5 papers
Symbolic Reinforcement Learning for Safe RAN Control
Alexandros Nikou, Anusha Mujumdar, Marin Orlic +1
In this paper, we demonstrate a Symbolic Reinforcement Learning (SRL) architecture for safe control in Radio Access Network (RAN) applications. In our automated tool, a user can se…
Machine Reasoning Explainability
Kristijonas Cyras, Ramamurthy Badrinath, Swarup Kumar Mohalik +5
As a field of AI, Machine Reasoning (MR) uses largely symbolic means to formalize and emulate abstract reasoning. Studies in early MR have notably started inquiries into Explainabl…
Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles
Shahab Heshmati-alamdari, Alexandros Nikou, Dimos V. Dimarogonas
Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating works…
A Tube-based MPC Scheme for Interaction Control of Underwater Vehicle Manipulator Systems
Alexandros Nikou, Christos K. Verginis, Dimos V. Dimarogonas
Over the last years, the development of Autonomous Underwater Vehicles (AUV) with attached robotic manipulators, the so-called Underwater Vehicle Manipulator System (UVMS), has gai…
Communication-based Decentralized Cooperative Object Transportation Using Nonlinear Model Predictive Control
Christos K. Verginis, Alexandros Nikou, Dimos V. Dimarogonas
This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a Nonlinear Model Predictive Control (NMPC) scheme that…