255 citations · 1k across the 209 of their papers we have counts for
15 papers · 1 filter
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…
Robust Tube-based Model Predictive Control for Time-constrained Robot Navigation
Alexandros Nikou, Dimos V. Dimarogonas
This paper deals with the problem of time-constrained navigation of a robot modeled by uncertain nonlinear non-affine dynamics in a bounded workspace of . Initially,…
Decentralized Tube-based Model Predictive Control of Uncertain Nonlinear Multi-Agent Systems
Alexandros Nikou, Dimos V. Dimarogonas
This paper addresses the problem of decentralized tube-based nonlinear Model Predictive Control (NMPC) for a class of uncertain nonlinear continuous-time multi-agent systems with a…
Motion Feasibility Conditions for Multi-Agent Control Systems on Lie Groups
Leonardo J. Colombo, Dimos V. Dimarogonas
We study the problem of motion feasibility for multiagent control systems on Lie groups with collision avoidance constraints. We first consider the problem for kinematic left invar…
Robust Decentralized Navigation of Multi-Agent Systems with Collision Avoidance and Connectivity Maintenance Using Model Predictive Controllers
Alexandros Filotheou, Alexandros Nikou, Dimos V. Dimarogonas
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of ,…
Time-constrained multi-agent task scheduling based on prescribed performance control
Pian Yu, Dimos V. Dimarogonas
The problem of time-constrained multi-agent task scheduling and control synthesis is addressed. We assume the existence of a high level plan which consists of a sequence of coopera…
Mode Switching Decentralized Multi-Agent Coordination under Local Temporal Logic Tasks
Christos K. Verginis, Dimos V. Dimarogonas
This paper presents a novel control strategy for the coordination of a multi-agent system subject to high-level goals expressed as linear temporal logic formulas. In particular, ea…
Communication-based Decentralized Cooperative Object Transportation Using Nonlinear Model Predictive Control
Christos K. Verginis, Alexandros Nikou, Dimos V. Dimarogonas
This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a Nonlinear Model Predictive Control (NMPC) scheme that…
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…
Motion and Cooperative Transportation Planning for Multi-Agent Systems under Temporal Logic Formulas
Christos K. Verginis, Dimos V. 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 expressed as Linear…
Robust Formation Control in SE(3) for Tree-Graph Structures with Prescribed Transient and Steady State Performance
Christos K. Verginis, Alexandros Nikou, Dimos V. Dimarogonas
This paper presents a novel control protocol for distance and orientation formation control of rigid bodies, whose sensing graph is a static and undirected tree, in the special Euc…
Human-in-the-Loop Mixed-Initiative Control under Temporal Tasks
Meng Guo, Sofie Andersson, Dimos V. Dimarogonas
This paper considers the motion control and task planning problem of mobile robots under complex high-level tasks and human initiatives. The assigned task is specified as Linear Te…
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).…