Zobrazeno 1 - 10
of 266
pro vyhledávání: '"Kyriakopoulos, Kostas. J."'
This article presents a Visual Servoing Nonlinear Model Predictive Control (NMPC) scheme for autonomously tracking a moving target using multirotor Unmanned Aerial Vehicles (UAVs). The scheme is developed for surveillance and tracking of contour-base
Externí odkaz:
http://arxiv.org/abs/2409.16665
This work presents an safe and efficient methodology for autonomous indoor exploration with aerial robots using Harmonic Potential Fields (HPF). The challenge of applying HPF in complex 3D environments rests on high computational load involved in sol
Externí odkaz:
http://arxiv.org/abs/2303.07042
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace involving static obstacles. We propose a Nonlinear Model Predictive Control (NMPC) approach f
Externí odkaz:
http://arxiv.org/abs/1906.09563
Autor:
Heshmati-alamdari, Shahab, Bechlioulis, Charalampos P., Karras, George C., Kyriakopoulos, Kostas J.
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace with static obstacles, where the coordination relies solely on implicit communication arising
Externí odkaz:
http://arxiv.org/abs/1905.04531
Akademický článek
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Publikováno v:
In Automatica October 2022 144
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards specific way p
Externí odkaz:
http://arxiv.org/abs/1709.04940
Structural Analysis is an established method for Fault Detection and Identification (FDI) in large-scale systems, enabling the discovery of Analytical Redundancy Relations (ARRs) which serve as residual generators. However, most techniques used to en
Externí odkaz:
http://arxiv.org/abs/1703.07611
Autor:
Verginis, Christos K., Bechlioulis, Charalampos P., Dimarogonas, Dimos V., Kyriakopoulos, Kostas J.
In this paper, we consider the two dimensional (2-D) predecessor-following control problem for a platoon of unicycle vehicles moving on a planar surface. More specifically, we design a decentralized kinematic control protocol, in the sense that each
Externí odkaz:
http://arxiv.org/abs/1702.03097
Autor:
Verginis, Christos K., Bechlioulis, Charalampos P., Dimarogonas, Dimos V., Kyriakopoulos, Kostas J.
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully distributed
Externí odkaz:
http://arxiv.org/abs/1701.06438