23 citations · 50 across the 36 of their papers we have counts for
9 papers · 1 filter
Asymptotic and finite-time almost global attitude tracking: representations free approach
Jieqiang Wei, Christos Verginis, Junfeng Wu +3
In this paper, the attitude tracking problem is considered using the rotation matrices. Due to the inherent topological restriction, it is impossible to achieve global attractivity…
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 Abstractions and Timed Constrained Planning of a General Class of Coupled Multi-Agent Systems
Alexandros Nikou, Shahab Heshmati-alamdari, Christos Verginis +1
This paper presents a fully automated procedure for controller synthesis for a general class of multi-agent systems under coupling constraints. Each agent is modeled with dynamics…
Robust Decentralized Abstractions for Multiple Mobile Manipulators
Christos K. Verginis, Dimos V. Dimarogonas
This paper addresses the problem of decentralized abstractions for multiple mobile manipulators with 2nd order dynamics. In particular, we propose decentralized controllers for the…
Position and Orientation Based Formation Control of Multiple Rigid Bodies with Collision Avoidance and Connectivity Maintenance
Christos K. Verginis, Alexandros Nikou, Dimos V. Dimarogonas
This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a D workspace with obstacles. M…
Prescribed Performance Control for Signal Temporal Logic Specifications
Lars Lindemann, Christos K. Verginis, Dimos V. Dimarogonas
Motivated by the recent interest in formal methods-based control for dynamic robots, we discuss the applicability of prescribed performance control to nonlinear systems subject to…
Decentralized 2-D Control of Vehicular Platoons under Limited Visual Feedback
Christos K. Verginis, Charalampos P. Bechlioulis, Dimos V. Dimarogonas +1
In this paper, we consider the two dimensional (2-D) predecessor-following control problem for a platoon of unicycle vehicles moving on a planar surface. More specifically, we desi…
Robust Distributed Control Protocols for Large Vehicular Platoons with Prescribed Transient and Steady State Performance
Christos K. Verginis, Charalampos P. Bechlioulis, Dimos V. Dimarogonas +1
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional contro…