255 citations · 1k across the 209 of their papers we have counts for
150 papers · 1 filter
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…
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…
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),…
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…
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…
Stability of Open Multi-agent Systems over Dynamic Signed Digraphs
Pelin Sekercioglu, Angela Fontan, Dimos V. Dimarogonas
We address the synchronization problem in open multi-agent systems (OMAS) containing both cooperative and antagonistic interactions. In these systems, agents can join or leave the…
Observer-based Control of Multi-agent Systems under STL Specifications
Tommaso Zaccherini, Siyuan Liu, Dimos V. Dimarogonas
This paper proposes a decentralized controller for large-scale heterogeneous multi-agent systems subject to bounded external disturbances, where agents must satisfy Signal Temporal…
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…
Decoupled Design of Time-Varying Control Barrier Functions via Equivariances
Adrian Wiltz, Dimos V. Dimarogonas
This article presents a systematic method for designing time-varying Control Barrier Functions (CBF) composed of a time-invariant component and multiple time-dependent components,…
Conformal Prediction-Based MPC for Stochastic Linear Systems
Lukas Vogel, Andrea Carron, Eleftherios E. Vlahakis +1
We propose a stochastic model predictive control (MPC) framework for linear systems subject to joint-in-time chance constraints under unknown disturbance distributions. Unlike exis…
Resistant Topology Inference in Consensus Networks: A Feedback-Based Design
Yushan Li, Jiabao He, Dimos V. Dimarogonas
Consensus networks are widely deployed in numerous civil and industrial applications. However, the process of reaching a common consensus among nodes can unintentionally reveal the…
Switching control of underactuated multi-channel systems with input constraints for cooperative manipulation
Dongjae Lee, Dimos V. Dimarogonas, H. Jin Kim
This work presents an event-triggered switching control framework for a class of nonlinear underactuated multi-channel systems with input constraints. These systems are inspired by…
Robust Estimation and Control for Heterogeneous Multi-agent Systems Based on Decentralized k-hop Prescribed Performance Observers
Tommaso Zaccherini, Siyuan Liu, Dimos V. Dimarogonas
We propose decentralized k-hop Prescribed Performance State and Input Observers for heterogeneous multi-agent systems subject to bounded external disturbances. In the proposed inpu…
Robust Closed-Form Control for MIMO Nonlinear Systems under Generalized Conflicting Time-Varying Hard and Soft Constraints (extended version)
Farhad Mehdifar, Charalampos P. Bechlioulis, Dimos V. Dimarogonas
This paper introduces a novel robust closed-form control law to handle time-varying hard and soft constraints in uncertain high-relative-degree nonlinear MIMO systems. These constr…
On Uniformly Time-Varying Control Barrier Functions
Adrian Wiltz, Dimos V. Dimarogonas
This paper investigates the design of a subclass of time-varying Control Barrier Functions (CBFs), specifically that of uniformly time-varying CBFs. Leveraging the fact that CBFs e…
Leveraging Equivariances and Symmetries in the Control Barrier Function Synthesis
Adrian Wiltz, Dimos V. Dimarogonas
The synthesis of Control Barrier Functions (CBFs) often involves demanding computations or a meticulous construction. However, structural properties of the system dynamics and cons…