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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: 2019-01-07Bibliographically approved
Verginis, C. K., Nikou, A. & Dimarogonas, D. V. (2018). Communication-based Decentralized Cooperative Object Transportation Using Nonlinear Model Predictive Control. In: 2018 European Control Conference, ECC 2018: . Paper presented at 16th European Control Conference, ECC 2018, Limassol, Cyprus, 12 June 2018 through 15 June 2018 (pp. 733-738). Institute of Electrical and Electronics Engineers (IEEE), Article ID 8550305.
Open this publication in new window or tab >>Communication-based Decentralized Cooperative Object Transportation Using Nonlinear Model Predictive Control
2018 (English)In: 2018 European Control Conference, ECC 2018, Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 733-738, article id 8550305Conference paper, Published paper (Refereed)
Abstract [en]

This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a decentralized Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to a desired pose in a bounded workspace with obstacles, while complying with certain input saturations of the agents. The control scheme is based on inter-agent communication and is decentralized in the sense that each agent calculates its own control signal. Moreover, the proposed methodology ensures that the agents do not collide with each other or with workspace obstacles as well as that they do not pass through singular configurations. Finally, simulation results illustrate the validity and efficiency of the proposed method.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2018
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-241402 (URN)10.23919/ECC.2018.8550305 (DOI)2-s2.0-85059825000 (Scopus ID)9783952426982 (ISBN)
Conference
16th 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
Filotheou, A., Nikou, A. & Dimarogonas, D. V. (2018). Decentralized Control of Uncertain Multi-Agent Systems with Connectivity Maintenance and Collision Avoidance. In: 2018 European Control Conference, ECC 2018: . Paper presented at 16th European Control Conference, ECC 2018, Limassol, Cyprus, 12 June 2018 through 15 June 2018 (pp. 8-13). Institute of Electrical and Electronics Engineers (IEEE), Article ID 8550343.
Open this publication in new window or tab >>Decentralized Control of Uncertain Multi-Agent Systems with Connectivity Maintenance and Collision Avoidance
2018 (English)In: 2018 European Control Conference, ECC 2018, Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 8-13, article id 8550343Conference paper, Published paper (Refereed)
Abstract [en]

This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace, which is subset of \mathbb {R}^{n}, with static obstacles. In particular, we propose a decentralized control protocol such that each agent reaches a predefined position at the workspace, while using only local information based on a limited sensing radius. The proposed scheme guarantees that the initially connected agents remain always connected. In addition, by introducing certain distance constraints, we guarantee inter-agent collision avoidance, as well as, collision avoidance with the obstacles and the boundary of the workspace. The proposed controllers employ a class of Decentralized Nonlinear Model Predictive Controllers (DNMPC) under the presence of disturbances and uncertainties. Finally, simulation results verify the validity of the proposed framework.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2018
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-241512 (URN)10.23919/ECC.2018.8550343 (DOI)2-s2.0-85059800240 (Scopus ID)9783952426982 (ISBN)
Conference
16th European Control Conference, ECC 2018, Limassol, Cyprus, 12 June 2018 through 15 June 2018
Funder
Swedish Research CouncilKnut and Alice Wallenberg FoundationSwedish Foundation for Strategic Research EU, Horizon 2020, Euratom
Note

QC 20190124

Available from: 2019-01-24 Created: 2019-01-24 Last updated: 2019-01-24Bibliographically approved
Nikou, A., Boskos, D., Tumova, J. & Dimarogonas, D. V. (2018). On the timed temporal logic planning of coupled multi-agent systems. Automatica, 97, 339-345
Open this publication in new window or tab >>On the timed temporal logic planning of coupled multi-agent systems
2018 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 97, p. 339-345Article in journal (Refereed) Published
Abstract [en]

This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling constraints and the other one is an additional bounded control input. We aim to design these inputs so that each agent meets an individual high-level specification given as a Metric Interval Temporal Logic (MITL). First, a decentralized abstraction that provides a space and time discretization of the multi agent system is designed. Second, by utilizing this abstraction and techniques from formal verification, we propose an algorithm that computes the individual runs which provably satisfy the high-level tasks. The overall approach is demonstrated in a simulation example conducted in MATLAB environment.

Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD, 2018
Keywords
Multi-agent systems, Cooperative control, Hybrid systems, Formal verification, Timed logics, Abstractions, Discrete event systems
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-238112 (URN)10.1016/j.automatica.2018.08.023 (DOI)000447568400039 ()2-s2.0-85052902827 (Scopus ID)
Note

QC 20190110

Available from: 2019-01-10 Created: 2019-01-10 Last updated: 2019-01-10Bibliographically approved
Heshmati-alamdari, S., Nikou, A., Kyriakopoulos, K. J. & Dimarogonas, D. V. (2017). A Robust Force Control Approach for Underwater Vehicle Manipulator Systems. IFAC-PapersOnLine, 50(1), 11197-11202
Open this publication in new window or tab >>A Robust Force Control Approach for Underwater Vehicle Manipulator Systems
2017 (English)In: IFAC-PapersOnLine, ISSN 2405-8963, Vol. 50, no 1, p. 11197-11202Article in journal (Refereed) Published
Abstract [en]

In various interaction tasks using Underwater Vehicle Manipulator Systems (UVMSs) (e.g. sampling of the sea organisms, underwater welding), important factors such as: i) uncertainties and complexity of UVMS dynamic model ii) external disturbances (e.g. sea currents and waves) iii) imperfection and noises of measuring sensors iv) steady state performance as well as v) inferior overshoot of interaction force error, should be addressed during the force control design. Motivated by the above factors, this paper presents a model-free control protocol for force controlling of an Underwater Vehicle Manipulator System which is in contact with an unknown compliant environment, without incorporating any knowledge of the UVMS's dynamic model, exogenous disturbances and sensor's noise model. Moreover, the transient and steady state response as well as reduction of overshooting force error are solely determined by certain designer-specified performance functions and are fully decoupled by the UVMS's dynamic model, the control gain selection, as well as the initial conditions. Finally, a simulation study clarifies the proposed method and verifies its efficiency.

Place, publisher, year, edition, pages
Elsevier, 2017
Keywords
Autonomous Underwater Vehicle, Force Control, Marine Robotics, Robust Control, Underwater Vehicle Manipulator System
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-223052 (URN)10.1016/j.ifacol.2017.08.1245 (DOI)000423965100353 ()2-s2.0-85031811018 (Scopus ID)
Note

QC 20180215

Available from: 2018-02-15 Created: 2018-02-15 Last updated: 2018-03-05Bibliographically approved
Nikou, A., Heshmati-alamdari, S., Verginis, C. K. & Dimarogonas, D. V. (2017). Decentralized Abstractions and Timed Constrained Planning of a General Class of Coupled Multi-Agent Systems. In: 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017: . Paper presented at 56th IEEE Annual Conference on Decision and Control, CDC 2017; Melbourne Convention and Exhibition Centre (MCEC)Melbourne; Australia; 12 December 2017 through 15 December 2017. IEEE
Open this publication in new window or tab >>Decentralized Abstractions and Timed Constrained Planning of a General Class of Coupled Multi-Agent Systems
2017 (English)In: 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017, IEEE , 2017Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a fully automated procedure for controller synthesis for a general class of multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling constraints and the other one is an additional bounded control input. We aim to design these inputs so that each agent meets an individual high-level specification given as a Metric Interval Temporal Logic (MITL). Furthermore, the connectivity of the initially connected agents, is required to be maintained. First, assuming a polyhedral partition of the workspace, a novel decentralized abstraction that provides controllers for each agent that guarantee the transition between different regions is designed. The controllers are the solution of a Decentralized Robust Optimal Control Problem (DROCP) for each agent. Second, by utilizing techniques from formal verification, an algorithm that computes the individual runs which provably satisfy the high-level tasks is provided.

Place, publisher, year, edition, pages
IEEE, 2017
Series
IEEE Conference on Decision and Control, ISSN 0743-1546
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:kth:diva-223862 (URN)10.1109/CDC.2017.8263787 (DOI)000424696901005 ()2-s2.0-85046142158 (Scopus ID)978-1-5090-2873-3 (ISBN)
Conference
56th IEEE Annual Conference on Decision and Control, CDC 2017; Melbourne Convention and Exhibition Centre (MCEC)Melbourne; Australia; 12 December 2017 through 15 December 2017
Funder
Swedish Foundation for Strategic Research Swedish Research CouncilKnut and Alice Wallenberg Foundation
Note

QC 20180306

Available from: 2018-03-06 Created: 2018-03-06 Last updated: 2018-11-19Bibliographically approved
Verginis, C. K., Nikou, A. & Dimarogonas, D. V. (2017). Position and Orientation Based Formation Control of Multiple Rigid Bodies with Collision Avoidance and Connectivity Maintenance. In: 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017: . Paper presented at IEEE 56th Annual Conference on Decision and Control (CDC), DEC 12-15, 2017, Melbourne, Australia (pp. 411-416). Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>Position and Orientation Based Formation Control of Multiple Rigid Bodies with Collision Avoidance and Connectivity Maintenance
2017 (English)In: 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017, Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 411-416Conference paper, Published paper (Refereed)
Abstract [en]

This paper addresses the problem of position-and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a 3D workspace with obstacles. More specifically, we design a decentralized control protocol such that each agent achieves a predefined geometric formation with its initial neighbors, while using local information based on a limited sensing radius. The latter implies that the proposed scheme guarantees that the initially connected agents remain always connected. In addition, by introducing certain distance constraints, we guarantee inter-agent collision avoidance as well as collision avoidance with the obstacles and the boundary of the workspace. Finally, simulation results verify the validity of the proposed framework.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017
Series
IEEE Conference on Decision and Control, ISSN 0743-1546
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:kth:diva-223872 (URN)10.1109/CDC.2017.8263699 (DOI)000424696900066 ()2-s2.0-85046119833 (Scopus ID)978-1-5090-2873-3 (ISBN)
Conference
IEEE 56th Annual Conference on Decision and Control (CDC), DEC 12-15, 2017, Melbourne, Australia
Funder
Swedish Research CouncilSwedish Foundation for Strategic Research Knut and Alice Wallenberg FoundationEU, Horizon 2020, 644128; 731869
Note

QC 20180305

Available from: 2018-03-05 Created: 2018-03-05 Last updated: 2018-06-04Bibliographically approved
Nikou, A., Tumova, J. & Dimarogonas, D. V. (2017). Probabilistic Plan Synthesis for Coupled Multi-Agent Systems. In: : . Paper presented at 20th World Congress of the International Federation of Automatic Control (IFAC WC), Toulouse, France, July 2017.
Open this publication in new window or tab >>Probabilistic Plan Synthesis for Coupled Multi-Agent Systems
2017 (English)Conference paper, Published paper (Refereed)
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-216959 (URN)
Conference
20th World Congress of the International Federation of Automatic Control (IFAC WC), Toulouse, France, July 2017
Note

QC 20171213

Available from: 2017-10-25 Created: 2017-10-25 Last updated: 2017-12-13Bibliographically approved
Nikou, A., Tumova, J. & Dimarogonas, D. V. (2017). Probabilistic Plan Synthesis for Coupled Multi-Agent Systems. IFAC-PapersOnLine, 50(1), 10766-10771
Open this publication in new window or tab >>Probabilistic Plan Synthesis for Coupled Multi-Agent Systems
2017 (English)In: IFAC-PapersOnLine, ISSN 2405-8963, Vol. 50, no 1, p. 10766-10771Article in journal (Refereed) Published
Abstract [en]

This paper presents a fully automated procedure for controller synthesis for multi-agent systems under the presence of uncertainties. We model the motion of each of the N agents in the environment as a Markov Decision Process (MDP) and we assign to each agent one individual high-level formula given in Probabilistic Computational Tree Logic (PCTL). Each agent may need to collaborate with other agents in order to achieve a task. The collaboration is imposed by sharing actions between the agents. We aim to design local control policies such that each agent satisfies its individual PCTL formula. The proposed algorithm builds on clustering the agents, MDP products construction and controller policies design. We show that our approach has better computational complexity than the centralized case, which traditionally suffers from very high computational demands.

Place, publisher, year, edition, pages
Elsevier, 2017
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-223073 (URN)10.1016/j.ifacol.2017.08.2280 (DOI)000423965100285 ()2-s2.0-85031771017 (Scopus ID)
Note

QC 20180215

Available from: 2018-02-15 Created: 2018-02-15 Last updated: 2018-03-05Bibliographically approved
Nikou, A., Tumova, J. & Dimarogonas, D. V. (2016). Cooperative Task Planning of Multi-Agent Systems Under Timed Temporal Specifications. In: 2016 AMERICAN CONTROL CONFERENCE (ACC): . Paper presented at American Control Conference (ACC), JUL 06-08, 2016, Boston, MA (pp. 7104-7109). IEEE
Open this publication in new window or tab >>Cooperative Task Planning of Multi-Agent Systems Under Timed Temporal Specifications
2016 (English)In: 2016 AMERICAN CONTROL CONFERENCE (ACC), IEEE , 2016, p. 7104-7109Conference paper, Published paper (Refereed)
Abstract [en]

In this paper the problem of cooperative task planning of multi-agent systems when timed constraints are imposed to the system is investigated. We consider timed constraints given by Metric Interval Temporal Logic (MITL). We propose a method for automatic control synthesis in a twostage systematic procedure. With this method we guarantee that all the agents satisfy their own individual task specifications as well as that the team satisfies a team global task specification.

Place, publisher, year, edition, pages
IEEE, 2016
Series
Proceedings of the American Control Conference, ISSN 0743-1619
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:kth:diva-242725 (URN)10.1109/ACC.2016.7526793 (DOI)000388376107028 ()2-s2.0-84992090923 (Scopus ID)978-1-4673-8682-1 (ISBN)
Conference
American Control Conference (ACC), JUL 06-08, 2016, Boston, MA
Note

QC 20190219

Available from: 2019-02-19 Created: 2019-02-19 Last updated: 2019-02-19Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0002-8696-1536

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