5 papers
Temporal Reach-Avoid-Stay Control for Differential Drive Systems via Spatiotemporal Tubes
Ratnangshu Das, Ahan Basu, Christos Verginis +1
This paper presents a computationally lightweight and robust control framework for differential-drive mobile robots with dynamic uncertainties and external disturbances, guaranteei…
Trajectory Tracking for Multi-Manipulator Systems in Constrained Environments
Mayank Sewlia, Christos K. Verginis, Dimos V. Dimarogonas
We consider the problem of cooperative manipulation by a mobile multi-manipulator system operating in obstacle-cluttered and highly constrained environments under spatio-temporal t…
MAPS: Multi-Robot Autonomous Motion Planning under Signal Temporal Logic Specifications
Mayank Sewlia, Christos K. Verginis, Dimos V. Dimarogonas
This article presents MAPS : a distributed algorithm that allows multi-robot systems to deliver coupled tasks expressed as Signal Temporal Logic (STL) constraints. Classical co…
Meta-Learning Augmented MPC for Disturbance-Aware Motion Planning and Control of Quadrotors
Dženan LapandiÄ, Fengze Xie, Christos K. Verginis +3
A major challenge in autonomous flights is unknown disturbances, which can jeopardize safety and lead to collisions, especially in obstacle-rich environments. This paper presents a…
Kinodynamic Motion Planning via Funnel Control for Underactuated Unmanned Surface Vehicles
Dženan LapandiÄ, Christos K. Verginis, Dimos V. Dimarogonas +1
We develop an algorithm to control an underactuated unmanned surface vehicle (USV) using kinodynamic motion planning with funnel control (KDF). KDF has two key components: motion p…