255 citations · 1k across the 209 of their papers we have counts for
13 papers · 1 filter
State Estimation for Linear Systems with Quadratic Outputs
Soulaimane Berkane, Dionysis Theodosis, Tarek Hamel +1
This letter deals with the problem of state estimation for a class of systems involving linear dynamics with multiple quadratic output measurements. We propose a systematic approac…
On Topological Conditions for Enabling Transient Control in Leader-follower Networks
Fei Chen, Dimos V. Dimarogonas
We derive necessary and sufficient conditions for leader-follower multi-agent systems such that we can further apply prescribed performance control to achieve the desired formation…
Distributed Sequential Receding Horizon Control of Multi-Agent Systems under Recurring Signal Temporal Logic
Eleftherios E. Vlahakis, Lars Lindemann, Dimos V. Dimarogonas
We consider the synthesis problem of a multi-agent system under signal temporal logic (STL) specifications representing bounded-time tasks that need to be satisfied recurrently ove…
A contract negotiation scheme for safety verification of interconnected systems
Xiao Tan, Antonis Papachristodoulou, Dimos V. Dimarogonas
This paper proposes a (control) barrier function synthesis and safety verification scheme for interconnected nonlinear systems based on assume-guarantee contracts (AGC) and sum-of-…
Continuous-time control synthesis under nested signal temporal logic specifications
Pian Yu, Xiao Tan, Dimos V. Dimarogonas
In this work, we propose a novel approach for the continuous-time control synthesis of nonlinear systems under nested signal temporal logic (STL) specifications. While the majority…
Controller Synthesis of Collaborative Signal Temporal Logic Tasks for Multi-Agent Systems via Assume-Guarantee Contracts
Siyuan Liu, Adnane Saoud, Dimos V. Dimarogonas
This paper considers the problem of controller synthesis of signal temporal logic (STL) specifications for large-scale multi-agent systems, where the agents are dynamically coupled…
MAPS: Multi-Robot Autonomous Motion Planning under Signal Temporal Logic Specifications
Mayank Sewlia, Christos K. Verginis, Dimos V. Dimarogonas
This article presents MAPS : a distributed algorithm that allows multi-robot systems to deliver coupled tasks expressed as Signal Temporal Logic (STL) constraints. Classical co…
Control of Nonlinear Systems Under Multiple Time-Varying Output Constraints: A Single Funnel Approach
Farhad Mehdifar, Lars Lindemann, Charalampos P. Bechlioulis +1
This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems. First, it is shown that t…
Kinodynamic Motion Planning via Funnel Control for Underactuated Unmanned Surface Vehicles
Dženan Lapandić, Christos K. Verginis, Dimos V. Dimarogonas +1
We develop an algorithm to control an underactuated unmanned surface vehicle (USV) using kinodynamic motion planning with funnel control (KDF). KDF has two key components: motion p…
Reactive and human-in-the-loop planning and control of multi-robot systems under LTL specifications in dynamic environments
Pian Yu, Gianmarco Fedeli, Dimos V. Dimarogonas
This paper investigates the planning and control problems for multi-robot systems under linear temporal logic (LTL) specifications. In contrast to most of existing literature, whic…
Decentralized Vehicle Coordination and Lane Switching without Switching of Controllers
Arno Frauenfelder, Adrian Wiltz, Dimos V. Dimarogonas
This paper proposes a controller for safe lane change manoeuvres of autonomous vehicles using high-order control barrier and Lyapunov functions. The inputs are calculated using a q…
Construction of Control Barrier Functions Using Predictions with Finite Horizon
Adrian Wiltz, Xiao Tan, Dimos V. Dimarogonas
In this paper, we show that under mild controllability assumptions a time-invariant Control Barrier Function (CBF) can be constructed based on predictions with a finite horizon. As…
Prediction-Based Leader-Follower Rendezvous Model Predictive Control with Robustness to Communication Losses
Dženan Lapandić, Christos K. Verginis, Dimos V. Dimarogonas +1
In this paper we propose a novel distributed model predictive control (DMPC) based algorithm with a trajectory predictor for a scenario of landing of unmanned aerial vehicles (UAVs…