255 citations · 1k across the 209 of their papers we have counts for
34 papers · 1 filter
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…
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…
Achieving violation-free distributed optimization under coupling constraints
Changxin Liu, Xiao Tan, Xuyang Wu +2
Constraint satisfaction is a critical component in a wide range of engineering applications, including but not limited to safe multi-agent control and economic dispatch in power sy…
A continuous-time violation-free multi-agent optimization algorithm and its applications to safe distributed control
Xiao Tan, Changxin Liu, Karl H. Johansson +1
In this work, we propose a continuous-time distributed optimization algorithm with guaranteed zero coupling constraint violation and apply it to safe distributed control in the pre…
Obstacle Avoidance via Hybrid Feedback
Soulaimane Berkane, Andrea Bisoffi, Dimos V. Dimarogonas
In this paper we present a hybrid feedback approach to solve the navigation problem of a point mass in the n-dimensional space containing an arbitrary number of ellipsoidal shape o…
Symmetry Reduction in Optimal Control of Multiagent Systems on Lie Groups
Leonardo Colombo, Dimos V. Dimarogonas
We study the reduction of degrees of freedom for the equations that determine necessary optimality conditions for extrema in an optimal control problem for a multiagent system by e…
Provably Safe Control of Lagrangian Systems in Obstacle-Scattered Environments
Fernando S. Barbosa, Lars Lindemann, Dimos V. Dimarogonas +1
We propose a hybrid feedback control law that guarantees both safety and asymptotic stability for a class of Lagrangian systems in environments with obstacles. Rather than performi…
State Estimation for a Class of Linear Systems with Quadratic Output
Dionysis Theodosis, Soulaimane Berkane, Dimos V. Dimarogonas
This paper deals with the problem of state estimation for a class of linear time-invariant systems with quadratic output measurements. An immersion-type approach is presented that…
Constrained Stabilization on the n-Sphere
Soulaimane Berkane, Dimos V. Dimarogonas
We solve the stabilization problem on the sphere in the presence of conic constraints. We use the stereographic projection to map this problem to the classical navigation probl…
A symbolic approach to the self-triggered design for networked control systems
Kazumune Hashimoto, Adnane Saoud, Masako Kishida +2
In this paper, we investigate novel self-triggered controllers for nonlinear control systems with reachability and safety specifications. To synthesize the self-triggered controlle…
Synthesizing communication plans for reachability and safety specifications
Kazumune Hashimoto, Dimos V. Dimarogonas
We propose control and communication strategies for nonlinear networked control systems subject to state and input constraints. The objective is to steer the state of the system to…
A Tube-based MPC Scheme for Interaction Control of Underwater Vehicle Manipulator Systems
Alexandros Nikou, Christos K. Verginis, Dimos V. Dimarogonas
Over the last years, the development of Autonomous Underwater Vehicles (AUV) with attached robotic manipulators, the so-called Underwater Vehicle Manipulator System (UVMS), has gai…
Distributed L1-state-and-fault estimation for Multi-agent systems
Kazumune Hashimoto, Michelle Chong, Dimos V. Dimarogonas
In this paper, we propose a distributed state-and-fault estimation scheme for multi-agent systems. The proposed estimator is based on an -norm optimization problem, which i…
Energy-aware networked control systems under temporal logic specifications
Kazumune Hashimoto, Shuichi Adachi, Dimos V. Dimarogonas
In recent years, event and self-triggered control have been proposed as energy-aware control strategies to expand the life-time of battery powered devices in Networked Control Syst…
Optimal Control of Left-Invariant Multi-Agent Systems with Asymmetric Formation Constraints
Leonardo Colombo, Dimos Dimarogonas
In this work, we study an optimal control problem for a multi-agent system modeled by an undirected formation graph with nodes describing the kinematics of each agent, given by a l…
Aperiodic Sampled-Data Control via Explicit Transmission Mapping: A Set Invariance Approach
Kazumune Hashimoto, Dimos V. Dimarogonas, Shuichi Adachi
Event-triggered and self-triggered control have been proposed in recent years as promising control strategies to reduce communication resources in Networked Control Systems (NCSs).…
Asymptotic and finite-time almost global attitude tracking: representations free approach
Jieqiang Wei, Christos Verginis, Junfeng Wu +3
In this paper, the attitude tracking problem is considered using the rotation matrices. Due to the inherent topological restriction, it is impossible to achieve global attractivity…
Decentralized Robust Control of Coupled Multi-Agent Systems under Local Signal Temporal Logic Tasks
Lars Lindemann, Dimos V. Dimarogonas
Motivated by the recent interest in formal methods-based control of multi-agent systems, we adopt a bottom-up approach. Each agent is subject to a local signal temporal logic task…
Distributed Dynamic Event-Triggered Control for Multi-Agent Systems
Xinlei Yi, Kun Liu, Dimos V. Dimarogonas +1
We propose two distributed dynamic triggering laws to solve the consensus problem for multi-agent systems with event-triggered control. Compared with existing triggering laws, the…
Event-Triggered Intermittent Sampling for Nonlinear Model Predictive Control
Kazumune Hashimoto, Shuichi Adachi, Dimos V. Dimarogonas
In this paper, we propose a new aperiodic formulation of model predictive control for nonlinear continuous-time systems. Unlike earlier approaches, we provide event-triggered condi…
Prescribed Performance Control for Signal Temporal Logic Specifications
Lars Lindemann, Christos K. Verginis, Dimos V. Dimarogonas
Motivated by the recent interest in formal methods-based control for dynamic robots, we discuss the applicability of prescribed performance control to nonlinear systems subject to…
Self-triggered control for constrained systems: a contractive set-based approach (Technical report)
Kazumune Hashimoto, Shuichi Adachi, Dimos V. Dimarogonas
In this paper, a self-triggered control scheme for constrained discrete-time control systems is presented. The key idea of our approach is to construct a transition system or a gra…
Online Abstractions for Interconnected Multi-Agent Control Systems
Dimitris Boskos, Dimos V. Dimarogonas
In this report, we aim at the development of an online abstraction framework for multi-agent systems under coupled constraints. The motion capabilities of each agent are abstracted…
Self-triggered Model Predictive Control for Continuous-Time Systems: A Multiple Discretizations Approach
K. Hashimoto, S. Adachi, D. V. Dimarogonas
In this paper, we propose a new self-triggered formulation of Model Predictive Control for continuous-time linear networked control systems. Our control approach, which aims at red…