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Achieving Complex Collaborative Missions via Decentralized Control and Coordination of Interacting Robots

Deliverables

Collaborative Object Transportation via Heterogeneous Agents

This deliverable describes the control strategies that are designed for the collaborative transportation of objects by humans and mobile manipulators as well as the collaborative loading and unloading of objects by mobile and static manipulators.

Platform Architectural Description

The deliverable will provide an architecture description of the Co4Robots platform, including guidelines for all software components so that to fit them into the overall Co4Robots architecture.

Interface for high-level specification

This deliverable describes the chosen high-level specification language, the interface to let the users easily specify missions and the transformation of these missions into a more rigorous temporal logic formalism.

Load Exchange among Heterogeneous Agents

This deliverable describes the control strategies developed for load exchange tasks between humans and mobile manipulators as well as between mobile and static manipulators.

Decentralized abstractions, task assignment and plan synthesis

This deliverable describes how a control plan is synthesized for each agent in a decentralized manner based on a discrete abstraction of the agent’s dynamics (including its interactions with other agents) and the tasks assigned to the agent obtained from the decomposition of the global mission.

Real-time reconfiguration of abstraction and planning

This deliverable describes the methods to adapt the abstractions or the task assignment in case of infeasibility of the mission due to the coarseness of the initial abstractions, arrival of new tasks or the failure of an agent.

Scenario Definition, Benchmarks & Demonstration Plan

The use-case requirements will be gathered in this deliverable; based on this Benchmarks and a Demonstration plan are defined.

Co4Robots Platform Implementation

A first version of the Co4Robots platform that can be started to be used by the other workpackages with all the major features implemented even though they’re not completely finished. The deliverable will contain also an integration plan and guidelines for the definition of integration test cases.

Co4Robots Implementation – Second Version

A final version of the Co4Robots platform will be released, including configuration facilities.

Environment perception in the presence of interaction

Report on the perception in the presence of interactions module of Task 2.2.

Robustness against planning variations

This deliverable describes how the low-level controller can adapt to the real-time updates of the high-level planner due to increased information or plan reconfiguration in case of an unsatisfied mission.

Collaborative perception

Report on the collaborative perception module of Task 2.3.

Cooperative Motion Planning and Collision Avoidance for Heterogeneous Agents

This deliverable describes the distributed motion control schemes that guarantee collision avoidance and satisfaction of operational constraints and are employed for the coordination of the heterogeneous robotic agents (mobile robots, mobile and static manipulators) in collaborative tasks.

Assessment and Conclusions

Based on the Benchmarks identified in D6.2 the system performance will be evaluated.

Milestone Demonstration 1

The results will be integrated on the demonstrator platforms in three progressive demonstrations. Each sub-deliverable will be led by the corresponding Milestone leader participant.

Baseline localization and environment perception

Report on the baseline perception module of Task 2.1.

Milestone Demonstration 2

The results will be integrated on the demonstrator platforms in three progressive demonstrations. Each sub-deliverable will be led by the corresponding Milestone leader participant.

Milestone Demonstration 3

The results will be integrated on the demonstrator platforms in three progressive demonstrations. Each sub-deliverable will be led by the corresponding Milestone leader participant.

Test Facilities Description & Simulation Environment

The deliverable will provide a detailed description of the demonstrator platforms and simulation models with the correct interfaces.

Project website

The project website will be used as the main internal and external communication channel of the project.

Data Management Plan

This deliverable will describe the Data Management Plan for the project as requested by the EC for H2020 projects.

Publications

A Variable Impedance Control Strategy for Object Manipulation Considering Non–Rigid Grasp

Author(s): Michalis Logothetis, George C. Karras and Kostas J. Kyriakopoulos
Published in: IEEE Intelligent Robots and Systems, October, 25-29, 2020, Las Vegas, USA (to appear), 2020
Publisher: IEEE

Decomposition of finite LTL specifications for efficient multi-agent planning

Author(s): Philipp Schillinger, Mathias Bürger, Dimos Dimarogonas
Published in: Distributed Autonomous Robotic Systems, 2018, Page(s) 253-267
Publisher: Springer

Multi-objective search for optimal multi-robot planning with finite LTL specifications and resource constraints

Author(s): Philipp Schillinger, Mathias Burger, Dimos V. Dimarogonas
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 768-774, ISBN 978-1-5090-4633-1
Publisher: IEEE
DOI: 10.1109/ICRA.2017.7989094

Auctioning over Probabilistic Options for Temporal Logic-Based Multi-Robot Cooperation under Uncertainty

Author(s): Philipp Schillinger, Mathias Bürger, Dimos Dimarogonas
Published in: IEEE International Conference on Robotics and Automation, 2018
Publisher: IEEE

Improving Multi-Robot Behavior Using Learning-Based Receding Horizon Task Allocation

Author(s): Philipp Schillinger, Mathias Bürger, Dimos Dimarogonas
Published in: Robotics: Science and Systems, 2018
Publisher: RSS

Optimal Control of Left-Invariant Multi- Agent Systems with Asymmetric Formation Constraints

Author(s): Leonardo Colombo, Dimos V. Dimarogonas
Published in: IEEE European Control Conference 2018, 2018
Publisher: IEEE

Decentralized Control of Uncertain Multi-Agent Systems with Connectivity Maintenance and Collision Avoidance

Author(s): Alexandros Filotheou, Alexandros Nikou, Dimos V. Dimarogonas
Published in: IEEE European Control Conference 2018, 2018
Publisher: IEEE

Human-in-the-Loop Mixed-Initiative Control Under Termporal Tasks

Author(s): Meng Guo, Sofie Andersson, Dimos V. Dimarogonas
Published in: IEEE International Conference on Robotics and Automation, 2018
Publisher: IEEE

Decentralized Robust Control of Coupled Multi-Agent Systems under Local Signal Temporal Logic Tasks

Author(s): Lars Lindemann, Dimos V. Dimarogonas
Published in: American Control Conference, 2018
Publisher: IEEE

Event-triggered Feedback Control for Signal Temporal Logic Tasks

Author(s): Lars Lindemann, Dipankar Maity, John S. Baras, Dimos V. Dimarogonas
Published in: IEEE Conference on Decision and Control, 2018
Publisher: IEEE

Prescribed performance control for signal temporal logic specifications

Author(s): Lars Lindemann, Christos K. Verginis, Dimos V. Dimarogonas
Published in: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 2997-3002, ISBN 978-1-5090-2873-3
Publisher: IEEE
DOI: 10.1109/CDC.2017.8264095

Compositional abstraction refinement for control synthesis under lasso-shaped specifications

Author(s): Pierre-Jean Meyer, Dimos V. Dimarogonas
Published in: 2017 American Control Conference (ACC), 2017, Page(s) 523-528, ISBN 978-1-5090-5992-8
Publisher: IEEE
DOI: 10.23919/ACC.2017.7963006

Decentralized abstractions and timed constrained planning of a general class of coupled multi-agent systems

Author(s): Alexandros Nikou, Shahab Heshmati-alamdari, Christos K. Verginis, Dimos V. Dimarogonas
Published in: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 990-995, ISBN 978-1-5090-2873-3
Publisher: IEEE
DOI: 10.1109/CDC.2017.8263787

A Nonlinear Model Predictive Control scheme for cooperative manipulation with singularity and collision avoidance

Author(s): Alexandres Nikou, Christos Verginis, Shahab Heshmati-alamdari, Dimos V. Dimarogonas
Published in: 2017 25th Mediterranean Conference on Control and Automation (MED), 2017, Page(s) 707-712, ISBN 978-1-5090-4533-4
Publisher: IEEE
DOI: 10.1109/MED.2017.7984201

Position and orientation based formation control of multiple rigid bodies with collision avoidance and connectivity maintenance

Author(s): Christos K. Verginis, Alexandras Nikou, Dimos V. Dimarogonas
Published in: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 411-416, ISBN 978-1-5090-2873-3
Publisher: IEEE
DOI: 10.1109/CDC.2017.8263699

Communication-based Decentralized Cooperative Object Transportation Using Nonlinear Model Predictive Control

Author(s): Christos K. Verginis, Alexandros Nikou, Dimos V. Dimarogonas
Published in: IEEE European Control Conference, 2018
Publisher: IEEE

Robust decentralized abstractions for multiple mobile manipulators

Author(s): Christos K. Verginis, Dimos V. Dimarogonas
Published in: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 2222-2227, ISBN 978-1-5090-2873-3
Publisher: IEEE
DOI: 10.1109/CDC.2017.8263974

Decentralized motion planning with collision avoidance for a team of UAVs under high level goals

Author(s): Christos K. Verginis, Ziwei Xu, Dimos V. Dimarogonas
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 781-787, ISBN 978-1-5090-4633-1
Publisher: IEEE
DOI: 10.1109/ICRA.2017.7989096

Robot Navigation in Complex Workspaces Using Harmonic Maps

Author(s): Panagiotis Vlantis, Constantinos Vrohidis, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos
Published in: IEEE Int. Conf. on Robotics and Automation (ICRA 2018), May 21-25, 2018, Brisbane, Australia, 2018
Publisher: IEEE

A Model Predictive Control Approach for Vision-based Object Grasping via Mobile Manipulator

Author(s): Michalis Logothetis, George C. Karras, Shahab Heshmati-alamdari, Panagiotis Vlantis and Kostas J. Kyriakopoulos
Published in: IEEE Intelligent Robots and Systems,October, 1-5, 2018, Madrid, Spain, 2018
Publisher: IEEE

Human-Robot Collaboration based on Robust Motion Intention Estimation with Prescribed Performance

Author(s): Christos N. Mavridis, Konstantinos Alevizos, Charalampos P. Bechlioulis and Kostas J. Kyriakopoulos 2
Published in: ECC 2018 – European Control Conference 2018, Limassol Cyprus, 12-15 June, 2018, 2018
Publisher: IFAC

Prescribed Time Scale Robot Navigation in Dynamic Environments

Author(s): Constantinos Vrohidis, Panagiotis Vlantis, Charalampos P. Bechlioulis and Kostas J. Kyriakopoulos
Published in: ECC 2018 – European Control Conference 2018, Limassol Cyprus, June 12-15, 2018, 2018
Publisher: IFAC

Decentralized Reconfigurable Multi-Robot Coordination from Local Connectivity and Collosion Avoidance Specifications

Author(s): Constantinos Vrohidis, Charalampos P. Bechlioulis and Kostas J. Kyriakopoulos
Published in: IFAC 2017 World Congress, Toulouse, France The 20th World Congress of the International Federation of Automatic Control, 9-14 July 2017, 2017
Publisher: IFAC

Safe Decentralized and Reconfigurable Multi-agent Control with Guaranteed Convergence

Author(s): C. Vrohidis, C. P. Bechlioulis, K. J. Kyriakopoulos
Published in: 2017 IEEE International Conference on Robotics and Automation, Singapore, 2017, Page(s) pp. 267-272
Publisher: IEEE

Unsupervised Detection of Periodic Segments in Videos

Author(s): Costas Panagiotakis, Giorgos Karvounas, Antonis Argyros
Published in: International Conference on Image Processing (ICIP2018), 2018
Publisher: IEEE

Joint 3D tracking of a deformable object in interaction with a hand

Author(s): Aggeliki Tsoli, Antonis Argyros
Published in: European Conference on Computer Vision (ECCV 2018), 2018
Publisher: Springer

A Comparative Study of Matrix Completion and Recovery Techniques for Human Pose Estimation

Author(s): Dennis Bautembach, Iason Oikonomidis, Antonis Argyros
Published in: Proceedings of the 11th PErvasive Technologies Related to Assistive Environments Conference on - PETRA '18, 2018, Page(s) 23-30, ISBN 9781-450363907
Publisher: ACM Press
DOI: 10.1145/3197768.3197791

Distributed Real-Time Generative 3D Hand Tracking using Edge GPGPU Acceleration

Author(s): Ammar Qammaz, Sokol Kosta, Nikolaos Kyriazis, Antonis Argyros
Published in: Proceedings of the 16th Annual International Conference on Mobile Systems, Applications, and Services - MobiSys '18, 2018, Page(s) 540-540, ISBN 9781-450357203
Publisher: ACM Press
DOI: 10.1145/3210240.3211112

Depth-Based 3D Hand Pose Estimation: From Current Achievements to Future Goals

Author(s): Shanxin Yuan, Guillermo Garcia-Hernando, Bjorn Stenger, Gyeongsik Moon, Ju Yong Chang, Kyoung Mu Lee, Pavlo Molchanov, Jan Kautz, Sina Honari, Liuhao Ge, Junsong Yuan, Xinghao Chen, Guijin Wang, Fan Yang, Kai Akiyama, Yang Wu, Qingfu Wan, Meysam Madadi, Sergio Escalera, Shile Li, Dongheui Lee, Iason Oikonomidis, Antonis Argyros, Tae-Kyun Kim
Published in: IEEE Computer Vision and Pattern Recognition (CVPR 2018), 2018
Publisher: IEEE

Using a Single RGB Frame for Real Time 3D Hand Pose Estimation in the Wild

Author(s): Paschalis Panteleris, Iason Oikonomidis, Antonis Argyros
Published in: 2018 IEEE Winter Conference on Applications of Computer Vision (WACV), 2018, Page(s) 436-445, ISBN 978-1-5386-4886-5
Publisher: IEEE
DOI: 10.1109/wacv.2018.00054

A Hybrid Method for 3D Pose Estimation of Personalized Human Body Models

Author(s): Ammar Qammaz, Damien Michel, Antonis Argyros
Published in: 2018 IEEE Winter Conference on Applications of Computer Vision (WACV), 2018, Page(s) 456-465, ISBN 978-1-5386-4886-5
Publisher: IEEE
DOI: 10.1109/wacv.2018.00056

Evaluating Method Design Options for Action Classification based on Bags of Visual Words

Author(s): Victoria Manousaki, Konstantinos Papoutsakis, Antonis Argyros
Published in: Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, 2018, Page(s) 185-192, ISBN 978-989-758-290-5
Publisher: SCITEPRESS - Science and Technology Publications
DOI: 10.5220/0006544201850192

Back to RGB: 3D Tracking of Hands and Hand-Object Interactions Based on Short-Baseline Stereo

Author(s): Paschalis Panteleris, Antonis Argyros
Published in: 2017 IEEE International Conference on Computer Vision Workshops (ICCVW), 2017, Page(s) 575-584, ISBN 978-1-5386-1034-3
Publisher: IEEE
DOI: 10.1109/iccvw.2017.74

Temporal Action Co-Segmentation in 3D Motion Capture Data and Videos

Author(s): Konstantinos Papoutsakis, Costas Panagiotakis, Antonis A. Argyros
Published in: 2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2017, Page(s) 2146-2155, ISBN 978-1-5386-0457-1
Publisher: IEEE
DOI: 10.1109/cvpr.2017.231

Generative 3D Hand Tracking with Spatially Constrained Pose Sampling

Author(s): Konstantinos Roditakis, Alexandros Makris, Antonis Argyros
Published in: British Machine Vision Conference (BMVC 2017), 2017
Publisher: BMVA

An Architecture for Decentralized, Collaborative, and Autonomous Robots

Author(s): Sergio Garcia, Claudio Menghi, Patrizio Pelliccione, Thorsten Berger, Rebekka Wohlrab
Published in: 2018 IEEE International Conference on Software Architecture (ICSA), 2018, Page(s) 75-7509, ISBN 978-1-5386-6398-1
Publisher: IEEE
DOI: 10.1109/icsa.2018.00017

Engineering the software of robotic systems

Author(s): Federico Ciccozzi, Davide Di Ruscio, Ivano Malavolta, Patrizio Pelliccione, Jana Tumova
Published in: 2017 IEEE/ACM 39th International Conference on Software Engineering Companion (ICSE-C), 2017, Page(s) 507-508, ISBN 978-1-5386-1589-8
Publisher: IEEE
DOI: 10.1109/ICSE-C.2017.167

Supporting Verification-Driven Incremental Distributed Design of Components

Author(s): Claudio Menghi, Paola Spoletini, Marsha Chechik, Carlo Ghezzi
Published in: In: Russo A., Schürr A. (eds) Fundamental Approaches to Software Engineering. FASE 2018, 2018, Page(s) 169-188
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-89363-1_10

Property specification patterns for robotic missions

Author(s): Claudio Menghi, Christos Tsigkanos, Thorsten Berger, Patrizio Pelliccione, Carlo Ghezzi
Published in: Proceedings of the 40th International Conference on Software Engineering Companion Proceeedings - ICSE '18, 2018, Page(s) 434-435, ISBN 9781-450356633
Publisher: ACM Press
DOI: 10.1145/3183440.3195044

Towards multi-robot applications planning under uncertainty

Author(s): Claudio Menghi, Sergio García, Patrizio Pelliccione, Jana Tumova
Published in: Proceedings of the 40th International Conference on Software Engineering Companion Proceeedings - ICSE '18, 2018, Page(s) 438-439, ISBN 9781-450356633
Publisher: ACM Press
DOI: 10.1145/3183440.3195046

Multi-robot LTL planning under uncertainty

Author(s): Claudio Menghi, Sergio Garcia, Patrizio Pelliccione, Jana Tumova
Published in: 2018, Page(s) 399-417
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-95582-7_24

Distributed cooperative manipulation under timed temporal specifications

Author(s): Christos K. Verginis, Dimos V. Dimarogonas
Published in: 2017 American Control Conference (ACC), 2017, Page(s) 1358-1363, ISBN 978-1-5090-5992-8
Publisher: IEEE
DOI: 10.23919/acc.2017.7963141

Effective engineering of multi-robot software applications

Author(s): Sergio García
Published in: Proceedings of the 40th International Conference on Software Engineering: Companion Proceeedings, 2018, Page(s) 454-455, ISBN 9781-450356633
Publisher: ACM
DOI: 10.1145/3183440.3183445

A Tube-based MPC Scheme for Interaction Control of Underwater Vehicle Manipulator Systems

Author(s): Alexandros Nikou, Christos K. Verginis, Dimos V. Dimarogonas
Published in: 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV), 6-9 Nov. 2018, 2018, Page(s) 1-6, ISBN 978-1-7281-0253-5
Publisher: IEEE
DOI: 10.1109/auv.2018.8729801

Event-triggered Feedback Control for Signal Temporal Logic Tasks

Author(s): Lars Lindemann, Dipankar Maity, John S. Baras, Dimos V. Dimarogonas
Published in: 2018 IEEE Conference on Decision and Control (CDC), 17-19 Dec. 2018, 2018, Page(s) 146-151, ISBN 978-1-5386-1395-5
Publisher: IEEE
DOI: 10.1109/cdc.2018.8619000

Orientation-Aware Motion Planning in Complex Workspaces using Adaptive Harmonic Potential Fields

Author(s): Panagiotis Vlantis, Constantinos Vrohidis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos
Published in: 2019 International Conference on Robotics and Automation (ICRA), 20-24 May 2019, 2019, Page(s) 8592-8598, ISBN 978-1-5386-6027-0
Publisher: IEEE
DOI: 10.1109/icra.2019.8794053

A Motion Planning Scheme for Cooperative Loading Using Heterogeneous Robotic Agents

Author(s): Michalis Logothetis, Panagiotis Vlantis, Constantinos Vrohidis, George C. Karras, Kostas J. Kyriakopoulos
Published in: 2019 International Conference on Robotics and Automation (ICRA), 20-24 May 2019, 2019, Page(s) 9660-9666, ISBN 978-1-5386-6027-0
Publisher: IEEE
DOI: 10.1109/icra.2019.8794323

ReActNet: Temporal Localization of Repetitive Activities in Real-World Videos

Author(s): Giorgos Karvounas, Iason Oikonomidis, Antonis Argyros
Published in: 2019
Publisher: International Conference on Computer Vision Workshop

Reconfigurable Motion Planning and Control in Obstacle Cluttered Environments under Timed Temporal Tasks

Author(s): Christos K. Verginis, Constantinos Vrohidis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos, Dimos V. Dimarogonas
Published in: 2019 International Conference on Robotics and Automation (ICRA), 20-24 May 2019, 2019, Page(s) 951-957, ISBN 978-1-5386-6027-0
Publisher: IEEE
DOI: 10.1109/icra.2019.8794000

Patch-based reconstruction of a textureless deformable 3D surface from a single RGB image

Author(s): Aggeliki Tsoli, Antonis. A. Argyros
Published in: International Conference on Computer Vision, 2019
Publisher: IEEE

MocapNET: Ensemble of SNN Encoders for 3D Human Pose Estimation in RGB Images

Author(s): Ammar Qammaz, Antonis A. Argyros
Published in: British Machine Vision Conference, 2019
Publisher: British Machine Vision Association

Unsupervised and Explainable Assessment of Video Similarity

Author(s): Konstantinos E. Papoutsakis, Antonis A. Argyros
Published in: British Machine Vision Conference, 2019
Publisher: British Machine Vision Association

Novelty Detection for Person Re-identification in an Open World

Author(s): George Galanakis, Xenophon Zabulis, Antonis A Argyros
Published in: International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, 2019
Publisher: SCITEPRESS

Robust 3D Human Pose Estimation Guided by Filtered Subsets of Body Keypoints

Author(s): Alexandros Makris, Antonis Argyros
Published in: 2019 16th International Conference on Machine Vision Applications (MVA), 27-31 May 2019, 2019, Page(s) 1-6, ISBN 978-4-901122-18-4
Publisher: IEEE
DOI: 10.23919/mva.2019.8757907

PsALM: Specification of Dependable Robotic Missions

Author(s): Claudio Menghi, Christos Tsigkanos, Thorsten Berger, Patrizio Pelliccione
Published in: 2019 IEEE/ACM 41st International Conference on Software Engineering: Companion Proceedings (ICSE-Companion), 25-31 May 2019, 2019, Page(s) 99-102, ISBN 978-1-7281-1764-5
Publisher: IEEE
DOI: 10.1109/icse-companion.2019.00048

MAPmAKER: Performing Multi-Robot LTL Planning under Uncertainty

Author(s): Sergio Garcia, Claudio Menghi, Patrizio Pelliccione
Published in: 2019 IEEE/ACM 2nd International Workshop on Robotics Software Engineering (RoSE), May 2019, 2019, Page(s) 1-4, ISBN 978-1-7281-2249-6
Publisher: IEEE
DOI: 10.1109/rose.2019.00008

Variability Modeling of Service Robots - Experiences and Challenges

Author(s): Sergio García, Daniel Strüber, Davide Brugali, Alessandro Di Fava, Philipp Schillinger, Patrizio Pelliccione, Thorsten Berger
Published in: Proceedings of the 13th International Workshop on Variability Modelling of Software-Intensive Systems - VAMOS '19, 2019, Page(s) 1-6, ISBN 9781-450366489
Publisher: ACM Press
DOI: 10.1145/3302333.3302350

Decentralized Control Barrier Functions for Coupled Multi-Agent Systems under Signal Temporal Logic Tasks

Author(s): Lars Lindemann, Dimos V. Dimarogonas
Published in: 2019 18th European Control Conference (ECC), 2019, Page(s) 89-94, ISBN 978-3-907144-00-8
Publisher: IEEE
DOI: 10.23919/ecc.2019.8796109

A Hybrid Controller for Obstacle Avoidance in an $n$-dimensional Euclidean Space

Author(s): Soulaimane Berkane, Andrea Bisoffi, Dimos V. Dimarogonas
Published in: 2019 18th European Control Conference (ECC), 2019, Page(s) 764-769, ISBN 978-3-907144-00-8
Publisher: IEEE
DOI: 10.23919/ecc.2019.8795713

Integrated Motion Planning and Control Under Metric Interval Temporal Logic Specifications

Author(s): Fernando S. Barbosa, Lars Lindemann, Dimos V. Dimarogonas, Jana Tumova
Published in: 2019 18th European Control Conference (ECC), 2019, Page(s) 2042-2049, ISBN 978-3-907144-00-8
Publisher: IEEE
DOI: 10.23919/ecc.2019.8795925

Logarithmic Quantization based Symbolic Abstractions for Nonlinear Control Systems

Author(s): Wei Ren, Dimos V. Dimarogonas
Published in: 2019 18th European Control Conference (ECC), 2019, Page(s) 1312-1317, ISBN 978-3-907144-00-8
Publisher: IEEE
DOI: 10.23919/ecc.2019.8795730

Abstractions of varying decentralization degree for coupled multi-agent systems

Author(s): Dimitris Boskos, Dimos V. Dimarogonas
Published in: 2016 IEEE 55th Conference on Decision and Control (CDC), 2016, Page(s) 81-86, ISBN 978-1-5090-1837-6
Publisher: IEEE
DOI: 10.1109/cdc.2016.7798250

Design and Experimental Validation of Tube-based MPC for Timed-constrained Robot Planning

Author(s): Alexandros Nikou, Shahab Heshmati-alamdari, Dimos V. Dimarogonas
Published in: 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), 2019, Page(s) 1181-1186, ISBN 978-1-7281-0356-3
Publisher: IEEE
DOI: 10.1109/coase.2019.8843167

Consensus Control for Leader-follower Multi-agent Systems under Prescribed Performance Guarantees

Author(s): Fei Chen, Dimos V. Dimarogonas
Published in: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 4785-4790, ISBN 978-1-7281-1398-2
Publisher: IEEE
DOI: 10.1109/cdc40024.2019.9029509

Asymptotic Stability of Uncertain Lagrangian Systems with Prescribed Transient Response

Author(s): Christos K. Verginis, Dimos V. Dimarogonas
Published in: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 7037-7042, ISBN 978-1-7281-1398-2
Publisher: IEEE
DOI: 10.1109/cdc40024.2019.9030217

Adaptive Leader-Follower Coordination of Lagrangian Multi-Agent Systems under Transient Constraints

Author(s): Christos K. Verginis, Dimos V. Dimarogonas
Published in: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 3833-3838, ISBN 978-1-7281-1398-2
Publisher: IEEE
DOI: 10.1109/cdc40024.2019.9029560

Dynamic Quantization based Symbolic Abstractions for Nonlinear Control Systems

Author(s): Wei Ren, Dimos V. Dimarogonas
Published in: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 4343-4348, ISBN 978-1-7281-1398-2
Publisher: IEEE
DOI: 10.1109/cdc40024.2019.9029665

A Learning Framework for Versatile STL Controller Synthesis

Author(s): Peter Varnai and Dimos, V. Dimarogonas
Published in: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 4596-4600, ISBN 978-1-7281-1398-2
Publisher: IEEE
DOI: 10.1109/cdc40024.2019.9029727

Robust motion planning for non-holonomicrobots with planar geometric constraints

Author(s): Tajvar, P., Varava, A., Kragic, D., Jana, T.
Published in: International Symposium on Robotics Research, 2019
Publisher: IEEE

Energy-Optimal Cooperative Manipulation via Provable Internal-Force Regulation

Author(s): Christos Verginis, Dimos V. Dimarogonas
Published in: International Conference on Robotics and Automation, 2020
Publisher: IEEE

Symbolic abstractions for periodic event-triggered linear control systems

Author(s): Wei Ren, Dimos V. Dimarogonas
Published in: European Control Conference, 2020
Publisher: IEEE

Sampling-based motion planning for uncertain highdimensional systems via adaptive control

Author(s): Christos K. Verginis, Dimos V. Dimarogonas, Lydia E. Kavraki
Published in: Workshop on the Algorithmic Foundations on Robotics, 2020
Publisher: Springer

Improving Deep Learning Approaches for Human Activity Recognition based on Natural Language Processing of Action Labels

Author(s): Konstantinos Bacharidis, Antonis A. Argyros
Published in: International Joint Conference on Neural Networks, 2020
Publisher: IEEE

Faster and Simpler SNN Simulation with Work Queues

Author(s): Dennis Bautembach, Iason Oikonomidis, Nikolaos Kyriazis, Antonis A. Argyros
Published in: International Joint Conference on Neural Networks, 2020
Publisher: IEEE

Robotics Software Engineering: A Perspective from the Service Robotics Domain

Author(s): Sergio García, Daniel Strüber, Davide Brugali, Thorsten Berger, Patrizio Pelliccione
Published in: European Software Engineering Conference and Symposium on the Foundations of Software Engineering, 2020
Publisher: IEEE

Mind the gap: Robotic Mission Planning Meets Software Engineering

Author(s): Mehrnoosh Askarpour, Claudio Menghi, Gabriele Belli, Marcello Bersani, Patrizio Pelliccione
Published in: International Conference on Formal Methods in Software Engineering, 2020
Publisher: IEEE

A Hybrid Approach Combining Control Theory and AI for Engineering Self-Adaptive Systems

Author(s): Ricardo Diniz Caldas, Arthur Rodrigues, Eric Bernd Gil, Genaína Nunes Rodrigues, Thomas Vogel, and Patrizio Pelliccione
Published in: Software Engineering for Adaptive and Self-Managing Systems, 2020
Publisher: IEEE

PROMISE: High-Level Mission Specification for Multiple Robots

Author(s): Sergio García, Patrizio Pelliccione, Claudio Menghi, Thorsten Berger, and Tomas Bures
Published in: 2020
Publisher: IEEE

Robot Navigation Under MITL Constraints Using Time-Dependent Vector Field Based Control

Author(s): Christos N. Mavridis, Constantinos Vrohidis, John S. Baras, Kostas J. Kyriakopoulos
Published in: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 232-237, ISBN 978-1-7281-1398-2
Publisher: IEEE
DOI: 10.1109/cdc40024.2019.9028890

Robust Dynamic Average Consensus with Prescribed Performance

Author(s): Charis J. Stamouli, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos
Published in: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 5420-5425, ISBN 978-1-7281-1398-2
Publisher: IEEE
DOI: 10.1109/cdc40024.2019.9030197

Simultaneous task allocation and planning for temporal logic goals in heterogeneous multi-robot systems

Author(s): Philipp Schillinger, Mathias Bürger, Dimos V. Dimarogonas
Published in: The International Journal of Robotics Research, 37/7, 2018, Page(s) 818-838, ISSN 0278-3649
Publisher: SAGE Publications
DOI: 10.1177/0278364918774135

Robust Decentralized Navigation of Multi-Agent Systems with Collision Avoidance and Connectivity Maintenance Using Model Predictive Controllers

Author(s): Alexandros Filotheou, Alexandros Nikou, Dimos V. Dimarogonas
Published in: International Journal of Control, 2018
Publisher: Taylor and Francis

Control Barrier Functions for Signal Temporal Logic Tasks

Author(s): Lars Lindemann, Dimos V. Dimarogonas
Published in: IEEE Control Systems Letters, 3/1, 2019, Page(s) 96-101, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/LCSYS.2018.2853182

Compositional abstraction refinement for control synthesis

Author(s): Pierre-Jean Meyer, Dimos V. Dimarogonas
Published in: Nonlinear Analysis: Hybrid Systems, 27, 2018, Page(s) 437-451, ISSN 1751-570X
Publisher: Elsevier BV
DOI: 10.1016/j.nahs.2017.10.006

Timed abstractions for distributed cooperative manipulation

Author(s): Christos K. Verginis, Dimos V. Dimarogonas
Published in: Autonomous Robots, 42/4, 2018, Page(s) 781-799, ISSN 0929-5593
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10514-017-9672-7

A graph-based approach for detecting common actions in motion capture data and videos

Author(s): Costas Panagiotakis, Konstantinos Papoutsakis, Antonis Argyros
Published in: Pattern Recognition, 79, 2018, Page(s) 1-11, ISSN 0031-3203
Publisher: Pergamon Press
DOI: 10.1016/j.patcog.2018.02.001

Prescribed Time Scale Robot Navigation

Author(s): Constantinos Vrohidis, Panagiotis Vlantis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos
Published in: IEEE Robotics and Automation Letters, 3/2, 2018, Page(s) 1191-1198, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2018.2794616

Reconfigurable multi-robot coordination with guaranteed convergence in obstacle cluttered environments under local communication

Author(s): Constantinos Vrohidis, Panagiotis Vlantis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos
Published in: Autonomous Robots, 42/4, 2018, Page(s) 853-873, ISSN 0929-5593
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10514-017-9660-y

Collaborative Multi-Robot Transportation in Obstacle-Cluttered Environments via Implicit Communication

Author(s): C. P. Bechlioulis, K. J. Kyriakopoulos
Published in: Frontiers in Robotics and AI, 2018, ISSN 2296-9144
Publisher: Frontiers in Robotics and AI

Decentralized tube‐based model predictive control of uncertain nonlinear multiagent systems

Author(s): Alexandros Nikou, Dimos V. Dimarogonas
Published in: International Journal of Robust and Nonlinear Control, 29/10, 2019, Page(s) 2799-2818, ISSN 1049-8923
Publisher: John Wiley & Sons Inc.
DOI: 10.1002/rnc.4522

Decentralized abstractions for multi-agent systems under coupled constraints

Author(s): Dimitris Boskos, Dimos V. Dimarogonas
Published in: European Journal of Control, 45, 2019, Page(s) 1-16, ISSN 0947-3580
Publisher: Lavoisier
DOI: 10.1016/j.ejcon.2018.10.002

Robust Cooperative Manipulation Without Force/Torque Measurements: Control Design and Experiments

Author(s): Christos K. Verginis, Matteo Mastellaro, Dimos V. Dimarogonas
Published in: IEEE Transactions on Control Systems Technology, 28/3, 2020, Page(s) 713-729, ISSN 1063-6536
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tcst.2018.2885682

Robust control for signal temporal logic specifications using discrete average space robustness

Author(s): Lars Lindemann, Dimos V. Dimarogonas
Published in: Automatica, 101, 2019, Page(s) 377-387, ISSN 0005-1098
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2018.12.022

Single-shot 3D hand pose estimation using radial basis function networks trained on synthetic data

Author(s): Vassilis C. Nicodemou, Iason Oikonomidis, Antonis Argyros
Published in: Pattern Analysis and Applications, 23/1, 2020, Page(s) 415-428, ISSN 1433-7541
Publisher: Springer Verlag
DOI: 10.1007/s10044-019-00801-7

A verification-driven framework for iterative design of controllers

Author(s): Claudio Menghi, Paola Spoletini, Marsha Chechik, Carlo Ghezzi
Published in: Formal Aspects of Computing, 31/5, 2019, Page(s) 459-502, ISSN 0934-5043
Publisher: Springer Verlag
DOI: 10.1007/s00165-019-00484-1

Managing safety and mission completion via collective run-time adaptation

Author(s): Darko Bozhinoski, David Garlan, Ivano Malavolta, Patrizio Pelliccione
Published in: Journal of Systems Architecture, 95, 2019, Page(s) 19-35, ISSN 1383-7621
Publisher: Elsevier BV
DOI: 10.1016/j.sysarc.2019.02.018

Safety for mobile robotic systems: A systematic mapping study from a software engineering perspective

Author(s): Darko Bozhinoski, Davide Di Ruscio, Ivano Malavolta, Patrizio Pelliccione, Ivica Crnkovic
Published in: Journal of Systems and Software, 151, 2019, Page(s) 150-179, ISSN 0164-1212
Publisher: Elsevier BV
DOI: 10.1016/j.jss.2019.02.021

Robust formation control in SE ( 3 ) for tree-graph structures with prescribed transient and steady state performance

Author(s): Christos K. Verginis, Alexandros Nikou, Dimos V. Dimarogonas
Published in: Automatica, 103, 2019, Page(s) 538-548, ISSN 0005-1098
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2019.02.034

Feedback control strategies for multi-agent systems under a fragment of signal temporal logic tasks

Author(s): Lars Lindemann, Dimos V. Dimarogonas
Published in: Automatica, 106, 2019, Page(s) 284-293, ISSN 0005-1098
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2019.05.013

Control Barrier Functions for Multi-Agent Systems Under Conflicting Local Signal Temporal Logic Tasks

Author(s): Lars Lindemann, Dimos V. Dimarogonas
Published in: IEEE Control Systems Letters, 3/3, 2019, Page(s) 757-762, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2019.2917975

Closed-Form Barrier Functions for Multi-Agent Ellipsoidal Systems With Uncertain Lagrangian Dynamics

Author(s): Christos K. Verginis, Dimos V. Dimarogonas
Published in: IEEE Control Systems Letters, 3/3, 2019, Page(s) 727-732, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2019.2917822

Abstractions of Varying Decentralization Degree for Reachability of Coupled Multiagent Systems

Author(s): Dimitris Boskos, Dimos V. Dimarogonas
Published in: SIAM Journal on Control and Optimization, 57/5, 2019, Page(s) 3471-3495, ISSN 0363-0129
Publisher: Society for Industrial and Applied Mathematics
DOI: 10.1137/17m1133981

Coupled Multi-Robot Systems Under Linear Temporal Logic and Signal Temporal Logic Tasks

Author(s): Lars Lindemann, Jakub Nowak, Lukas Schonbachler, Meng Guo, Jana Tumova, Dimos V. Dimarogonas
Published in: IEEE Transactions on Control Systems Technology, 2019, Page(s) 1-8, ISSN 1063-6536
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tcst.2019.2955628

Second Order Consensus for Leader-follower Multi-agent Systems with Prescribed Performance

Author(s): Fei Chen, Dimos V. Dimarogonas
Published in: IFAC-PapersOnLine, 52/20, 2019, Page(s) 103-108, ISSN 2405-8963
Publisher: IFAC
DOI: 10.1016/j.ifacol.2019.12.136

Symbolic abstractions for nonlinear control systems via feedback refinement relation

Author(s): Wei Ren, Dimos V. Dimarogonas
Published in: Automatica, 114, 2020, Page(s) 108828, ISSN 0005-1098
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2020.108828

Finite horizon discrete models for multi-agent control systems with coupled dynamics

Author(s): Dimitris Boskos, Dimos V. Dimarogonas
Published in: Automatica, 115, 2020, Page(s) 108838, ISSN 0005-1098
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2020.108838

PuRSUE -from specification of robotic environments to synthesis of controllers

Author(s): Marcello M. Bersani, Matteo Soldo, Claudio Menghi, Patrizio Pelliccione, Matteo Rossi
Published in: Formal Aspects of Computing, 23 March 2020, 2020, Page(s) 41, ISSN 0934-5043
Publisher: Springer Verlag
DOI: 10.1007/s00165-020-00509-0

Multi-Agent Formation Control Based on Distributed Estimation With Prescribed Performance

Author(s): Charis J. Stamouli, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos
Published in: IEEE Robotics and Automation Letters, 5/2, 2020, Page(s) 2929-2934, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.2970574

On the Feasibility of Real-Time 3D Hand Tracking using Edge GPGPU Acceleration

Author(s): Ammar Qammaz, Sokol Kosta, Nikolaos Kyriazis, Antonis Argyros
Published in: 2018
Publisher: arXiv

Learning to Infer the Depth Map of a Hand from its Color Image

Author(s): Vassilis C. Nicodemou, Iason Oikonomidis, Georgios Tzimiropoulos, Antonis Argyros
Published in: 2018
Publisher: FORTH

From Model Checking to a Temporal Proof for Partial Models

Author(s): Anna Bernasconi, Claudio Menghi, Paola Spoletini, Lenore D. Zuck, Carlo Ghezzi
Published in: Software Engineering and Formal Methods - 15th International Conference, SEFM 2017, Trento, Italy, September 4–8, 2017, Proceedings, 10469, 2017, Page(s) 54-69, ISBN 978-3-319-66196-4
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-66197-1_4

Distributed Hybrid Control Synthesis for Multi-Agent Systems from High-Level Specifications

Author(s): M. Guo, D. Boskos, J. Tumova, D. V. Dimarogonas
Published in: Control Subject to Computational and Communication Constraints, 475, 2018, Page(s) 241-260, ISBN 978-3-319-78448-9
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-78449-6_12

A Two-Stage Approach for Commonality-Based Temporal Localization of Periodic Motions

Author(s): Costas Panagiotakis, Antonis Argyros
Published in: Computer Vision Systems - 12th International Conference, ICVS 2019, Thessaloniki, Greece, September 23–25, 2019, Proceedings, 11754, 2019, Page(s) 366-375, ISBN 978-3-030-34994-3
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-34995-0_33

3D Hand Tracking by Employing Probabilistic Principal Component Analysis to Model Action Priors

Author(s): Emmanouil Oulof Porfyrakis, Alexandros Makris, Antonis Argyros
Published in: Computer Vision Systems - 12th International Conference, ICVS 2019, Thessaloniki, Greece, September 23–25, 2019, Proceedings, 11754, 2019, Page(s) 531-541, ISBN 978-3-030-34994-3
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-34995-0_48

The revolution of software: a look at the automotive and robotic domains

Author(s): Patrizio Pelliccione
Published in: 2017
Publisher: UGOT