5 papers
Multi-Agent Temporal Logic Planning via Penalty Functions and Block-Coordinate Optimization
Eleftherios E. Vlahakis, Arash Bahari Kordabad, Lars Lindemann +3
Multi-agent planning under Signal Temporal Logic (STL) is often hindered by collaborative tasks that lead to computational challenges due to the inherent high dimensionality of the…
GPU-Accelerated SPOCK for Scenario-Based Risk-Averse Optimal Control Problems
Ruairi Moran, Pantelis Sopasakis
This paper presents a GPU-accelerated implementation of the SPOCK algorithm, a proximal method designed for solving scenario-based risk-averse optimal control problems. The propose…
Conformal Prediction for Distribution-free Optimal Control of Linear Stochastic Systems
Eleftherios E. Vlahakis, Lars Lindemann, Pantelis Sopasakis +1
We address an optimal control problem for linear stochastic systems with unknown noise distributions and joint chance constraints using conformal prediction. Our approach involves…
Circularity of Thermodynamical Material Networks: Indicators, Examples, and Algorithms
Federico Zocco
The transition towards a circular economy has gained importance over the last years since the traditional linear take-make-dispose paradigm is not sustainable in the long term. Rec…
An NMPC-ECBF Framework for Dynamic Motion Planning and Execution in vision-based Human-Robot Collaboration
Dianhao Zhang, Mien Van, Pantelis Sopasakis +1
To enable safe and effective human-robot collaboration (HRC) in smart manufacturing, seamless integration of sensing, cognition, and prediction into the robot controller is critica…