100 citations · 335 across the 27 of their papers we have counts for
35 papers
Sampled-data optimal control of linear fractional-order systems
Pantelis Sopasakis
This paper studies the problem of optimal control of Caputo linear fractional-order systems of order with continuous-time state constraints and input constraints. The…
Multi-Agent Temporal Logic Planning via Penalty Functions and Block-Coordinate Optimization
Eleftherios E. Vlahakis, Arash Bahari Kordabad, Lars Lindemann +3
Multi-agent planning under Signal Temporal Logic (STL) is often hindered by collaborative tasks that lead to computational challenges due to the inherent high dimensionality of the…
GPU-Accelerated SPOCK for Scenario-Based Risk-Averse Optimal Control Problems
Ruairi Moran, Pantelis Sopasakis
This paper presents a GPU-accelerated implementation of the SPOCK algorithm, a proximal method designed for solving scenario-based risk-averse optimal control problems. The propose…
Conformal Prediction for Distribution-free Optimal Control of Linear Stochastic Systems
Eleftherios E. Vlahakis, Lars Lindemann, Pantelis Sopasakis +1
We address an optimal control problem for linear stochastic systems with unknown noise distributions and joint chance constraints using conformal prediction. Our approach involves…
Probabilistic Tube-based Control Synthesis of Stochastic Multi-Agent Systems under Signal Temporal Logic
Eleftherios E. Vlahakis, Lars Lindemann, Pantelis Sopasakis +1
We consider the control design of stochastic discrete-time linear multi-agent systems (MASs) under a global signal temporal logic (STL) specification to be satisfied at a predefine…
NMPC for Collision Avoidance by Superellipsoid Separation
Ruairi Moran, Sheila Bagley, Seth Kasmann +5
This paper introduces a novel NMPC formulation for real-time obstacle avoidance on heavy equipment by modeling both vehicle and obstacles as convex superellipsoids. The combination…