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 205) Show all publications
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-s2.0-850557549252-s2.0-85055754925 (Scopus ID)
Note

QC 20190218

Available from: 2019-02-18 Created: 2019-02-18 Last updated: 2019-02-18Bibliographically 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: 2019-03-19Bibliographically 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: 2019-03-05Bibliographically approved
Bisoffi, A. & Dimarogonas, D. V. (2018). A hybrid barrier certificate approach to satisfy linear temporal logic specifications. In: 2018 Annual American Control Conference (ACC): . Paper presented at 2018 Annual American Control Conference, ACC 2018, Wisconsin Center / Hilton Milwauke City CenterMilwauke, United States, 27 June 2018 through 29 June 2018 (pp. 634-639). Institute of Electrical and Electronics Engineers (IEEE), Article ID 8430795.
Open this publication in new window or tab >>A hybrid barrier certificate approach to satisfy linear temporal logic specifications
2018 (English)In: 2018 Annual American Control Conference (ACC), Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 634-639, article id 8430795Conference paper, Published paper (Refereed)
Abstract [en]

In this work we formulate the satisfaction of a (syntactically co-safe) linear temporal logic specification on a physical plant through a recent hybrid dynamical systems formalism. In order to solve this problem, we introduce an extension to such a hybrid system framework of the so-called eventuality property, which matches suitably the condition for the satisfaction of such a temporal logic specification. The eventuality property can be established through barrier certificates, which we derive for the considered hybrid system framework. Using a hybrid barrier certificate, we propose a solution to the original problem. Simulations illustrate the effectiveness of the proposed method. 2018 AACC.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2018
Series
Proceedings of the American Control Conference, ISSN 074-31619
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-234708 (URN)10.23919/ACC.2018.8430795 (DOI)2-s2.0-85052595590 (Scopus ID)9781538654286 (ISBN)
Conference
2018 Annual American Control Conference, ACC 2018, Wisconsin Center / Hilton Milwauke City CenterMilwauke, United States, 27 June 2018 through 29 June 2018
Note

QC 20180910

Available from: 2018-09-10 Created: 2018-09-10 Last updated: 2018-09-10Bibliographically approved
Heshmati-Alamdari, S., Bechlioulis, C. P., Karras, G. C., Nikou, A., Dimarogonas, D. V. & Kyriakopoulos, K. J. (2018). A robust interaction control approach for underwater vehicle manipulator systems. Annual Reviews in Control, 46, 315-325
Open this publication in new window or tab >>A robust interaction control approach for underwater vehicle manipulator systems
Show others...
2018 (English)In: Annual Reviews in Control, ISSN 1367-5788, E-ISSN 1872-9088, Vol. 46, p. 315-325Article, review/survey (Refereed) Published
Abstract [en]

In underwater robotic interaction tasks (e.g., sampling of sea organisms, underwater welding, panel handling, etc) various issues regarding the uncertainties and complexity of the robot dynamic model, the external disturbances (e.g., sea currents), the steady state performance as well as the overshooting/undershooting of the interaction force error, should be addressed during the control design. Motivated by the aforementioned considerations, this paper presents a force/position tracking control protocol for an Underwater Vehicle Manipulator System (UVMS) in compliant contact with a planar surface, without incorporating any knowledge of the UVMS dynamic model, the exogenous disturbances or the contact stiffness model. Moreover, the proposed control framework guarantees: (i) certain predefined minimum speed of response, maximum steady state error as well as overshoot/undershoot concerning the force/position tracking errors, (ii) contact maintenance and (iii) bounded closed loop signals. Additionally, the achieved transient and steady state performance is solely determined by certain designer-specified performance functions/parameters and is fully decoupled from the control gain selection and the initial conditions. Finally, both simulation and experimental studies clarify the proposed method and verify its efficiency.

Place, publisher, year, edition, pages
Elsevier, 2018
Keywords
Underwater vehicle manipulator systems, Nonlinear control, Autonomous underwater vehicles, Marine robotics, Force/position control, Robust control
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-240790 (URN)10.1016/j.arcontrol.2018.10.003 (DOI)000453618200021 ()2-s2.0-85054423056 (Scopus ID)
Note

QC 20190103

Available from: 2019-01-03 Created: 2019-01-03 Last updated: 2019-01-07Bibliographically approved
Hashimoto, K., Adachi, S. & Dimarogonas, D. V. (2018). Aperiodic Sampled-Data Control via Explicit Transmission Mapping: A Set-Invariance Approach. IEEE Transactions on Automatic Control, 63(10), 3523-3530
Open this publication in new window or tab >>Aperiodic Sampled-Data Control via Explicit Transmission Mapping: A Set-Invariance Approach
2018 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 63, no 10, p. 3523-3530Article in journal (Refereed) Published
Abstract [en]

Event-triggered and self-triggered control have been proposed in recent years as promising control strategies to reduce communication resources in networked control systems (NCSs). Based on the notion of set-invariance theory, this note presents new self-triggered control strategies for linear discrete-time systems subject to input and state constraints. The proposed schemes not only achieve communication reduction for NCSs, but also ensure both asymptotic stability of the origin and constraint satisfactions. A numerical simulation example validates the effectiveness of the proposed approaches.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2018
Keywords
Constrained control, event-triggered and self-triggered control, set-invariance theory
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-237121 (URN)10.1109/TAC.2018.2798802 (DOI)000446331200031 ()2-s2.0-85041330363 (Scopus ID)
Funder
Swedish Research CouncilSwedish Foundation for Strategic Research EU, European Research CouncilKnut and Alice Wallenberg Foundation
Note

QC 20181030

Available from: 2018-10-30 Created: 2018-10-30 Last updated: 2018-10-30Bibliographically approved
Ótão Pereira, P. M., Roque, P. & Dimarogonas, D. V. (2018). Asymmetric Collaborative Bar Stabilization Tethered to Two Heterogeneous Aerial Vehicles. In: 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA): . Paper presented at IEEE International Conference on Robotics and Automation (ICRA), MAY 21-25, 2018, Brisbane, AUSTRALIA (pp. 5247-5253). IEEE Computer Society
Open this publication in new window or tab >>Asymmetric Collaborative Bar Stabilization Tethered to Two Heterogeneous Aerial Vehicles
2018 (English)In: 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE Computer Society, 2018, p. 5247-5253Conference paper, Published paper (Refereed)
Abstract [en]

We consider a system composed of a bar tethered to two unmanned aerial vehicles (UAVs), where the cables behave as rigid links under tensile forces, and with the control objective of stabilizing the bar's pose around a desired pose. Each UAV is equipped with a PID control law, and we verify that the bar's motion is decomposable into three decoupled motions, namely a longitudinal, a lateral and a vertical. We then provide relations between the UAVs' gains, which, if satisfied, allows us to decompose each of those motions into two cascaded motions; the latter relations between the UAVs' gains are found so as to counteract the system asymmetries, such as the different cable lengths and the different UAVs' weights. Finally, we provide conditions, based on the system's physical parameters, that describe good and bad types of asymmetries. We present experiments that demonstrate the stabilization of the bar's pose.

Place, publisher, year, edition, pages
IEEE Computer Society, 2018
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-237165 (URN)000446394504003 ()978-1-5386-3081-5 (ISBN)
Conference
IEEE International Conference on Robotics and Automation (ICRA), MAY 21-25, 2018, Brisbane, AUSTRALIA
Funder
Swedish Research CouncilKnut and Alice Wallenberg FoundationSwedish Foundation for Strategic Research
Note

QC 20181024

Available from: 2018-10-24 Created: 2018-10-24 Last updated: 2018-10-24Bibliographically approved
Wei, J., Verginis, C., Wu, J., Dimarogonas, D. V., Sandberg, H. & Johansson, K. H. (2018). Asymptotic and finite-time almost global attitude tracking: Representations free approach. In: 2018 European Control Conference, ECC 2018: . Paper presented at 16th European Control Conference, ECC 2018, Limassol, Cyprus, 12 June 2018 through 15 June 201816th European Control Conference, ECC 2018, Limassol, Cyprus, 12 June 2018 through 15 June 2018 (pp. 3126-3131). Institute of Electrical and Electronics Engineers (IEEE), Article ID 8550190.
Open this publication in new window or tab >>Asymptotic and finite-time almost global attitude tracking: Representations free approach
Show others...
2018 (English)In: 2018 European Control Conference, ECC 2018, Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 3126-3131, article id 8550190Conference paper, Published paper (Refereed)
Abstract [en]

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 with any continuous attitude control system on SO(3). Hence in this work, we propose some control protocols achieving almost global tracking asymptotically and in finite time, respectively. In these protocols, no world frame is needed and only relative state information are requested. For finitetime tracking case, Filippov solutions and non-smooth analysis techniques are adopted to handle the discontinuities. Simulation examples are provided to verify the performances of the control protocols designed in this paper.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2018
Keywords
Agents and autonomous systems, Attitude tracking, Nonlinear systems
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-241405 (URN)10.23919/ECC.2018.8550190 (DOI)2-s2.0-85059823976 (Scopus ID)9783952426982 (ISBN)
Conference
16th European Control Conference, ECC 2018, Limassol, Cyprus, 12 June 2018 through 15 June 201816th European Control Conference, ECC 2018, Limassol, Cyprus, 12 June 2018 through 15 June 2018
Note

QC 20190121

Available from: 2019-01-21 Created: 2019-01-21 Last updated: 2019-01-21Bibliographically approved
Schillinger, P., Bürger, M. & Dimarogonas, D. V. (2018). Auctioning over Probabilistic Options for Temporal Logic-Based Multi-Robot Cooperation under Uncertainty. In: : . Paper presented at IEEE International Conference on Robotics and Automation (ICRA, 21 May - 25 May 2018. IEEE
Open this publication in new window or tab >>Auctioning over Probabilistic Options for Temporal Logic-Based Multi-Robot Cooperation under Uncertainty
2018 (English)Conference paper, Published paper (Refereed)
Abstract [en]

Coordinating a team of robots to fulfill a common task is still a demanding problem. This is even more the case when considering uncertainty in the environment, as well astemporal dependencies within the task specification. A multirobot cooperation from a single goal specification requires mechanisms for decomposing the goal as well as an efficient planning for the team. However, planning action sequences offline is insufficient in real world applications. Rather, due to uncertainties, the robots also need to closely coordinate during execution and adjust their policies when additional observations are made. The framework presented in this paper enables the robot team to cooperatively fulfill tasks given as temporal logic specifications while explicitly considering uncertainty and incorporating observations during execution. We present the effectiveness of our ROS implementation of this approach in a case study scenario.

Place, publisher, year, edition, pages
IEEE, 2018
Keywords
ltl, robotics, multi-agent, behavior synthesis, formal methods, decomposition, high-level planning, mdp, uncertainty, auction, coordination, semi-mdp
National Category
Robotics
Identifiers
urn:nbn:se:kth:diva-224329 (URN)
Conference
IEEE International Conference on Robotics and Automation (ICRA, 21 May - 25 May 2018
Funder
EU, Horizon 2020, 731869
Note

A spotlight video for the paper is available at: https://youtu.be/9taKkba6CAo

QCR 20180319

Available from: 2018-03-16 Created: 2018-03-16 Last updated: 2018-05-15Bibliographically approved
Schillinger, P., Buerger, M. & Dimarogonas, D. V. (2018). Auctioning over Probabilistic Options for Temporal Logic-Based Multi-Robot Cooperation under Uncertainty. In: 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA): . Paper presented at IEEE International Conference on Robotics and Automation (ICRA), MAY 21-25, 2018, Brisbane, AUSTRALIA (pp. 7330-7337). IEEE Computer Society
Open this publication in new window or tab >>Auctioning over Probabilistic Options for Temporal Logic-Based Multi-Robot Cooperation under Uncertainty
2018 (English)In: 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE Computer Society, 2018, p. 7330-7337Conference paper, Published paper (Refereed)
Abstract [en]

Coordinating a team of robots to fulfill a common task is still a demanding problem. This is even more the case when considering uncertainty in the environment, as well as temporal dependencies within the task specification. A multirobot cooperation from a single goal specification requires mechanisms for decomposing the goal as well as an efficient planning for the team. However, planning action sequences offline is insufficient in real world applications. Rather, due to uncertainties, the robots also need to closely coordinate during execution and adjust their policies when additional observations are made. The framework presented in this paper enables the robot team to cooperatively fulfill tasks given as temporal logic specifications while explicitly considering uncertainty and incorporating observations during execution. We present the effectiveness of our ROS implementation of this approach in a case study scenario.

Place, publisher, year, edition, pages
IEEE Computer Society, 2018
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Robotics
Identifiers
urn:nbn:se:kth:diva-237169 (URN)000446394505085 ()978-1-5386-3081-5 (ISBN)
Conference
IEEE International Conference on Robotics and Automation (ICRA), MAY 21-25, 2018, Brisbane, AUSTRALIA
Note

QC 20181024

Available from: 2018-10-24 Created: 2018-10-24 Last updated: 2018-10-24Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0001-7309-8086

Search in DiVA

Show all publications