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BETA
Dimarogonas, Dimos V.ORCID iD iconorcid.org/0000-0001-7309-8086
Alternative names
Publications (10 of 213) Show all publications
Berkane, S., Bisoffi, A. & Dimarogonas, D. V. (2019). A hybrid controller for obstacle avoidance in an n-dimensional euclidean space. In: 2019 18th European Control Conference, ECC 2019: . Paper presented at 18th European Control Conference, ECC 2019; Naples; Italy; 25 June 2019 through 28 June 2019 (pp. 764-769). Institute of Electrical and Electronics Engineers (IEEE), Article ID 8795713.
Open this publication in new window or tab >>A hybrid controller for obstacle avoidance in an n-dimensional euclidean space
2019 (English)In: 2019 18th European Control Conference, ECC 2019, Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 764-769, article id 8795713Conference paper, Published paper (Refereed)
Abstract [en]

For a vehicle moving in an n-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded spherical region. The proposed hybrid control algorithm switches between two modes of operation: stabilization (motion-to-goal) and avoidance (boundary-following). The geometric construction of the flow and jump sets of the hybrid controller, exploiting a hysteresis region, guarantees robust switching (chattering-free) between stabilization and avoidance. Simulation results illustrate the performance of the proposed hybrid control approach for a 3-dimensional scenario.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2019
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-262640 (URN)10.23919/ECC.2019.8795713 (DOI)2-s2.0-85071591878 (Scopus ID)9783907144008 (ISBN)
Conference
18th European Control Conference, ECC 2019; Naples; Italy; 25 June 2019 through 28 June 2019
Note

QC 20191017

Available from: 2019-10-17 Created: 2019-10-17 Last updated: 2019-10-17Bibliographically approved
Boskos, D. & Dimarogonas, D. V. (2019). Decentralized abstractions for multi-agent systems under coupled constraints. European Journal of Control, 45, 1-16
Open this publication in new window or tab >>Decentralized abstractions for multi-agent systems under coupled constraints
2019 (English)In: European Journal of Control, ISSN 0947-3580, E-ISSN 1435-5671, Vol. 45, p. 1-16Article in journal (Refereed) Published
Abstract [en]

The goal of this paper is to define abstractions for multi-agent systems with feedback interconnection in their dynamics. In the proposed decentralized framework, we specify a finite or countable transition system for each agent which only takes into account the discrete positions of its neighbors. The dynamics of each agent consist of a feedback component which can guarantee certain system and network requirements and induces the coupled constraints, and additional input terms, which can be exploited for high level planning. In this work, we provide sufficient conditions for space and time discretizations which enable the abstraction of the system's behavior through a discrete transition system. Furthermore, these conditions include design parameters whose tuning provides the possibility for multiple transitions, and hence, the construction of transition systems with motion planning capabilities. Published by Elsevier Ltd. All rights reserved.

Place, publisher, year, edition, pages
ELSEVIER SCIENCE BV, 2019
Keywords
Abstractions, Multi-agent systems, Hybrid systems
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:kth:diva-244127 (URN)10.1016/j.ejcon.2018.10.002 (DOI)000457515100001 ()2-s2.0-85055754925 (Scopus ID)
Note

QC 20190218

Available from: 2019-02-18 Created: 2019-02-18 Last updated: 2019-05-02Bibliographically approved
Yi, X., Liu, K., Dimarogonas, D. V. & Johansson, K. H. (2019). Dynamic Event-Triggered and Self-Triggered Control for Multi-agent Systems. IEEE Transactions on Automatic Control, 64(8), 3300-3307
Open this publication in new window or tab >>Dynamic Event-Triggered and Self-Triggered Control for Multi-agent Systems
2019 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 64, no 8, p. 3300-3307Article in journal (Refereed) Published
Abstract [en]

We propose two novel dynamic event-triggered control laws to solve the average consensus problem for first-order continuous-time multiagent systems over undirected graphs. Compared with the most existing triggering laws, the proposed laws involve internal dynamic variables, which play an essential role in guaranteeing that the triggering time sequence does not exhibit Zeno behavior. Moreover, some existing triggering laws are special cases of ours. For the proposed self-triggered algorithm, continuous agent listening is avoided as each agent predicts its next triggering time and broadcasts it to its neighbors at the current triggering time. Thus, each agent only needs to sense and broadcast at its triggering times, and to listen to and receive incoming information from its neighbors at their triggering times. It is proved that the proposed triggering laws make the state of each agent converge exponentially to the average of the agents' initial states if and only if the underlying graph is connected. Numerical simulations are provided to illustrate the effectiveness of the theoretical results.

Place, publisher, year, edition, pages
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2019
Keywords
Consensus, dynamic event-triggered control, multiagent systems, self-triggered control
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-257567 (URN)10.1109/TAC.2018.2874703 (DOI)000478694300016 ()2-s2.0-85054510419 (Scopus ID)
Note

QC 20190923

Available from: 2019-09-23 Created: 2019-09-23 Last updated: 2019-09-23Bibliographically approved
Lindemann, L. & Dimarogonas, D. V. (2019). Feedback control strategies for multi-agent systems under a fragment at) of signal temporal logic tasks. Automatica, 106, 284-293
Open this publication in new window or tab >>Feedback control strategies for multi-agent systems under a fragment at) of signal temporal logic tasks
2019 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 106, p. 284-293Article in journal (Refereed) Published
Abstract [en]

Multi-agent systems under temporal logic tasks have great potential due to their ability to deal with complex tasks. The control of these systems, however, poses many challenges and the majority of existing approaches result in large computational burdens. We instead propose computationally efficient and robust feedback control strategies for a class of systems that are, in a sense, feedback equivalent to single integrator systems, but where the dynamics are partially unknown for the control design. A bottom-up scenario is considered in which each agent is subject to a local task from a limited signal temporal logic fragment. Notably, the satisfaction of a local task may also depend on the behavior of other agents. We provide local continuous-time feedback control laws that, under some sufficient conditions, guarantee satisfaction of the local tasks. Otherwise, a local detection & repair scheme is proposed in combination with the previously derived feedback control laws to deal with infeasibilities, such as when local tasks are conflicting. The efficacy of the proposed method is demonstrated in simulations.

Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD, 2019
Keywords
Multi-agent systems, Formal methods-based control, Signal temporal logic, Robust control, Autonomous systems, Hybrid systems
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-255402 (URN)10.1016/j.automatica.2019.05.013 (DOI)000473380000033 ()2-s2.0-85065763330 (Scopus ID)
Note

QC 20190814

Available from: 2019-08-14 Created: 2019-08-14 Last updated: 2019-08-14Bibliographically approved
Schillinger, P., Bürger, M. & Dimarogonas, D. V. (2019). Hierarchical LTL-Task MDPs for Multi-Agent Coordination through Auctioning and Learning. The international journal of robotics research
Open this publication in new window or tab >>Hierarchical LTL-Task MDPs for Multi-Agent Coordination through Auctioning and Learning
2019 (English)In: The international journal of robotics research, ISSN 0278-3649, E-ISSN 1741-3176Article in journal (Refereed) Submitted
Abstract [en]

Given a temporal behavior specification and a team of agents available for execution in a stochastic environment, it is still an open problem how to efficiently decompose and allocate the specification to the agents while coordinating their actions accordingly and while considering long-term performance under uncertain external events. Our proposed framework works towards this goal by constructing a so-called hierachical LTL-Task MDP automatically by formally decomposing a given temporal logic goal specification into a set of smaller MDP planning problems. In order to efficiently find a multi-agent policy in this generated LTL-Task MDP, we combine methods from planning under uncertainty and auction-based task allocation with techniques from reinforcement learning. A particular challenge is to consider uncertainty in the environment, which might require significant additional effort to satisfy the given specification. This is addressed here by a formalism that allows the agents to consider preparation of such possible future reactions instead of updating the set of tasks only after observing an event.

National Category
Robotics
Identifiers
urn:nbn:se:kth:diva-246196 (URN)
Funder
EU, Horizon 2020, 731869
Note

QC 20190319

Available from: 2019-03-15 Created: 2019-03-15 Last updated: 2019-05-10Bibliographically approved
Barbosa, F. S., Lindemann, L., Dimarogonas, D. V. & Tumova, J. (2019). Integrated motion planning and control under metric interval temporal logic specifications. In: 2019 18th European Control Conference, ECC 2019: . Paper presented at 18th European Control Conference, ECC 2019; Naples; Italy; 25 June 2019 through 28 June 2019 (pp. 2042-2049). Institute of Electrical and Electronics Engineers (IEEE), Article ID 8795925.
Open this publication in new window or tab >>Integrated motion planning and control under metric interval temporal logic specifications
2019 (English)In: 2019 18th European Control Conference, ECC 2019, Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 2042-2049, article id 8795925Conference paper, Published paper (Refereed)
Abstract [en]

This paper proposes an approach that combines motion planning and hybrid feedback control design in order to find and follow trajectories fulfilling a given complex mission involving time constraints. We use Metric Interval Temporal Logic (MITL) as a rich and rigorous formalism to specify such missions. The solution builds on three main steps: (i) using sampling-based motion planning methods and the untimed version of the mission specification in the form of Zone automaton, we find a sequence of waypoints in the workspace; (ii) based on the clock zones from the satisfying run on the Zone automaton, we compute time-stamps at which these waypoints should be reached; and (iii) to control the system to connect two waypoints in the desired time, we design a low-level feedback controller leveraging Time-varying Control Barrier Functions. Illustrative simulation results are included.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2019
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:kth:diva-262641 (URN)10.23919/ECC.2019.8795925 (DOI)2-s2.0-85071580176 (Scopus ID)9783907144008 (ISBN)
Conference
18th European Control Conference, ECC 2019; Naples; Italy; 25 June 2019 through 28 June 2019
Note

QC 20191017

Available from: 2019-10-17 Created: 2019-10-17 Last updated: 2019-10-17Bibliographically approved
Linsenmayer, S., Dimarogonas, D. V. & Allgoewer, F. (2019). Periodic event-triggered control for networked control systems based on non-monotonic Lyapunov functions. Automatica, 106, 35-46
Open this publication in new window or tab >>Periodic event-triggered control for networked control systems based on non-monotonic Lyapunov functions
2019 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 106, p. 35-46Article in journal (Refereed) Published
Abstract [en]

This article considers exponential stabilization of linear Networked Control Systems with periodic event-triggered control for a given network specification in terms of a maximum number of successive dropouts and a constant transmission delay. Based on stability results using non-monotonic Lyapunov functions for discontinuous dynamical systems, two sufficient results for stability of the general model of a linear event-triggered Networked Control System are derived. Those results are used to derive robust periodic event-triggered control strategies. First, a static triggering mechanism for the case without delay is derived. Afterwards, two dynamic triggering mechanisms are developed for the case without and with delay. It is shown how a degree of freedom, being contained in the dynamic triggering mechanisms, can be used to shape the resulting network traffic. The applied adaption technique is motivated by existing congestion control mechanisms in communication networks. The properties of the derived mechanisms are illustrated in a numerical example.

Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD, 2019
Keywords
Networked control systems, Event-triggered control, Fault-tolerant
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-255404 (URN)10.1016/j.automatica.2019.04.039 (DOI)000473380000005 ()2-s2.0-85065567343 (Scopus ID)
Note

QC 20190814

Available from: 2019-08-14 Created: 2019-08-14 Last updated: 2019-08-14Bibliographically approved
Varnai, P. & Dimarogonas, D. V. (2019). Prescribed performance control guided policy improvement for satisfying signal temporal logic tasks. In: Proceedings of the American Control Conference: . Paper presented at 2019 American Control Conference, ACC 2019; Philadelphia; United States; 10 July 2019 through 12 July 2019 (pp. 286-291). Institute of Electrical and Electronics Engineers (IEEE), Article ID 8814999.
Open this publication in new window or tab >>Prescribed performance control guided policy improvement for satisfying signal temporal logic tasks
2019 (English)In: Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 286-291, article id 8814999Conference paper, Published paper (Refereed)
Abstract [en]

Signal temporal logic (STL) provides a user-friendly interface for defining complex tasks for robotic systems. Recent efforts aim at designing control laws or using reinforcement learning methods to find policies which guarantee satisfaction of these tasks. While the former suffer from the trade-off between task specification and computational complexity, the latter encounter difficulties in exploration as the tasks become more complex and challenging to satisfy. This paper proposes to combine the benefits of the two approaches and use an efficient prescribed performance control (PPC) base law to guide exploration within the reinforcement learning algorithm. The potential of the method is demonstrated in a simulated environment through two sample navigational tasks.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2019
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:kth:diva-262594 (URN)2-s2.0-85072284215 (Scopus ID)9781538679265 (ISBN)
Conference
2019 American Control Conference, ACC 2019; Philadelphia; United States; 10 July 2019 through 12 July 2019
Note

QC 20191017

Available from: 2019-10-17 Created: 2019-10-17 Last updated: 2019-10-17Bibliographically approved
Verginis, C., Vrohidis, C., Bechlioulis, C., Kyriakopoulos, K. & Dimarogonas, D. V. (2019). Reconfigurable Motion Planning and Control in Obstacle Cluttered Environments under Timed Temporal Tasks. In: : . Paper presented at International Conference on Robotics and Automation, 20-24 May 2019 in Montreal, Canada..
Open this publication in new window or tab >>Reconfigurable Motion Planning and Control in Obstacle Cluttered Environments under Timed Temporal Tasks
Show others...
2019 (English)Conference paper, Poster (with or without abstract) (Refereed)
Abstract [en]

This work addresses the problem of robot navigation under timed temporal specifications in workspaces cluttered with obstacles. We propose a hybrid control strategy that guarantees the accomplishment of a high-level specification expressed as a timed temporal logic formula, while preserving safety (i.e., obstacle avoidance) of the system. In particular, we utilize a motion controller that achieves safe navigation inside the workspace in predetermined time, thus allowingus to abstract the motion of the agent as a finite timed transition system among certain regions of interest. Next, we employ standard formal verification and convex optimization techniques to derive high-level timed plans that satisfy the agent’s specifications. A simulation study illustrates and clarifies the proposed scheme.

National Category
Robotics
Identifiers
urn:nbn:se:kth:diva-247275 (URN)
Conference
International Conference on Robotics and Automation, 20-24 May 2019 in Montreal, Canada.
Note

QC 20190403

Available from: 2019-03-21 Created: 2019-03-21 Last updated: 2019-04-03Bibliographically approved
Lindemann, L. & Dimarogonas, D. V. (2019). Robust control for signal temporal logic specifications using discrete average space robustness. Automatica, 101, 377-387
Open this publication in new window or tab >>Robust control for signal temporal logic specifications using discrete average space robustness
2019 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 101, p. 377-387Article in journal (Refereed) Published
Abstract [en]

Control systems that satisfy temporal logic specifications have become increasingly popular due to their applicability to robotic systems. Existing control methods, however, are computationally demanding, especially when the problem size becomes too large. In this paper, a robust and computationally efficient model predictive control framework for signal temporal logic specifications is proposed. We introduce discrete average space robustness, a novel quantitative semantic for signal temporal logic, that is directly incorporated into the cost function of the model predictive controller. The optimization problem entailed in this framework can be written as a convex quadratic program when no disjunctions are considered and results in a robust satisfaction of the specification. Furthermore, we define the predicate robustness degree as a new robustness notion. Simulations of a multi-agent system subject to complex specifications demonstrate the efficacy of the proposed method.

Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD, 2019
Keywords
Formal methods-based control, Signal temporal logic, Model predictive control, Autonomous systems
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-244884 (URN)10.1016/j.automatica.2018.12.022 (DOI)000458941700042 ()
Note

QC 20190305

Available from: 2019-03-05 Created: 2019-03-05 Last updated: 2019-06-11Bibliographically approved
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ORCID iD: ORCID iD iconorcid.org/0000-0001-7309-8086

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