23 citations · 50 across the 36 of their papers we have counts for
5 papers · 1 filter
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…
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…
Motion and Cooperative Transportation Planning for Multi-Agent Systems under Temporal Logic Formulas
Christos K. Verginis, Dimos V. Dimarogonas
This paper presents a hybrid control framework for the motion planning of a multi-agent system including N robotic agents and M objects, under high level goals expressed as Linear…
Robust Formation Control in SE(3) for Tree-Graph Structures with Prescribed Transient and Steady State Performance
Christos K. Verginis, Alexandros Nikou, Dimos V. Dimarogonas
This paper presents a novel control protocol for distance and orientation formation control of rigid bodies, whose sensing graph is a static and undirected tree, in the special Euc…