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Dimarogonas, Dimos V.ORCID iD iconorcid.org/0000-0001-7309-8086
Alternative names
Publications (10 of 206) 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-s2.0-85055754925 (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). 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
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
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
Verginis, C., Mastellaro, M. & Dimarogonas, D. V. (2019). Robust Cooperative Manipulation Without Force/Torque Measurements: Control Design and Experiments. IEEE Transactions on Control Systems Technology
Open this publication in new window or tab >>Robust Cooperative Manipulation Without Force/Torque Measurements: Control Design and Experiments
2019 (English)In: IEEE Transactions on Control Systems Technology, ISSN 1063-6536, E-ISSN 1558-0865Article in journal (Refereed) Published
Abstract [en]

This paper presents two novel control methodologies for the cooperative manipulation of an object by  N robotic agents. First, we design an adaptive control protocol which employs quaternion feedback for the object orientation to avoid potential representation singularities. Second, we propose a control protocol that guarantees predefined transient and steady-state performance for the object trajectory. Both methodologies are decentralized, since the agents calculate their own signals without communicating with each other, as well as robust to external disturbances and model uncertainties. Moreover, we consider that the grasping points are rigid and avoid the need for force/torque measurements. Load distribution is also included via a grasp matrix pseudoinverse to account for potential differences in the agents’ power capabilities. Finally, simulation and experimental results with two robotic arms verify the theoretical findings.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2019
Keywords
Adaptive control, cooperative manipulation, multiagent systems, prescribed performance control (PPC), robust control, unit quaternions
National Category
Robotics
Identifiers
urn:nbn:se:kth:diva-247268 (URN)10.1109/TCST.2018.2885682 (DOI)
Note

QC 20190402

Available from: 2019-03-21 Created: 2019-03-21 Last updated: 2019-04-02Bibliographically approved
Verginis, C., Nikou, A. & Dimarogonas, D. V. (2019). Robust formation control in SE(3) for tree-graph structures with prescribed transient and steady state performance. Automatica, 103, 538-548
Open this publication in new window or tab >>Robust formation control in SE(3) for tree-graph structures with prescribed transient and steady state performance
2019 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 103, p. 538-548Article in journal (Refereed) Published
Abstract [en]

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 Euclidean group SE(3). The proposed control laws are decentralized, in the sense that each agent uses only local relative information from its neighbors to calculate its control signal, as well as robust with respect to modeling (parametric and structural) uncertainties and external disturbances. The proposed methodology guarantees the satisfaction of inter-agent distance constraints that resemble collision avoidance and connectivity maintenance properties. Moreover, certain predefined functions characterize the transient and steady state performance of the closed loop system. Finally, simulation results verify the validity and efficiency of the proposed approach.

Place, publisher, year, edition, pages
Elsevier, 2019
Keywords
Multi-agent systems, Cooperative control, Formation control, Connectivity maintenance, Robust control, Prescribed performance control
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-247273 (URN)10.1016/j.automatica.2019.02.034 (DOI)000465060300059 ()2-s2.0-85062448013 (Scopus ID)
Note

QC 20190329

Available from: 2019-03-21 Created: 2019-03-21 Last updated: 2019-05-14Bibliographically 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
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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: 2019-08-20Bibliographically approved
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ORCID iD: ORCID iD iconorcid.org/0000-0001-7309-8086

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