23 citations · 50 across the 36 of their papers we have counts for
16 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…
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…
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…
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…
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…
Communication-based Decentralized Cooperative Object Transportation Using Nonlinear Model Predictive Control
Christos K. Verginis, Alexandros Nikou, Dimos V. Dimarogonas
This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a Nonlinear Model Predictive Control (NMPC) scheme that…
Robust Cooperative Manipulation without Force/Torque Measurements: Control Design and Experiments
Christos K. Verginis, Matteo Mastellaro, Dimos V. Dimarogonas
This paper presents two novel control methodologies for the cooperative manipulation of an object by N robotic agents. Firstly, we design an adaptive control protocol which employs…
A Nonlinear Model Predictive Control Scheme for Cooperative Manipulation with Singularity and Collision Avoidance
Alexandros Nikou, Christos Verginis, Shahab Heshmati-alamdari +1
This paper addresses the problem of cooperative transportation of an object rigidly grasped by robotic agents. In particular, we propose a Nonlinear Model Predictive Control (N…
Decentralized Motion Planning with Collision Avoidance for a Team of UAVs under High Level Goals
Christos K. Verginis, Ziwei Xu, Dimos V. Dimarogonas
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each…
Robust Quaternion-based Cooperative Manipulation without Force/Torque Information
Christos K. Verginis, Matteo Mastellaro, Dimos V. Dimarogonas
This paper proposes a task-space control protocol for the collaborative manipulation of a single object by N robotic agents. The proposed methodology is decentralized in the sense…
Distributed Cooperative Manipulation under Timed Temporal Specifications
Christos K. Verginis, Dimos V. Dimarogonas
This paper addresses the problem of cooperative manipulation of a single object by N robotic agents under local goal specifications given as Metric Interval Temporal Logic (MITL) f…