255 citations · 1k across the 209 of their papers we have counts for
13 papers · 1 filter
Cooperative Manipulation via Internal Force Regulation: A Rigidity Theory Perspective
Christos K. Verginis, Daniel Zelazo, Dimos V. Dimarogonas
This paper considers the integration of rigid cooperative manipulation with rigidity theory. Motivated by rigid models of cooperative manipulation systems, i.e., where the grasping…
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…
Approximately symbolic models for a class of continuous-time nonlinear systems
Pian Yu, Dimos V. Dimarogonas
Discrete abstractions have become a standard approach to assist control synthesis under complex specifications. Most techniques for the construction of discrete abstractions are ba…
Gradient-Based STL Control with Application to Nonholonomic Systems
Peter Varnai, Dimos V. Dimarogonas
In this paper, we study the control of dynamical systems under temporal logic task specifications using gradient-based methods relying on quantitative measures that express the ext…
Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles
Shahab Heshmati-alamdari, Alexandros Nikou, Dimos V. Dimarogonas
Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating works…
Efficient Automata-based Planning and Control under Spatio-Temporal Logic Specifications
Lars Lindemann, Dimos V. Dimarogonas
The use of spatio-temporal logics in control is motivated by the need to impose complex spatial and temporal behavior on dynamical systems, and to control these systems accordingly…
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…
A Framework for Depth Estimation and Relative Localization of Ground Robots using Computer Vision
Romulo T. Rodrigues, Pedro Miraldo, Dimos V. Dimarogonas +1
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among mu…
Design and Experimental Validation of Tube-based MPC for Timed-constrained Robot Planning
Alexandros Nikou, Shahab Heshmati-alamdari, Dimos V. Dimarogonas
This paper deals with the design and experimental validation of a state-of-the art tube-based Model Predictive Control (MPC) for achieving time-constrained tasks. Given the uncerta…
Consensus Control for Leader-follower Multi-agent Systems under Prescribed Performance Guarantees
Fei Chen, Dimos V. Dimarogonas
This paper addresses the problem of distributed control for leader-follower multi-agent systems under prescribed performance guarantees. Leader-follower is meant in the sense that…
A Hybrid Controller for Obstacle Avoidance in an n-dimensional Euclidean Space
Soulaimane Berkane, Andrea Bisoffi, Dimos V. Dimarogonas
For a vehicle moving in an -dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference posit…
Prescribed Performance Control Guided Policy Improvement for Satisfying Signal Temporal Logic Tasks
Peter Varnai, Dimos V. Dimarogonas
Signal temporal logic (STL) provides a user-friendly interface for defining complex tasks for robotic systems. Recent efforts aim at designing control laws or using reinforcement l…
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…