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  • 1.
    Boskos, Dimitris
    et al.
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Dimarogonas, Dimos V.
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Abstractions of Varying Decentralization Degree for Coupled Multi-Agent Systems2016Ingår i: 2016 IEEE 55th Conference on Decision and Control, CDC 2016, Institute of Electrical and Electronics Engineers (IEEE), 2016, s. 81-86, artikel-id 7798250Konferensbidrag (Refereegranskat)
    Abstract [en]

    In this paper, we aim at the development of a decentralized abstraction framework for multi-agent systems under coupled constraints, with the possibility for a varying degree of decentralization. The methodology is based on the analysis employed in our recent work, where decentralized abstractions based exclusively on the information of each agent's neighbors were derived. In the first part of this paper, we define the notion each agent's m-neighbor set, which constitutes a measure for the employed degree of decentralization. Then, sufficient conditions are provided on the space and time discretization that provides the abstract system's model, which guarantee the extraction of a meaningful transition system with quantifiable transition possibilities.

  • 2.
    Boskos, Dimitris
    et al.
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.
    Dimarogonas, Dimos V.
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.
    Decentralized abstractions for multi-agent systems under coupled constraints2019Ingår i: European Journal of Control, ISSN 0947-3580, E-ISSN 1435-5671, Vol. 45, s. 1-16Artikel i tidskrift (Refereegranskat)
    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.

  • 3.
    Boskos, Dimitris
    et al.
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Dimarogonas, Dimos V.
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Online Abstractions for Interconnected Multi-Agent Control Systems2017Konferensbidrag (Refereegranskat)
    Abstract [en]

    In this paper, we aim at the development of an online abstraction framework for multi-agent systems under coupled constraints. The motion capabilities of each agent are abstracted through a finite state transition system in order to capture reachability properties of the coupled multi-agent system over a finite time horizon in a decentralized manner. In the first part of this work, we define online abstractions by discretizing an overapproximation of the agents' reachable sets over the horizon. Then, sufficient conditions relating the discretization and the agents' dynamics are provided, in order to quantify the agents' transition possibilities.

  • 4.
    Boskos, Dimitris
    et al.
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
    Dimarogonas, Dimos V.
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
    Robustness and invariance of connectivity maintenance control for multiagent systems2017Ingår i: SIAM Journal of Control and Optimization, ISSN 0363-0129, E-ISSN 1095-7138, Vol. 55, nr 3, s. 1887-1914Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    This paper is focused on a cooperative control design Which guarantees robust connectivity and invariance of a multiagent network inside a bounded domain, under the presence of additional bounded input terms in each agent's dynamics. In particular, under the assumptions that the domain is convex and has a smooth boundary, we can design a repulsion vector field near its boundary, Which ensures invariance of the agents' trajectories and does not affect the robustness properties of the control part that is exploited for connectivity maintenance.

  • 5.
    Boskos, Dmitris
    et al.
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Dimarogonas, Dimos V.
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
    Decentralized abstractions for feedback interconnected multi-agent systems2016Ingår i: Proceedings of the IEEE Conference on Decision and Control, IEEE conference proceedings, 2016, s. 282-287Konferensbidrag (Refereegranskat)
    Abstract [en]

    The purpose of this paper is to define abstractions for multi-agent systems under coupled constraints. 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 the considered systems consist of two components. An appropriate feedback law which guarantees that certain performance requirements (e.g., connectivity) are preserved and induces the coupled constraints, and additional free inputs which are exploited for the accomplishment of high level tasks. In this work we provide sufficient conditions on the space and time discretization for the abstraction of the system's behaviour which ensure that we can extract a well posed and hence meaningful transition system.

  • 6.
    Boskos, Dmitris
    et al.
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Dimarogonas, Dimos V.
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Robust connectivity analysis for multi-agent systems2016Ingår i: Proceedings of the IEEE Conference on Decision and Control, IEEE conference proceedings, 2016, s. 6767-6772Konferensbidrag (Refereegranskat)
    Abstract [en]

    In this paper we provide a decentralized robust control approach, which guarantees that connectivity of a multi-agent network is maintained when certain bounded input terms are added to the control strategy. Our main motivation for this framework is to determine abstractions for multi-agent systems under coupled constraints which are further exploited for the synthesis of high level plans.

  • 7.
    Guo, Meng
    et al.
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, Centrum för autonoma systen, CAS.
    Boskos, Dimitris
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, Centrum för autonoma systen, CAS.
    Tumova, Jana
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Robotik, perception och lärande, RPL.
    Dimarogonas, Dimos V.
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, Centrum för autonoma systen, CAS.
    Distributed hybrid control synthesis for multi-agent systems from high-level specifications2018Ingår i: Control Subject to Computational and Communication Constraints, Springer Verlag , 2018, 475, s. 241-260Kapitel i bok, del av antologi (Refereegranskat)
    Abstract [en]

    Current control applications necessitate in many cases the consideration of systems with multiple interconnected components. These components/agents may need to fulfill high-level tasks at a discrete planning layer and also coupled constraints at the continuous control layer. Toward this end, the need for combined decentralized control at the continuous layer and planning at the discrete layer becomes apparent. While there are approaches that handle the problem in a top-down centralized manner, decentralized bottom-up approaches have not been pursued to the same extent. We present here some of our results for the problem of combined, hybrid control and task planning from high-level specifications for multi-agent systems in a bottom-up manner. In the first part, we present some initial results on extending the necessary notion of abstractions to multi-agent systems in a distributed fashion. We then consider a setup where agents are assigned individual tasks in the form of linear temporal logic (LTL) formulas and derive local task planning strategies for each agent. In the last part, the problem of combined distributed task planning and control under coupled continuous constraints is further considered.

  • 8.
    Nikou, Alexandros
    et al.
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Boskos, Dimitris
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Tumova, Jana
    KTH, Skolan för datavetenskap och kommunikation (CSC), Robotik, perception och lärande, RPL. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Dimarogonas, Dimos V.
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Cooperative planning for coupled multi-agent systems under timed temporal specifications2017Ingår i: 2017 American Control Conference (ACC) 24-26 May 2017, Institute of Electrical and Electronics Engineers (IEEE), 2017, s. 1847-1852, artikel-id 7963221Konferensbidrag (Refereegranskat)
    Abstract [en]

    This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupling constraints. Each agent has 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 time and space discretization of the multi-agent system is designed. Second, by utilizing this abstraction and techniques from formal verification, we provide an algorithm that computes the individual runs which provably satisfy the high-level tasks. The overall approach is demonstrated in a simulation example.

  • 9.
    Nikou, Alexandros
    et al.
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, Centrum för autonoma systen, CAS. KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, ACCESS Linnaeus Centre.
    Boskos, Dimitris
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, Centrum för autonoma systen, CAS.
    Tumova, Jana
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, Centrum för autonoma systen, CAS. KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, ACCESS Linnaeus Centre.
    Dimarogonas, Dimos V.
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, Centrum för autonoma systen, CAS. KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, ACCESS Linnaeus Centre.
    On the timed temporal logic planning of coupled multi-agent systems2018Ingår i: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 97, s. 339-345Artikel i tidskrift (Refereegranskat)
    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.

  • 10.
    Pereira, Pedro O.
    et al.
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
    Boskos, Dimitris
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
    Dimarogonas, Dimos V.
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
    A Common Framework for Attitude Synchronization of Unit Vectors in Networks with Switching Topology2016Ingår i: 2016 IEEE 55th Conference on Decision and Control, CDC 2016, Institute of Electrical and Electronics Engineers (IEEE), 2016, s. 3530-3536, artikel-id 7798799Konferensbidrag (Refereegranskat)
    Abstract [en]

    In this paper, we study attitude synchronization for elements in the unit sphere of R-3 and for elements in the 3D rotation group, for a network with switching topology. The agents' angular velocities are assumed to be the control inputs, and a switching control law for each agent is devised that guarantees synchronization, provided that all elements are initially contained in a given region, unknown to the network. The control law is decentralized and it does not require a common orientation frame among all agents. We refer to synchronization of unit vectors in R3 as incomplete synchronization, and of 3D rotation matrices as complete synchronization. Our main contribution lies on showing that these two problems can be analyzed under a common framework, where all elements' dynamics are transformed into unit vectors dynamics on a sphere of appropriate dimension.

  • 11.
    Theodosis, Dionysios
    et al.
    Natl Tech Univ Athens, Dept Math, Athens 15780, Greece..
    Boskos, Dimitris
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, Centrum för autonoma systen, CAS.
    Tsinias, John
    Natl Tech Univ Athens, Dept Math, Athens 15780, Greece..
    Observer Design for Triangular Systems Under Weak Observability Assumptions2018Ingår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 63, nr 12, s. 4156-4171Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    This paper presents results on the solvability of the observer design problem for general nonlinear triangular systems with inputs, under weak observability assumptions. The local state estimation is exhibited by means of a delayed time-varying Luenberger-type system. In order to achieve the global estimation, a switching sequence of observers is designed.

1 - 11 av 11
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