Change search
Link to record
Permanent link

Direct link
BETA
Dimarogonas, Dimos V.ORCID iD iconorcid.org/0000-0001-7309-8086
Alternative names
Publications (10 of 223) 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)000490488300123 ()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: 2019-11-14Bibliographically approved
Hashimoto, K., Saoud, A., Kishida, M., Ushio, T. & Dimarogonas, D. V. (2019). A Symbolic Approach to the Self-Triggered Design for Networked Control Systems. IEEE Control Systems Letters, 3(4), 1050-1055, Article ID 8733077.
Open this publication in new window or tab >>A Symbolic Approach to the Self-Triggered Design for Networked Control Systems
Show others...
2019 (English)In: IEEE Control Systems Letters, ISSN 2475-1456, Vol. 3, no 4, p. 1050-1055, article id 8733077Article in journal (Refereed) Published
Abstract [en]

In this letter, we investigate novel self-triggered controllers for nonlinear control systems with reachability and safety specifications. To synthesize the self-triggered controller, we leverage the notion of symbolic models, or abstractions, which represent abstracted expressions of control systems. The symbolic models will be constructed through the concepts of approximate alternating simulation relations, based on which, and by employing a reachability game, the self-triggered controller is synthesized. We illustrate the effectiveness of the proposed approach through numerical simulations.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2019
Keywords
reachability and safety, Self-triggered control, symbolic models, Abstracting, Controllers, Alternating simulation, Reachability, Safety specifications, Self-triggered controls, Symbolic model, Networked control systems
National Category
Control Engineering
Research subject
Computer Science
Identifiers
urn:nbn:se:kth:diva-263558 (URN)10.1109/LCSYS.2019.2921616 (DOI)2-s2.0-85067867636 (Scopus ID)
Note

QC 20191126

Available from: 2019-11-26 Created: 2019-11-26 Last updated: 2019-11-29Bibliographically approved
Boskos, D. & Dimarogonas, D. V. (2019). ABSTRACTIONS OF VARYING DECENTRALIZATION DEGREE FOR REACHABILITY OF COUPLED MULTIAGENT SYSTEMS. SIAM Journal of Control and Optimization, 57(5), 3471-3495
Open this publication in new window or tab >>ABSTRACTIONS OF VARYING DECENTRALIZATION DEGREE FOR REACHABILITY OF COUPLED MULTIAGENT SYSTEMS
2019 (English)In: SIAM Journal of Control and Optimization, ISSN 0363-0129, E-ISSN 1095-7138, Vol. 57, no 5, p. 3471-3495Article in journal (Refereed) Published
Abstract [en]

In this paper we present a decentralized abstraction framework for multiagent systems with couplings in their dynamics, which arise in their popular coordination protocols. The discrete models are basexl on a varying decentralization degree, namely, the agents' individual abstractions are obtained by using discrete information up to a tunable distance in their network graph. Deriving these models at the agent level is essential to address scalability issues which appear in the discretization of systems with a high state dimension. The approach builds on the appropriate discretization of the agents' state space and the selection of a transition time step, which enable the construction of a nonblocking transition system for each agent with quantifiable transition possibilities. The transitions are based on the design of local feedback laws for the manipulation of the coupling terms, which guarantee the execution of the transitions by the continuous systems. For a class of nonlinear agent interconnections, the derivation of such abstractions is always guaranteed, based on sufficient conditions which relate the agents' dynamics and the space/time quantization.

Place, publisher, year, edition, pages
SIAM PUBLICATIONS, 2019
Keywords
hybrid systems, multiagent systems, abstractions
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:kth:diva-264323 (URN)10.1137/17M1133981 (DOI)000493904200015 ()2-s2.0-85075499123 (Scopus ID)
Note

QC 20191202

Available from: 2019-12-02 Created: 2019-12-02 Last updated: 2019-12-02Bibliographically 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
Lindemann, L. & Dimarogonas, D. V. (2019). Decentralized Control Barrier Functions for Coupled Multi-Agent Systems under Signal Temporal Logic Tasks. In: Proceedings 2019 18th European Control Conference (ECC): . Paper presented at 18th European Control Conference (ECC), Naples, ITALY, JUN 25-28, 2019 (pp. 89-94). IEEE
Open this publication in new window or tab >>Decentralized Control Barrier Functions for Coupled Multi-Agent Systems under Signal Temporal Logic Tasks
2019 (English)In: Proceedings 2019 18th European Control Conference (ECC), IEEE , 2019, p. 89-94Conference paper, Published paper (Refereed)
Abstract [en]

We study the problem of controlling multi-agent systems under a set of signal temporal logic tasks. Signal temporal logic is a formalism that is used to express time and space constraints for dynamical systems. Recent methods to solve the control synthesis problem for single-agent systems under signal temporal logic tasks are, however, subject to a high computational complexity. Methods for multi-agent systems scale at least linearly with the number of agents and induce even higher computational burdens. We propose a computationally-efficient control strategy to solve the multi-agent control synthesis problem that results in a robust satisfaction of a set of signal temporal logic tasks. In particular, a decentralized feedback control law is proposed that is based on time-varying control barrier functions. The obtained control law is discontinuous and formal guarantees are provided by nonsmooth analysis. Simulations show the efficacy of the presented method.

Place, publisher, year, edition, pages
IEEE, 2019
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-263382 (URN)10.23919/ECC.2019.8796109 (DOI)000490488300014 ()2-s2.0-85067184602 (Scopus ID)
Conference
18th European Control Conference (ECC), Naples, ITALY, JUN 25-28, 2019
Note

QC 20191115

Available from: 2019-11-15 Created: 2019-11-15 Last updated: 2019-11-15Bibliographically 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
Meyer, P.-J. & Dimarogonas, D. V. (2019). Hierarchical Decomposition of LTL Synthesis Problem for Nonlinear Control Systems. IEEE Transactions on Automatic Control, 64(11), 4676-4683
Open this publication in new window or tab >>Hierarchical Decomposition of LTL Synthesis Problem for Nonlinear Control Systems
2019 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 64, no 11, p. 4676-4683Article in journal (Refereed) Published
Abstract [en]

This paper deals with the control synthesis problem for a continuous nonlinear dynamical system under a linear temporal logic (LTL) formula. The proposed solution is a top-down hierarchical decomposition of the control problem involving three abstraction layers of the problem, iteratively solved from the coarsest to the finest. The LTL planning is first solved on a small transition system only describing the regions of interest involved in the LTL formula. For each pair of consecutive regions of interest in the resulting accepting path satisfying the LTL formula, a discrete plan is then constructed in the partitioned workspace to connect these two regions while avoiding unsafe regions. Finally, an abstraction refinement approach is applied to synthesize a controller for the dynamical system to follow each discrete plan. The second main contribution, used in the third abstraction layer, is a new monotonicity-based method to overapproximate the finite-time reachable set of any continuously differentiable system. The proposed framework is demonstrated in simulation for a motion planning problem of a mobile robot modeled as a disturbed unicycle.

Place, publisher, year, edition, pages
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2019
Keywords
Reachability analysis, Planning, Tools, Nonlinear dynamical systems, Computational modeling, Nonlinear control systems, Abstraction-based synthesis, hierarchical decomposition, linear temporal logic (LTL) planning, mixed-monotone systems
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-264854 (URN)10.1109/TAC.2019.2902643 (DOI)000495647600024 ()2-s2.0-85074537478 (Scopus ID)
Note

QC 20191211

Available from: 2019-12-11 Created: 2019-12-11 Last updated: 2019-12-11Bibliographically 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-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)000490488302012 ()2-s2.0-85071580176 (Scopus ID)9783907144008 (ISBN)
Conference
18th European Control Conference, ECC 2019; Naples; Italy; 25 June-28 June 2019
Note

QC 20191017

Available from: 2019-10-17 Created: 2019-10-17 Last updated: 2019-11-15Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0001-7309-8086

Search in DiVA

Show all publications