Leader-follower hybrid control and task planning for multi-agent systems under spatiotemporal logic specifications

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Publications

Conformal Prediction for Distribution-Free Optimal Control of Linear Stochastic Systems

Author(s): Eleftherios E. Vlahakis, Lars Lindemann, Pantelis Sopasakis, Dimos V. Dimarogonas
Published in: IEEE Control Systems Letters, Issue 8, 2024, Page(s) 2835-2840, ISSN 2475-1456
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2024.3514472

Higher Order Barrier Certificates for Leader-Follower Multi-Agent Systems

Author(s): Maryam Sharifi, Dimos V. Dimarogonas
Published in: IEEE Transactions on Control of Network Systems, Issue October 2022, 2022, ISSN 2325-5870
Publisher: IEEE CONTROL SYSTEMS SOCIETY
DOI: 10.1109/tcns.2022.3211669

A Robust, Multiple Control Barrier Function Framework for Input Constrained Systems

Author(s): Wenceslao Shaw Cortez, Xiao Tan, Dimos V. Dimarogonas
Published in: IEEE Control Systems Letters, Issue Volume: 6; 07 December, 2021, 2021, Page(s) 1742 - 1747, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2021.3133418

2-D Directed Formation Control Based on Bipolar Coordinates

Author(s): Farhad Mehdifar, Charalampos P. Bechlioulis, Julien M. Hendrickx, Dimos V. Dimarogonas
Published in: IEEE Transactions on Automatic Control, Issue September 2022, 2022, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2022.3206603

Cooperative Object Manipulation Under Signal Temporal Logic Tasks and Uncertain Dynamics

Author(s): Mayank Sewlia, Christos K. Verginis, Dimos V. Dimarogonas
Published in: IEEE Robotics and Automation Letters, Issue Volume: 7, Issue: 4, October 2022, 2022, Page(s) 11561 - 11568, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3200760

Distributed Motion Coordination for Multirobot Systems Under LTL Specifications

Author(s): Pian Yu, Dimos V. Dimarogonas
Published in: IEEE Transactions on Robotics, Issue Volume: 38, Issue: 2, April 2022, 2021, Page(s) 1047 - 1062, ISSN 1941-0468
Publisher: IEEE
DOI: 10.1109/tro.2021.3088764

Distributed MPC With Continuous-Time STL Constraint Satisfaction Guarantees

Author(s): Maria Charitidou, Dimos V. Dimarogonas
Published in: IEEE Control Systems Letters, Issue 8, 2024, Page(s) 211-216, ISSN 2475-1456
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2024.3361971

On topological conditions for enabling transient control in leader–follower networks

Author(s): Fei Chen, Dimos V. Dimarogonas
Published in: Automatica, Issue 166, 2024, Page(s) 111693, ISSN 0005-1098
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2024.111693

Low-Complexity Control for a Class of Uncertain MIMO Nonlinear Systems under Generalized Time-Varying Output Constraints

Author(s): Farhad Mehdifar, Lars Lindemann, Charalampos P. Bechlioulis, Dimos V. Dimarogonas
Published in: IEEE Transactions on Automatic Control, 2024, Page(s) 1-16, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2024.3524276

Time-Constrained Leader-Follower Multiagent Task Scheduling and Control Synthesis

Author(s): Pian Yu, Dimos V. Dimarogonas
Published in: IEEE Transactions on Control of Network Systems, Issue Volume: 9, Issue: 1, March 2022, 2021, Page(s) 367 - 379, ISSN 2325-5870
Publisher: IEEE CONTROL SYSTEMS SOCIETY
DOI: 10.1109/tcns.2021.3106452

Receding Horizon Control With Online Barrier Function Design Under Signal Temporal Logic Specifications

Author(s): Maria Charitidou, Dimos V. Dimarogonas
Published in: IEEE Transactions on Automatic Control, Issue Volume: 68, Issue: 6, June 2023, 2023, Page(s) 3545 - 3556, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2022.3195470

Event-Triggered Tracking Control of Networked Multiagent Systems

Author(s): Wei Ren, Dimos V. Dimarogonas
Published in: IEEE Transactions on Automatic Control, Issue Volume: 67, Issue: 10, October 2022, 2022, Page(s) 5332 - 5347, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2022.3180789

Leader–Follower Formation Control With Prescribed Performance Guarantees

Author(s): Fei Chen, Dimos V. Dimarogonas
Published in: IEEE Transactions on Control of Network Systems, Issue Volume: 8, Issue: 1, March 2021, 2020, Page(s) 450 - 461, ISSN 2325-5870
Publisher: IEEE CONTROL SYSTEMS SOCIETY
DOI: 10.1109/tcns.2020.3029155

Distributed Implementation of Control Barrier Functions for Multi-agent Systems

Author(s): Xiao Tan, Dimos V. Dimarogonas
Published in: IEEE Control Systems Letters, Issue Volume: 6; 08 December, 2021, 2021, Page(s) 1879 - 1884, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2021.3133802

Cooperative control of heterogeneous multi-agent systems under spatiotemporal constraints

Author(s): Fei Chen, Mayank Sewlia, Dimos V. Dimarogonas
Published in: Annual Reviews in Control, Issue 57, 2024, Page(s) 100946, ISSN 1367-5788
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.arcontrol.2024.100946

A Distributed, Event-Triggered, Adaptive Controller for Cooperative Manipulation With Rolling Contacts

Author(s): Wenceslao Shaw Cortez, Christos K. Verginis, Dimos V. Dimarogonas
Published in: IEEE Transactions on Robotics, Issue May 2023, 2023, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3268595

Signal Temporal Logic Task Decomposition via Convex Optimization

Author(s): Maria Charitidou, Dimos V. Dimarogonas
Published in: IEEE Control Systems Letters, Issue Volume: 6; 21 June, 2021, 2021, Page(s) 1238 - 1243, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2021.3090980

Razumikhin and Krasovskii approaches for safe stabilization

Author(s): Wei Ren, Raphaël M. Jungers, Dimos V. Dimarogonas
Published in: Automatica, Issue Volume 146, December 2022, 2022, ISSN 0005-1098
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2022.110563

Parallelized robust distributed model predictive control in the presence of coupled state constraints

Author(s): Adrian Wiltz, Fei Chen, Dimos V. Dimarogonas
Published in: Automatica, Issue 171, 2025, Page(s) 111952, ISSN 0005-1098
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2024.111952

Virtual leader and distance based formation control with funnel constraints

Author(s): Maria Charitidou, Dimos V. Dimarogonas
Published in: IEEE Transactions on Control of Network Systems, 2024, Page(s) 1-12, ISSN 2325-5870
Publisher: IEEE CONTROL SYSTEMS SOCIETY
DOI: 10.1109/tcns.2024.3516559

Adaptive Cooperative Control for Human-Robot Load Manipulation

Author(s): Carlos Rodriguez de Cos, Dimos V. Dimarogonas
Published in: IEEE Robotics and Automation Letters, Issue Volume: 7, Issue: 2, April 2022, 2022, Page(s) 5623 - 5630, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3158435

Construction of Control Barrier Functions Using Predictions with Finite Horizon

Author(s): Adrian Wiltz, Xiao Tan, Dimos V. Dimarogonas
Published in: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024
Publisher: IEEE
DOI: 10.1109/cdc49753.2023.10383564

Corridor MPC: Towards Optimal and Safe Trajectory Tracking

Author(s): Pedro Roque, Wenceslao Shaw Cortez, Lars Lindemann, Dimos V. Dimarogonas
Published in: American Control Conference (ACC), Issue 8-10 June, 2022, 2022
Publisher: IEEE
DOI: 10.23919/acc53348.2022.9867764

Multi-Agent Stochastic Control using Path Integral Policy Improvement

Author(s): Peter Varnai, Dimos V. Dimarogonas
Published in: American Control Conference (ACC), Issue 8-10 June, 2022, 2022
Publisher: IEEE

Edge-based funnel control for multi-agent systems using relative position measurements

Author(s): Maria Charitidou, Dimos V. Dimarogonas
Published in: 2024 European Control Conference (ECC), 2024, Page(s) 1491-1496
Publisher: IEEE
DOI: 10.23919/ecc64448.2024.10590874

Control Barrier Functions for Disjunctions of Signal Temporal Logic Tasks

Author(s): Maria Charitidou, Dimos V. Dimarogonas
Published in: 2023 European Control Conference (ECC), 2023, Page(s) 1-6
Publisher: IEEE
DOI: 10.23919/ecc57647.2023.10178255

Funnel Control Under Hard and Soft Output Constraints

Author(s): Farhad Mehdifar, Charalampos P. Bechlioulis, Dimos V. Dimarogonas
Published in: 61st IEEE Conference on Decision and Control (CDC), Issue 06-09 December, 2022, 2022, ISBN 978-1-6654-6761-2
Publisher: IEEE
DOI: 10.1109/cdc51059.2022.9992628

Leader-Follower Cooperative Manipulation Under Spatio-Temporal Constraints

Author(s): Mayank Sewlia, Christos K. Verginis, Dimos V. Dimarogonas
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, Page(s) 10312-10317
Publisher: IEEE
DOI: 10.1109/iros58592.2024.10802449

Distributed Control of Coupled Leader-Follower Multi-Agent Systems under Spatiotemporal Logic Tasks

Author(s): Fei Chen, Dimos V. Dimarogonas
Published in: The 22nd IFAC World Congress, Issue 9 – 14 July, 2023, 2023
Publisher: ELSEVIER

Further Results on Leader-follower Multi-agent Formation Control with Prescribed Performance Guarantees

Author(s): Fei Chen, Dimos V. Dimarogonas
Published in: 59th IEEE Conference on Decision and Control (CDC), Issue 14-18 December 2020, 2020, ISBN 978-1-7281-7447-1
Publisher: IEEE
DOI: 10.1109/cdc42340.2020.9304096

Safe, Passive Control for Mechanical Systems with Application to Physical Human-Robot Interactions

Author(s): Wenceslao Shaw Cortez, Christos K. Verginis, Dimos V. Dimarogonas
Published in: IEEE International Conference on Robotics and Automation (ICRA), Issue 30 May 2021 - 05 June 2021, 2021, ISBN 978-1-7281-9077-8
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9561981

Barrier Function-based Model Predictive Control under Signal Temporal Logic Specifications

Author(s): Maria Charitidou, Dimos V. Dimarogonas
Published in: European Control Conference (ECC), Issue 29 June 2021 - 02 July 2021, 2021, ISBN 978-9-4638-4236-5
Publisher: IEEE
DOI: 10.23919/ecc54610.2021.9655231

Decentralized Control of Multi-Agent Systems Under Acyclic Spatio-Temporal Task Dependencies

Author(s): Gregorio Marchesini, Siyuan Liu, Lars Lindemann, Dimos V. Dimarogonas
Published in: 2024 IEEE 63rd Conference on Decision and Control (CDC), 2025, Page(s) 5211-5217
Publisher: IEEE
DOI: 10.1109/cdc56724.2024.10885877

On the Equivalence Between Prescribed Performance Control and Control Barrier Functions

Author(s): Ryo Namerikawa, Adrian Wiltz, Farhad Mehdifar, Toru Namerikawa, Dimos V. Dimarogonas
Published in: 2024 American Control Conference (ACC), 2024, Page(s) 2458-2463
Publisher: IEEE
DOI: 10.23919/acc60939.2024.10644361

Compositional Synthesis of Signal Temporal Logic Tasks via Assume-Guarantee Contracts

Author(s): Siyuan Liu, Adnane Saoud, Pushpak Jagtap, Dimos V. Dimarogonas, Majid Zamani
Published in: 61st IEEE Conference on Decision and Control (CDC), Issue 06-09 December, 2022, 2022, ISBN 978-1-6654-6761-2
Publisher: IEEE
DOI: 10.1109/cdc51059.2022.9992715

Distributed barrier function-enabled human-in-the-loop control for multi-robot systems

Author(s): Victor Nan Fernandez-Ayala, Xiao Tan, Dimos V. Dimarogonas
Published in: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023, Page(s) 7706-7712
Publisher: IEEE
DOI: 10.1109/icra48891.2023.10160974

Decentralized Model Predictive Control for Equilibrium-based Collaborative UAV Bar Transportation

Author(s): Roberto Castro Sundin, Pedro Roque, Dimos V. Dimarogonas
Published in: IEEE International Conference on Robotics and Automation (ICRA), Issue 23-27 May, 2022, 2022
Publisher: IEEE

Handling Disjunctions in Signal Temporal Logic Based Control Through Nonsmooth Barrier Functions

Author(s): Adrian Wiltz, Dimos V. Dimarogonas
Published in: 61st IEEE Conference on Decision and Control (CDC), Issue 06-09 December, 2022, 2022, ISBN 978-1-6654-6761-2
Publisher: IEEE
DOI: 10.1109/cdc51059.2022.9992562

Hierarchical Control for Uncertain Discrete-time Nonlinear Systems under Signal Temporal Logic Specifications

Author(s): Pian Yu, Dimos V. Dimarogonas
Published in: 60th IEEE Conference on Decision and Control (CDC), Issue 14-17 December 2021, 2021, ISSN 2576-2370
Publisher: IEEE
DOI: 10.1109/cdc45484.2021.9683157

Probabilistic Tube-based Control Synthesis of Stochastic Multi-Agent Systems under Signal Temporal Logic

Author(s): Eleftherios E. Vlahakis, Lars Lindemann, Pantelis Sopasakis, Dimos V. Dimarogonas
Published in: 2024 IEEE 63rd Conference on Decision and Control (CDC), 2025, Page(s) 1586-1592
Publisher: IEEE
DOI: 10.1109/cdc56724.2024.10886279

An Adaptive Cooperative Manipulation Control Framework for Multi-Agent Disturbance Rejection

Author(s): Victor Aladele, Carlos R. De Cos, Dimos V. Dimarogonas, Seth Hutchinson
Published in: 61st IEEE Conference on Decision and Control (CDC), Issue 06-09 December, 2022, 2022, ISBN 978-1-6654-6761-2
Publisher: IEEE
DOI: 10.1109/cdc51059.2022.9992478

Cooperative Sampling-Based Motion Planning under Signal Temporal Logic Specifications

Author(s): Mayank Sewlia, Christos K. Verginis, Dimos V. Dimarogonas
Published in: American Control Conference (ACC), Issue May 31 - June 2, 2023, 2023
Publisher: IEEE

From Time-Invariant to Uniformly Time-Varying Control Barrier Functions: A Constructive Approach

Author(s): Adrian Wiltz, Dimos V. Dimarogonas
Published in: 2024 IEEE 63rd Conference on Decision and Control (CDC), 2025, Page(s) 8144-8149
Publisher: IEEE
DOI: 10.1109/cdc56724.2024.10886042

Reactive and Human-in-the-loop Planning and Control of Multi-robot Systems under LTL Specifications in Dynamic Environments

Author(s): Pian Yu, Gianmarco Fedeli, Dimos V. Dimarogonas
Published in: 9th International Conference on Control, Decision and Information Technologies (CoDiT), Issue 03 - 06 July, 2023, 2023
Publisher: IEEE

A Consistency Constraint-Based Approach to Coupled State Constraints in Distributed Model Predictive Control

Author(s): Adrian Wiltz, Fei Chen, Dimos V. Dimarogonas
Published in: 61st IEEE Conference on Decision and Control (CDC), Issue 06-09 December, 2022, 2022, ISBN 978-1-6654-6761-2
Publisher: IEEE
DOI: 10.1109/cdc51059.2022.9992787

Event-Triggered Tracking Control of Networked and Quantized Control Systems

Author(s): Wei Ren, Dimos V. Dimarogonas, Raphaël Jungers
Published in: European Control Conference (ECC), Issue 29 June - 02 July, 2021, 2021, ISBN 978-9-4638-4236-5
Publisher: IEEE
DOI: 10.23919/ecc54610.2021.9654945

Multi-robot Human-in-the-loop Control under Spatiotemporal Specifications

Author(s): Yixiao Zhang, Victor Nan Fernandez-Ayala, Dimos V. Dimarogonas
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Page(s) 4841-4847
Publisher: IEEE
DOI: 10.1109/icra57147.2024.10610123

Compatibility checking of multiple control barrier functions for input constrained systems

Author(s): Xiao Tan, Dimos V. Dimarogona
Published in: 61st IEEE Conference on Decision and Control (CDC), Issue 06-09 December, 2022, 2022, ISBN 978-1-6654-6761-2
Publisher: IEEE
DOI: 10.1109/cdc51059.2022.9993001

Predictor-based safety control for systems with multiple time-varying delays

Author(s): Maria Charitidou, Dimos V. Dimarogonas
Published in: 17th IFAC Workshop on Time Delay Systems, Issue September 27-30, 2022, 2022
Publisher: ELSEVIER

Platoons Coordination Based on Decentralized Higher Order Barrier Certificates

Author(s): Maryam Sharifi, Dimos V. Dimarogonas
Published in: 31st Mediterranean Conference on Control and Automation, Issue June 26 - 29, 2023, 2023
Publisher: IEEE

Decentralized Vehicle Coordination and Lane Switching without Switching of Controllers

Author(s): Arno Frauenfelder, Adrian Wiltz, Dimos V. Dimarogonas
Published in: The 22nd IFAC World Congress, Issue 9 – 14 July, 2023, 2023
Publisher: ELSEVIER

Enhancing Data-Driven Reachability Analysis using Temporal Logic Side Information

Author(s): Amr Alanwar, Frank Jiang, Maryam Sharifi, Dimos V. Dimarogonas
Published in: IEEE International Conference on Robotics and Automation (ICRA), Issue 23-27 May, 2022, 2022
Publisher: IEEE

Funnel-based Cooperative Control of Leader-follower Multi-agent Systems under Signal Temporal Logic Specifications

Author(s): Fei Chen, Dimos V. Dimarogonas
Published in: European Control Conference (ECC), Issue 12-15 July, 2022, 2022
Publisher: IEEE

Control Barrier Functions for Disjunctions of Signal Temporal Logic Tasks

Author(s): Maria Charitidou, Dimos V. Dimarogonas
Published in: European Control Conference (ECC), Issue 13 - 16 June, 2023, 2023
Publisher: IEEE

Enhancing Precision Agriculture Through Human-in-the-Loop Planning and Control

Author(s): Shankar A. Deka, Sujet Phodapol, Andreu Matoses Gimenez, Victor Nan Fernandez-Ayala, Rufus Wong, Pian Yu, Xiao Tan, Dimos V. Dimarogonas
Published in: 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), 2024, Page(s) 78-83
Publisher: IEEE
DOI: 10.1109/case59546.2024.10711319

Platoons Coordination Based on Decentralized Higher Order Barrier Certificates

Author(s): Maryam Sharifi, Dimos V. Dimarogonas
Published in: 2023 31st Mediterranean Conference on Control and Automation (MED), Issue https://ieeexplore.ieee.org/document/10185642, 2023, Page(s) 836-841
Publisher: IEEE
DOI: 10.1109/med59994.2023.10185642

Splitting and Merging Control of Multiple Platoons with Signal Temporal Logic

Author(s): Maria Charitidou, Dimos V. Dimarogonas
Published in: IEEE Conference on Control Technology and Applications, Issue 22-25 August, 2022, 2022
Publisher: IEEE

Distributed Consensus of Stochastic Multi-agent Systems with Prescribed Performance Constraints

Author(s): Pushpak Jagtap, Dimos V. Dimarogonas
Published in: 60th IEEE Conference on Decision and Control (CDC), Issue 14-17 December 2021, 2021, ISSN 2576-2370
Publisher: IEEE
DOI: 10.1109/cdc45484.2021.9683249

Control of Nonlinear Systems Under Multiple Time-Varying Output Constraints: A Single Funnel Approach

Author(s): Farhad Mehdifar, Lars Lindemann, Charalampos P. Bechlioulis, Dimos V. Dimarogonas
Published in: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024, Page(s) 6743-6748
Publisher: IEEE
DOI: 10.1109/cdc49753.2023.10383359

Fixed-Time Convergent Control Barrier Functions for Coupled Multi-Agent Systems Under STL Tasks

Author(s): Maryam Sharifi, Dimos V. Dimarogonas
Published in: European Control Conference (ECC), Issue 29 June 2021 - 02 July 2021, 2021, ISBN 978-9-4638-4236-5
Publisher: IEEE
DOI: 10.23919/ecc54610.2021.9655029

Distributed Sequential Receding Horizon Control of Multi-Agent Systems Under Recurring Signal Temporal Logic

Author(s): Eleftherios E. Vlahakis, Lars Lindemann, Dimos V. Dimarogonas
Published in: 2024 European Control Conference (ECC), 2024, Page(s) 305-310
Publisher: IEEE
DOI: 10.23919/ecc64448.2024.10590994

3D Directed Formation Control with Global Shape Convergence using Bispherical Coordinates

Author(s): Omid Mirzaeedodangeh, Farhad Mehdifar, Dimos V. Dimarogonas
Published in: 2024 European Control Conference (ECC), 2024, Page(s) 1902-1907
Publisher: IEEE
DOI: 10.23919/ecc64448.2024.10591128

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