255 citations · 1k across the 209 of their papers we have counts for
24 papers · 1 filter
Trajectory Tracking for Multi-Manipulator Systems in Constrained Environments
Mayank Sewlia, Christos K. Verginis, Dimos V. Dimarogonas
We consider the problem of cooperative manipulation by a mobile multi-manipulator system operating in obstacle-cluttered and highly constrained environments under spatio-temporal t…
Decoupled Design of Time-Varying Control Barrier Functions via Equivariances
Adrian Wiltz, Dimos V. Dimarogonas
This article presents a systematic method for designing time-varying Control Barrier Functions (CBF) composed of a time-invariant component and multiple time-dependent components,…
Conformal Prediction-Based MPC for Stochastic Linear Systems
Lukas Vogel, Andrea Carron, Eleftherios E. Vlahakis +1
We propose a stochastic model predictive control (MPC) framework for linear systems subject to joint-in-time chance constraints under unknown disturbance distributions. Unlike exis…
Resistant Topology Inference in Consensus Networks: A Feedback-Based Design
Yushan Li, Jiabao He, Dimos V. Dimarogonas
Consensus networks are widely deployed in numerous civil and industrial applications. However, the process of reaching a common consensus among nodes can unintentionally reveal the…
Switching control of underactuated multi-channel systems with input constraints for cooperative manipulation
Dongjae Lee, Dimos V. Dimarogonas, H. Jin Kim
This work presents an event-triggered switching control framework for a class of nonlinear underactuated multi-channel systems with input constraints. These systems are inspired by…
Robust Estimation and Control for Heterogeneous Multi-agent Systems Based on Decentralized k-hop Prescribed Performance Observers
Tommaso Zaccherini, Siyuan Liu, Dimos V. Dimarogonas
We propose decentralized k-hop Prescribed Performance State and Input Observers for heterogeneous multi-agent systems subject to bounded external disturbances. In the proposed inpu…
Robust Closed-Form Control for MIMO Nonlinear Systems under Generalized Conflicting Time-Varying Hard and Soft Constraints (extended version)
Farhad Mehdifar, Charalampos P. Bechlioulis, Dimos V. Dimarogonas
This paper introduces a novel robust closed-form control law to handle time-varying hard and soft constraints in uncertain high-relative-degree nonlinear MIMO systems. These constr…
On Uniformly Time-Varying Control Barrier Functions
Adrian Wiltz, Dimos V. Dimarogonas
This paper investigates the design of a subclass of time-varying Control Barrier Functions (CBFs), specifically that of uniformly time-varying CBFs. Leveraging the fact that CBFs e…
Leveraging Equivariances and Symmetries in the Control Barrier Function Synthesis
Adrian Wiltz, Dimos V. Dimarogonas
The synthesis of Control Barrier Functions (CBFs) often involves demanding computations or a meticulous construction. However, structural properties of the system dynamics and cons…
Fault-tolerant Model Predictive Control for Spacecraft
Raphael Stöckner, Pedro Roque, Maria Charitidou +1
Given the cost and critical functions of satellite constellations, ensuring mission longevity and safe decommissioning is essential for space sustainability. This article presents…
Sampling-Based Planning Under STL Specifications: A Forward Invariance Approach
Gregorio Marchesini, Siyuan Liu, Lars Lindemann +1
We propose a variant of the Rapidly Exploring Random Tree Star (RRT) algorithm to synthesize trajectories satisfying a given spatio-temporal specification expressed in a…
Inverse Inference on Cooperative Control of Networked Dynamical Systems
Yushan Li, Jianping He, Dimos V. Dimarogonas
Recent years have witnessed the rapid advancement of understanding the control mechanism of networked dynamical systems (NDSs), which are governed by components such as nodal dynam…
Feasibility Analysis and Constraint Selection in Optimization-Based Controllers
Panagiotis Rousseas, Haejoon Lee, Dimos V. Dimarogonas +1
Control synthesis under constraints is at the forefront of research on autonomous systems, in part due to its broad application from low-level control to high-level planning, where…
Stability of Open Multi-agent Systems over Dynamic Signed Graphs
Pelin Sekercioglu, Angela Fontan, Dimos V. Dimarogonas
This paper addresses the bipartite consensus-control problem in open multi-agent systems containing both cooperative and antagonistic interactions. In these systems, new agents can…
Predictive Synthesis of Control Barrier Functions and its Application to Time-Varying Constraints
Adrian Wiltz, Dimos V. Dimarogonas
This paper presents a systematic method for synthesizing a Control Barrier Function (CBF) that encodes predictive information into a CBF. Unlike other methods, the synthesized CBF…
Distributed model predictive control without terminal cost under inexact distributed optimization
Xiaoyu Liu, Dimos V. Dimarogonas, Changxin Liu +2
This paper presents a novel distributed model predictive control (MPC) formulation without terminal cost and a corresponding distributed synthesis approach for distributed linear d…
Robust Visual Servoing under Human Supervision for Assembly Tasks
Victor Nan Fernandez-Ayala, Jorge Silva, Meng Guo +1
We propose a framework enabling mobile manipulators to reliably complete pick-and-place tasks for assembling structures from construction blocks. The picking uses an eye-in-hand vi…
Conformal Data-driven Control of Stochastic Multi-Agent Systems under Collaborative Signal Temporal Logic Specifications
Eleftherios E. Vlahakis, Lars Lindemann, Dimos V. Dimarogonas
We address control synthesis of stochastic discrete-time linear multi-agent systems under jointly chance-constrained collaborative signal temporal logic specifications in a distrib…
Data-Driven Distributionally Robust Control for Interacting Agents under Logical Constraints
Arash Bahari Kordabad, Eleftherios E. Vlahakis, Lars Lindemann +3
In this paper, we propose a distributionally robust control synthesis for an agent with stochastic dynamics that interacts with other agents under uncertainties and constraints exp…
Communication-aware Multi-agent Systems Control Based on -hop Distributed Observers
Tommaso Zaccherini, Siyuan Liu, Dimos V. Dimarogonas
We propose a distributed control strategy to allow the control of a multi-agent system requiring k-hop interactions based on the design of distributed state and input observers. In…
Collaborative Satisfaction of Long-Term Spatial Constraints in Multi-Agent Systems: A Distributed Optimization Approach (extended version)
Farhad Mehdifar, Mani H. Dhullipalla, Charalampos P. Bechlioulis +1
This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as ineq…
Efficient Coordination and Synchronization of Multi-Robot Systems Under Recurring Linear Temporal Logic
Davide Peron, Victor Nan Fernandez-Ayala, Eleftherios E. Vlahakis +1
We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up ap…
Estimating unknown dynamics and cost as a bilinear system with Koopman-based Inverse Optimal Control
Victor Nan Fernandez-Ayala, Shankar A. Deka, Dimos V. Dimarogonas
In this work, we address the challenge of approximating unknown system dynamics and cost functions through a Koopman-based Inverse Optimal Control (IOC) framework. Using optimal tr…
Towards Open-Source and Modular Space Systems with ATMOS
Pedro Roque, Sujet Phodapol, Elias Krantz +11
In the near future, autonomous space systems will compose many of the deployed spacecraft. Their tasks will involve autonomous rendezvous and proximity operations with large struct…