255 citations · 1k across the 209 of their papers we have counts for
16 papers · 1 filter
Parallelized Robust Distributed Model Predictive Control in the Presence of Coupled State Constraints
Adrian Wiltz, Fei Chen, Dimos V. Dimarogonas
In this paper, we present a robust distributed model predictive control (DMPC) scheme for dynamically decoupled nonlinear systems which are subject to state constraints, coupled st…
Event-Triggered Tracking Control of Networked and Quantized Control Systems
Wei Ren, Dimos V. Dimarogonas, Raphael Jungers
This paper studies the tracking control problem of networked and quantized control systems under both multiple networks and event-triggered mechanisms. Multiple networks are to con…
Enhancing Data-Driven Reachability Analysis using Temporal Logic Side Information
Amr Alanwar, Frank J. Jiang, Maryam Sharifi +2
This paper presents algorithms for performing data-driven reachability analysis under temporal logic side information. In certain scenarios, the data-driven reachable sets of a rob…
Reactive and Risk-Aware Control for Signal Temporal Logic
Lars Lindemann, George J. Pappas, Dimos V. Dimarogonas
The deployment of autonomous systems in uncertain and dynamic environments has raised fundamental questions. Addressing these is pivotal to build fully autonomous systems and requi…
2-D Directed Formation Control Based on Bipolar Coordinates
Farhad Mehdifar, Charalampos P. Bechlioulis, Julien M. Hendrickx +1
This work proposes a novel 2-D formation control scheme for acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) based on bipolar coordinates with…
KDF: Kinodynamic Motion Planning via Geometric Sampling-based Algorithms and Funnel Control
Christos K. Verginis, Dimos V. Dimarogonas, Lydia E. Kavraki
We integrate sampling-based planning techniques with funnel-based feedback control to develop KDF, a new framework for solving the kinodynamic motion-planning problem via funnel co…
On the Undesired Equilibria Induced by Control Barrier Function Based Quadratic Programs
Xiao Tan, Dimos V. Dimarogonas
In this paper, we analyze the system behavior for general nonlinear control-affine systems when a control barrier function-induced quadratic program-based controller is employed fo…
High-order Barrier Functions: Robustness, Safety and Performance-Critical Control
Xiao Tan, Wenceslao Shaw Cortez, Dimos V. Dimarogonas
In this paper, we propose a notion of high-order (zeroing) barrier functions that generalizes the concept of zeroing barrier functions and guarantees set forward invariance by chec…
Fixed-Time Convergent Control Barrier Functions for Coupled Multi-Agent Systems Under STL Tasks
Maryam Sharifi, Dimos V. Dimarogonas
This paper presents a control strategy based on a new notion of time-varying fixed-time convergent control barrier functions (TFCBFs) for a class of coupled multi-agent systems und…
Distributed motion coordination for multi-robot systems under LTL specifications
Pian Yu, Dimos V. Dimarogonas
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specific…
Robust approximate symbolic models for a class of continuous-time uncertain nonlinear systems via a control interface
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 a discrete abstraction for a…
Signal Temporal Logic Task Decomposition via Convex Optimization
Maria Charitidou, Dimos V. Dimarogonas
In this paper we focus on the problem of decomposing a global Signal Temporal Logic formula (STL) assigned to a multi-agent system to local STL tasks when the team of agents is a-p…
Online Control Synthesis for Uncertain Systems under Signal Temporal Logic Specifications
Pian Yu, Yulong Gao, Frank J. Jiang +2
This paper studies the online control synthesis problem for uncertain discrete-time systems subject to signal temporal logic (STL) specifications. Different from existing technique…
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…
Barrier Function-based Collaborative Control of Multiple Robots under Signal Temporal Logic Tasks
Lars Lindemann, Dimos V. Dimarogonas
Motivated by the recent interest in cyber-physical and autonomous robotic systems, we study the problem of dynamically coupled multi-agent systems under a set of signal temporal lo…
Aperiodic Communication for MPC in Autonomous Cooperative Landing
Dženan Lapandić, Linnea Persson, Dimos V. Dimarogonas +1
This paper investigates the rendezvous problem for the autonomous cooperative landing of an unmanned aerial vehicle (UAV) on an unmanned surface vehicle (USV). Such heterogeneous a…