255 citations · 1k across the 209 of their papers we have counts for
15 papers · 1 filter
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…
A Robust Force Control Approach for Underwater Vehicle Manipulator Systems
Shahab Heshmati-alamdari, Alexandros Nikou, Kostas J. Kyriakopoulos +1
In various interaction tasks using Underwater Vehicle Manipulator Systems (UVMSs) (e.g. sampling of the sea organisms, underwater welding), important factors such as: i) uncertaint…
Multi-Agent Motion Planning and Object Transportation under High Level Goals
Christos Verginis, Dimos Dimarogonas
This paper presents a hybrid control framework for the motion planning of a multi-agent system including N robotic agents and M objects, under high level goals. In particular, we d…
Formation Control for Multi-Agent Systems with Connectivity Preservation and Event-Triggered Controllers
Xinlei Yi, Jieqiang Wei, Dimos V. Dimarogonas +1
In this paper, event-triggered controllers and corresponding algorithms are proposed to establish the formation with connectivity preservation for multi-agent systems. Each agent n…
Robust Distance-Based Formation Control of Multiple Rigid Bodies with Orientation Alignment
Alexandros Nikou, Christos K. Verginis, Dimos V. Dimarogonas
This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirec…
Multi-Agent Planning under Local LTL Specifications and Event-Based Synchronization
Jana Tumova, Dimos V. Dimarogonas
We study the problem of plan synthesis for multi-agent systems, to achieve complex, high-level, long-term goals that are assigned to each agent individually. As the agents might no…
Decomposition of Multi-Agent Planning under Distributed Motion and Task LTL Specifications
Jana Tumova, Dimos V. Dimarogonas
The aim of this work is to introduce an efficient procedure for discrete multi-agent planning under local complex temporal logic behavior specifications. While the first part of an…
Decentralized Motion Planning with Collision Avoidance for a Team of UAVs under High Level Goals
Christos K. Verginis, Ziwei Xu, Dimos V. Dimarogonas
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each…
Robust Quaternion-based Cooperative Manipulation without Force/Torque Information
Christos K. Verginis, Matteo Mastellaro, Dimos V. Dimarogonas
This paper proposes a task-space control protocol for the collaborative manipulation of a single object by N robotic agents. The proposed methodology is decentralized in the sense…
Distributed Cooperative Manipulation under Timed Temporal Specifications
Christos K. Verginis, Dimos V. Dimarogonas
This paper addresses the problem of cooperative manipulation of a single object by N robotic agents under local goal specifications given as Metric Interval Temporal Logic (MITL) f…
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…
Robust Control for Signal Temporal Logic Specifications using Average Space Robustness
Lars Lindemann, Dimos V. Dimarogonas
Control systems that satisfy temporal logic specifications have become increasingly popular due to their applicability to robotic systems. Existing control methods, however, are co…
Self-triggered Model Predictive Control for Nonlinear Input-Affine Dynamical Systems via Adaptive Control Samples Selection
Kazumune Hashimoto, Shuichi Adachi, Dimos. V. Dimarogonas
In this paper, we propose a self-triggered formulation of Model Predictive Control for continuous-time nonlinear input-affine networked control systems. Our control method specifie…
Cooperative Planning for Coupled Multi-Agent Systems under Timed Temporal Specifications
Alexandros Nikou, Dimitris Boskos, Jana Tumova +1
This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupled constraints. Each agent has dynamics consisting of two terms: the fir…
Abstractions of Varying Decentralization Degree for Coupled Multi-Agent Systems
D. Boskos, D. V. Dimarogonas
In this report, we aim at the development of a decentralized abstraction framework for multi-agent systems under coupled constraints, with the possibility for a varying degree of d…