between theory and practice in control theory. It enables students to design controllers for a mobile robot, test these controllers in a simulator, and then deploy these controllers on an actual robotic platform: the Khepera III mobile robot (and others). This […]

  • Coordination Using Set-valued Sensors

    What is the minimum amount of information required by a team of networked agents to solve a geometric task? This notion of minimality is explored through the use of set-valued sensors, and the question then becomes what assumptions need to be made on these sensor models. In fact, the set-valued sensor provides a general model […]

  • Three robots performing optimal coverage of a specified time-varying density function (shown in red).

    Control of Multi-Agent Systems Using Time-Varying Density Functions

    In this project, optimal coverage ideas are used to control a multi-agent system. In optimal coverage, we are concerned with finding the algorithm that will drive the agents to position themselves in ‘best’ locations, when given a certain density function that represents spatial ‘importance’. For example, this density function may be a probability density function of […]

  • Title1

    Power-aware Sensor Networks

    As the trends towards decentralization, miniaturization, and longevity of deployment continue in many domains, power management has become increasingly important. In sensing and communications networks, power management has long been a part of the design paradigm. However, an underlying assumption in most of the existing work is that the performance of the sensing devices remain […]

  • heterogeneous_self_reconfiguration_pyramid_8x3

    Heterogeneous Self-Reconfiguration

    This project develops a novel approach for heterogeneous self-reconfiguration of a modular robot comprised of heterogeneous cubic modules. We allow an arbitrary number of modules and module classes and show that the proposed self-reconfiguration algorithm can guarantee completion of heterogeneous self-reconfiguration sequences by avoiding so-called hole obstructions. We introduce a hole-detection algorithm to avoid creating […]

  • OptimalState

    Mapping Global Network Computations to Local Rules

    In networked systems, a designer often has a higher level goal in mind which he wants to achieve with local rules. Examples of possible goals are rendezvous and formation control. This project aims to find general methods by which arbitrary global behaviors can be mapped on to local network interactions. Initial work has shown that […]

  • Student performing user experiment with the haptic device and computer simulation

    Haptic Interactions with Multi-Robot Swarms Using Manipulability

      In the case of leader-follower networks, one or more agents (the leaders) can be used to inject control inputs into the system. In these networks, one can analyze the “effectiveness” of the inputs by borrowing a notion from robotics known as manipulability. In robotics, manipulability indices were developed as a means to analyze the […]

  • Required Navigation Performance Tube

    NextGen Air Transportation Systems

    Several Next Generation Air Transportation Systems concepts require aircraft to be able to safely fly routes on the same airspace in a timely fashion. Therefore it is necessary that aircraft are able to navigate on routes with spatial and temporal constraints. Here at the GRITS Lab, we propose an optimal control approach at solving the problem.

  • GRITS_formation 00_00_00-00_00_10

    Proportional-Integral Distributed Optimization

    Many tasks to be solved by multi-agent systems can be formed in terms of a cost, where task completion corresponds to minimizing the cost.  For example, the figure below depicts multi-agent formation control where agents must collectively decide upon parameters of the formation (such as displacement, rotation, and spread) while moving into position.  By having […]

  • CardboardRobot

    Learning to Locomote

    As robots evolve they are becoming increasingly “smarter”, but still can not and do not learn the way humans learn. For example, humans have evolved to move by walking or running; however, humans can learn how to move by other means (e.g. swimming, skateboarding, riding bikes, etc.). I don’t know of any current robot that […]

  • robot_music_wall

    Spatio-Temporal Routing

      The idea behind this project is to route multiple robots to service spatially distributed requests at specified time instants, while optimizing some criterion, for instance the total distance travelled, or the total time of travel. The routing problem is similar to the well known Multiple Traveling Salesman Problem (m-TSP) or the Vehicle Routing Problem (VRP), except […]

  • reconfiguration_chair_table

    Self-reconfiguring Robots

    The goal of this project is to develop distributed control strategies to automatically reconfigure an ensemble of individual robotic modules from an initial configuration into a desired target configuration. A configuration in our work is a three-dimensional geometric arrangement of cubic modules where a cubic module is the basic building block of our system. Modular […]

  • Autonomous Marionettes

    Autonomous Marionettes

    The project is divided into three main research tasks: Puppet Choreography with Motion Programs, Imitating Human Motions, and Distributed Protocols for Coordinating Puppets.

  • Assignment Problem

    Assignment and Formation Control

    The primary goal for this research is to develop a method of dynamic role assignment and formation control for multi-robot systems for rotationally and translationally invariant formations. Most previous work has treated assignment and formation synthesis as two separate problems.

  • Adaptive Time Horizon

    Adaptive Time Horizon for MPC

    The typical approach in the receding horizon framework is to choose a fixed time horizon over which to predict the unknown variables and obtain the optimal control input. If we had perfect estimates we could then make the time horizon as large as possible subject to factors such as computation speed, convergence, stability, and satisfaction […]

  • poses

    Dancing Robots

    Stylistic Task Specification Framework applied to Aldebaran NAO robotic platform Typically, robotic algorithms focus on tasks which have concrete, functional objectives.  Our framework aims to allow for more general specification based on stylistic considerations.  Namely, we may think of the movement styles exhibited by classical ballerinas, disco dancers, and cheerleaders as differentiated by distinct stylistic tasks.  […]

  • Mobilie Communiction

    Mobile Communication Networks

    Mobile Communication Networks Exploration of complex and dangerous territories posts great challenges for robotics research. Intuition suggests that using cooperative multiple vehicles will increase time efficiency. Coordination of multiple vehicles typically relies on communication between vehicles, but direct communication is easily blocked or at least attenuated by obstacles. Hence one major challenge for a successful […]

  • Bio Inspired

    Bio-Inspired Systems

    Biologically Inspired Heterogeneous Networks Social behavior of animals can offer solution models for missions involving a large number of heterogeneous vehicles, such as light combat ships, unmanned aerial vehicles, and unmanned underwater vehicles. We draw inspiration from the bottlenose dolphins, Tursiops truncatus, and develop coordination algorithms for heterogeneous multi-agent systems that are expressive enough to […]

  • Hybrid

    Hybrid Systems

    Optimal Control of Hybrid Systems Hybrid systems can accurately model a large number of systems in many application domains where traditional non-linear systems can not. Since they are generally not as well understood, the options to control hybrid systems are usually more limited. Recently, there has been an enormous interest to use optimal control for […]

  • cover

    Heterogeneous Cooperative Networks

    Network topology based characterization of heterogeneity   Heterogeneity has emerged as an important aspect of multiagent systems, in which agents with different capabilities and resources interact with each other to perform various complex tasks. In this work, we aim to provide a framework for a network topology based characterization of heterogeneity in multiagent and cooperative networks that also incorporates […]

  • Networked

    Networked Robotics

    Automatic Deployment of Mobile Robots This is part of a National Aeronautics and Space Administration (NASA) project. The premise is to use a mobile sensor network of mobile robots to study the effects of climate change on Antarctica. Our aim is to provide high-level control for the mobile sensor network. To this end, we are […]

  • Leader Follower

    Group-based Leader Follower Control

    The basis of this work is creating application specific leader follower network topologies that are completely controllable. In particular, single leader networks are considered where the input signal is injected at the leader node and the follower nodes execute a nearest neighbor averaging rule. Under this set up, each network topology can be partitioned into […]

  • Merging

    Merging and Spacing

    Distributed Air Traffic Scheduling During Terminal Approach     Conventional air traffic management (ATM) practices are known to be too rigid to accomodate for the projected increase in air traffic over the next few decades. To address this issue, the FAA’s NextGen iniative aims to introduce a set of technologies that will modernize the national […]

  • Convoy Protection

    Convoy Protection

    Scalable UAV Ground Convoy Protection     When in a hostile environment, obtaining reliable information about upcoming threats ahead of time could mean the difference between life and death. Unmanned aerial vehicles (UAVs), which can travel at high velocities and have a large field of vision, are excellent tools for performing such reconaissance missions. Here […]


Recent News

Greg Droge Graduation

May 2014: Congratulations to Greg Droge on his graduation!

Hassan Jaleel Graduation

December 2013: Congratulations to Hassan Jaleel on his graduation!

Waseem Abbas Graduation

December 2013:  Congratulations to Waseem Abbas on his graduation!

Congrats to Dr. Egerstedt

Spring 2013:  Dr. Egerstedt has been named Schlumberger Professor at Georgia Tech.  Congrats!