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  • 1.
    Andersson, Sofie
    et al.
    KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    Nikou, Alexandros
    KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    Control Synthesis for Multi-Agent Systems under Metric Interval Temporal Logic Specifications2017In: IFAC-PapersOnLine, Elsevier, 2017, Vol. 50, p. 2397-2402Conference paper (Refereed)
    Abstract [en]

    This paper presents a framework for automatic synthesis of a control sequence for multi-agent systems governed by continuous linear dynamics under timed constraints. First, the motion of the agents in the workspace is abstracted into individual Transition Systems (TS). Second, each agent is assigned with an individual formula given in Metric Interval Temporal Logic (MITL) and in parallel, the team of agents is assigned with a collaborative team formula. The proposed method is based on a correct-by-construction control synthesis method, and hence guarantees that the resulting closed-loop system will satisfy the desired specifications. The specifications considers boolean-valued properties under real-time bounds. Extended simulations has been performed in order to demonstrate the efficiency of the proposed methodology.

  • 2.
    Filotheou, Alexandros
    et al.
    KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Nikou, Alexandros
    KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Decentralized Control of Uncertain Multi-Agent Systems with Connectivity Maintenance and Collision Avoidance2018In: 2018 European Control Conference, ECC 2018, Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 8-13, article id 8550343Conference 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.

  • 3. Heshmati-alamdari, S.
    et al.
    Nikou, Alexandros
    KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    Kyriakopoulos, K. J.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    A Robust Force Control Approach for Underwater Vehicle Manipulator Systems2017In: IFAC-PapersOnLine, ISSN 2405-8963, Vol. 50, no 1, p. 11197-11202Article in journal (Refereed)
    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.

  • 4.
    Heshmati-Alamdari, Shahab
    et al.
    Natl Tech Univ Athens, Dept Mech Engn, Control Syst Lab, 9 Heroon Polytech St, Zografos 15780, Greece..
    Bechlioulis, Charalampos P.
    Natl Tech Univ Athens, Dept Mech Engn, Control Syst Lab, 9 Heroon Polytech St, Zografos 15780, Greece..
    Karras, George C.
    Natl Tech Univ Athens, Dept Mech Engn, Control Syst Lab, 9 Heroon Polytech St, Zografos 15780, Greece..
    Nikou, Alexandros
    KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS.
    Kyriakopoulos, Kostas J.
    Natl Tech Univ Athens, Dept Mech Engn, Control Syst Lab, 9 Heroon Polytech St, Zografos 15780, Greece..
    A robust interaction control approach for underwater vehicle manipulator systems2018In: Annual Reviews in Control, ISSN 1367-5788, E-ISSN 1872-9088, Vol. 46, p. 315-325Article, review/survey (Refereed)
    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.

  • 5.
    Nikou, Alexandros
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Cooperative Planning Control and Formation Control of Multi-Agent Systems2017Licentiate thesis, monograph (Other academic)
    Abstract [en]

    Cooperative planning control is an active topic of research, with many practical applications including multi-robot systems, transportation, multi-point surveillance and biological systems. The contributions of this thesis lie in the scope of three topics: formation control, time-constrained cooperative planning control and probabilistic control synthesis, all of the them in the framework of multi-agent systems.

    In the first part of the thesis, given a team of rigid-bodies, we propose decentral-ized control protocols such that desired position and orientation-based formationbetween neighboring agents is achieved. Inter-agent collisions and collisions betweenagents and static obstacles of the workspace are guaranteed to be avoided by theproposed control scheme. Furthermore, the connectivity between the agents thatare initially connected is preserved. In the second part of the thesis, we considera team of agents, modeled by coupled single-integrator dynamics. Each agent isassigned with individual high-level tasks, given in Metric Interval Temporal Logic(MITL). By abstracting the motion of each agent into Transition Systems (TS), wepropose decentralized control methodologies that guarantee the satisfaction of thedesired tasks of each agent. In the final part, a coupled multi-agent system underthe presence of uncertainties and model errors is considered. Each agent is modeledby a Markov Decision Process (MDP) and is assigned with a high-level task givenin Probabilistic Computational Tree Logic (PCTL). The goal is to design controlpolicies such that each agent is performing a desired task. By clustering the agentsinto dependency clusters, we propose control algorithms that guarantee that thedesired specifications are fulfilled. Numerical simulations conducted in MATLABverify the claimed results.

  • 6.
    Nikou, Alexandros
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Boskos, Dimitris
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Tumova, Jana
    KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Cooperative planning for coupled multi-agent systems under timed temporal specifications2017In: 2017 American Control Conference (ACC) 24-26 May 2017, Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 1847-1852, article id 7963221Conference paper (Refereed)
    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.

  • 7.
    Nikou, Alexandros
    et al.
    KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre.
    Boskos, Dimitris
    KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS.
    Tumova, Jana
    KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre.
    On the timed temporal logic planning of coupled multi-agent systems2018In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 97, p. 339-345Article in journal (Refereed)
    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.

  • 8.
    Nikou, Alexandros
    et al.
    KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    Heshmati-alamdari, Shahab
    Verginis, Christos K.
    KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    Decentralized Abstractions and Timed Constrained Planning of a General Class of Coupled Multi-Agent Systems2017In: 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017, IEEE , 2017Conference 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.

  • 9.
    Nikou, Alexandros
    et al.
    KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre. KTH, School of Electrical Engineering (EES).
    Tumova, Jana
    KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre. KTH, School of Electrical Engineering (EES).
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre. KTH, School of Electrical Engineering (EES).
    Cooperative Task Planning of Multi-Agent Systems Under Timed Temporal Specifications2016In: 2016 AMERICAN CONTROL CONFERENCE (ACC), IEEE , 2016, p. 7104-7109Conference 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.

  • 10.
    Nikou, Alexandros
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Tumova, Jana
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Cooperative Task Planning of Multi-Agent Systems Under TimedTemporal Specifications2016In: Proceedings of the American Control Conference, 2016, p. 7104-7109Conference paper (Refereed)
    Abstract [en]

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

  • 11.
    Nikou, Alexandros
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Tumova, Jana
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    Probabilistic Plan Synthesis for Coupled Multi-Agent Systems2017Conference paper (Refereed)
  • 12.
    Nikou, Alexandros
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    Tumova, Jana
    KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    Probabilistic Plan Synthesis for Coupled Multi-Agent Systems2017In: IFAC-PapersOnLine, ISSN 2405-8963, Vol. 50, no 1, p. 10766-10771Article in journal (Refereed)
    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.

  • 13.
    Nikou, Alexandros
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    Verginis, Christos
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    Dimarogonas, Dimos
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    Robust Distance-Based Formation Control of Multiple Rigid Bodies with Orientation Alignment2017Conference paper (Refereed)
    Abstract [en]

    This paper addresses the problem of distance- and orientation-based formationcontrol of a class of second-order nonlinear multi-agent systems in 3D space, under static andundirected communication topologies. More specifically, we design a decentralized model-freecontrol protocol in the sense that each agent uses only local information from its neighbors to calculate its own control signal, without incorporating any knowledge of the model nonlinearities and exogenous disturbances. Moreover, the transient and steady state response is solely determined by certain designer-specified performance functions and is fully decoupled by the agents’ dynamic model, the control gain selection, the underlying graph topology as well asthe initial conditions. Additionally, by introducing certain inter-agent distance constraints, we guarantee collision avoidance and connectivity maintenance between neighboring agents. Finally, simulation results verify the performance of the proposed controllers.

  • 14.
    Nikou, Alexandros
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Verginis, Christos
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Heshmati-alamdari, Shahab
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    A Nonlinear Model Predictive Control scheme for cooperative manipulation with singularity and collision avoidance2017In: 2017 25th Mediterranean Conference on Control and Automation, MED 2017, IEEE conference proceedings, 2017, p. 707-712, article id 7984201Conference paper (Refereed)
    Abstract [en]

    This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents.In particular, we propose a 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. Moreover, the proposed methodology ensures that the agents do not collide with each other or with the workspace obstacles as well as that they do not pass through singular configurations.The feasibility and convergence analysis of the NMPC are explicitly provided. Finally, simulation results illustrate the validity and efficiency of the proposed method.

  • 15.
    Verginis, Christos K.
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    Nikou, Alexandros
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    Communication-based Decentralized Cooperative Object Transportation Using Nonlinear Model Predictive Control2018In: 2018 European Control Conference, ECC 2018, Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 733-738, article id 8550305Conference 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.

  • 16.
    Verginis, Christos K.
    et al.
    KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    Nikou, Alexandros
    KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    Position and Orientation Based Formation Control of Multiple Rigid Bodies with Collision Avoidance and Connectivity Maintenance2017In: 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017, Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 411-416Conference 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.

  • 17.
    Verginis, Christos
    et al.
    KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre.
    Nikou, Alexandros
    KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre.
    Robust formation control in SE(3) for tree-graph structures with prescribed transient and steady state performance2019In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 103, p. 538-548Article in journal (Refereed)
    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.

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