255 citations · 1k across the 209 of their papers we have counts for
23 papers · 1 filter
Compositional abstraction refinement for control synthesis
Pierre-Jean Meyer, Dimos V. Dimarogonas
This paper presents a compositional approach to specification-guided abstraction refinement for control synthesis of a nonlinear system associated with a method to over-approximate…
Hierarchical decomposition of LTL synthesis problem for nonlinear control systems
Pierre-Jean Meyer, Dimos V. Dimarogonas
This paper deals with the control synthesis problem for a continuous nonlinear dynamical system under a Linear Temporal Logic (LTL) formula. The proposed solution is a top-down hie…
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…
On the Timed Temporal Logic Planning of Coupled Multi-Agent Systems
Alexandros Nikou, Dimitris Boskos, Jana Tumova +1
This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two t…
Robust Cooperative Manipulation without Force/Torque Measurements: Control Design and Experiments
Christos K. Verginis, Matteo Mastellaro, Dimos V. Dimarogonas
This paper presents two novel control methodologies for the cooperative manipulation of an object by N robotic agents. Firstly, we design an adaptive control protocol which employs…
Decentralized Control of Uncertain Multi-Agent Systems with Connectivity Maintenance and Collision Avoidance
Alexandros Filotheou, Alexandros Nikou, Dimos V. Dimarogonas
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of with static obstacles.…
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…
Efficient Dynamic Programming Solution to a Platoon Coordination Merge Problem With Stochastic Travel Times
Sebastian van de Hoef, Karl H. Johansson, Dimos V. Dimarogonas
The problem of maximizing the probability of two trucks being coordinated to merge into a platoon on a highway is considered. Truck platooning is a promising technology that allows…
Probabilistic Plan Synthesis for Coupled Multi-Agent Systems
Alexandros Nikou, Jana Tumova, Dimos V. Dimarogonas
This paper presents a fully automated procedure for controller synthesis for multi-agent systems under the presence of uncertainties. We model the motion of each of the agents…
A Nonlinear Model Predictive Control Scheme for Cooperative Manipulation with Singularity and Collision Avoidance
Alexandros Nikou, Christos Verginis, Shahab Heshmati-alamdari +1
This paper addresses the problem of cooperative transportation of an object rigidly grasped by robotic agents. In particular, we propose a Nonlinear Model Predictive Control (N…
Fuel-Efficient En Route Formation of Truck Platoons
Sebastian van de Hoef, Karl H. Johansson, Dimos V. Dimarogonas
The problem of how to coordinate a large fleet of trucks with given itinerary to enable fuel-efficient platooning is considered. Platooning is a promising technology that enables t…
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…
synchronization of higher-order nonlinear systems with a recursive Lyapunov approach
Davide Liuzza, Dimos V. Dimarogonas, Karl H. Johansson
This paper investigates the problem of synchronization for nonlinear systems. Following a Lyapunov approach, we firstly study global synchronization of nonlinear systems in canonic…
Decentralized Abstractions and Timed Constrained Planning of a General Class of Coupled Multi-Agent Systems
Alexandros Nikou, Shahab Heshmati-alamdari, Christos Verginis +1
This paper presents a fully automated procedure for controller synthesis for a general class of multi-agent systems under coupling constraints. Each agent is modeled with dynamics…
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…
Control Synthesis for Multi-Agent Systems under Metric Interval Temporal Logic Specifications
Sofie Andersson, Alexandros Nikou, Dimos V. Dimarogonas
This paper presents a framework for automatic synthesis of a control sequence for multi-agent systems governed by continuous linear dynamics under timed constraints. First, the mot…
Robust Motion Planning employing Signal Temporal Logic
Lars Lindemann, Dimos V. Dimarogonas
Motion planning classically concerns the problem of accomplishing a goal configuration while avoiding obstacles. However, the need for more sophisticated motion planning methodolog…
Robust Decentralized Abstractions for Multiple Mobile Manipulators
Christos K. Verginis, Dimos V. Dimarogonas
This paper addresses the problem of decentralized abstractions for multiple mobile manipulators with 2nd order dynamics. In particular, we propose decentralized controllers for the…
Position and Orientation Based Formation Control of Multiple Rigid Bodies with Collision Avoidance and Connectivity Maintenance
Christos K. Verginis, Alexandros Nikou, Dimos V. Dimarogonas
This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a D workspace with obstacles. M…
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…
Decentralized 2-D Control of Vehicular Platoons under Limited Visual Feedback
Christos K. Verginis, Charalampos P. Bechlioulis, Dimos V. Dimarogonas +1
In this paper, we consider the two dimensional (2-D) predecessor-following control problem for a platoon of unicycle vehicles moving on a planar surface. More specifically, we desi…
Robust Distributed Control Protocols for Large Vehicular Platoons with Prescribed Transient and Steady State Performance
Christos K. Verginis, Charalampos P. Bechlioulis, Dimos V. Dimarogonas +1
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional contro…