Zobrazeno 1 - 10
of 2 239
pro vyhledávání: '"Dimarogonas"'
We address an optimal control problem for linear stochastic systems with unknown noise distributions and joint chance constraints using conformal prediction. Our approach involves designing a feedback controller to maintain an error system within a p
Externí odkaz:
http://arxiv.org/abs/2411.19132
Autor:
Roy, Neelabhro, Dhullipalla, Mani H., Sharma, Gourav Prateek, Dimarogonas, Dimos V., Gross, James
With the increasing focus on flexible automation, which emphasizes systems capable of adapting to varied tasks and conditions, exploring future deployments of cloud and edge-based network infrastructures in robotic systems becomes crucial. This work,
Externí odkaz:
http://arxiv.org/abs/2411.07405
Optimal path planning often suffers from getting stuck in a local optimum. This is often the case for mobile manipulators due to nonconvexities induced by obstacles and robot kinematics. This paper attempts to circumvent this issue by proposing a pip
Externí odkaz:
http://arxiv.org/abs/2410.20635
We consider the problem of decomposing a global task assigned to a multi-agent system, expressed as a formula within a fragment of Signal Temporal Logic (STL), under range-limited communication. Given a global task expressed as a conjunction of local
Externí odkaz:
http://arxiv.org/abs/2410.12563
Autor:
Lapandić, Dženan, Xie, Fengze, Verginis, Christos K., Chung, Soon-Jo, Dimarogonas, Dimos V., Wahlberg, Bo
A major challenge in autonomous flights is unknown disturbances, which can jeopardize safety and lead to collisions, especially in obstacle-rich environments. This paper presents a disturbance-aware motion planning and control framework designed for
Externí odkaz:
http://arxiv.org/abs/2410.06325
Autor:
Casablanca, Ernesto, Zhang, Zengjie, Marchesini, Gregorio, Haesaert, Sofie, Dimarogonas, Dimos V., Soudjani, Sadegh
Developing trustworthy multi-agent systems for practical applications is challenging due to the complicated communication of situational awareness (SA) among agents. This paper showcases a novel efficient and easy-to-use software framework for multi-
Externí odkaz:
http://arxiv.org/abs/2409.14833
We propose an adaptive control strategy for the simultaneous estimation of topology and synchronization in complex dynamical networks with unknown, time-varying topology. Our approach transforms the problem of time-varying topology estimation into a
Externí odkaz:
http://arxiv.org/abs/2409.08404
We introduce a novel distributed sampled-data control method tailored for heterogeneous multi-agent systems under a global spatio-temporal task with acyclic dependencies. Specifically, we consider the global task as a conjunction of independent and c
Externí odkaz:
http://arxiv.org/abs/2409.05106
Autor:
Kordabad, Arash Bahari, Vlahakis, Eleftherios E., Lindemann, Lars, Dimarogonas, Dimos V., Soudjani, Sadegh
We consider distributionally robust optimal control of stochastic linear systems under signal temporal logic (STL) chance constraints when the disturbance distribution is unknown. By assuming that the underlying predicate functions are Lipschitz cont
Externí odkaz:
http://arxiv.org/abs/2409.03855
Autor:
Wiltz, Adrian, Dimarogonas, Dimos V.
In this paper, we define and analyze a subclass of (time-invariant) Control Barrier Functions (CBF) that have favorable properties for the construction of uniformly timevarying CBFs and thereby for the satisfaction of uniformly time-varying constrain
Externí odkaz:
http://arxiv.org/abs/2408.12964