4 papers
Ocean Current-Harnessing Stage-Gated MPC: Monotone Cost Shaping and Speed-to-Fly for Energy-Efficient AUV Navigation
Spyridon Syntakas, Kostas Vlachos
Autonomous Underwater Vehicles (AUVs) are a highly promising technology for ocean exploration and diverse offshore operations, yet their practical deployment is constrained by ener…
Safe Sliding Mode Control for Marine Vessels Using High-Order Control Barrier Functions and Fast Projection
Spyridon Syntakas, Kostas Vlachos
This paper presents a novel safe control framework that integrates Sliding Mode Control (SMC), High-Order Control Barrier Functions (HOCBFs) with state-dependent adaptiveness and a…
Dropout MPC: An Ensemble Neural MPC Approach for Systems with Learned Dynamics
Spyridon Syntakas, Kostas Vlachos
Neural networks are lately more and more often being used in the context of data-driven control, as an approximate model of the true system dynamics. Model Predictive Control (MPC)…
Improved Reinforcement Learning Coordinated Control of a Mobile Manipulator using Joint Clamping
Denis Hadjivelichkov, Kostas Vlachos, Dimitrios Kanoulas
Many robotic path planning problems are continuous, stochastic, and high-dimensional. The ability of a mobile manipulator to coordinate its base and manipulator in order to control…