246 citations · 302 across the 13 of their papers we have counts for
16 papers
Safe Platooning under Input Constraints with Link-Wise Velocity String Stability
Panagiotis S. Trakas, Charalampos P. Bechlioulis, Thomas Berger
We propose a decentralized controller for vehicle platoons with different braking and propulsion limits. The method uses only local distance and velocity measurements and requires…
Adaptive Prescribed Performance Trajectory Tracking for Uncertain Autonomous Underwater Vehicles With Input Saturation
Athanasios K. Gkesoulis, Christos Vlachos, George K. Fourlas +2
Accurate trajectory tracking is essential for autonomous underwater vehicles operating with uncertain hydrodynamics and limited thruster authority. This paper develops a low-comple…
Integrating Prescribed Performance and RISE Control for Asymptotic Tracking of Uncertain High-Order Nonlinear Systems
Athanasios K. Gkesoulis, Christos K. Verginis, George C. Karras +1
This paper addresses asymptotic tracking with prescribed transient and steady-state performance for a class of uncertain high-order nonlinear systems with uncertain dynamics. The p…
Output Feedback Adaptive Performance Control
Panagiotis S. Trakas, Charalampos P. Bechlioulis
In this paper, we consider uncertain high-order nonlinear systems performing dynamic tracking tasks under hard actuator constraints, where only the output error is available for me…
Prescribed Performance Leader-Following Consensus with Event-Based Broadcasting
Athanasios K. Gkesoulis, Haris E. Psillakis, George C. Karras +1
This paper develops a prescribed performance leader-following consensus protocol for directed networks under event-based broadcasting. Each node schedules its transmissions using o…
Robust Closed-Form Control for MIMO Nonlinear Systems under Generalized Conflicting Time-Varying Hard and Soft Constraints (extended version)
Farhad Mehdifar, Charalampos P. Bechlioulis, Dimos V. Dimarogonas
This paper introduces a novel robust closed-form control law to handle time-varying hard and soft constraints in uncertain high-relative-degree nonlinear MIMO systems. These constr…
Collaborative Satisfaction of Long-Term Spatial Constraints in Multi-Agent Systems: A Distributed Optimization Approach (extended version)
Farhad Mehdifar, Mani H. Dhullipalla, Charalampos P. Bechlioulis +1
This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as ineq…
Low-Complexity Control for a Class of Uncertain MIMO Nonlinear Systems under Generalized Time-Varying Output Constraints (extended version)
Farhad Mehdifar, Lars Lindemann, Charalampos P. Bechlioulis +1
This paper introduces a novel control framework to address the satisfaction of multiple time-varying output constraints in uncertain high-order MIMO nonlinear control systems. Unli…
Control of Nonlinear Systems Under Multiple Time-Varying Output Constraints: A Single Funnel Approach
Farhad Mehdifar, Lars Lindemann, Charalampos P. Bechlioulis +1
This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems. First, it is shown that t…
Harmonic Field-based Provable Exploration of 3D Indoor Environments
Raksi Kopo, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos
This work presents an safe and efficient methodology for autonomous indoor exploration with aerial robots using Harmonic Potential Fields (HPF). The challenge of applying HPF in co…
Funnel Control Under Hard and Soft Output Constraints (extended version)
Farhad Mehdifar, Charalampos P. Bechlioulis, Dimos V. Dimarogonas
This paper proposes a funnel control method under time-varying hard and soft output constraints. First, an online funnel planning scheme is designed that generates a constraint con…
2-D Directed Formation Control Based on Bipolar Coordinates
Farhad Mehdifar, Charalampos P. Bechlioulis, Julien M. Hendrickx +1
This work proposes a novel 2-D formation control scheme for acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) based on bipolar coordinates with…
Prescribed Performance Distance-Based Formation Control of Multi-Agent Systems (Extended Version)
Farhad Mehdifar, Charalampos P. Bechlioulis, Farzad Hashemzadeh +1
This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances.…
Decentralized Impedance Control for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems under Lean Communication
Shahab Heshmati-alamdari, Charalampos P. Bechlioulis, George C. Karras +1
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace with static obstacles,…
Decentralized 2-D Control of Vehicular Platoons under Limited Visual Feedback
Christos K. Verginis, Charalampos P. Bechlioulis, Dimos V. Dimarogonas +1
In this paper, we consider the two dimensional (2-D) predecessor-following control problem for a platoon of unicycle vehicles moving on a planar surface. More specifically, we desi…
Robust Distributed Control Protocols for Large Vehicular Platoons with Prescribed Transient and Steady State Performance
Christos K. Verginis, Charalampos P. Bechlioulis, Dimos V. Dimarogonas +1
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional contro…