255 citations · 1k across the 209 of their papers we have counts for
237 papers
Distributed Motion Planning for Multi-Robot Systems under Topological Constraints
Gianpietro Battocletti, Dimitris Boskos, Dimos V. Dimarogonas +1
Efficient and distributed coordination of mobile robots is one of the main challenges in multi-robot systems. Topological constraints, often expressed as topological braids, are a…
Onboard Vision and MPC Navigation for Underwater Robots: An Open BlueROV2 Platform for Multi-Robot Experiments & Docking
Victor Nan Fernandez-Ayala, Wiktor Kowalczyk, Cezary Banaszek +1
Autonomous underwater robots require robust perception, estimation and control to operate in confined environments. This paper presents an open-source BlueROV2 platform combining o…
Safe Formation Control of Open Multi-Robot Systems with Connectivity-Preserving Reconfiguration
Pelin Sekercioglu, Nicola De Carli, Dimos V. Dimarogonas
We address the formation control problem for open multi-robot systems (OMRS), i.e., systems in which robots may join or leave the team during operation and new interaction links ar…
Vision-based Underwater Formation Control With Input Saturations via Barrier Lyapunov Functions
Nicola De Carli, João Zenário, Victor Nan Fernandez-Ayala +1
In this work, we propose a communication-free framework for vision-based formation control of fully actuated underwater robots subject to sensing constraints, collision-avoidance r…
Multi-Agent Transportation of Free-Flyers in Microgravity Via Pushing Interaction Under Human-in-the-Loop Control
Gregorio Marchesini, Nicola De Carli, Sihyun Cho +5
We propose a safety-critical framework for the cooperative transportation of passive targets in microgravity, where a team of chaser robots acts through unilateral pushing contacts…
Distance-Based Formation Control with Prescribed Performance for Higher-Order Multi-Agent Systems
Janina Schaa, Maria Charitidou, Dimos V. Dimarogonas +1
We consider distributed distance-based formation control with prescribed transient performance for multi-agent systems modeled by unknown nonlinear dynamics of relative degree grea…
Demonstration of Space Robot Teleoperation over a Lossy and Delayed Network using ATMOS
Inkyu Jang, Gregorio Marchesini, Nicola De Carli +15
We present a demonstration showcasing the Autonomy Testbed for Multi-purpose Orbiting Systems (ATMOS), a planar spacecraft-analog robot designed for hardware-in-the-loop evaluation…
Topology Inference for Immune System Networks by Using Cell Amount Data
Yushan Li, Rikard Forlin, Dimos V. Dimarogonas +1
Recent years have witnessed the advanced development of topology inference research, which helps elucidate the interaction relationships of components in many biological networks.…
STL-GCS: A Planner-Controller Framework for Signal Temporal Logic via Graphs of Time-varying Convex Sets
Nicola De Carli, Gregorio Marchesini, Dimos V. Dimarogonas
We present a unified trajectory planning and control framework for the satisfaction of Signal Temporal Logic (STL) specifications defined over convex predicates. At the planning la…
Modeling and Validation of Quality of Control for Edge-Offloaded Collaborative Navigation
Neelabhro Roy, Mikael Hammarling, Victor Nan Fernandez-Ayala +4
Collaborative control in complex environments is severely challenged by stochastic wireless delay and reliability variations, which can degrade navigation, tracking, and collision…
A Reactive Redistribution Mechanism for STL Tasks in Multi-Agent Systems Under Time-Varying Communication
Gregorio Marchesini, Bjarne Jan Jesse Moro, Siyuan Liu +2
We present a communication-aware task decomposition framework for multi-agent systems with collaborative relative configuration objectives specified in Signal Temporal Logic (STL),…
Agentic Neuro-Symbolic Planning and Commissioning for Human-in-the-Loop Industrial Robotics with Digital Twins
Zhihao Liu, Victor Nan Fernandez-Ayala, Tianyu Wang +4
Flexible robotic automation requires systems that interpret operator intent, verify physical feasibility, and recover from execution failures across both the planning and execution…
Preserving Topology Privacy of Network Systems by Feedback: Conditions and Distributed Design
Yushan Li, Jiabao He, Julien M. Hendrickx +1
This paper develops a feedback-based method to preserve the topology privacy of consensus protocols in network systems. The key idea is to intentionally violate topology identifiab…
Security-Aware Planning and Control of Multi-Agent Systems with LTL Tasks
Georgios Mitsos, Dimos V. Dimarogonas, Siyuan Liu
This paper presents a secure-by-construction planning and control framework for multi-agent systems subject to linear temporal logic (LTL) specifications. The framework protects se…
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…
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…
Control of Multi-agent Systems under STL Specifications based on Prescribed Performance Observers
Tommaso Zaccherini, Siyuan Liu, Dimos V. Dimarogonas
This paper addresses decentralized control of large-scale heterogeneous multi-agent systems subject to bounded external disturbances and limited communication, with the objective o…
ADMM-Based Distributed Kalman-like Observer with Applications to Cooperative Localization
Nicola De Carli, Nicola Bastianello, Dimos V. Dimarogonas
This paper addresses distributed state estimation for multi-agent systems with local and relative measurements, motivated by cooperative localization problems in which the global s…
Topology Estimation for Open Multi-Agent Systems
Nana Wang, Pelin Sekercioglu, Dimos V. Dimarogonas
We address the problem of interaction topology identification in open multi-agent systems (OMAS) with dynamic node sets and fast switching interactions. In such systems, new agents…
Topology Identification of Dynamical Signed Graphs
Pelin Sekercioglu, Nana Wang, Angela Fontan +1
We propose an adaptive control protocol for identifying the topology of dynamical networks interconnected over undirected graphs with cooperative and antagonistic interactions. The…
A Modular Platooning and Vehicle Coordination Simulator for Research and Education
Kevin Jamsahar, Adrian Wiltz, Maria Charitidou +1
This work presents a modular, Python-based simulator that simplifies the evaluation of novel vehicle control and coordination algorithms in complex traffic scenarios while keeping…
Tunable Input-to-State Safety with Input Constraints
Ming Li, Jin Chen, Dimos V. Dimarogonas
Tunable input-to-state safety (TISSf) generalizes the input-to-state safety (ISSf) framework by incorporating a tuning function that regulates safety conservatism while preserving…
Edge-based Synchronization over Signed Digraphs with Multiple Leaders
Pelin Sekercioglu, Angela Fontan, Dimos V. Dimarogonas
This work addresses the edge-based synchronization problem in first-order multi-agent systems containing both cooperative and antagonistic interactions with one or multiple leader…
Validation of Space Robotics in Underwater Environments via Disturbance Robustness Equivalency
Joris Verhagen, Elias Krantz, Chelsea Sidrane +9
We present an experimental validation framework for space robotics that leverages underwater environments to approximate microgravity dynamics. While neutral buoyancy conditions ma…