Risultati finali Documents, reports (19) 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. Websites, patent fillings, videos etc. (1) Project website The project website will be used as the main internal and external communication channel of the project. Open Research Data Pilot (1) Data Management Plan This deliverable will describe the Data Management Plan for the project as requested by the EC for H2020 projects. Pubblicazioni Conference proceedings (80) A Variable Impedance Control Strategy for Object Manipulation Considering Non–Rigid Grasp Autori: Michalis Logothetis, George C. Karras and Kostas J. Kyriakopoulos Pubblicato in: IEEE Intelligent Robots and Systems, October, 25-29, 2020, Las Vegas, USA (to appear), 2020 Editore: IEEE Decomposition of finite LTL specifications for efficient multi-agent planning Autori: Philipp Schillinger, Mathias Bürger, Dimos Dimarogonas Pubblicato in: Distributed Autonomous Robotic Systems, 2018, Page(s) 253-267 Editore: Springer Multi-objective search for optimal multi-robot planning with finite LTL specifications and resource constraints Autori: Philipp Schillinger, Mathias Burger, Dimos V. Dimarogonas Pubblicato in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 768-774, ISBN 978-1-5090-4633-1 Editore: IEEE DOI: 10.1109/ICRA.2017.7989094 Auctioning over Probabilistic Options for Temporal Logic-Based Multi-Robot Cooperation under Uncertainty Autori: Philipp Schillinger, Mathias Bürger, Dimos Dimarogonas Pubblicato in: IEEE International Conference on Robotics and Automation, 2018 Editore: IEEE Improving Multi-Robot Behavior Using Learning-Based Receding Horizon Task Allocation Autori: Philipp Schillinger, Mathias Bürger, Dimos Dimarogonas Pubblicato in: Robotics: Science and Systems, 2018 Editore: RSS Optimal Control of Left-Invariant Multi- Agent Systems with Asymmetric Formation Constraints Autori: Leonardo Colombo, Dimos V. Dimarogonas Pubblicato in: IEEE European Control Conference 2018, 2018 Editore: IEEE Decentralized Control of Uncertain Multi-Agent Systems with Connectivity Maintenance and Collision Avoidance Autori: Alexandros Filotheou, Alexandros Nikou, Dimos V. Dimarogonas Pubblicato in: IEEE European Control Conference 2018, 2018 Editore: IEEE Human-in-the-Loop Mixed-Initiative Control Under Termporal Tasks Autori: Meng Guo, Sofie Andersson, Dimos V. Dimarogonas Pubblicato in: IEEE International Conference on Robotics and Automation, 2018 Editore: IEEE Decentralized Robust Control of Coupled Multi-Agent Systems under Local Signal Temporal Logic Tasks Autori: Lars Lindemann, Dimos V. Dimarogonas Pubblicato in: American Control Conference, 2018 Editore: IEEE Event-triggered Feedback Control for Signal Temporal Logic Tasks Autori: Lars Lindemann, Dipankar Maity, John S. Baras, Dimos V. Dimarogonas Pubblicato in: IEEE Conference on Decision and Control, 2018 Editore: IEEE Prescribed performance control for signal temporal logic specifications Autori: Lars Lindemann, Christos K. Verginis, Dimos V. Dimarogonas Pubblicato in: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 2997-3002, ISBN 978-1-5090-2873-3 Editore: IEEE DOI: 10.1109/CDC.2017.8264095 Compositional abstraction refinement for control synthesis under lasso-shaped specifications Autori: Pierre-Jean Meyer, Dimos V. Dimarogonas Pubblicato in: 2017 American Control Conference (ACC), 2017, Page(s) 523-528, ISBN 978-1-5090-5992-8 Editore: IEEE DOI: 10.23919/ACC.2017.7963006 Decentralized abstractions and timed constrained planning of a general class of coupled multi-agent systems Autori: Alexandros Nikou, Shahab Heshmati-alamdari, Christos K. Verginis, Dimos V. Dimarogonas Pubblicato in: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 990-995, ISBN 978-1-5090-2873-3 Editore: IEEE DOI: 10.1109/CDC.2017.8263787 A Nonlinear Model Predictive Control scheme for cooperative manipulation with singularity and collision avoidance Autori: Alexandres Nikou, Christos Verginis, Shahab Heshmati-alamdari, Dimos V. Dimarogonas Pubblicato in: 2017 25th Mediterranean Conference on Control and Automation (MED), 2017, Page(s) 707-712, ISBN 978-1-5090-4533-4 Editore: IEEE DOI: 10.1109/MED.2017.7984201 Position and orientation based formation control of multiple rigid bodies with collision avoidance and connectivity maintenance Autori: Christos K. Verginis, Alexandras Nikou, Dimos V. Dimarogonas Pubblicato in: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 411-416, ISBN 978-1-5090-2873-3 Editore: IEEE DOI: 10.1109/CDC.2017.8263699 Communication-based Decentralized Cooperative Object Transportation Using Nonlinear Model Predictive Control Autori: Christos K. Verginis, Alexandros Nikou, Dimos V. Dimarogonas Pubblicato in: IEEE European Control Conference, 2018 Editore: IEEE Robust decentralized abstractions for multiple mobile manipulators Autori: Christos K. Verginis, Dimos V. Dimarogonas Pubblicato in: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 2222-2227, ISBN 978-1-5090-2873-3 Editore: IEEE DOI: 10.1109/CDC.2017.8263974 Decentralized motion planning with collision avoidance for a team of UAVs under high level goals Autori: Christos K. Verginis, Ziwei Xu, Dimos V. Dimarogonas Pubblicato in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 781-787, ISBN 978-1-5090-4633-1 Editore: IEEE DOI: 10.1109/ICRA.2017.7989096 Robot Navigation in Complex Workspaces Using Harmonic Maps Autori: Panagiotis Vlantis, Constantinos Vrohidis, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos Pubblicato in: IEEE Int. Conf. on Robotics and Automation (ICRA 2018), May 21-25, 2018, Brisbane, Australia, 2018 Editore: IEEE A Model Predictive Control Approach for Vision-based Object Grasping via Mobile Manipulator Autori: Michalis Logothetis, George C. Karras, Shahab Heshmati-alamdari, Panagiotis Vlantis and Kostas J. Kyriakopoulos Pubblicato in: IEEE Intelligent Robots and Systems,October, 1-5, 2018, Madrid, Spain, 2018 Editore: IEEE Human-Robot Collaboration based on Robust Motion Intention Estimation with Prescribed Performance Autori: Christos N. Mavridis, Konstantinos Alevizos, Charalampos P. Bechlioulis and Kostas J. Kyriakopoulos 2 Pubblicato in: ECC 2018 – European Control Conference 2018, Limassol Cyprus, 12-15 June, 2018, 2018 Editore: IFAC Prescribed Time Scale Robot Navigation in Dynamic Environments Autori: Constantinos Vrohidis, Panagiotis Vlantis, Charalampos P. Bechlioulis and Kostas J. Kyriakopoulos Pubblicato in: ECC 2018 – European Control Conference 2018, Limassol Cyprus, June 12-15, 2018, 2018 Editore: IFAC Decentralized Reconfigurable Multi-Robot Coordination from Local Connectivity and Collosion Avoidance Specifications Autori: Constantinos Vrohidis, Charalampos P. Bechlioulis and Kostas J. Kyriakopoulos Pubblicato in: IFAC 2017 World Congress, Toulouse, France The 20th World Congress of the International Federation of Automatic Control, 9-14 July 2017, 2017 Editore: IFAC Safe Decentralized and Reconfigurable Multi-agent Control with Guaranteed Convergence Autori: C. Vrohidis, C. P. Bechlioulis, K. J. Kyriakopoulos Pubblicato in: 2017 IEEE International Conference on Robotics and Automation, Singapore, 2017, Page(s) pp. 267-272 Editore: IEEE Unsupervised Detection of Periodic Segments in Videos Autori: Costas Panagiotakis, Giorgos Karvounas, Antonis Argyros Pubblicato in: International Conference on Image Processing (ICIP2018), 2018 Editore: IEEE Joint 3D tracking of a deformable object in interaction with a hand Autori: Aggeliki Tsoli, Antonis Argyros Pubblicato in: European Conference on Computer Vision (ECCV 2018), 2018 Editore: Springer A Comparative Study of Matrix Completion and Recovery Techniques for Human Pose Estimation Autori: Dennis Bautembach, Iason Oikonomidis, Antonis Argyros Pubblicato in: Proceedings of the 11th PErvasive Technologies Related to Assistive Environments Conference on - PETRA '18, 2018, Page(s) 23-30, ISBN 9781-450363907 Editore: ACM Press DOI: 10.1145/3197768.3197791 Distributed Real-Time Generative 3D Hand Tracking using Edge GPGPU Acceleration Autori: Ammar Qammaz, Sokol Kosta, Nikolaos Kyriazis, Antonis Argyros Pubblicato in: Proceedings of the 16th Annual International Conference on Mobile Systems, Applications, and Services - MobiSys '18, 2018, Page(s) 540-540, ISBN 9781-450357203 Editore: ACM Press DOI: 10.1145/3210240.3211112 Depth-Based 3D Hand Pose Estimation: From Current Achievements to Future Goals Autori: 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 Pubblicato in: IEEE Computer Vision and Pattern Recognition (CVPR 2018), 2018 Editore: IEEE Using a Single RGB Frame for Real Time 3D Hand Pose Estimation in the Wild Autori: Paschalis Panteleris, Iason Oikonomidis, Antonis Argyros Pubblicato in: 2018 IEEE Winter Conference on Applications of Computer Vision (WACV), 2018, Page(s) 436-445, ISBN 978-1-5386-4886-5 Editore: IEEE DOI: 10.1109/wacv.2018.00054 A Hybrid Method for 3D Pose Estimation of Personalized Human Body Models Autori: Ammar Qammaz, Damien Michel, Antonis Argyros Pubblicato in: 2018 IEEE Winter Conference on Applications of Computer Vision (WACV), 2018, Page(s) 456-465, ISBN 978-1-5386-4886-5 Editore: IEEE DOI: 10.1109/wacv.2018.00056 Evaluating Method Design Options for Action Classification based on Bags of Visual Words Autori: Victoria Manousaki, Konstantinos Papoutsakis, Antonis Argyros Pubblicato 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 Editore: 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 Autori: Paschalis Panteleris, Antonis Argyros Pubblicato in: 2017 IEEE International Conference on Computer Vision Workshops (ICCVW), 2017, Page(s) 575-584, ISBN 978-1-5386-1034-3 Editore: IEEE DOI: 10.1109/iccvw.2017.74 Temporal Action Co-Segmentation in 3D Motion Capture Data and Videos Autori: Konstantinos Papoutsakis, Costas Panagiotakis, Antonis A. Argyros Pubblicato in: 2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2017, Page(s) 2146-2155, ISBN 978-1-5386-0457-1 Editore: IEEE DOI: 10.1109/cvpr.2017.231 Generative 3D Hand Tracking with Spatially Constrained Pose Sampling Autori: Konstantinos Roditakis, Alexandros Makris, Antonis Argyros Pubblicato in: British Machine Vision Conference (BMVC 2017), 2017 Editore: BMVA An Architecture for Decentralized, Collaborative, and Autonomous Robots Autori: Sergio Garcia, Claudio Menghi, Patrizio Pelliccione, Thorsten Berger, Rebekka Wohlrab Pubblicato in: 2018 IEEE International Conference on Software Architecture (ICSA), 2018, Page(s) 75-7509, ISBN 978-1-5386-6398-1 Editore: IEEE DOI: 10.1109/icsa.2018.00017 Engineering the software of robotic systems Autori: Federico Ciccozzi, Davide Di Ruscio, Ivano Malavolta, Patrizio Pelliccione, Jana Tumova Pubblicato in: 2017 IEEE/ACM 39th International Conference on Software Engineering Companion (ICSE-C), 2017, Page(s) 507-508, ISBN 978-1-5386-1589-8 Editore: IEEE DOI: 10.1109/ICSE-C.2017.167 Supporting Verification-Driven Incremental Distributed Design of Components Autori: Claudio Menghi, Paola Spoletini, Marsha Chechik, Carlo Ghezzi Pubblicato in: In: Russo A., Schürr A. (eds) Fundamental Approaches to Software Engineering. FASE 2018, 2018, Page(s) 169-188 Editore: Springer International Publishing DOI: 10.1007/978-3-319-89363-1_10 Property specification patterns for robotic missions Autori: Claudio Menghi, Christos Tsigkanos, Thorsten Berger, Patrizio Pelliccione, Carlo Ghezzi Pubblicato in: Proceedings of the 40th International Conference on Software Engineering Companion Proceeedings - ICSE '18, 2018, Page(s) 434-435, ISBN 9781-450356633 Editore: ACM Press DOI: 10.1145/3183440.3195044 Towards multi-robot applications planning under uncertainty Autori: Claudio Menghi, Sergio García, Patrizio Pelliccione, Jana Tumova Pubblicato in: Proceedings of the 40th International Conference on Software Engineering Companion Proceeedings - ICSE '18, 2018, Page(s) 438-439, ISBN 9781-450356633 Editore: ACM Press DOI: 10.1145/3183440.3195046 Multi-robot LTL planning under uncertainty Autori: Claudio Menghi, Sergio Garcia, Patrizio Pelliccione, Jana Tumova Pubblicato in: 2018, Page(s) 399-417 Editore: Springer International Publishing DOI: 10.1007/978-3-319-95582-7_24 Distributed cooperative manipulation under timed temporal specifications Autori: Christos K. Verginis, Dimos V. Dimarogonas Pubblicato in: 2017 American Control Conference (ACC), 2017, Page(s) 1358-1363, ISBN 978-1-5090-5992-8 Editore: IEEE DOI: 10.23919/acc.2017.7963141 Effective engineering of multi-robot software applications Autori: Sergio García Pubblicato in: Proceedings of the 40th International Conference on Software Engineering: Companion Proceeedings, 2018, Page(s) 454-455, ISBN 9781-450356633 Editore: ACM DOI: 10.1145/3183440.3183445 A Tube-based MPC Scheme for Interaction Control of Underwater Vehicle Manipulator Systems Autori: Alexandros Nikou, Christos K. Verginis, Dimos V. Dimarogonas Pubblicato in: 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV), Issue 6-9 Nov. 2018, 2018, Page(s) 1-6, ISBN 978-1-7281-0253-5 Editore: IEEE DOI: 10.1109/auv.2018.8729801 Event-triggered Feedback Control for Signal Temporal Logic Tasks Autori: Lars Lindemann, Dipankar Maity, John S. Baras, Dimos V. Dimarogonas Pubblicato in: 2018 IEEE Conference on Decision and Control (CDC), Issue 17-19 Dec. 2018, 2018, Page(s) 146-151, ISBN 978-1-5386-1395-5 Editore: IEEE DOI: 10.1109/cdc.2018.8619000 Orientation-Aware Motion Planning in Complex Workspaces using Adaptive Harmonic Potential Fields Autori: Panagiotis Vlantis, Constantinos Vrohidis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos Pubblicato in: 2019 International Conference on Robotics and Automation (ICRA), Issue 20-24 May 2019, 2019, Page(s) 8592-8598, ISBN 978-1-5386-6027-0 Editore: IEEE DOI: 10.1109/icra.2019.8794053 A Motion Planning Scheme for Cooperative Loading Using Heterogeneous Robotic Agents Autori: Michalis Logothetis, Panagiotis Vlantis, Constantinos Vrohidis, George C. Karras, Kostas J. Kyriakopoulos Pubblicato in: 2019 International Conference on Robotics and Automation (ICRA), Issue 20-24 May 2019, 2019, Page(s) 9660-9666, ISBN 978-1-5386-6027-0 Editore: IEEE DOI: 10.1109/icra.2019.8794323 ReActNet: Temporal Localization of Repetitive Activities in Real-World Videos Autori: Giorgos Karvounas, Iason Oikonomidis, Antonis Argyros Pubblicato in: 2019 Editore: International Conference on Computer Vision Workshop Reconfigurable Motion Planning and Control in Obstacle Cluttered Environments under Timed Temporal Tasks Autori: Christos K. Verginis, Constantinos Vrohidis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos, Dimos V. Dimarogonas Pubblicato in: 2019 International Conference on Robotics and Automation (ICRA), Issue 20-24 May 2019, 2019, Page(s) 951-957, ISBN 978-1-5386-6027-0 Editore: IEEE DOI: 10.1109/icra.2019.8794000 Patch-based reconstruction of a textureless deformable 3D surface from a single RGB image Autori: Aggeliki Tsoli, Antonis. A. Argyros Pubblicato in: International Conference on Computer Vision, 2019 Editore: IEEE MocapNET: Ensemble of SNN Encoders for 3D Human Pose Estimation in RGB Images Autori: Ammar Qammaz, Antonis A. Argyros Pubblicato in: British Machine Vision Conference, 2019 Editore: British Machine Vision Association Unsupervised and Explainable Assessment of Video Similarity Autori: Konstantinos E. Papoutsakis, Antonis A. Argyros Pubblicato in: British Machine Vision Conference, 2019 Editore: British Machine Vision Association Novelty Detection for Person Re-identification in an Open World Autori: George Galanakis, Xenophon Zabulis, Antonis A Argyros Pubblicato in: International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, 2019 Editore: SCITEPRESS Robust 3D Human Pose Estimation Guided by Filtered Subsets of Body Keypoints Autori: Alexandros Makris, Antonis Argyros Pubblicato in: 2019 16th International Conference on Machine Vision Applications (MVA), Issue 27-31 May 2019, 2019, Page(s) 1-6, ISBN 978-4-901122-18-4 Editore: IEEE DOI: 10.23919/mva.2019.8757907 PsALM: Specification of Dependable Robotic Missions Autori: Claudio Menghi, Christos Tsigkanos, Thorsten Berger, Patrizio Pelliccione Pubblicato in: 2019 IEEE/ACM 41st International Conference on Software Engineering: Companion Proceedings (ICSE-Companion), Issue 25-31 May 2019, 2019, Page(s) 99-102, ISBN 978-1-7281-1764-5 Editore: IEEE DOI: 10.1109/icse-companion.2019.00048 MAPmAKER: Performing Multi-Robot LTL Planning under Uncertainty Autori: Sergio Garcia, Claudio Menghi, Patrizio Pelliccione Pubblicato in: 2019 IEEE/ACM 2nd International Workshop on Robotics Software Engineering (RoSE), Issue May 2019, 2019, Page(s) 1-4, ISBN 978-1-7281-2249-6 Editore: IEEE DOI: 10.1109/rose.2019.00008 Variability Modeling of Service Robots - Experiences and Challenges Autori: Sergio García, Daniel Strüber, Davide Brugali, Alessandro Di Fava, Philipp Schillinger, Patrizio Pelliccione, Thorsten Berger Pubblicato in: Proceedings of the 13th International Workshop on Variability Modelling of Software-Intensive Systems - VAMOS '19, 2019, Page(s) 1-6, ISBN 9781-450366489 Editore: ACM Press DOI: 10.1145/3302333.3302350 Decentralized Control Barrier Functions for Coupled Multi-Agent Systems under Signal Temporal Logic Tasks Autori: Lars Lindemann, Dimos V. Dimarogonas Pubblicato in: 2019 18th European Control Conference (ECC), 2019, Page(s) 89-94, ISBN 978-3-907144-00-8 Editore: IEEE DOI: 10.23919/ecc.2019.8796109 A Hybrid Controller for Obstacle Avoidance in an $n$-dimensional Euclidean Space Autori: Soulaimane Berkane, Andrea Bisoffi, Dimos V. Dimarogonas Pubblicato in: 2019 18th European Control Conference (ECC), 2019, Page(s) 764-769, ISBN 978-3-907144-00-8 Editore: IEEE DOI: 10.23919/ecc.2019.8795713 Integrated Motion Planning and Control Under Metric Interval Temporal Logic Specifications Autori: Fernando S. Barbosa, Lars Lindemann, Dimos V. Dimarogonas, Jana Tumova Pubblicato in: 2019 18th European Control Conference (ECC), 2019, Page(s) 2042-2049, ISBN 978-3-907144-00-8 Editore: IEEE DOI: 10.23919/ecc.2019.8795925 Logarithmic Quantization based Symbolic Abstractions for Nonlinear Control Systems Autori: Wei Ren, Dimos V. Dimarogonas Pubblicato in: 2019 18th European Control Conference (ECC), 2019, Page(s) 1312-1317, ISBN 978-3-907144-00-8 Editore: IEEE DOI: 10.23919/ecc.2019.8795730 Abstractions of varying decentralization degree for coupled multi-agent systems Autori: Dimitris Boskos, Dimos V. Dimarogonas Pubblicato in: 2016 IEEE 55th Conference on Decision and Control (CDC), 2016, Page(s) 81-86, ISBN 978-1-5090-1837-6 Editore: IEEE DOI: 10.1109/cdc.2016.7798250 Design and Experimental Validation of Tube-based MPC for Timed-constrained Robot Planning Autori: Alexandros Nikou, Shahab Heshmati-alamdari, Dimos V. Dimarogonas Pubblicato in: 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), 2019, Page(s) 1181-1186, ISBN 978-1-7281-0356-3 Editore: IEEE DOI: 10.1109/coase.2019.8843167 Consensus Control for Leader-follower Multi-agent Systems under Prescribed Performance Guarantees Autori: Fei Chen, Dimos V. Dimarogonas Pubblicato in: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 4785-4790, ISBN 978-1-7281-1398-2 Editore: IEEE DOI: 10.1109/cdc40024.2019.9029509 Asymptotic Stability of Uncertain Lagrangian Systems with Prescribed Transient Response Autori: Christos K. Verginis, Dimos V. Dimarogonas Pubblicato in: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 7037-7042, ISBN 978-1-7281-1398-2 Editore: IEEE DOI: 10.1109/cdc40024.2019.9030217 Adaptive Leader-Follower Coordination of Lagrangian Multi-Agent Systems under Transient Constraints Autori: Christos K. Verginis, Dimos V. Dimarogonas Pubblicato in: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 3833-3838, ISBN 978-1-7281-1398-2 Editore: IEEE DOI: 10.1109/cdc40024.2019.9029560 Dynamic Quantization based Symbolic Abstractions for Nonlinear Control Systems Autori: Wei Ren, Dimos V. Dimarogonas Pubblicato in: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 4343-4348, ISBN 978-1-7281-1398-2 Editore: IEEE DOI: 10.1109/cdc40024.2019.9029665 A Learning Framework for Versatile STL Controller Synthesis Autori: Peter Varnai and Dimos, V. Dimarogonas Pubblicato in: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 4596-4600, ISBN 978-1-7281-1398-2 Editore: IEEE DOI: 10.1109/cdc40024.2019.9029727 Robust motion planning for non-holonomicrobots with planar geometric constraints Autori: Tajvar, P., Varava, A., Kragic, D., Jana, T. Pubblicato in: International Symposium on Robotics Research, 2019 Editore: IEEE Energy-Optimal Cooperative Manipulation via Provable Internal-Force Regulation Autori: Christos Verginis, Dimos V. Dimarogonas Pubblicato in: International Conference on Robotics and Automation, 2020 Editore: IEEE Symbolic abstractions for periodic event-triggered linear control systems Autori: Wei Ren, Dimos V. Dimarogonas Pubblicato in: European Control Conference, 2020 Editore: IEEE Sampling-based motion planning for uncertain highdimensional systems via adaptive control Autori: Christos K. Verginis, Dimos V. Dimarogonas, Lydia E. Kavraki Pubblicato in: Workshop on the Algorithmic Foundations on Robotics, 2020 Editore: Springer Improving Deep Learning Approaches for Human Activity Recognition based on Natural Language Processing of Action Labels Autori: Konstantinos Bacharidis, Antonis A. Argyros Pubblicato in: International Joint Conference on Neural Networks, 2020 Editore: IEEE Faster and Simpler SNN Simulation with Work Queues Autori: Dennis Bautembach, Iason Oikonomidis, Nikolaos Kyriazis, Antonis A. Argyros Pubblicato in: International Joint Conference on Neural Networks, 2020 Editore: IEEE Robotics Software Engineering: A Perspective from the Service Robotics Domain Autori: Sergio García, Daniel Strüber, Davide Brugali, Thorsten Berger, Patrizio Pelliccione Pubblicato in: European Software Engineering Conference and Symposium on the Foundations of Software Engineering, 2020 Editore: IEEE Mind the gap: Robotic Mission Planning Meets Software Engineering Autori: Mehrnoosh Askarpour, Claudio Menghi, Gabriele Belli, Marcello Bersani, Patrizio Pelliccione Pubblicato in: International Conference on Formal Methods in Software Engineering, 2020 Editore: IEEE A Hybrid Approach Combining Control Theory and AI for Engineering Self-Adaptive Systems Autori: Ricardo Diniz Caldas, Arthur Rodrigues, Eric Bernd Gil, Genaína Nunes Rodrigues, Thomas Vogel, and Patrizio Pelliccione Pubblicato in: Software Engineering for Adaptive and Self-Managing Systems, 2020 Editore: IEEE PROMISE: High-Level Mission Specification for Multiple Robots Autori: Sergio García, Patrizio Pelliccione, Claudio Menghi, Thorsten Berger, and Tomas Bures Pubblicato in: 2020 Editore: IEEE Robot Navigation Under MITL Constraints Using Time-Dependent Vector Field Based Control Autori: Christos N. Mavridis, Constantinos Vrohidis, John S. Baras, Kostas J. Kyriakopoulos Pubblicato in: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 232-237, ISBN 978-1-7281-1398-2 Editore: IEEE DOI: 10.1109/cdc40024.2019.9028890 Robust Dynamic Average Consensus with Prescribed Performance Autori: Charis J. Stamouli, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos Pubblicato in: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 5420-5425, ISBN 978-1-7281-1398-2 Editore: IEEE DOI: 10.1109/cdc40024.2019.9030197 Peer reviewed articles (30) Simultaneous task allocation and planning for temporal logic goals in heterogeneous multi-robot systems Autori: Philipp Schillinger, Mathias Bürger, Dimos V. Dimarogonas Pubblicato in: The International Journal of Robotics Research, Issue 37/7, 2018, Page(s) 818-838, ISSN 0278-3649 Editore: SAGE Publications DOI: 10.1177/0278364918774135 Robust Decentralized Navigation of Multi-Agent Systems with Collision Avoidance and Connectivity Maintenance Using Model Predictive Controllers Autori: Alexandros Filotheou, Alexandros Nikou, Dimos V. Dimarogonas Pubblicato in: International Journal of Control, 2018 Editore: Taylor and Francis Control Barrier Functions for Signal Temporal Logic Tasks Autori: Lars Lindemann, Dimos V. Dimarogonas Pubblicato in: IEEE Control Systems Letters, Issue 3/1, 2019, Page(s) 96-101, ISSN 2475-1456 Editore: IEEE DOI: 10.1109/LCSYS.2018.2853182 Compositional abstraction refinement for control synthesis Autori: Pierre-Jean Meyer, Dimos V. Dimarogonas Pubblicato in: Nonlinear Analysis: Hybrid Systems, Issue 27, 2018, Page(s) 437-451, ISSN 1751-570X Editore: Elsevier BV DOI: 10.1016/j.nahs.2017.10.006 Abstraction refinement and plan revision for control synthesis under high level specifications * *This work was supported by the H2020 ERC Starting Grant BUCOPHSYS, the EU H2020 AEROWORKS project, the EU H2020 Co4Robots project, the Swedish Foundation for Strategic Research, the Swedish Research Council and the KAW Foundation Autori: Pierre-Jean Meyer, Dimos V. Dimarogonas Pubblicato in: IFAC-PapersOnLine, Issue 50/1, 2017, Page(s) 9254-9259 Editore: Elsevier DOI: 10.1016/j.ifacol.2017.08.1292 Using progress sets on non-deterministic transition systems for multiple UAV motion planning * *This work was supported by the H2020 ERC Starting Grant BUCOPHSYS, the EU H2020 AEROWORKS project, the EU H2020 Co4Robots project, the Swedish Foundation for Strategic Research, the Swedish Research Council and the KAW Foundation Autori: Paul Rousse, Pierre-Jean Meyer, Dimos V. Dimarogonas Pubblicato in: IFAC-PapersOnLine, Issue 50/1, 2017, Page(s) 15977-15982, ISSN 2405-8963 Editore: Elsevier DOI: 10.1016/j.ifacol.2017.08.1752 Timed abstractions for distributed cooperative manipulation Autori: Christos K. Verginis, Dimos V. Dimarogonas Pubblicato in: Autonomous Robots, Issue 42/4, 2018, Page(s) 781-799, ISSN 0929-5593 Editore: Kluwer Academic Publishers DOI: 10.1007/s10514-017-9672-7 A graph-based approach for detecting common actions in motion capture data and videos Autori: Costas Panagiotakis, Konstantinos Papoutsakis, Antonis Argyros Pubblicato in: Pattern Recognition, Issue 79, 2018, Page(s) 1-11, ISSN 0031-3203 Editore: Pergamon Press DOI: 10.1016/j.patcog.2018.02.001 Prescribed Time Scale Robot Navigation Autori: Constantinos Vrohidis, Panagiotis Vlantis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos Pubblicato in: IEEE Robotics and Automation Letters, Issue 3/2, 2018, Page(s) 1191-1198, ISSN 2377-3766 Editore: IEEE DOI: 10.1109/LRA.2018.2794616 Reconfigurable multi-robot coordination with guaranteed convergence in obstacle cluttered environments under local communication Autori: Constantinos Vrohidis, Panagiotis Vlantis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos Pubblicato in: Autonomous Robots, Issue 42/4, 2018, Page(s) 853-873, ISSN 0929-5593 Editore: Kluwer Academic Publishers DOI: 10.1007/s10514-017-9660-y Collaborative Multi-Robot Transportation in Obstacle-Cluttered Environments via Implicit Communication Autori: C. P. Bechlioulis, K. J. Kyriakopoulos Pubblicato in: Frontiers in Robotics and AI, 2018, ISSN 2296-9144 Editore: Frontiers in Robotics and AI Decentralized tube‐based model predictive control of uncertain nonlinear multiagent systems Autori: Alexandros Nikou, Dimos V. Dimarogonas Pubblicato in: International Journal of Robust and Nonlinear Control, Issue 29/10, 2019, Page(s) 2799-2818, ISSN 1049-8923 Editore: John Wiley & Sons Inc. DOI: 10.1002/rnc.4522 Decentralized abstractions for multi-agent systems under coupled constraints Autori: Dimitris Boskos, Dimos V. Dimarogonas Pubblicato in: European Journal of Control, Issue 45, 2019, Page(s) 1-16, ISSN 0947-3580 Editore: Lavoisier DOI: 10.1016/j.ejcon.2018.10.002 Robust Cooperative Manipulation Without Force/Torque Measurements: Control Design and Experiments Autori: Christos K. Verginis, Matteo Mastellaro, Dimos V. Dimarogonas Pubblicato in: IEEE Transactions on Control Systems Technology, Issue 28/3, 2020, Page(s) 713-729, ISSN 1063-6536 Editore: Institute of Electrical and Electronics Engineers DOI: 10.1109/tcst.2018.2885682 Robust control for signal temporal logic specifications using discrete average space robustness Autori: Lars Lindemann, Dimos V. Dimarogonas Pubblicato in: Automatica, Issue 101, 2019, Page(s) 377-387, ISSN 0005-1098 Editore: 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 Autori: Vassilis C. Nicodemou, Iason Oikonomidis, Antonis Argyros Pubblicato in: Pattern Analysis and Applications, Issue 23/1, 2020, Page(s) 415-428, ISSN 1433-7541 Editore: Springer Verlag DOI: 10.1007/s10044-019-00801-7 A verification-driven framework for iterative design of controllers Autori: Claudio Menghi, Paola Spoletini, Marsha Chechik, Carlo Ghezzi Pubblicato in: Formal Aspects of Computing, Issue 31/5, 2019, Page(s) 459-502, ISSN 0934-5043 Editore: Springer Verlag DOI: 10.1007/s00165-019-00484-1 Managing safety and mission completion via collective run-time adaptation Autori: Darko Bozhinoski, David Garlan, Ivano Malavolta, Patrizio Pelliccione Pubblicato in: Journal of Systems Architecture, Issue 95, 2019, Page(s) 19-35, ISSN 1383-7621 Editore: Elsevier BV DOI: 10.1016/j.sysarc.2019.02.018 Safety for mobile robotic systems: A systematic mapping study from a software engineering perspective Autori: Darko Bozhinoski, Davide Di Ruscio, Ivano Malavolta, Patrizio Pelliccione, Ivica Crnkovic Pubblicato in: Journal of Systems and Software, Issue 151, 2019, Page(s) 150-179, ISSN 0164-1212 Editore: 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 Autori: Christos K. Verginis, Alexandros Nikou, Dimos V. Dimarogonas Pubblicato in: Automatica, Issue 103, 2019, Page(s) 538-548, ISSN 0005-1098 Editore: 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 Autori: Lars Lindemann, Dimos V. Dimarogonas Pubblicato in: Automatica, Issue 106, 2019, Page(s) 284-293, ISSN 0005-1098 Editore: 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 Autori: Lars Lindemann, Dimos V. Dimarogonas Pubblicato in: IEEE Control Systems Letters, Issue 3/3, 2019, Page(s) 757-762, ISSN 2475-1456 Editore: IEEE DOI: 10.1109/lcsys.2019.2917975 Closed-Form Barrier Functions for Multi-Agent Ellipsoidal Systems With Uncertain Lagrangian Dynamics Autori: Christos K. Verginis, Dimos V. Dimarogonas Pubblicato in: IEEE Control Systems Letters, Issue 3/3, 2019, Page(s) 727-732, ISSN 2475-1456 Editore: IEEE DOI: 10.1109/lcsys.2019.2917822 Abstractions of Varying Decentralization Degree for Reachability of Coupled Multiagent Systems Autori: Dimitris Boskos, Dimos V. Dimarogonas Pubblicato in: SIAM Journal on Control and Optimization, Issue 57/5, 2019, Page(s) 3471-3495, ISSN 0363-0129 Editore: Society for Industrial and Applied Mathematics DOI: 10.1137/17m1133981 Coupled Multi-Robot Systems Under Linear Temporal Logic and Signal Temporal Logic Tasks Autori: Lars Lindemann, Jakub Nowak, Lukas Schonbachler, Meng Guo, Jana Tumova, Dimos V. Dimarogonas Pubblicato in: IEEE Transactions on Control Systems Technology, 2019, Page(s) 1-8, ISSN 1063-6536 Editore: Institute of Electrical and Electronics Engineers DOI: 10.1109/tcst.2019.2955628 Second Order Consensus for Leader-follower Multi-agent Systems with Prescribed Performance Autori: Fei Chen, Dimos V. Dimarogonas Pubblicato in: IFAC-PapersOnLine, Issue 52/20, 2019, Page(s) 103-108, ISSN 2405-8963 Editore: IFAC DOI: 10.1016/j.ifacol.2019.12.136 Symbolic abstractions for nonlinear control systems via feedback refinement relation Autori: Wei Ren, Dimos V. Dimarogonas Pubblicato in: Automatica, Issue 114, 2020, Page(s) 108828, ISSN 0005-1098 Editore: Pergamon Press Ltd. DOI: 10.1016/j.automatica.2020.108828 Finite horizon discrete models for multi-agent control systems with coupled dynamics Autori: Dimitris Boskos, Dimos V. Dimarogonas Pubblicato in: Automatica, Issue 115, 2020, Page(s) 108838, ISSN 0005-1098 Editore: Pergamon Press Ltd. DOI: 10.1016/j.automatica.2020.108838 PuRSUE -from specification of robotic environments to synthesis of controllers Autori: Marcello M. Bersani, Matteo Soldo, Claudio Menghi, Patrizio Pelliccione, Matteo Rossi Pubblicato in: Formal Aspects of Computing, Issue 23 March 2020, 2020, Page(s) 41, ISSN 0934-5043 Editore: Springer Verlag DOI: 10.1007/s00165-020-00509-0 Multi-Agent Formation Control Based on Distributed Estimation With Prescribed Performance Autori: Charis J. Stamouli, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos Pubblicato in: IEEE Robotics and Automation Letters, Issue 5/2, 2020, Page(s) 2929-2934, ISSN 2377-3766 Editore: IEEE DOI: 10.1109/lra.2020.2970574 Other (2) On the Feasibility of Real-Time 3D Hand Tracking using Edge GPGPU Acceleration Autori: Ammar Qammaz, Sokol Kosta, Nikolaos Kyriazis, Antonis Argyros Pubblicato in: 2018 Editore: arXiv Learning to Infer the Depth Map of a Hand from its Color Image Autori: Vassilis C. Nicodemou, Iason Oikonomidis, Georgios Tzimiropoulos, Antonis Argyros Pubblicato in: 2018 Editore: FORTH Book chapters (4) From Model Checking to a Temporal Proof for Partial Models Autori: Anna Bernasconi, Claudio Menghi, Paola Spoletini, Lenore D. Zuck, Carlo Ghezzi Pubblicato in: Software Engineering and Formal Methods - 15th International Conference, SEFM 2017, Trento, Italy, September 4–8, 2017, Proceedings, Issue 10469, 2017, Page(s) 54-69, ISBN 978-3-319-66196-4 Editore: Springer International Publishing DOI: 10.1007/978-3-319-66197-1_4 Distributed Hybrid Control Synthesis for Multi-Agent Systems from High-Level Specifications Autori: M. Guo, D. Boskos, J. Tumova, D. V. Dimarogonas Pubblicato in: Control Subject to Computational and Communication Constraints, Issue 475, 2018, Page(s) 241-260, ISBN 978-3-319-78448-9 Editore: Springer International Publishing DOI: 10.1007/978-3-319-78449-6_12 A Two-Stage Approach for Commonality-Based Temporal Localization of Periodic Motions Autori: Costas Panagiotakis, Antonis Argyros Pubblicato in: Computer Vision Systems - 12th International Conference, ICVS 2019, Thessaloniki, Greece, September 23–25, 2019, Proceedings, Issue 11754, 2019, Page(s) 366-375, ISBN 978-3-030-34994-3 Editore: 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 Autori: Emmanouil Oulof Porfyrakis, Alexandros Makris, Antonis Argyros Pubblicato in: Computer Vision Systems - 12th International Conference, ICVS 2019, Thessaloniki, Greece, September 23–25, 2019, Proceedings, Issue 11754, 2019, Page(s) 531-541, ISBN 978-3-030-34994-3 Editore: Springer International Publishing DOI: 10.1007/978-3-030-34995-0_48 Thesis dissertations (1) The revolution of software: a look at the automotive and robotic domains Autori: Patrizio Pelliccione Pubblicato in: 2017 Editore: UGOT È in corso la ricerca di dati su OpenAIRE... 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