23 citations · 50 across the 36 of their papers we have counts for
41 papers
FDTD Model of Noise Pollution from an AI Data Center
Gavin Buxton
The sudden growth in AI data centers is raising numerous environmental concerns. Low-frequency noise pollution is a concern for local residents, that may not just be an annoyance b…
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…
Temporal Reach-Avoid-Stay Control for Differential Drive Systems via Spatiotemporal Tubes
Ratnangshu Das, Ahan Basu, Christos Verginis +1
This paper presents a computationally lightweight and robust control framework for differential-drive mobile robots with dynamic uncertainties and external disturbances, guaranteei…
Meta-Learning Augmented MPC for Disturbance-Aware Motion Planning and Control of Quadrotors
Dženan Lapandić, Fengze Xie, Christos K. Verginis +3
A major challenge in autonomous flights is unknown disturbances, which can jeopardize safety and lead to collisions, especially in obstacle-rich environments. This paper presents a…
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…
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…
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…
Planning and Control of Uncertain Cooperative Mobile Manipulator-Endowed Systems under Temporal-Logic Tasks
Christos Verginis
Control and planning of multi-agent systems is an active and increasingly studied topic of research, with many practical applications such as rescue missions, security, surveillanc…
Non-Parametric Neuro-Adaptive Formation Control
Christos K. Verginis, Zhe Xu, Ufuk Topcu
We develop a learning-based algorithm for the distributed formation control of networked multi-agent systems governed by unknown, nonlinear dynamics. Most existing algorithms eithe…
Robust Trajectory Tracking for Underactuated Quadrotors with Prescribed Performance
Dženan Lapandić, Christos K. Verginis, Dimos V. Dimarogonas +1
We propose a control protocol based on the prescribed performance control (PPC) methodology for a quadrotor unmanned aerial vehicle (UAV). Quadrotor systems belong to the class of…
Planning and Control of Multi-Robot-Object Systems under Temporal Logic Tasks and Uncertain Dynamics
Christos K. Verginis, Yiannis Kantaros, Dimos V. Dimarogonas
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constr…
Joint Learning of Reward Machines and Policies in Environments with Partially Known Semantics
Christos Verginis, Cevahir Koprulu, Sandeep Chinchali +1
We study the problem of reinforcement learning for a task encoded by a reward machine. The task is defined over a set of properties in the environment, called atomic propositions,…
Non-Parametric Neuro-Adaptive Coordination of Multi-Agent Systems
Christos K. Verginis, Zhe Xu, Ufuk Topcu
We develop a learning-based algorithm for the distributed formation control of networked multi-agent systems governed by unknown, nonlinear dynamics. Most existing algorithms eithe…
Deceptive Decision-Making Under Uncertainty
Yagiz Savas, Christos K. Verginis, Ufuk Topcu
We study the design of autonomous agents that are capable of deceiving outside observers about their intentions while carrying out tasks in stochastic, complex environments. By mod…
Non-Parametric Neuro-Adaptive Control Subject to Task Specifications
Christos K. Verginis, Zhe Xu, Ufuk Topcu
We develop a learning-based algorithm for the control of autonomous systems governed by unknown, nonlinear dynamics to satisfy user-specified spatio-temporal tasks expressed as sig…
Verifiable and Compositional Reinforcement Learning Systems
Cyrus Neary, Christos Verginis, Murat Cubuktepe +1
We propose a framework for verifiable and compositional reinforcement learning (RL) in which a collection of RL subsystems, each of which learns to accomplish a separate subtask, a…
Safety-Constrained Learning and Control using Scarce Data and Reciprocal Barriers
Christos K. Verginis, Franck Djeumou, Ufuk Topcu
We develop a control algorithm that ensures the safety, in terms of confinement in a set, of a system with unknown, 2nd-order nonlinear dynamics. The algorithm establishes novel co…
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 Minimizing Total Discounted Cost in MDPs Subject to Reachability Constraints
Yagiz Savas, Christos K. Verginis, Michael Hibbard +1
We study the synthesis of a policy in a Markov decision process (MDP) following which an agent reaches a target state in the MDP while minimizing its total discounted cost. The pro…
Safe, Passive Control for Mechanical Systems with Application to Physical Human-Robot Interactions
Wenceslao Shaw Cortez, Christos Verginis, Dimos V. Dimarogonas
In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction persp…
Adaptive Robot Navigation with Collision Avoidance subject to 2nd-order Uncertain Dynamics
Christos K. Verginis, Dimos V. Dimarogonas
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potenti…
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…
A Tube-based MPC Scheme for Interaction Control of Underwater Vehicle Manipulator Systems
Alexandros Nikou, Christos K. Verginis, Dimos V. Dimarogonas
Over the last years, the development of Autonomous Underwater Vehicles (AUV) with attached robotic manipulators, the so-called Underwater Vehicle Manipulator System (UVMS), has gai…
Mode Switching Decentralized Multi-Agent Coordination under Local Temporal Logic Tasks
Christos K. Verginis, Dimos V. Dimarogonas
This paper presents a novel control strategy for the coordination of a multi-agent system subject to high-level goals expressed as linear temporal logic formulas. In particular, ea…