4 papers
An Operator-based Approach to STL
Panagiotis Rousseas, Dimos V. Dimarogonas
Signal Temporal Logic (STL), has recently seen extensive development, owing to its rich expressivenes for autonomous planning and control. Nevertheless, existing verification and c…
Feasibility-aware Hybrid Control for Motion Planning under Signal Temporal Logics
Panagiotis Rousseas, Dimos V. Dimarogonas
In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction a…
Feasibility Analysis and Constraint Selection in Optimization-Based Controllers
Panagiotis Rousseas, Haejoon Lee, Dimos V. Dimarogonas +1
Control synthesis under constraints is at the forefront of research on autonomous systems, in part due to its broad application from low-level control to high-level planning, where…
Feasibility Evaluation of Quadratic Programs for Constrained Control
Panagiotis Rousseas, Dimitra Panagou
This paper presents a computationally-efficient method for evaluating the feasibility of Quadratic Programs (QPs) for online constrained control. Based on the duality principle, we…