Logan E. Beaver
38 papers 304 citations h-index 9 2019–2026
An Overview on Optimal Flocking
The study of robotic flocking has received considerable attention in the past twenty years. As we begin to deploy flocking control algorithms on physical multi-agent and swarm systems, there is an...
LQ-OCP: Energy-Optimal Control for LQ Problems
This article presents a method to automatically generate energy-optimal trajectories for systems with linear dynamics, linear constraints, and a quadratic cost functional (LQ systems). First,...
A Graph-Based Approach to Generate Energy-Optimal Robot Trajectories in Polygonal Environments
As robotic systems continue to address emerging issues in areas such as logistics, mobility, manufacturing, and disaster response, it is increasingly important to rapidly generate safe and...
A Feasibility Analysis at Signal-Free Intersections
In this letter, we address the problem of improving the feasible domain of the solution of a decentralized control framework for coordinating connected and automated vehicles (CAVs) at signal-free...
Constraint-Driven Optimal Control of Multi-Agent Systems: A Highway Platooning Case Study
Platooning has been exploited as a method for vehicles to minimize energy consumption. In this article, we present a constraint-driven optimal control framework that yields emergent platooning...
Optimal Control of Differentially Flat Systems is Surprisingly Easy
As we move to increasingly complex cyber-physical systems (CPS), new approaches are needed to plan efficient state trajectories in real-time. In this paper, we propose an approach to significantly...
A First-Order Approach to Model Simultaneous Control of Multiple Microrobots
The control of swarm systems is relatively well understood for simple robotic platforms at the macro scale. However, there are still several unanswered questions about how similar results can be...
A Digital Smart City for Emerging Mobility Systems
The increasing demand for emerging mobility systems with connected and automated vehicles has imposed the necessity for quality testing environments to support their development. In this paper, we...
A Constraint-Driven Approach to Line Flocking: The V Formation as an Energy-Saving Strategy
The study of robotic flocking has received significant attention in the past twenty years. In this article, we present a constraint-driven control algorithm that minimizes the energy consumption...
Experimental Validation of a Real-Time Optimal Controller for Coordination of CAVs in a Multi-Lane Roundabout
Roundabouts in conjunction with other traffic scenarios, e.g., intersections, merging roadways, speed reduction zones, can induce congestion in a transportation network due to driver responses to...
A Scalable Last-Mile Delivery Service: From Simulation to Scaled Experiment
In this paper, we investigate the problem of a last-mile delivery service that selects up to $N$ available vehicles to deliver $M$ packages from a centralized depot to $M$ delivery locations. The...
Energy-Optimal Motion Planning for Agents: Barycentric Motion and Collision Avoidance Constraints
As robotic swarm systems emerge, it is increasingly important to provide strong guarantees on energy consumption and safety to maximize system performance. One approach to achieve these guarantees...
Demonstration of a Time-Efficient Mobility System Using a Scaled Smart City
The implementation of connected and automated vehicle (CAV) technologies enables a novel computational framework to deliver real-time control actions that optimize travel time, energy, and safety....
Beyond Reynolds: A Constraint-Driven Approach to Cluster Flocking
In this paper, we present an original set of flocking rules using an ecologically-inspired paradigm for control of multi-robot systems. We translate these rules into a constraint-driven optimal...