diff --git a/content/papers/2009/2009-panagou-a_viability_approach_for_the_stabilization_of_an_underactuated_underwater_vehicle_in_the_presence_of_current_disturbances.md b/content/papers/2009/2009-panagou-a_viability_approach_for_the_stabilization_of_an_underactuated_underwater_vehicle_in_the_presence_of_current_disturbances.md index 561937d..e894b7c 100644 --- a/content/papers/2009/2009-panagou-a_viability_approach_for_the_stabilization_of_an_underactuated_underwater_vehicle_in_the_presence_of_current_disturbances.md +++ b/content/papers/2009/2009-panagou-a_viability_approach_for_the_stabilization_of_an_underactuated_underwater_vehicle_in_the_presence_of_current_disturbances.md @@ -1,37 +1,38 @@ --- +abstract: In this paper we present a viability-based formulation for the stabilization + of an underactuated underwater vehicle under the influence of a known, constant + current and state constraints. The stabilization problem is described by three problems + in terms of viability theory. We present a solution to the first problem which addresses + the safety of the system, i.e. guarantees that there exists a control law such that + the vehicle always remains into the safe set of state constraints. In order to overcome + the computational limitations due to the high dimension of the system we develop + a two-stage approach, based on forward reachability and game theory. The control + law is thus the safety controller when the system viability is at stake, i.e. close + to the boundary of the safe set. The viability kernel and the control law are numerically + computed. +authors: +- dimitrapanagou +- Kostas Margellos +- Sean Summers +- John Lygeros +- Kostas J. Kyriakopoulos +bib: "@inproceedings{DBLP:conf/cdc/PanagouMSLK09,\n author = {Dimitra Panagou\ + \ and\n Kostas Margellos and\n Sean Summers and\n\ + \ John Lygeros and\n Kostas J. Kyriakopoulos},\n\ + \ title = {A viability approach for the stabilization of an underactuated\ + \ underwater\n vehicle in the presence of current disturbances},\n\ + \ booktitle = {Proceedings of the 48th {IEEE} Conference on Decision and Control,\n\ + \ {CDC} 2009, combined withe the 28th Chinese Control Conference,\ + \ December\n 16-18, 2009, Shanghai, China},\n pages = {8612--8617},\n\ + \ publisher = {{IEEE}},\n year = {2009},\n url = {https://doi.org/10.1109/CDC.2009.5400954},\n\ + \ doi = {10.1109/CDC.2009.5400954},\n timestamp = {Fri, 04 Mar 2022\ + \ 13:27:41 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/PanagouMSLK09.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2009-01-01 key: conf/cdc/PanagouMSLK09 layout: papers -title: "A viability approach for the stabilization of an underactuated underwater vehicle in the presence of current disturbances." -date: 2009-01-01 -venue: "CDC" -authors: - - dimitrapanagou - - Kostas Margellos - - Sean Summers - - John Lygeros - - Kostas J. Kyriakopoulos link: https://doi.org/10.1109/CDC.2009.5400954 -bib: |- - @inproceedings{DBLP:conf/cdc/PanagouMSLK09, - author = {Dimitra Panagou and - Kostas Margellos and - Sean Summers and - John Lygeros and - Kostas J. Kyriakopoulos}, - title = {A viability approach for the stabilization of an underactuated underwater - vehicle in the presence of current disturbances}, - booktitle = {Proceedings of the 48th {IEEE} Conference on Decision and Control, - {CDC} 2009, combined withe the 28th Chinese Control Conference, December - 16-18, 2009, Shanghai, China}, - pages = {8612--8617}, - publisher = {{IEEE}}, - year = {2009}, - url = {https://doi.org/10.1109/CDC.2009.5400954}, - doi = {10.1109/CDC.2009.5400954}, - timestamp = {Fri, 04 Mar 2022 13:27:41 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/PanagouMSLK09.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: A viability approach for the stabilization of an underactuated underwater vehicle + in the presence of current disturbances. +venue: CDC --- diff --git a/content/papers/2010/2010-panagou-dipole_like_fields_for_stabilization_of_systems_with_pfaffian_constraints.md b/content/papers/2010/2010-panagou-dipole_like_fields_for_stabilization_of_systems_with_pfaffian_constraints.md index 105359c..cb3f949 100644 --- a/content/papers/2010/2010-panagou-dipole_like_fields_for_stabilization_of_systems_with_pfaffian_constraints.md +++ b/content/papers/2010/2010-panagou-dipole_like_fields_for_stabilization_of_systems_with_pfaffian_constraints.md @@ -1,31 +1,31 @@ --- +abstract: This paper introduces a framework that guides the design of stabilizing + feedback control laws for systems with Pfaffian constraints. A new class of N-dimensional + vector fields, the dipole-like vector fields is proposed, inspired by the form of + the flow lines of the electric point dipole. A general connection between the dipole-like + field and the Pfaffian constraints of catastatic nonholonomic systems is exploited, + to establish systematic guidelines on the design of stabilizing control laws. The + methodology is applied to the stabilization of the unicycle and of the nonholonomic + double integrator. Based on these guidelines, switching control laws are constructed. + The efficacy of the methodology is demonstrated through simulation results. +authors: +- dimitrapanagou +- Herbert G. Tanner +- Kostas J. Kyriakopoulos +bib: "@inproceedings{DBLP:conf/icra/PanagouTK10,\n author = {Dimitra Panagou\ + \ and\n Herbert G. Tanner and\n Kostas J. Kyriakopoulos},\n\ + \ title = {Dipole-like fields for stabilization of systems with Pfaffian\ + \ constraints},\n booktitle = {{IEEE} International Conference on Robotics and\ + \ Automation, {ICRA}\n 2010, Anchorage, Alaska, USA, 3-7 May 2010},\n\ + \ pages = {4499--4504},\n publisher = {{IEEE}},\n year = {2010},\n\ + \ url = {https://doi.org/10.1109/ROBOT.2010.5509296},\n doi \ + \ = {10.1109/ROBOT.2010.5509296},\n timestamp = {Mon, 06 Nov 2017 12:15:02 +0100},\n\ + \ biburl = {https://dblp.org/rec/conf/icra/PanagouTK10.bib},\n bibsource\ + \ = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2010-01-01 key: conf/icra/PanagouTK10 layout: papers -title: "Dipole-like fields for stabilization of systems with Pfaffian constraints." -date: 2010-01-01 -venue: "ICRA" -authors: - - dimitrapanagou - - Herbert G. Tanner - - Kostas J. Kyriakopoulos link: https://doi.org/10.1109/ROBOT.2010.5509296 -bib: |- - @inproceedings{DBLP:conf/icra/PanagouTK10, - author = {Dimitra Panagou and - Herbert G. Tanner and - Kostas J. Kyriakopoulos}, - title = {Dipole-like fields for stabilization of systems with Pfaffian constraints}, - booktitle = {{IEEE} International Conference on Robotics and Automation, {ICRA} - 2010, Anchorage, Alaska, USA, 3-7 May 2010}, - pages = {4499--4504}, - publisher = {{IEEE}}, - year = {2010}, - url = {https://doi.org/10.1109/ROBOT.2010.5509296}, - doi = {10.1109/ROBOT.2010.5509296}, - timestamp = {Mon, 06 Nov 2017 12:15:02 +0100}, - biburl = {https://dblp.org/rec/conf/icra/PanagouTK10.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Dipole-like fields for stabilization of systems with Pfaffian constraints. +venue: ICRA --- diff --git a/content/papers/2011/2011-panagou-control_of_nonholonomic_systems_using_reference_vector_fields.md b/content/papers/2011/2011-panagou-control_of_nonholonomic_systems_using_reference_vector_fields.md index c450b04..fc0c3f6 100644 --- a/content/papers/2011/2011-panagou-control_of_nonholonomic_systems_using_reference_vector_fields.md +++ b/content/papers/2011/2011-panagou-control_of_nonholonomic_systems_using_reference_vector_fields.md @@ -1,32 +1,35 @@ --- +abstract: "This paper presents a control design methodology for n-dimensional nonholonomic\ + \ systems. The main idea is that, given a nonholonomic system subject to \u03BA\ + \ Pfaffian constraints, one can define a smooth, N-dimensional reference vector\ + \ field F, which is nonsingular everywhere except for a submanifold containing the\ + \ origin. The dimension N \u2264 n of F depends on the structure of the constraint\ + \ equations, which induces a foliation of the configuration space. This foliation,\ + \ together with the objective of having the system vector field aligned with F,\ + \ suggests a choice of Lyapunov-like functions V. The proposed approach recasts\ + \ the original nonholonomic control problem into a lower-dimensional output regulation\ + \ problem, which although nontrivial, can more easily be tackled with existing design\ + \ and analysis tools. The methodology applies to a wide class of nonholonomic systems,\ + \ and its efficacy is demonstrated through numerical simulations for the cases of\ + \ the unicycle and the n-dimensional chained systems, for n = 3, 4." +authors: +- dimitrapanagou +- Herbert G. Tanner +- Kostas J. Kyriakopoulos +bib: "@inproceedings{DBLP:conf/cdc/PanagouTK11,\n author = {Dimitra Panagou\ + \ and\n Herbert G. Tanner and\n Kostas J. Kyriakopoulos},\n\ + \ title = {Control of nonholonomic systems using reference vector fields},\n\ + \ booktitle = {50th {IEEE} Conference on Decision and Control and European Control\n\ + \ Conference, 11th European Control Conference, {CDC/ECC} 2011,\ + \ Orlando,\n FL, USA, December 12-15, 2011},\n pages =\ + \ {2831--2836},\n publisher = {{IEEE}},\n year = {2011},\n url \ + \ = {https://doi.org/10.1109/CDC.2011.6160922},\n doi = {10.1109/CDC.2011.6160922},\n\ + \ timestamp = {Wed, 24 Feb 2021 08:49:08 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/PanagouTK11.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2011-01-01 key: conf/cdc/PanagouTK11 layout: papers -title: "Control of nonholonomic systems using reference vector fields." -date: 2011-01-01 -venue: "CDC/ECC" -authors: - - dimitrapanagou - - Herbert G. Tanner - - Kostas J. Kyriakopoulos link: https://doi.org/10.1109/CDC.2011.6160922 -bib: |- - @inproceedings{DBLP:conf/cdc/PanagouTK11, - author = {Dimitra Panagou and - Herbert G. Tanner and - Kostas J. Kyriakopoulos}, - title = {Control of nonholonomic systems using reference vector fields}, - booktitle = {50th {IEEE} Conference on Decision and Control and European Control - Conference, 11th European Control Conference, {CDC/ECC} 2011, Orlando, - FL, USA, December 12-15, 2011}, - pages = {2831--2836}, - publisher = {{IEEE}}, - year = {2011}, - url = {https://doi.org/10.1109/CDC.2011.6160922}, - doi = {10.1109/CDC.2011.6160922}, - timestamp = {Wed, 24 Feb 2021 08:49:08 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/PanagouTK11.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Control of nonholonomic systems using reference vector fields. +venue: CDC/ECC --- diff --git a/content/papers/2011/2011-panagou-control_of_underactuated_systems_with_viability_constraints.md b/content/papers/2011/2011-panagou-control_of_underactuated_systems_with_viability_constraints.md index 94edc71..676098c 100644 --- a/content/papers/2011/2011-panagou-control_of_underactuated_systems_with_viability_constraints.md +++ b/content/papers/2011/2011-panagou-control_of_underactuated_systems_with_viability_constraints.md @@ -1,30 +1,32 @@ --- +abstract: This paper addresses the control design for a class of nonholonomic systems + which are subject to inequality state constraints defining a constrained (viability) + set K. Based on concepts from viability theory, the necessary conditions for selecting + viable controls for a nonholonomic system are given. Furthermore, a class of nonholonomic + control solutions are redesigned by means of switching control, so that system trajectories + are viable in K and converge to a goal set G in K. The motion control for an underactuated + marine vehicle in a constrained configuration set K is treated as a case study. + The set K essentially describes the limited sensing area of a vision-based sensor + system, and viable control laws which establish convergence to a goal set G in K + are constructed. The efficacy of the methodology is demonstrated through simulation + results. +authors: +- dimitrapanagou +- Kostas J. Kyriakopoulos +bib: "@inproceedings{DBLP:conf/cdc/PanagouK11,\n author = {Dimitra Panagou\ + \ and\n Kostas J. Kyriakopoulos},\n title = {Control of\ + \ underactuated systems with viability constraints},\n booktitle = {50th {IEEE}\ + \ Conference on Decision and Control and European Control\n Conference,\ + \ 11th European Control Conference, {CDC/ECC} 2011, Orlando,\n \ + \ FL, USA, December 12-15, 2011},\n pages = {5497--5502},\n publisher \ + \ = {{IEEE}},\n year = {2011},\n url = {https://doi.org/10.1109/CDC.2011.6160925},\n\ + \ doi = {10.1109/CDC.2011.6160925},\n timestamp = {Wed, 24 Feb 2021\ + \ 08:49:08 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/PanagouK11.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2011-01-01 key: conf/cdc/PanagouK11 layout: papers -title: "Control of underactuated systems with viability constraints." -date: 2011-01-01 -venue: "CDC/ECC" -authors: - - dimitrapanagou - - Kostas J. Kyriakopoulos link: https://doi.org/10.1109/CDC.2011.6160925 -bib: |- - @inproceedings{DBLP:conf/cdc/PanagouK11, - author = {Dimitra Panagou and - Kostas J. Kyriakopoulos}, - title = {Control of underactuated systems with viability constraints}, - booktitle = {50th {IEEE} Conference on Decision and Control and European Control - Conference, 11th European Control Conference, {CDC/ECC} 2011, Orlando, - FL, USA, December 12-15, 2011}, - pages = {5497--5502}, - publisher = {{IEEE}}, - year = {2011}, - url = {https://doi.org/10.1109/CDC.2011.6160925}, - doi = {10.1109/CDC.2011.6160925}, - timestamp = {Wed, 24 Feb 2021 08:49:08 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/PanagouK11.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Control of underactuated systems with viability constraints. +venue: CDC/ECC --- diff --git a/content/papers/2011/2011-panagou-switching_control_approach_for_the_robust_practical_stabilization_of_a_unicycle_like_marine_vehicle_under_non_vanishing_perturbations.md b/content/papers/2011/2011-panagou-switching_control_approach_for_the_robust_practical_stabilization_of_a_unicycle_like_marine_vehicle_under_non_vanishing_perturbations.md index 3f6174e..75f7417 100644 --- a/content/papers/2011/2011-panagou-switching_control_approach_for_the_robust_practical_stabilization_of_a_unicycle_like_marine_vehicle_under_non_vanishing_perturbations.md +++ b/content/papers/2011/2011-panagou-switching_control_approach_for_the_robust_practical_stabilization_of_a_unicycle_like_marine_vehicle_under_non_vanishing_perturbations.md @@ -1,30 +1,32 @@ --- +abstract: This paper presents a solution to the robust practical stabilization of + a unicycle-like marine vehicle, under non-vanishing current-induced perturbations. + A hysteresis-based switching control strategy is proposed, rendering the system + globally practically stable to a set G around the origin. The control scheme consists + of three control laws; the first one is active out of G and drives the system trajectories + into G, based on a dipole-like vector field. The other two control laws are active + in G and alternately regulate the position and the orientation of the vehicle. The + system is shown to be robust, in the sense that the vehicle enters and remains into + G even if only a maximum bound of the perturbation is known. The efficacy of the + solution is demonstrated through simulation results. +authors: +- dimitrapanagou +- Kostas J. Kyriakopoulos +bib: "@inproceedings{DBLP:conf/icra/PanagouK11,\n author = {Dimitra Panagou\ + \ and\n Kostas J. Kyriakopoulos},\n title = {Switching\ + \ control approach for the robust practical stabilization\n of\ + \ a unicycle-like marine vehicle under non-vanishing perturbations},\n booktitle\ + \ = {{IEEE} International Conference on Robotics and Automation, {ICRA}\n \ + \ 2011, Shanghai, China, 9-13 May 2011},\n pages = {1525--1530},\n\ + \ publisher = {{IEEE}},\n year = {2011},\n url = {https://doi.org/10.1109/ICRA.2011.5979747},\n\ + \ doi = {10.1109/ICRA.2011.5979747},\n timestamp = {Mon, 06 Nov 2017\ + \ 12:15:03 +0100},\n biburl = {https://dblp.org/rec/conf/icra/PanagouK11.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2011-01-01 key: conf/icra/PanagouK11 layout: papers -title: "Switching control approach for the robust practical stabilization of a unicycle-like marine vehicle under non-vanishing perturbations." -date: 2011-01-01 -venue: "ICRA" -authors: - - dimitrapanagou - - Kostas J. Kyriakopoulos link: https://doi.org/10.1109/ICRA.2011.5979747 -bib: |- - @inproceedings{DBLP:conf/icra/PanagouK11, - author = {Dimitra Panagou and - Kostas J. Kyriakopoulos}, - title = {Switching control approach for the robust practical stabilization - of a unicycle-like marine vehicle under non-vanishing perturbations}, - booktitle = {{IEEE} International Conference on Robotics and Automation, {ICRA} - 2011, Shanghai, China, 9-13 May 2011}, - pages = {1525--1530}, - publisher = {{IEEE}}, - year = {2011}, - url = {https://doi.org/10.1109/ICRA.2011.5979747}, - doi = {10.1109/ICRA.2011.5979747}, - timestamp = {Mon, 06 Nov 2017 12:15:03 +0100}, - biburl = {https://dblp.org/rec/conf/icra/PanagouK11.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Switching control approach for the robust practical stabilization of a unicycle-like + marine vehicle under non-vanishing perturbations. +venue: ICRA --- diff --git a/content/papers/2012/2012-panagou-maintaining_visibility_for_leader_follower_formations_in_obstacle_environments.md b/content/papers/2012/2012-panagou-maintaining_visibility_for_leader_follower_formations_in_obstacle_environments.md index 18eabe8..2e90aad 100644 --- a/content/papers/2012/2012-panagou-maintaining_visibility_for_leader_follower_formations_in_obstacle_environments.md +++ b/content/papers/2012/2012-panagou-maintaining_visibility_for_leader_follower_formations_in_obstacle_environments.md @@ -1,30 +1,33 @@ --- +abstract: This paper addresses the problem of controlling a leader-follower (L - F) + formation of two unicycle mobile robots moving under visibility constraints in a + known obstacle environment. Visibility constraints are realized as inequality state + constraints that determine a visibility set K. Maintaining visibility is translated + into controlling the robots so that system trajectories starting in K always remain + in K. We provide the conditions under which visibility is maintained, as well as + a feedback control scheme that forces F to converge and remain into a set of desired + configurations w.r.t. L while maintaining visibility. We also propose a cooperative + control scheme for the motion of the formation in a known obstacle environment, + so that both collision avoidance and maintaining visibility are ensured. The proposed + control schemes are decentralized, in the sense that there is no direct communication + between the robots. The efficacy of our algorithms is evaluated through simulations. +authors: +- dimitrapanagou +- Vijay Kumar +bib: "@inproceedings{DBLP:conf/icra/PanagouK12,\n author = {Dimitra Panagou\ + \ and\n Vijay Kumar},\n title = {Maintaining visibility\ + \ for leader-follower formations in obstacle\n environments},\n\ + \ booktitle = {{IEEE} International Conference on Robotics and Automation, {ICRA}\n\ + \ 2012, 14-18 May, 2012, St. Paul, Minnesota, {USA}},\n pages\ + \ = {1811--1816},\n publisher = {{IEEE}},\n year = {2012},\n\ + \ url = {https://doi.org/10.1109/ICRA.2012.6224893},\n doi =\ + \ {10.1109/ICRA.2012.6224893},\n timestamp = {Wed, 16 Oct 2019 14:14:51 +0200},\n\ + \ biburl = {https://dblp.org/rec/conf/icra/PanagouK12.bib},\n bibsource\ + \ = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2012-01-01 key: conf/icra/PanagouK12 layout: papers -title: "Maintaining visibility for leader-follower formations in obstacle environments." -date: 2012-01-01 -venue: "ICRA" -authors: - - dimitrapanagou - - Vijay Kumar link: https://doi.org/10.1109/ICRA.2012.6224893 -bib: |- - @inproceedings{DBLP:conf/icra/PanagouK12, - author = {Dimitra Panagou and - Vijay Kumar}, - title = {Maintaining visibility for leader-follower formations in obstacle - environments}, - booktitle = {{IEEE} International Conference on Robotics and Automation, {ICRA} - 2012, 14-18 May, 2012, St. Paul, Minnesota, {USA}}, - pages = {1811--1816}, - publisher = {{IEEE}}, - year = {2012}, - url = {https://doi.org/10.1109/ICRA.2012.6224893}, - doi = {10.1109/ICRA.2012.6224893}, - timestamp = {Wed, 16 Oct 2019 14:14:51 +0200}, - biburl = {https://dblp.org/rec/conf/icra/PanagouK12.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Maintaining visibility for leader-follower formations in obstacle environments. +venue: ICRA --- diff --git a/content/papers/2013/2013-maniatopoulos-model_predictive_control_for_the_navigation_of_a_nonholonomic_vehicle_with_field_of_view_constraints.md b/content/papers/2013/2013-maniatopoulos-model_predictive_control_for_the_navigation_of_a_nonholonomic_vehicle_with_field_of_view_constraints.md index a47f031..b773a30 100644 --- a/content/papers/2013/2013-maniatopoulos-model_predictive_control_for_the_navigation_of_a_nonholonomic_vehicle_with_field_of_view_constraints.md +++ b/content/papers/2013/2013-maniatopoulos-model_predictive_control_for_the_navigation_of_a_nonholonomic_vehicle_with_field_of_view_constraints.md @@ -1,32 +1,35 @@ --- +abstract: This paper considers the problem of navigating a differentially driven nonholonomic + vehicle while maintaining visibility with a (stationary) target by means of Model + Predictive Control (MPC). The approach combines the convergence properties of a + dipolar vector field within a constrained nonlinear MPC formulation, in which visibility + and input saturation constraints are encoded via recentered barrier functions. A + dipolar vector field offers by construction a global feedback motion plan to a goal + configuration, yet it does not ensure that visibility is always maintained. For + this reason, it is suitably combined with recentered barrier functions so that convergence + to the goal and satisfaction of visibility and input constraints are both achieved. + The control strategy falls into the class of dual-mode MPC schemes and its efficacy + is demonstrated through simulation results in the case of a mobile robot with unicycle + kinematics. +authors: +- Spyros Maniatopoulos +- dimitrapanagou +- Kostas J. Kyriakopoulos +bib: "@inproceedings{DBLP:conf/amcc/ManiatopoulosPK13,\n author = {Spyros Maniatopoulos\ + \ and\n Dimitra Panagou and\n Kostas J. Kyriakopoulos},\n\ + \ title = {Model Predictive Control for the navigation of a nonholonomic\ + \ vehicle\n with field-of-view constraints},\n booktitle =\ + \ {American Control Conference, {ACC} 2013, Washington, DC, USA, June\n \ + \ 17-19, 2013},\n pages = {3967--3972},\n publisher = {{IEEE}},\n\ + \ year = {2013},\n url = {https://doi.org/10.1109/ACC.2013.6580446},\n\ + \ doi = {10.1109/ACC.2013.6580446},\n timestamp = {Sun, 08 Aug 2021\ + \ 01:40:56 +0200},\n biburl = {https://dblp.org/rec/conf/amcc/ManiatopoulosPK13.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2013-01-01 key: conf/amcc/ManiatopoulosPK13 layout: papers -title: "Model Predictive Control for the navigation of a nonholonomic vehicle with field-of-view constraints." -date: 2013-01-01 -venue: "ACC" -authors: - - Spyros Maniatopoulos - - dimitrapanagou - - Kostas J. Kyriakopoulos link: https://doi.org/10.1109/ACC.2013.6580446 -bib: |- - @inproceedings{DBLP:conf/amcc/ManiatopoulosPK13, - author = {Spyros Maniatopoulos and - Dimitra Panagou and - Kostas J. Kyriakopoulos}, - title = {Model Predictive Control for the navigation of a nonholonomic vehicle - with field-of-view constraints}, - booktitle = {American Control Conference, {ACC} 2013, Washington, DC, USA, June - 17-19, 2013}, - pages = {3967--3972}, - publisher = {{IEEE}}, - year = {2013}, - url = {https://doi.org/10.1109/ACC.2013.6580446}, - doi = {10.1109/ACC.2013.6580446}, - timestamp = {Sun, 08 Aug 2021 01:40:56 +0200}, - biburl = {https://dblp.org/rec/conf/amcc/ManiatopoulosPK13.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Model Predictive Control for the navigation of a nonholonomic vehicle with + field-of-view constraints. +venue: ACC --- diff --git a/content/papers/2013/2013-panagou-cooperative_formation_control_of_underactuated_marine_vehicles_for_target_surveillance_under_sensing_and_communication_constraints.md b/content/papers/2013/2013-panagou-cooperative_formation_control_of_underactuated_marine_vehicles_for_target_surveillance_under_sensing_and_communication_constraints.md index c9cc082..dc0bacd 100644 --- a/content/papers/2013/2013-panagou-cooperative_formation_control_of_underactuated_marine_vehicles_for_target_surveillance_under_sensing_and_communication_constraints.md +++ b/content/papers/2013/2013-panagou-cooperative_formation_control_of_underactuated_marine_vehicles_for_target_surveillance_under_sensing_and_communication_constraints.md @@ -1,30 +1,36 @@ --- +abstract: This paper presents a Leader-Follower formation control strategy for underactuated + marine vehicles which move under sensing and communication constraints in the presence + of bounded persistent environmental disturbances. We assume that the vehicles do + not communicate for exchanging information regarding on their states (pose and velocities), + and that their sensing capabilities are restricted, due to limited range and angle-of-view. + Sensing constraints are thus realized as a set of inequality state constraints which + should never be violated (viability constraints). The viability constraints define + a closed subset K of the configuration space (viability set K). The control objective + is thus reduced into to coordinating the motion of the vehicles in a Leader-Follower + formation, while system trajectories starting in K always remain viable in K. The + proposed control design employs dipolar vector fields and a viability-based switching + control scheme, which guarantees that system viability is always maintained. The + efficacy of the proposed algorithm, as well as its relevance with surveillance of + (stationary) targets are demonstrated through simulations. +authors: +- dimitrapanagou +- Kostas J. Kyriakopoulos +bib: "@inproceedings{DBLP:conf/icra/PanagouK13,\n author = {Dimitra Panagou\ + \ and\n Kostas J. Kyriakopoulos},\n title = {Cooperative\ + \ formation control of underactuated marine vehicles for\n target\ + \ surveillance under sensing and communication constraints},\n booktitle = {2013\ + \ {IEEE} International Conference on Robotics and Automation, Karlsruhe,\n \ + \ Germany, May 6-10, 2013},\n pages = {1871--1876},\n publisher\ + \ = {{IEEE}},\n year = {2013},\n url = {https://doi.org/10.1109/ICRA.2013.6630824},\n\ + \ doi = {10.1109/ICRA.2013.6630824},\n timestamp = {Wed, 16 Oct 2019\ + \ 14:14:51 +0200},\n biburl = {https://dblp.org/rec/conf/icra/PanagouK13.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2013-01-01 key: conf/icra/PanagouK13 layout: papers -title: "Cooperative formation control of underactuated marine vehicles for target surveillance under sensing and communication constraints." -date: 2013-01-01 -venue: "ICRA" -authors: - - dimitrapanagou - - Kostas J. Kyriakopoulos link: https://doi.org/10.1109/ICRA.2013.6630824 -bib: |- - @inproceedings{DBLP:conf/icra/PanagouK13, - author = {Dimitra Panagou and - Kostas J. Kyriakopoulos}, - title = {Cooperative formation control of underactuated marine vehicles for - target surveillance under sensing and communication constraints}, - booktitle = {2013 {IEEE} International Conference on Robotics and Automation, Karlsruhe, - Germany, May 6-10, 2013}, - pages = {1871--1876}, - publisher = {{IEEE}}, - year = {2013}, - url = {https://doi.org/10.1109/ICRA.2013.6630824}, - doi = {10.1109/ICRA.2013.6630824}, - timestamp = {Wed, 16 Oct 2019 14:14:51 +0200}, - biburl = {https://dblp.org/rec/conf/icra/PanagouK13.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Cooperative formation control of underactuated marine vehicles for target surveillance + under sensing and communication constraints. +venue: ICRA --- diff --git a/content/papers/2013/2013-panagou-multi_objective_control_for_multi_agent_systems_using_lyapunov_like_barrier_functions.md b/content/papers/2013/2013-panagou-multi_objective_control_for_multi_agent_systems_using_lyapunov_like_barrier_functions.md index f4df8ae..861e924 100644 --- a/content/papers/2013/2013-panagou-multi_objective_control_for_multi_agent_systems_using_lyapunov_like_barrier_functions.md +++ b/content/papers/2013/2013-panagou-multi_objective_control_for_multi_agent_systems_using_lyapunov_like_barrier_functions.md @@ -1,32 +1,34 @@ --- +abstract: This paper addresses the problem of multi-agent coordination and control + under multiple objectives, and presents a set-theoretic formulation which is amenable + to Lyapunov-based analysis and control design. A novel class of Lyapunov-like barrier + functions is introduced and used to encode multiple, non-trivial control objectives, + such as collision avoidance, proximity maintenance and convergence to desired destinations. + The construction is based on the concept of recentered barrier functions and on + approximation functions. A single Lyapunov-like function encodes the constrained + set of each agent, yielding simple, closed-form control solutions. The proposed + construction allows also for distributed control design based on information locally + available to each agent. The scenario considered here involves nonholonomic vehicles, + while simulation results demonstrate the efficacy of the approach. +authors: +- dimitrapanagou +- Dusan M. Stipanovic +- Petros G. Voulgaris +bib: "@inproceedings{DBLP:conf/cdc/PanagouSV13,\n author = {Dimitra Panagou\ + \ and\n Dusan M. Stipanovic and\n Petros G. Voulgaris},\n\ + \ title = {Multi-objective control for multi-agent systems using Lyapunov-like\n\ + \ barrier functions},\n booktitle = {Proceedings of the 52nd\ + \ {IEEE} Conference on Decision and Control,\n {CDC} 2013, Florence,\ + \ Italy, December 10-13, 2013},\n pages = {1478--1483},\n publisher \ + \ = {{IEEE}},\n year = {2013},\n url = {https://doi.org/10.1109/CDC.2013.6760091},\n\ + \ doi = {10.1109/CDC.2013.6760091},\n timestamp = {Tue, 21 Mar 2023\ + \ 20:52:20 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/PanagouSV13.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2013-01-01 key: conf/cdc/PanagouSV13 layout: papers -title: "Multi-objective control for multi-agent systems using Lyapunov-like barrier functions." -date: 2013-01-01 -venue: "CDC" -authors: - - dimitrapanagou - - Dusan M. Stipanovic - - Petros G. Voulgaris link: https://doi.org/10.1109/CDC.2013.6760091 -bib: |- - @inproceedings{DBLP:conf/cdc/PanagouSV13, - author = {Dimitra Panagou and - Dusan M. Stipanovic and - Petros G. Voulgaris}, - title = {Multi-objective control for multi-agent systems using Lyapunov-like - barrier functions}, - booktitle = {Proceedings of the 52nd {IEEE} Conference on Decision and Control, - {CDC} 2013, Florence, Italy, December 10-13, 2013}, - pages = {1478--1483}, - publisher = {{IEEE}}, - year = {2013}, - url = {https://doi.org/10.1109/CDC.2013.6760091}, - doi = {10.1109/CDC.2013.6760091}, - timestamp = {Tue, 21 Mar 2023 20:52:20 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/PanagouSV13.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Multi-objective control for multi-agent systems using Lyapunov-like barrier + functions. +venue: CDC --- diff --git a/content/papers/2013/2013-panagou-viability_control_for_a_class_of_underactuated_systems.md b/content/papers/2013/2013-panagou-viability_control_for_a_class_of_underactuated_systems.md index 574becb..54ec281 100644 --- a/content/papers/2013/2013-panagou-viability_control_for_a_class_of_underactuated_systems.md +++ b/content/papers/2013/2013-panagou-viability_control_for_a_class_of_underactuated_systems.md @@ -1,29 +1,20 @@ --- +abstract: null +authors: +- dimitrapanagou +- Kostas J. Kyriakopoulos +bib: "@article{DBLP:journals/automatica/PanagouK13,\n author = {Dimitra Panagou\ + \ and\n Kostas J. Kyriakopoulos},\n title = {Viability\ + \ control for a class of underactuated systems},\n journal = {Autom.},\n \ + \ volume = {49},\n number = {1},\n pages = {17--29},\n year\ + \ = {2013},\n url = {https://doi.org/10.1016/j.automatica.2012.09.002},\n\ + \ doi = {10.1016/J.AUTOMATICA.2012.09.002},\n timestamp = {Thu, 20\ + \ Feb 2020 09:16:44 +0100},\n biburl = {https://dblp.org/rec/journals/automatica/PanagouK13.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2013-01-01 key: journals/automatica/PanagouK13 layout: papers -title: "Viability control for a class of underactuated systems." -date: 2013-01-01 -venue: "Autom." -authors: - - dimitrapanagou - - Kostas J. Kyriakopoulos link: https://doi.org/10.1016/j.automatica.2012.09.002 -bib: |- - @article{DBLP:journals/automatica/PanagouK13, - author = {Dimitra Panagou and - Kostas J. Kyriakopoulos}, - title = {Viability control for a class of underactuated systems}, - journal = {Autom.}, - volume = {49}, - number = {1}, - pages = {17--29}, - year = {2013}, - url = {https://doi.org/10.1016/j.automatica.2012.09.002}, - doi = {10.1016/J.AUTOMATICA.2012.09.002}, - timestamp = {Thu, 20 Feb 2020 09:16:44 +0100}, - biburl = {https://dblp.org/rec/journals/automatica/PanagouK13.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Viability control for a class of underactuated systems. +venue: Autom. --- diff --git a/content/papers/2014/2014-panagou-cooperative_visibility_maintenance_for_leader_follower_formations_in_obstacle_environments.md b/content/papers/2014/2014-panagou-cooperative_visibility_maintenance_for_leader_follower_formations_in_obstacle_environments.md index b561076..cf9f5ad 100644 --- a/content/papers/2014/2014-panagou-cooperative_visibility_maintenance_for_leader_follower_formations_in_obstacle_environments.md +++ b/content/papers/2014/2014-panagou-cooperative_visibility_maintenance_for_leader_follower_formations_in_obstacle_environments.md @@ -1,30 +1,38 @@ --- +abstract: Vision-based formation control of multiple agents, such as mobile robots + or fully autonomous cars, has recently received great interest due to its application + in robotic networks and automated highways. This paper addresses the cooperative + motion coordination of leader-follower formations of nonholonomic mobile robots, + under visibility and communication constraints in known polygonal obstacle environments. + We initially consider the case of N = 2 agents moving in L-F fashion and propose + a feedback control strategy under which L ensures obstacle avoidance for both robots, + while F ensures visibility maintenance with L and intervehicle collision avoidance. + The derived algorithms are based on set-theoretic methods to guarantee visibility + maintenance, dipolar vector fields to maintain the formation shape, and the consideration + of the formation as a tractor-trailer system to ensure obstacle avoidance. We furthermore + show how the coordination and control design extends to the case of N > 2 agents, + and provide simulation results, which demonstrate the efficacy of the control solutions. + The proposed algorithms do not require information exchange among robots, but are + instead based on information locally available to each agent. In this way, the desired + tasks are executed and achieved in a decentralized manner, with each robot taking + care of converging to a desired configuration, while maintaining visibility with + its target. +authors: +- dimitrapanagou +- Vijay Kumar +bib: "@article{DBLP:journals/trob/PanagouK14,\n author = {Dimitra Panagou and\n\ + \ Vijay Kumar},\n title = {Cooperative Visibility Maintenance\ + \ for Leader-Follower Formations\n in Obstacle Environments},\n\ + \ journal = {{IEEE} Trans. Robotics},\n volume = {30},\n number \ + \ = {4},\n pages = {831--844},\n year = {2014},\n url \ + \ = {https://doi.org/10.1109/TRO.2014.2304774},\n doi = {10.1109/TRO.2014.2304774},\n\ + \ timestamp = {Sat, 20 May 2017 00:25:23 +0200},\n biburl = {https://dblp.org/rec/journals/trob/PanagouK14.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2014-01-01 key: journals/trob/PanagouK14 layout: papers -title: "Cooperative Visibility Maintenance for Leader-Follower Formations in Obstacle Environments." -date: 2014-01-01 -venue: "IEEE Trans. Robotics" -authors: - - dimitrapanagou - - Vijay Kumar link: https://doi.org/10.1109/TRO.2014.2304774 -bib: |- - @article{DBLP:journals/trob/PanagouK14, - author = {Dimitra Panagou and - Vijay Kumar}, - title = {Cooperative Visibility Maintenance for Leader-Follower Formations - in Obstacle Environments}, - journal = {{IEEE} Trans. Robotics}, - volume = {30}, - number = {4}, - pages = {831--844}, - year = {2014}, - url = {https://doi.org/10.1109/TRO.2014.2304774}, - doi = {10.1109/TRO.2014.2304774}, - timestamp = {Sat, 20 May 2017 00:25:23 +0200}, - biburl = {https://dblp.org/rec/journals/trob/PanagouK14.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Cooperative Visibility Maintenance for Leader-Follower Formations in Obstacle + Environments. +venue: IEEE Trans. Robotics --- diff --git a/content/papers/2014/2014-panagou-decentralized_goal_assignment_and_trajectory_generation_in_multi_robot_networks_a_multiple_lyapunov_functions_approach.md b/content/papers/2014/2014-panagou-decentralized_goal_assignment_and_trajectory_generation_in_multi_robot_networks_a_multiple_lyapunov_functions_approach.md index 862b1a3..1e774a5 100644 --- a/content/papers/2014/2014-panagou-decentralized_goal_assignment_and_trajectory_generation_in_multi_robot_networks_a_multiple_lyapunov_functions_approach.md +++ b/content/papers/2014/2014-panagou-decentralized_goal_assignment_and_trajectory_generation_in_multi_robot_networks_a_multiple_lyapunov_functions_approach.md @@ -1,32 +1,35 @@ --- +abstract: This paper considers the problem of decentralized goal assignment and trajectory + generation for multi-robot networks when only local communication is available, + and proposes an approach based on methods related to switched systems and set invariance. + A family of Lyapunov-like functions is employed to encode the (local) decision making + among candidate goal assignments, under which the agents pick the assignment which + results in the shortest total distance to the goals. An additional family of Lyapunov-like + barrier functions is activated in the case when the optimal assignment may lead + to colliding trajectories, thus maintaining system safety while preserving the convergence + guarantees. The proposed switching strategies give rise to feedback control policies + which are scalable as the number of agents increases, and therefore are suitable + for applications including first-response deployment of robotic networks under limited + information sharing. Simulations demonstrate the efficacy of the proposed method. +authors: +- dimitrapanagou +- Matthew Turpin +- Vijay Kumar +bib: "@inproceedings{DBLP:conf/icra/PanagouTK14,\n author = {Dimitra Panagou\ + \ and\n Matthew Turpin and\n Vijay Kumar},\n \ + \ title = {Decentralized goal assignment and trajectory generation in multi-robot\n\ + \ networks: {A} multiple Lyapunov functions approach},\n booktitle\ + \ = {2014 {IEEE} International Conference on Robotics and Automation, {ICRA}\n\ + \ 2014, Hong Kong, China, May 31 - June 7, 2014},\n pages \ + \ = {6757--6762},\n publisher = {{IEEE}},\n year = {2014},\n url\ + \ = {https://doi.org/10.1109/ICRA.2014.6907857},\n doi = {10.1109/ICRA.2014.6907857},\n\ + \ timestamp = {Wed, 16 Oct 2019 14:14:51 +0200},\n biburl = {https://dblp.org/rec/conf/icra/PanagouTK14.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2014-01-01 key: conf/icra/PanagouTK14 layout: papers -title: "Decentralized goal assignment and trajectory generation in multi-robot networks: A multiple Lyapunov functions approach." -date: 2014-01-01 -venue: "ICRA" -authors: - - dimitrapanagou - - Matthew Turpin - - Vijay Kumar link: https://doi.org/10.1109/ICRA.2014.6907857 -bib: |- - @inproceedings{DBLP:conf/icra/PanagouTK14, - author = {Dimitra Panagou and - Matthew Turpin and - Vijay Kumar}, - title = {Decentralized goal assignment and trajectory generation in multi-robot - networks: {A} multiple Lyapunov functions approach}, - booktitle = {2014 {IEEE} International Conference on Robotics and Automation, {ICRA} - 2014, Hong Kong, China, May 31 - June 7, 2014}, - pages = {6757--6762}, - publisher = {{IEEE}}, - year = {2014}, - url = {https://doi.org/10.1109/ICRA.2014.6907857}, - doi = {10.1109/ICRA.2014.6907857}, - timestamp = {Wed, 16 Oct 2019 14:14:51 +0200}, - biburl = {https://dblp.org/rec/conf/icra/PanagouTK14.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: 'Decentralized goal assignment and trajectory generation in multi-robot networks: + A multiple Lyapunov functions approach.' +venue: ICRA --- diff --git a/content/papers/2014/2014-panagou-dynamic_positioning_for_an_underactuated_marine_vehicle_using_hybrid_control.md b/content/papers/2014/2014-panagou-dynamic_positioning_for_an_underactuated_marine_vehicle_using_hybrid_control.md index f0f57da..0f6038a 100644 --- a/content/papers/2014/2014-panagou-dynamic_positioning_for_an_underactuated_marine_vehicle_using_hybrid_control.md +++ b/content/papers/2014/2014-panagou-dynamic_positioning_for_an_underactuated_marine_vehicle_using_hybrid_control.md @@ -1,30 +1,37 @@ --- +abstract: The increasing interest in autonomous marine systems and related applications + has motivated, among others, the development of systems and algorithms for the dynamic + positioning of underactuated marine vehicles (ships, surface vessels and underwater + vehicles) under the influence of unknown environmental disturbances. In this paper, + we present a state feedback control solution for the navigation and practical stabilisation + of an underactuated marine vehicle under non-vanishing current disturbances, by + means of hybrid control. The proposed solution involves a logic-based switching + control strategy among simple state feedback controllers, which renders the position + trajectories of the vehicle practically stable to a goal set around a desired position. + The control scheme consists of three control laws; the first one is active out of + the goal set and drives the system trajectories into this set, based on a novel + dipolar vector field. The other two control laws are active in the goal set and + alternately regulate the position and the orientation of the vehicle, so that the + switched system is practically stable around the desired position. The overall system + is shown to be robust, in the sense that the vehicle enters and remains into the + goal set even if the external current disturbance is unknown, varying and only its + maximum bound (magnitude) is given. The efficacy of the proposed solution is demonstrated + through simulation results. +authors: +- dimitrapanagou +- Kostas J. Kyriakopoulos +bib: "@article{DBLP:journals/ijcon/PanagouK14,\n author = {Dimitra Panagou\ + \ and\n Kostas J. Kyriakopoulos},\n title = {Dynamic positioning\ + \ for an underactuated marine vehicle using hybrid\n control},\n\ + \ journal = {Int. J. Control},\n volume = {87},\n number = {2},\n\ + \ pages = {264--280},\n year = {2014},\n url = {https://doi.org/10.1080/00207179.2013.828853},\n\ + \ doi = {10.1080/00207179.2013.828853},\n timestamp = {Mon, 06 Nov\ + \ 2017 12:13:15 +0100},\n biburl = {https://dblp.org/rec/journals/ijcon/PanagouK14.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2014-01-01 key: journals/ijcon/PanagouK14 layout: papers -title: "Dynamic positioning for an underactuated marine vehicle using hybrid control." -date: 2014-01-01 -venue: "Int. J. Control" -authors: - - dimitrapanagou - - Kostas J. Kyriakopoulos link: https://doi.org/10.1080/00207179.2013.828853 -bib: |- - @article{DBLP:journals/ijcon/PanagouK14, - author = {Dimitra Panagou and - Kostas J. Kyriakopoulos}, - title = {Dynamic positioning for an underactuated marine vehicle using hybrid - control}, - journal = {Int. J. Control}, - volume = {87}, - number = {2}, - pages = {264--280}, - year = {2014}, - url = {https://doi.org/10.1080/00207179.2013.828853}, - doi = {10.1080/00207179.2013.828853}, - timestamp = {Mon, 06 Nov 2017 12:13:15 +0100}, - biburl = {https://dblp.org/rec/journals/ijcon/PanagouK14.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Dynamic positioning for an underactuated marine vehicle using hybrid control. +venue: Int. J. Control --- diff --git a/content/papers/2014/2014-panagou-motion_planning_and_collision_avoidance_using_navigation_vector_fields.md b/content/papers/2014/2014-panagou-motion_planning_and_collision_avoidance_using_navigation_vector_fields.md index e855d81..2766f55 100644 --- a/content/papers/2014/2014-panagou-motion_planning_and_collision_avoidance_using_navigation_vector_fields.md +++ b/content/papers/2014/2014-panagou-motion_planning_and_collision_avoidance_using_navigation_vector_fields.md @@ -1,27 +1,33 @@ --- +abstract: "This paper presents a novel method on the motion and path planning for\ + \ unicycle robots in environments with static circular obstacles. The method employs\ + \ a family of 2-dimensional analytic vector fields, which have singular points of\ + \ high-order type and whose integral curves exhibit various patterns depending on\ + \ the value of a parameter \u03BB. More specifically, for a known value of \u03BB\ + \ the vector field has a unique singular point of dipole type and its integral curves\ + \ are suitable for steering the unicycle to a goal configuration. Furthermore, for\ + \ the value of \u03BB that the vector field has a continuum of singular points,\ + \ the integral curves can be used to define flows around circular obstacles. An\ + \ almost global feedback motion plan is then constructed by suitably blending attractive\ + \ and repulsive vector fields in a static obstacle environment. The proposed motion\ + \ planning and control design is also extended to the multi-agent case, where each\ + \ agent needs to converge to a desired configuration while avoiding collisions with\ + \ other agents. The efficacy of the approach is demonstrated via simulation results." +authors: +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/icra/Panagou14,\n author = {Dimitra Panagou},\n\ + \ title = {Motion planning and collision avoidance using navigation vector\ + \ fields},\n booktitle = {2014 {IEEE} International Conference on Robotics and\ + \ Automation, {ICRA}\n 2014, Hong Kong, China, May 31 - June 7,\ + \ 2014},\n pages = {2513--2518},\n publisher = {{IEEE}},\n year \ + \ = {2014},\n url = {https://doi.org/10.1109/ICRA.2014.6907210},\n\ + \ doi = {10.1109/ICRA.2014.6907210},\n timestamp = {Wed, 16 Oct 2019\ + \ 14:14:51 +0200},\n biburl = {https://dblp.org/rec/conf/icra/Panagou14.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2014-01-01 key: conf/icra/Panagou14 layout: papers -title: "Motion planning and collision avoidance using navigation vector fields." -date: 2014-01-01 -venue: "ICRA" -authors: - - dimitrapanagou link: https://doi.org/10.1109/ICRA.2014.6907210 -bib: |- - @inproceedings{DBLP:conf/icra/Panagou14, - author = {Dimitra Panagou}, - title = {Motion planning and collision avoidance using navigation vector fields}, - booktitle = {2014 {IEEE} International Conference on Robotics and Automation, {ICRA} - 2014, Hong Kong, China, May 31 - June 7, 2014}, - pages = {2513--2518}, - publisher = {{IEEE}}, - year = {2014}, - url = {https://doi.org/10.1109/ICRA.2014.6907210}, - doi = {10.1109/ICRA.2014.6907210}, - timestamp = {Wed, 16 Oct 2019 14:14:51 +0200}, - biburl = {https://dblp.org/rec/conf/icra/Panagou14.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Motion planning and collision avoidance using navigation vector fields. +venue: ICRA --- diff --git a/content/papers/2014/2014-panagou-vision_based_dynamic_coverage_control_for_nonholonomic_agents.md b/content/papers/2014/2014-panagou-vision_based_dynamic_coverage_control_for_nonholonomic_agents.md index f178546..595e14d 100644 --- a/content/papers/2014/2014-panagou-vision_based_dynamic_coverage_control_for_nonholonomic_agents.md +++ b/content/papers/2014/2014-panagou-vision_based_dynamic_coverage_control_for_nonholonomic_agents.md @@ -1,31 +1,31 @@ --- +abstract: This paper considers dynamic coverage control for nonholonomic agents along + with collision avoidance guarantees. The novelties of the approach rely on the consideration + of anisotropic sensing, which is realized via conic sensing footprints and sensing + (coverage) functions for each agent, and on a novel form of avoidance functions. + The considered sensing functions encode field-of-view and range constraints, and + also the degradation of effective sensing close to the boundaries of the sensing + footprint. Thus the proposed approach is suitable for surveillance applications + where each agent is assigned with the task to gather enough information, such as + video streaming in an obstacle environment. The efficacy of the approach is demonstrated + through simulation results. +authors: +- dimitrapanagou +- Dusan M. Stipanovic +- Petros G. Voulgaris +bib: "@inproceedings{DBLP:conf/cdc/PanagouSV14,\n author = {Dimitra Panagou\ + \ and\n Dusan M. Stipanovic and\n Petros G. Voulgaris},\n\ + \ title = {Vision-based dynamic coverage control for nonholonomic agents},\n\ + \ booktitle = {53rd {IEEE} Conference on Decision and Control, {CDC} 2014, Los\ + \ Angeles,\n CA, USA, December 15-17, 2014},\n pages =\ + \ {2198--2203},\n publisher = {{IEEE}},\n year = {2014},\n url \ + \ = {https://doi.org/10.1109/CDC.2014.7039724},\n doi = {10.1109/CDC.2014.7039724},\n\ + \ timestamp = {Tue, 21 Mar 2023 20:52:20 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/PanagouSV14.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2014-01-01 key: conf/cdc/PanagouSV14 layout: papers -title: "Vision-based dynamic coverage control for nonholonomic agents." -date: 2014-01-01 -venue: "CDC" -authors: - - dimitrapanagou - - Dusan M. Stipanovic - - Petros G. Voulgaris link: https://doi.org/10.1109/CDC.2014.7039724 -bib: |- - @inproceedings{DBLP:conf/cdc/PanagouSV14, - author = {Dimitra Panagou and - Dusan M. Stipanovic and - Petros G. Voulgaris}, - title = {Vision-based dynamic coverage control for nonholonomic agents}, - booktitle = {53rd {IEEE} Conference on Decision and Control, {CDC} 2014, Los Angeles, - CA, USA, December 15-17, 2014}, - pages = {2198--2203}, - publisher = {{IEEE}}, - year = {2014}, - url = {https://doi.org/10.1109/CDC.2014.7039724}, - doi = {10.1109/CDC.2014.7039724}, - timestamp = {Tue, 21 Mar 2023 20:52:20 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/PanagouSV14.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Vision-based dynamic coverage control for nonholonomic agents. +venue: CDC --- diff --git a/content/papers/2015/2015-panagou-distributed_coordination_protocols_for_aggregation_and_navigation_in_multi_agent_systems_under_local_directed_interactions.md b/content/papers/2015/2015-panagou-distributed_coordination_protocols_for_aggregation_and_navigation_in_multi_agent_systems_under_local_directed_interactions.md index eb32d6a..83a419a 100644 --- a/content/papers/2015/2015-panagou-distributed_coordination_protocols_for_aggregation_and_navigation_in_multi_agent_systems_under_local_directed_interactions.md +++ b/content/papers/2015/2015-panagou-distributed_coordination_protocols_for_aggregation_and_navigation_in_multi_agent_systems_under_local_directed_interactions.md @@ -1,28 +1,36 @@ --- +abstract: 'This paper proposes a velocity coordination protocol for the control of + multiple unicycle agents, which aims to address two distinct scenarios in a unified + manner. The former case is aggregation around a goal location, while the latter + case is navigation to multiple goal locations. The same linear velocity protocol + is used in both cases, but slightly different angular velocity protocols are designed + to achieve either aggregation or navigation, respectively. The proposed angular + velocity protocols regulate the angular velocities of the agents to reference directions + imposed by vector fields which are different for aggregation and navigation. The + proposed linear velocity protocol imposes directed interactions among agents in + the following sense: an implicit prioritization among locally connected agents is + ad-hoc decided, which results in a suitable adjustment of the linear velocities + of the connected agents so that each one slows down with respect to (w.r.t.) the + neighbor agent who maximizes the rate of decrease of the inter-agent distance. Simulation + results with multiple unicycle agents achieving either aggregation or navigation + along collision-free trajectories are provided to demonstrate the efficacy of the + proposed algorithm.' +authors: +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/cdc/Panagou15,\n author = {Dimitra Panagou},\n\ + \ title = {Distributed coordination protocols for aggregation and navigation\n\ + \ in multi-agent systems under local directed interactions},\n\ + \ booktitle = {54th {IEEE} Conference on Decision and Control, {CDC} 2015, Osaka,\n\ + \ Japan, December 15-18, 2015},\n pages = {2780--2785},\n\ + \ publisher = {{IEEE}},\n year = {2015},\n url = {https://doi.org/10.1109/CDC.2015.7402637},\n\ + \ doi = {10.1109/CDC.2015.7402637},\n timestamp = {Wed, 16 Oct 2019\ + \ 14:14:56 +0200},\n biburl = {https://dblp.org/rec/conf/cdc/Panagou15.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2015-01-01 key: conf/cdc/Panagou15 layout: papers -title: "Distributed coordination protocols for aggregation and navigation in multi-agent systems under local directed interactions." -date: 2015-01-01 -venue: "CDC" -authors: - - dimitrapanagou link: https://doi.org/10.1109/CDC.2015.7402637 -bib: |- - @inproceedings{DBLP:conf/cdc/Panagou15, - author = {Dimitra Panagou}, - title = {Distributed coordination protocols for aggregation and navigation - in multi-agent systems under local directed interactions}, - booktitle = {54th {IEEE} Conference on Decision and Control, {CDC} 2015, Osaka, - Japan, December 15-18, 2015}, - pages = {2780--2785}, - publisher = {{IEEE}}, - year = {2015}, - url = {https://doi.org/10.1109/CDC.2015.7402637}, - doi = {10.1109/CDC.2015.7402637}, - timestamp = {Wed, 16 Oct 2019 14:14:56 +0200}, - biburl = {https://dblp.org/rec/conf/cdc/Panagou15.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Distributed coordination protocols for aggregation and navigation in multi-agent + systems under local directed interactions. +venue: CDC --- diff --git a/content/papers/2015/2015-panagou-dynamic_coverage_control_in_unicycle_multi_robot_networks_under_anisotropic_sensing.md b/content/papers/2015/2015-panagou-dynamic_coverage_control_in_unicycle_multi_robot_networks_under_anisotropic_sensing.md index 060b62d..2eb295d 100644 --- a/content/papers/2015/2015-panagou-dynamic_coverage_control_in_unicycle_multi_robot_networks_under_anisotropic_sensing.md +++ b/content/papers/2015/2015-panagou-dynamic_coverage_control_in_unicycle_multi_robot_networks_under_anisotropic_sensing.md @@ -1,31 +1,32 @@ --- +abstract: This paper considers dynamic coverage control for nonholonomic agents along + with collision avoidance guarantees. The novelties of the approach rely on the consideration + of anisotropic sensing, which is realized via conic sensing footprints and sensing + (coverage) functions for each agent, and on a novel form of avoidance functions. + The considered sensing functions encode field-of-view and range constraints, and + also the degradation of effective sensing close to the boundaries of the sensing + footprint. Thus the proposed approach is suitable for surveillance applications + where each agent is assigned with the task to gather enough information, such as + video streaming in an obstacle environment. The efficacy of the approach is demonstrated + through simulation results. +authors: +- dimitrapanagou +- Dusan M. Stipanovic +- Petros G. Voulgaris +bib: "@article{DBLP:journals/firai/PanagouSV15,\n author = {Dimitra Panagou\ + \ and\n Dusan M. Stipanovic and\n Petros G. Voulgaris},\n\ + \ title = {Dynamic Coverage Control in Unicycle Multi-Robot Networks under\ + \ Anisotropic\n Sensing},\n journal = {Frontiers Robotics\ + \ {AI}},\n volume = {2},\n pages = {3},\n year = {2015},\n\ + \ url = {https://doi.org/10.3389/frobt.2015.00003},\n doi =\ + \ {10.3389/FROBT.2015.00003},\n timestamp = {Tue, 21 Mar 2023 21:08:09 +0100},\n\ + \ biburl = {https://dblp.org/rec/journals/firai/PanagouSV15.bib},\n bibsource\ + \ = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2015-01-01 key: journals/firai/PanagouSV15 layout: papers -title: "Dynamic Coverage Control in Unicycle Multi-Robot Networks under Anisotropic Sensing." -date: 2015-01-01 -venue: "Frontiers Robotics AI" -authors: - - dimitrapanagou - - Dusan M. Stipanovic - - Petros G. Voulgaris link: https://doi.org/10.3389/frobt.2015.00003 -bib: |- - @article{DBLP:journals/firai/PanagouSV15, - author = {Dimitra Panagou and - Dusan M. Stipanovic and - Petros G. Voulgaris}, - title = {Dynamic Coverage Control in Unicycle Multi-Robot Networks under Anisotropic - Sensing}, - journal = {Frontiers Robotics {AI}}, - volume = {2}, - pages = {3}, - year = {2015}, - url = {https://doi.org/10.3389/frobt.2015.00003}, - doi = {10.3389/FROBT.2015.00003}, - timestamp = {Tue, 21 Mar 2023 21:08:09 +0100}, - biburl = {https://dblp.org/rec/journals/firai/PanagouSV15.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Dynamic Coverage Control in Unicycle Multi-Robot Networks under Anisotropic + Sensing. +venue: Frontiers Robotics AI --- diff --git a/content/papers/2016/2016-bentz-an_energy_aware_redistribution_method_for_multi_agent_dynamic_coverage_networks.md b/content/papers/2016/2016-bentz-an_energy_aware_redistribution_method_for_multi_agent_dynamic_coverage_networks.md index 33ce770..4e43abf 100644 --- a/content/papers/2016/2016-bentz-an_energy_aware_redistribution_method_for_multi_agent_dynamic_coverage_networks.md +++ b/content/papers/2016/2016-bentz-an_energy_aware_redistribution_method_for_multi_agent_dynamic_coverage_networks.md @@ -1,30 +1,30 @@ --- +abstract: This paper considers dynamic coverage control of unicycle multi-agent systems + under power constraints. The agents under consideration implement a visually based + patrol protocol. They observe their environment via forward-facing conical anisotropic + sensing regions. A local coverage control strategy is presented that allows for + the cooperative search of a domain while maintaining collision avoidance guarantees + using a novel control method based on the coverage level. Additionally, a novel + energy-aware global coverage technique is introduced that restricts the operating + range of power-constrained agents while shifting the network redistribution effort + onto less constrained agents. The results of several scenarios are presented in + simulation to illustrate the efficacy of these algorithms. +authors: +- William Bentz +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/cdc/BentzP16,\n author = {William Bentz and\n\ + \ Dimitra Panagou},\n title = {An energy-aware redistribution\ + \ method for multi-agent dynamic coverage\n networks},\n booktitle\ + \ = {55th {IEEE} Conference on Decision and Control, {CDC} 2016, Las Vegas,\n\ + \ NV, USA, December 12-14, 2016},\n pages = {2644--2651},\n\ + \ publisher = {{IEEE}},\n year = {2016},\n url = {https://doi.org/10.1109/CDC.2016.7798661},\n\ + \ doi = {10.1109/CDC.2016.7798661},\n timestamp = {Fri, 04 Mar 2022\ + \ 13:29:43 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/BentzP16.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2016-01-01 key: conf/cdc/BentzP16 layout: papers -title: "An energy-aware redistribution method for multi-agent dynamic coverage networks." -date: 2016-01-01 -venue: "CDC" -authors: - - William Bentz - - dimitrapanagou link: https://doi.org/10.1109/CDC.2016.7798661 -bib: |- - @inproceedings{DBLP:conf/cdc/BentzP16, - author = {William Bentz and - Dimitra Panagou}, - title = {An energy-aware redistribution method for multi-agent dynamic coverage - networks}, - booktitle = {55th {IEEE} Conference on Decision and Control, {CDC} 2016, Las Vegas, - NV, USA, December 12-14, 2016}, - pages = {2644--2651}, - publisher = {{IEEE}}, - year = {2016}, - url = {https://doi.org/10.1109/CDC.2016.7798661}, - doi = {10.1109/CDC.2016.7798661}, - timestamp = {Fri, 04 Mar 2022 13:29:43 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/BentzP16.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: An energy-aware redistribution method for multi-agent dynamic coverage networks. +venue: CDC --- diff --git a/content/papers/2016/2016-ding-real_time_model_predictive_control_for_keeping_a_quadrotor_visible_on_the_camera_field_of_view_of_a_ground_robot.md b/content/papers/2016/2016-ding-real_time_model_predictive_control_for_keeping_a_quadrotor_visible_on_the_camera_field_of_view_of_a_ground_robot.md index bd30ce6..b8f0bcc 100644 --- a/content/papers/2016/2016-ding-real_time_model_predictive_control_for_keeping_a_quadrotor_visible_on_the_camera_field_of_view_of_a_ground_robot.md +++ b/content/papers/2016/2016-ding-real_time_model_predictive_control_for_keeping_a_quadrotor_visible_on_the_camera_field_of_view_of_a_ground_robot.md @@ -1,36 +1,38 @@ --- +abstract: This paper considers a cooperative control design for an aerial/ground robot + system, and addresses the problem of maintaining visibility of a quadrotor within + the camera field-of-view of a ground robot in the presence of external disturbances. + The quadrotor needs to be tracked by the ground robot with a monocular camera, and + hence its motion should facilitate the ground vision-based tracking process by remaining + in the effective camera sensing area. We design a model predictive controller (MPC) + strategy where the visibility constraints of the camera and the control input constraints + of the quadrotor are encoded into the cost function via barrier functions, and we + adopt a fast MPC solver that is able to solve the optimization problem in real time. + We also propose a method to enhance the robustness of the algorithm by suitably + defining a restart method for the MPC solver. The applicability of the proposed + algorithm is demonstrated through simulations and experimental results on real setups. +authors: +- Wei Ding +- Madan Ravi Ganesh +- Robert N. Severinghaus +- Jason J. Corso +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/amcc/DingGSCP16,\n author = {Wei Ding and\n\ + \ Madan Ravi Ganesh and\n Robert N. Severinghaus\ + \ and\n Jason J. Corso and\n Dimitra Panagou},\n\ + \ title = {Real-time model predictive control for keeping a quadrotor visible\n\ + \ on the camera field-of-view of a ground robot},\n booktitle\ + \ = {2016 American Control Conference, {ACC} 2016, Boston, MA, USA, July\n \ + \ 6-8, 2016},\n pages = {2259--2264},\n publisher = {{IEEE}},\n\ + \ year = {2016},\n url = {https://doi.org/10.1109/ACC.2016.7525254},\n\ + \ doi = {10.1109/ACC.2016.7525254},\n timestamp = {Sat, 30 Sep 2023\ + \ 09:34:15 +0200},\n biburl = {https://dblp.org/rec/conf/amcc/DingGSCP16.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2016-01-01 key: conf/amcc/DingGSCP16 layout: papers -title: "Real-time model predictive control for keeping a quadrotor visible on the camera field-of-view of a ground robot." -date: 2016-01-01 -venue: "ACC" -authors: - - Wei Ding - - Madan Ravi Ganesh - - Robert N. Severinghaus - - Jason J. Corso - - dimitrapanagou link: https://doi.org/10.1109/ACC.2016.7525254 -bib: |- - @inproceedings{DBLP:conf/amcc/DingGSCP16, - author = {Wei Ding and - Madan Ravi Ganesh and - Robert N. Severinghaus and - Jason J. Corso and - Dimitra Panagou}, - title = {Real-time model predictive control for keeping a quadrotor visible - on the camera field-of-view of a ground robot}, - booktitle = {2016 American Control Conference, {ACC} 2016, Boston, MA, USA, July - 6-8, 2016}, - pages = {2259--2264}, - publisher = {{IEEE}}, - year = {2016}, - url = {https://doi.org/10.1109/ACC.2016.7525254}, - doi = {10.1109/ACC.2016.7525254}, - timestamp = {Sat, 30 Sep 2023 09:34:15 +0200}, - biburl = {https://dblp.org/rec/conf/amcc/DingGSCP16.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Real-time model predictive control for keeping a quadrotor visible on the camera + field-of-view of a ground robot. +venue: ACC --- diff --git a/content/papers/2016/2016-hegde-multi_agent_motion_planning_and_coordination_in_polygonal_environments_using_vector_fields_and_model_predictive_control.md b/content/papers/2016/2016-hegde-multi_agent_motion_planning_and_coordination_in_polygonal_environments_using_vector_fields_and_model_predictive_control.md index 71b8f30..8b0fa1a 100644 --- a/content/papers/2016/2016-hegde-multi_agent_motion_planning_and_coordination_in_polygonal_environments_using_vector_fields_and_model_predictive_control.md +++ b/content/papers/2016/2016-hegde-multi_agent_motion_planning_and_coordination_in_polygonal_environments_using_vector_fields_and_model_predictive_control.md @@ -1,30 +1,34 @@ --- +abstract: "In this paper, we extend earlier work on motion planning and coordination\ + \ of multiple agents, to environments of arbitrary polygonal obstacles, using non-gradient\ + \ vector fields to steer each agent towards their goal configurations while avoiding\ + \ collisions. We formulate the vector fields so that the pattern of their integral\ + \ curves depends on a parameter \u03BB. By manipulating the value of \u03BB, we\ + \ obtain a set of vector fields whose integral curves define the flow lines for\ + \ an a priori known obstacle environment. We use the vector field design in tandem\ + \ with model predictive control to compute safe trajectories for multi-agent systems.\ + \ The competence of the proposed methodology is demonstrated for both static and\ + \ dynamic environment via simulation results. The efficacy of model predictive control\ + \ in achieving control trajectories, free of chattering, for multi-agent coordination\ + \ is validated through comparison to a state feedback coordination and control protocol." +authors: +- Rashmi Hegde +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/eucc/HegdeP16,\n author = {Rashmi Hegde and\n\ + \ Dimitra Panagou},\n title = {Multi-agent motion planning\ + \ and coordination in polygonal environments\n using vector fields\ + \ and model predictive control},\n booktitle = {15th European Control Conference,\ + \ {ECC} 2016, Aalborg, Denmark, June\n 29 - July 1, 2016},\n pages\ + \ = {1856--1861},\n publisher = {{IEEE}},\n year = {2016},\n\ + \ url = {https://doi.org/10.1109/ECC.2016.7810561},\n doi =\ + \ {10.1109/ECC.2016.7810561},\n timestamp = {Tue, 01 Jun 2021 15:22:59 +0200},\n\ + \ biburl = {https://dblp.org/rec/conf/eucc/HegdeP16.bib},\n bibsource \ + \ = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2016-01-01 key: conf/eucc/HegdeP16 layout: papers -title: "Multi-agent motion planning and coordination in polygonal environments using vector fields and model predictive control." -date: 2016-01-01 -venue: "ECC" -authors: - - Rashmi Hegde - - dimitrapanagou link: https://doi.org/10.1109/ECC.2016.7810561 -bib: |- - @inproceedings{DBLP:conf/eucc/HegdeP16, - author = {Rashmi Hegde and - Dimitra Panagou}, - title = {Multi-agent motion planning and coordination in polygonal environments - using vector fields and model predictive control}, - booktitle = {15th European Control Conference, {ECC} 2016, Aalborg, Denmark, June - 29 - July 1, 2016}, - pages = {1856--1861}, - publisher = {{IEEE}}, - year = {2016}, - url = {https://doi.org/10.1109/ECC.2016.7810561}, - doi = {10.1109/ECC.2016.7810561}, - timestamp = {Tue, 01 Jun 2021 15:22:59 +0200}, - biburl = {https://dblp.org/rec/conf/eucc/HegdeP16.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Multi-agent motion planning and coordination in polygonal environments using + vector fields and model predictive control. +venue: ECC --- diff --git a/content/papers/2016/2016-panagou-distributed_coordination_control_for_multi_robot_networks_using_lyapunov_like_barrier_functions.md b/content/papers/2016/2016-panagou-distributed_coordination_control_for_multi_robot_networks_using_lyapunov_like_barrier_functions.md index b0dcff3..ab90121 100644 --- a/content/papers/2016/2016-panagou-distributed_coordination_control_for_multi_robot_networks_using_lyapunov_like_barrier_functions.md +++ b/content/papers/2016/2016-panagou-distributed_coordination_control_for_multi_robot_networks_using_lyapunov_like_barrier_functions.md @@ -1,32 +1,38 @@ --- +abstract: This paper addresses the problem of multi-agent coordination and control + under multiple objectives, and presents a set-theoretic formulation amenable to + Lyapunov-based analysis and control design. A novel class of Lyapunov-like barrier + functions is introduced and used to encode multiple, non-trivial control objectives, + such as collision avoidance, proximity maintenance and convergence to desired destinations. + The construction is based on recentered barrier functions and on maximum approximation + functions. Thus, a single Lyapunov-like function is used to encode the constrained + set of each agent, yielding simple, gradient-based control solutions. The derived + control strategies are distributed, i.e., based on information locally available + to each agent, which is dictated by sensing and communication limitations. Furthermore, + the proposed coordination protocol dictates semi-cooperative conflict resolution + among agents, which can be also thought as prioritization, as well as conflict resolution + with respect to an agent (the leader) which is not actively participating in collision + avoidance, except when necessary. The considered scenario is pertinent to surveillance + tasks and involves nonholonomic vehicles. The efficacy of the approach is demonstrated + through simulation results. +authors: +- dimitrapanagou +- Dusan M. Stipanovic +- Petros G. Voulgaris +bib: "@article{DBLP:journals/tac/PanagouSV16,\n author = {Dimitra Panagou and\n\ + \ Dusan M. Stipanovic and\n Petros G. Voulgaris},\n\ + \ title = {Distributed Coordination Control for Multi-Robot Networks Using\ + \ Lyapunov-Like\n Barrier Functions},\n journal = {{IEEE}\ + \ Trans. Autom. Control.},\n volume = {61},\n number = {3},\n pages\ + \ = {617--632},\n year = {2016},\n url = {https://doi.org/10.1109/TAC.2015.2444131},\n\ + \ doi = {10.1109/TAC.2015.2444131},\n timestamp = {Tue, 21 Mar 2023\ + \ 21:12:59 +0100},\n biburl = {https://dblp.org/rec/journals/tac/PanagouSV16.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2016-01-01 key: journals/tac/PanagouSV16 layout: papers -title: "Distributed Coordination Control for Multi-Robot Networks Using Lyapunov-Like Barrier Functions." -date: 2016-01-01 -venue: "IEEE Trans. Autom. Control." -authors: - - dimitrapanagou - - Dusan M. Stipanovic - - Petros G. Voulgaris link: https://doi.org/10.1109/TAC.2015.2444131 -bib: |- - @article{DBLP:journals/tac/PanagouSV16, - author = {Dimitra Panagou and - Dusan M. Stipanovic and - Petros G. Voulgaris}, - title = {Distributed Coordination Control for Multi-Robot Networks Using Lyapunov-Like - Barrier Functions}, - journal = {{IEEE} Trans. Autom. Control.}, - volume = {61}, - number = {3}, - pages = {617--632}, - year = {2016}, - url = {https://doi.org/10.1109/TAC.2015.2444131}, - doi = {10.1109/TAC.2015.2444131}, - timestamp = {Tue, 21 Mar 2023 21:12:59 +0100}, - biburl = {https://dblp.org/rec/journals/tac/PanagouSV16.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Distributed Coordination Control for Multi-Robot Networks Using Lyapunov-Like + Barrier Functions. +venue: IEEE Trans. Autom. Control. --- diff --git a/content/papers/2017/2017-bentz-persistent_coverage_of_a_two_dimensional_manifold_subject_to_time_varying_disturbances.md b/content/papers/2017/2017-bentz-persistent_coverage_of_a_two_dimensional_manifold_subject_to_time_varying_disturbances.md index c0c25ab..0ac0926 100644 --- a/content/papers/2017/2017-bentz-persistent_coverage_of_a_two_dimensional_manifold_subject_to_time_varying_disturbances.md +++ b/content/papers/2017/2017-bentz-persistent_coverage_of_a_two_dimensional_manifold_subject_to_time_varying_disturbances.md @@ -1,30 +1,29 @@ --- +abstract: This paper presents a persistent coverage algorithm for multiple agents + subject to 3-D rigid body kinematics. Each agent uses a forward-facing sensing footprint, + modeled as an anisotropic spherical sector, to cover a 2-D manifold. The manifold + is subject to continual collisions by high speed particles. Particle trajectories + are estimated online with an extended Kalman filter using noisy spherical coordinate + position measurements. Predicted impact points for each particle, along with associated + covariances, are used to generate normally distributed coverage decay. This directs + agents to explore in the vicinity of both future and past impact points. The efficacy + of the algorithm is demonstrated through simulation. +authors: +- William Bentz +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/cdc/BentzP17,\n author = {William Bentz and\n\ + \ Dimitra Panagou},\n title = {Persistent coverage of a\ + \ two-dimensional manifold subject to time-varying\n disturbances},\n\ + \ booktitle = {56th {IEEE} Annual Conference on Decision and Control, {CDC}\ + \ 2017,\n Melbourne, Australia, December 12-15, 2017},\n pages\ + \ = {387--392},\n publisher = {{IEEE}},\n year = {2017},\n \ + \ url = {https://doi.org/10.1109/CDC.2017.8263695},\n doi = {10.1109/CDC.2017.8263695},\n\ + \ timestamp = {Fri, 04 Mar 2022 13:29:55 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/BentzP17.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2017-01-01 key: conf/cdc/BentzP17 layout: papers -title: "Persistent coverage of a two-dimensional manifold subject to time-varying disturbances." -date: 2017-01-01 -venue: "CDC" -authors: - - William Bentz - - dimitrapanagou link: https://doi.org/10.1109/CDC.2017.8263695 -bib: |- - @inproceedings{DBLP:conf/cdc/BentzP17, - author = {William Bentz and - Dimitra Panagou}, - title = {Persistent coverage of a two-dimensional manifold subject to time-varying - disturbances}, - booktitle = {56th {IEEE} Annual Conference on Decision and Control, {CDC} 2017, - Melbourne, Australia, December 12-15, 2017}, - pages = {387--392}, - publisher = {{IEEE}}, - year = {2017}, - url = {https://doi.org/10.1109/CDC.2017.8263695}, - doi = {10.1109/CDC.2017.8263695}, - timestamp = {Fri, 04 Mar 2022 13:29:55 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/BentzP17.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Persistent coverage of a two-dimensional manifold subject to time-varying disturbances. +venue: CDC --- diff --git a/content/papers/2017/2017-coon-control_strategies_for_multiplayer_target_attacker_defender_differential_games_with_double_integrator_dynamics.md b/content/papers/2017/2017-coon-control_strategies_for_multiplayer_target_attacker_defender_differential_games_with_double_integrator_dynamics.md index d710de3..0d88524 100644 --- a/content/papers/2017/2017-coon-control_strategies_for_multiplayer_target_attacker_defender_differential_games_with_double_integrator_dynamics.md +++ b/content/papers/2017/2017-coon-control_strategies_for_multiplayer_target_attacker_defender_differential_games_with_double_integrator_dynamics.md @@ -1,30 +1,36 @@ --- +abstract: This paper presents a method for deriving optimal controls and assigning + attacker-defender pairs in a target-attacker-defender differential game between + an arbitrary numbers of attackers and defenders, all of which are modeled using + double integrator dynamics. It is assumed that each player has perfect information + about the states and controls of the players within a certain range of themselves, + but they are unaware of any players outside of this range. Isochrones are created + based on the time-optimal trajectories needed for the players to reach any point + in the shortest possible time. The intersections of the players' isochrones are + used to determine whether a defender can intercept an attacker before the attacker + reaches the target. Sufficient conditions on the detection range of the defenders + and the guaranteed capture despite perturbations of the attackers off the nominal + trajectories are derived. Then, in simulations with multiple players, attacker-defender + pairs are assigned so that the maximum number of attackers are intercepted in the + shortest possible time. +authors: +- Mitchell Coon +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/cdc/CoonP17,\n author = {Mitchell Coon and\n\ + \ Dimitra Panagou},\n title = {Control strategies for multiplayer\ + \ target-attacker-defender differential\n games with double integrator\ + \ dynamics},\n booktitle = {56th {IEEE} Annual Conference on Decision and Control,\ + \ {CDC} 2017,\n Melbourne, Australia, December 12-15, 2017},\n\ + \ pages = {1496--1502},\n publisher = {{IEEE}},\n year = {2017},\n\ + \ url = {https://doi.org/10.1109/CDC.2017.8263864},\n doi =\ + \ {10.1109/CDC.2017.8263864},\n timestamp = {Fri, 04 Mar 2022 13:29:55 +0100},\n\ + \ biburl = {https://dblp.org/rec/conf/cdc/CoonP17.bib},\n bibsource =\ + \ {dblp computer science bibliography, https://dblp.org}\n}" +date: 2017-01-01 key: conf/cdc/CoonP17 layout: papers -title: "Control strategies for multiplayer target-attacker-defender differential games with double integrator dynamics." -date: 2017-01-01 -venue: "CDC" -authors: - - Mitchell Coon - - dimitrapanagou link: https://doi.org/10.1109/CDC.2017.8263864 -bib: |- - @inproceedings{DBLP:conf/cdc/CoonP17, - author = {Mitchell Coon and - Dimitra Panagou}, - title = {Control strategies for multiplayer target-attacker-defender differential - games with double integrator dynamics}, - booktitle = {56th {IEEE} Annual Conference on Decision and Control, {CDC} 2017, - Melbourne, Australia, December 12-15, 2017}, - pages = {1496--1502}, - publisher = {{IEEE}}, - year = {2017}, - url = {https://doi.org/10.1109/CDC.2017.8263864}, - doi = {10.1109/CDC.2017.8263864}, - timestamp = {Fri, 04 Mar 2022 13:29:55 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/CoonP17.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Control strategies for multiplayer target-attacker-defender differential games + with double integrator dynamics. +venue: CDC --- diff --git a/content/papers/2017/2017-garg-robust_semi_cooperative_multi_agent_coordination_in_the_presence_of_stochastic_disturbances.md b/content/papers/2017/2017-garg-robust_semi_cooperative_multi_agent_coordination_in_the_presence_of_stochastic_disturbances.md index 60030ae..ddeef21 100644 --- a/content/papers/2017/2017-garg-robust_semi_cooperative_multi_agent_coordination_in_the_presence_of_stochastic_disturbances.md +++ b/content/papers/2017/2017-garg-robust_semi_cooperative_multi_agent_coordination_in_the_presence_of_stochastic_disturbances.md @@ -1,32 +1,30 @@ --- +abstract: This paper presents a robust distributed coordination protocol that achieves + generation of collision-free trajectories for multiple unicycle agents in the presence + of stochastic uncertainties. We build upon our earlier work on semi-cooperative + coordination and we redesign the coordination controllers so that the agents counteract + a class of state (wind) disturbances and measurement noise. Safety and convergence + is proved analytically, while simulation results demonstrate the efficacy of the + proposed solution. +authors: +- Kunal Garg +- Dongkun Han +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/cdc/GargHP17,\n author = {Kunal Garg and\n \ + \ Dongkun Han and\n Dimitra Panagou},\n title\ + \ = {Robust semi-cooperative multi-agent coordination in the presence of\n\ + \ stochastic disturbances},\n booktitle = {56th {IEEE} Annual\ + \ Conference on Decision and Control, {CDC} 2017,\n Melbourne,\ + \ Australia, December 12-15, 2017},\n pages = {3443--3448},\n publisher\ + \ = {{IEEE}},\n year = {2017},\n url = {https://doi.org/10.1109/CDC.2017.8264163},\n\ + \ doi = {10.1109/CDC.2017.8264163},\n timestamp = {Fri, 04 Mar 2022\ + \ 13:29:55 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/GargHP17.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2017-01-01 key: conf/cdc/GargHP17 layout: papers -title: "Robust semi-cooperative multi-agent coordination in the presence of stochastic disturbances." -date: 2017-01-01 -venue: "CDC" -authors: - - Kunal Garg - - Dongkun Han - - dimitrapanagou link: https://doi.org/10.1109/CDC.2017.8264163 -bib: |- - @inproceedings{DBLP:conf/cdc/GargHP17, - author = {Kunal Garg and - Dongkun Han and - Dimitra Panagou}, - title = {Robust semi-cooperative multi-agent coordination in the presence of - stochastic disturbances}, - booktitle = {56th {IEEE} Annual Conference on Decision and Control, {CDC} 2017, - Melbourne, Australia, December 12-15, 2017}, - pages = {3443--3448}, - publisher = {{IEEE}}, - year = {2017}, - url = {https://doi.org/10.1109/CDC.2017.8264163}, - doi = {10.1109/CDC.2017.8264163}, - timestamp = {Fri, 04 Mar 2022 13:29:55 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/GargHP17.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Robust semi-cooperative multi-agent coordination in the presence of stochastic + disturbances. +venue: CDC --- diff --git a/content/papers/2017/2017-han-chebyshev_approximation_and_higher_order_derivatives_of_lyapunov_functions_for_estimating_the_domain_of_attraction.md b/content/papers/2017/2017-han-chebyshev_approximation_and_higher_order_derivatives_of_lyapunov_functions_for_estimating_the_domain_of_attraction.md index 1feade4..7fc0384 100644 --- a/content/papers/2017/2017-han-chebyshev_approximation_and_higher_order_derivatives_of_lyapunov_functions_for_estimating_the_domain_of_attraction.md +++ b/content/papers/2017/2017-han-chebyshev_approximation_and_higher_order_derivatives_of_lyapunov_functions_for_estimating_the_domain_of_attraction.md @@ -1,30 +1,34 @@ --- +abstract: Estimating the Domain of Attraction (DA) of non-polynomial systems is a + challenging problem. Taylor expansion is widely adopted for transforming a nonlinear + analytic function into a polynomial function, but the performance of Taylor expansion + is not always satisfactory. This paper provides solvable ways for estimating the + DA via Chebyshev approximation. Firstly, for Chebyshev approximation without the + remainder, higher order derivatives of Lyapunov functions are used for estimating + the DA, and the largest estimate is obtained by solving a generalized eigenvalue + problem. Moreover, for Chebyshev approximation with the remainder, an uncertain + polynomial system is reformulated, and a condition is proposed for ensuring the + convergence to the largest estimate with a selected Lyapunov function. Numerical + examples demonstrate that both accuracy and efficiency are improved compared to + Taylor approximation. +authors: +- Dongkun Han +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/cdc/HanP17a,\n author = {Dongkun Han and\n \ + \ Dimitra Panagou},\n title = {Chebyshev approximation and\ + \ higher order derivatives of Lyapunov functions\n for estimating\ + \ the domain of attraction},\n booktitle = {56th {IEEE} Annual Conference on\ + \ Decision and Control, {CDC} 2017,\n Melbourne, Australia, December\ + \ 12-15, 2017},\n pages = {1181--1186},\n publisher = {{IEEE}},\n year\ + \ = {2017},\n url = {https://doi.org/10.1109/CDC.2017.8263816},\n\ + \ doi = {10.1109/CDC.2017.8263816},\n timestamp = {Fri, 04 Mar 2022\ + \ 13:29:55 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/HanP17a.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2017-01-01 key: conf/cdc/HanP17a layout: papers -title: "Chebyshev approximation and higher order derivatives of Lyapunov functions for estimating the domain of attraction." -date: 2017-01-01 -venue: "CDC" -authors: - - Dongkun Han - - dimitrapanagou link: https://doi.org/10.1109/CDC.2017.8263816 -bib: |- - @inproceedings{DBLP:conf/cdc/HanP17a, - author = {Dongkun Han and - Dimitra Panagou}, - title = {Chebyshev approximation and higher order derivatives of Lyapunov functions - for estimating the domain of attraction}, - booktitle = {56th {IEEE} Annual Conference on Decision and Control, {CDC} 2017, - Melbourne, Australia, December 12-15, 2017}, - pages = {1181--1186}, - publisher = {{IEEE}}, - year = {2017}, - url = {https://doi.org/10.1109/CDC.2017.8263816}, - doi = {10.1109/CDC.2017.8263816}, - timestamp = {Fri, 04 Mar 2022 13:29:55 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/HanP17a.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Chebyshev approximation and higher order derivatives of Lyapunov functions + for estimating the domain of attraction. +venue: CDC --- diff --git a/content/papers/2017/2017-han-distributed_multi_task_formation_control_under_parametric_communication_uncertainties.md b/content/papers/2017/2017-han-distributed_multi_task_formation_control_under_parametric_communication_uncertainties.md index 3548b0a..1141cfc 100644 --- a/content/papers/2017/2017-han-distributed_multi_task_formation_control_under_parametric_communication_uncertainties.md +++ b/content/papers/2017/2017-han-distributed_multi_task_formation_control_under_parametric_communication_uncertainties.md @@ -1,30 +1,31 @@ --- +abstract: Formation control is a key problem in the coordination of multiple agents. + It arises new challenges to traditional formation control strategy when the communication + among agents is affected by uncertainties. This paper considers the robust multi-task + formation control problem of multiple nonpoint agents whose communications are disturbed + by uncertain parameters. The control objectives include 1. achieving the desired + configuration; 2. avoiding collisions; 3. preserving the connectedness of uncertain + topology. To achieve these objectives, first, a condition of Linear Matrix Inequalities + (LMIs) is proposed for checking the connectedness of uncertain topologies. Then, + by preserving the initial topological connectedness, a gradient-based distributed + controller is designed via Lyapunov-like barrier functions. Two numerical examples + illustrate the effectiveness of the proposed method. +authors: +- Dongkun Han +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/cdc/HanP17,\n author = {Dongkun Han and\n \ + \ Dimitra Panagou},\n title = {Distributed multi-task formation\ + \ control under parametric communication\n uncertainties},\n booktitle\ + \ = {56th {IEEE} Annual Conference on Decision and Control, {CDC} 2017,\n \ + \ Melbourne, Australia, December 12-15, 2017},\n pages = {405--410},\n\ + \ publisher = {{IEEE}},\n year = {2017},\n url = {https://doi.org/10.1109/CDC.2017.8263698},\n\ + \ doi = {10.1109/CDC.2017.8263698},\n timestamp = {Fri, 04 Mar 2022\ + \ 13:29:55 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/HanP17.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2017-01-01 key: conf/cdc/HanP17 layout: papers -title: "Distributed multi-task formation control under parametric communication uncertainties." -date: 2017-01-01 -venue: "CDC" -authors: - - Dongkun Han - - dimitrapanagou link: https://doi.org/10.1109/CDC.2017.8263698 -bib: |- - @inproceedings{DBLP:conf/cdc/HanP17, - author = {Dongkun Han and - Dimitra Panagou}, - title = {Distributed multi-task formation control under parametric communication - uncertainties}, - booktitle = {56th {IEEE} Annual Conference on Decision and Control, {CDC} 2017, - Melbourne, Australia, December 12-15, 2017}, - pages = {405--410}, - publisher = {{IEEE}}, - year = {2017}, - url = {https://doi.org/10.1109/CDC.2017.8263698}, - doi = {10.1109/CDC.2017.8263698}, - timestamp = {Fri, 04 Mar 2022 13:29:55 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/HanP17.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Distributed multi-task formation control under parametric communication uncertainties. +venue: CDC --- diff --git a/content/papers/2017/2017-hoang-vision_based_target_tracking_and_autonomous_landing_of_a_quadrotor_on_a_ground_vehicle.md b/content/papers/2017/2017-hoang-vision_based_target_tracking_and_autonomous_landing_of_a_quadrotor_on_a_ground_vehicle.md index a2a8e8e..e1dbf67 100644 --- a/content/papers/2017/2017-hoang-vision_based_target_tracking_and_autonomous_landing_of_a_quadrotor_on_a_ground_vehicle.md +++ b/content/papers/2017/2017-hoang-vision_based_target_tracking_and_autonomous_landing_of_a_quadrotor_on_a_ground_vehicle.md @@ -1,36 +1,35 @@ --- +abstract: This paper addresses vision-based tracking and landing of a micro-aerial + vehicle (MAV) on a ground vehicle (GV). The camera onboard the MAV is mounted so + that the optical axis is aligned with the downward-facing axis of the body-fixed + frame. A novel supervised learning vision algorithm is proposed as the method to + detect the ground vehicle in the image frame. A feedback linearization technique + is developed for the MAV to fly over and track the GV so that visibility with the + tracked target is maintained with certain guarantees. The efficacy of the visual + detection algorithm, and of the tracking and landing controller is demonstrated + in simulations and experiments with static and mobile GV. +authors: +- Tru Hoang +- Enkhmurun Bayasgalan +- Ziyin Wang +- Gavriil Tsechpenakis +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/amcc/HoangBWTP17,\n author = {Tru Hoang and\n\ + \ Enkhmurun Bayasgalan and\n Ziyin Wang and\n\ + \ Gavriil Tsechpenakis and\n Dimitra Panagou},\n\ + \ title = {Vision-based target tracking and autonomous landing of a quadrotor\n\ + \ on a ground vehicle},\n booktitle = {2017 American Control\ + \ Conference, {ACC} 2017, Seattle, WA, USA, May\n 24-26, 2017},\n\ + \ pages = {5580--5585},\n publisher = {{IEEE}},\n year = {2017},\n\ + \ url = {https://doi.org/10.23919/ACC.2017.7963823},\n doi =\ + \ {10.23919/ACC.2017.7963823},\n timestamp = {Fri, 03 Dec 2021 13:04:31 +0100},\n\ + \ biburl = {https://dblp.org/rec/conf/amcc/HoangBWTP17.bib},\n bibsource\ + \ = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2017-01-01 key: conf/amcc/HoangBWTP17 layout: papers -title: "Vision-based target tracking and autonomous landing of a quadrotor on a ground vehicle." -date: 2017-01-01 -venue: "ACC" -authors: - - Tru Hoang - - Enkhmurun Bayasgalan - - Ziyin Wang - - Gavriil Tsechpenakis - - dimitrapanagou link: https://doi.org/10.23919/ACC.2017.7963823 -bib: |- - @inproceedings{DBLP:conf/amcc/HoangBWTP17, - author = {Tru Hoang and - Enkhmurun Bayasgalan and - Ziyin Wang and - Gavriil Tsechpenakis and - Dimitra Panagou}, - title = {Vision-based target tracking and autonomous landing of a quadrotor - on a ground vehicle}, - booktitle = {2017 American Control Conference, {ACC} 2017, Seattle, WA, USA, May - 24-26, 2017}, - pages = {5580--5585}, - publisher = {{IEEE}}, - year = {2017}, - url = {https://doi.org/10.23919/ACC.2017.7963823}, - doi = {10.23919/ACC.2017.7963823}, - timestamp = {Fri, 03 Dec 2021 13:04:31 +0100}, - biburl = {https://dblp.org/rec/conf/amcc/HoangBWTP17.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Vision-based target tracking and autonomous landing of a quadrotor on a ground + vehicle. +venue: ACC --- diff --git a/content/papers/2017/2017-huang-automated_turning_and_merging_for_autonomous_vehicles_using_a_nonlinear_model_predictive_control_approach.md b/content/papers/2017/2017-huang-automated_turning_and_merging_for_autonomous_vehicles_using_a_nonlinear_model_predictive_control_approach.md index b2c4b67..481bd52 100644 --- a/content/papers/2017/2017-huang-automated_turning_and_merging_for_autonomous_vehicles_using_a_nonlinear_model_predictive_control_approach.md +++ b/content/papers/2017/2017-huang-automated_turning_and_merging_for_autonomous_vehicles_using_a_nonlinear_model_predictive_control_approach.md @@ -1,30 +1,34 @@ --- +abstract: Accidents at intersections are highly related to the driver's misdecision + while performing turning and merging maneuvers. This paper proposes a merging/turning + controller for an automated vehicle, called the ego vehicle, which avoids collisions + with surrounding (target) vehicles. An optimization-based control problem is defined + based on receding horizon control, that parameterizes the system trajectory with + the control input and employs a nonlinear model on the ego vehicle dynamics. Most + existing solutions focus on 1-D (longitudinal) motion for the vehicles. In this + paper, the 2-D motion of the turning/merging vehicle is considered instead. The + intersection is modeled under realistic traffic conditions, a probabilistic model + is used to predict the trajectories of the target vehicles, and is integrated within + a novel collision avoidance model. These models allow our controller to perform + both line following when turning/merging, and collision avoidance, while simulations + of several scenarios validate its performance. +authors: +- Lixing Huang +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/amcc/HuangP17a,\n author = {Lixing Huang and\n\ + \ Dimitra Panagou},\n title = {Automated turning and merging\ + \ for autonomous vehicles using a Nonlinear\n Model Predictive\ + \ Control approach},\n booktitle = {2017 American Control Conference, {ACC}\ + \ 2017, Seattle, WA, USA, May\n 24-26, 2017},\n pages =\ + \ {5525--5531},\n publisher = {{IEEE}},\n year = {2017},\n url \ + \ = {https://doi.org/10.23919/ACC.2017.7963814},\n doi = {10.23919/ACC.2017.7963814},\n\ + \ timestamp = {Fri, 03 Dec 2021 13:04:31 +0100},\n biburl = {https://dblp.org/rec/conf/amcc/HuangP17a.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2017-01-01 key: conf/amcc/HuangP17a layout: papers -title: "Automated turning and merging for autonomous vehicles using a Nonlinear Model Predictive Control approach." -date: 2017-01-01 -venue: "ACC" -authors: - - Lixing Huang - - dimitrapanagou link: https://doi.org/10.23919/ACC.2017.7963814 -bib: |- - @inproceedings{DBLP:conf/amcc/HuangP17a, - author = {Lixing Huang and - Dimitra Panagou}, - title = {Automated turning and merging for autonomous vehicles using a Nonlinear - Model Predictive Control approach}, - booktitle = {2017 American Control Conference, {ACC} 2017, Seattle, WA, USA, May - 24-26, 2017}, - pages = {5525--5531}, - publisher = {{IEEE}}, - year = {2017}, - url = {https://doi.org/10.23919/ACC.2017.7963814}, - doi = {10.23919/ACC.2017.7963814}, - timestamp = {Fri, 03 Dec 2021 13:04:31 +0100}, - biburl = {https://dblp.org/rec/conf/amcc/HuangP17a.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Automated turning and merging for autonomous vehicles using a Nonlinear Model + Predictive Control approach. +venue: ACC --- diff --git a/content/papers/2017/2017-panagou-a_distributed_feedback_motion_planning_protocol_for_multiple_unicycle_agents_of_different_classes.md b/content/papers/2017/2017-panagou-a_distributed_feedback_motion_planning_protocol_for_multiple_unicycle_agents_of_different_classes.md index e26e50a..e0402cd 100644 --- a/content/papers/2017/2017-panagou-a_distributed_feedback_motion_planning_protocol_for_multiple_unicycle_agents_of_different_classes.md +++ b/content/papers/2017/2017-panagou-a_distributed_feedback_motion_planning_protocol_for_multiple_unicycle_agents_of_different_classes.md @@ -1,28 +1,42 @@ --- +abstract: This paper presents a novel feedback method for the motion planning and + coordination of multiple agents that belong to two classes, namely class-A and class-B. + All agents are modeled via unicycle kinematics. Agents of class-B do not share information + with agents of class-A and do not participate in ensuring safety, modeling thus + agents with failed sensing/communication systems, agents of higher priority, or + moving obstacles with known upper bounded velocity. The method is built upon a family + of 2-D analytic vector fields, which under mild assumptions are proved to be safe + feedback motion plans with a unique stable singular point. The conditions which + ensure collision free and almost global convergence for a single agent and the analytical + form of the vector fields are then utilized in the design the proposed distributed, + semi-cooperative multi-agent coordination protocol. Semi-cooperative coordination + has been defined in prior work as the ad hoc prioritization and conflict resolution + among agents of the same class; more specifically, participation in conflict resolution + and collision avoidance for each agent is determined on-the-fly based on whether + the agent's motion results in decreasing its distance with respect to its neighbor + agents; based on this condition, the agent decides to either ignore its neighbors, + or adjust its velocity and avoid the neighbor agent with respect to which the rate + of decrease of the pairwise inter agent distance is maximal. The proposed coordination + protocol builds upon this logic and addresses the case of multiple agents of distinct + classes (class-A and class-B) in conflict. Guarantees on the safety of the multi-agent + system and the almost global convergence of the agents to their destinations are + proved. The efficacy of the proposed methodology is demonstrated via simulation + results in static and dynamic environments. +authors: +- dimitrapanagou +bib: "@article{DBLP:journals/tac/Panagou17,\n author = {Dimitra Panagou},\n\ + \ title = {A Distributed Feedback Motion Planning Protocol for Multiple\ + \ Unicycle\n Agents of Different Classes},\n journal = {{IEEE}\ + \ Trans. Autom. Control.},\n volume = {62},\n number = {3},\n pages\ + \ = {1178--1193},\n year = {2017},\n url = {https://doi.org/10.1109/TAC.2016.2576020},\n\ + \ doi = {10.1109/TAC.2016.2576020},\n timestamp = {Wed, 20 May 2020\ + \ 21:27:50 +0200},\n biburl = {https://dblp.org/rec/journals/tac/Panagou17.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2017-01-01 key: journals/tac/Panagou17 layout: papers -title: "A Distributed Feedback Motion Planning Protocol for Multiple Unicycle Agents of Different Classes." -date: 2017-01-01 -venue: "IEEE Trans. Autom. Control." -authors: - - dimitrapanagou link: https://doi.org/10.1109/TAC.2016.2576020 -bib: |- - @article{DBLP:journals/tac/Panagou17, - author = {Dimitra Panagou}, - title = {A Distributed Feedback Motion Planning Protocol for Multiple Unicycle - Agents of Different Classes}, - journal = {{IEEE} Trans. Autom. Control.}, - volume = {62}, - number = {3}, - pages = {1178--1193}, - year = {2017}, - url = {https://doi.org/10.1109/TAC.2016.2576020}, - doi = {10.1109/TAC.2016.2576020}, - timestamp = {Wed, 20 May 2020 21:27:50 +0200}, - biburl = {https://dblp.org/rec/journals/tac/Panagou17.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: A Distributed Feedback Motion Planning Protocol for Multiple Unicycle Agents + of Different Classes. +venue: IEEE Trans. Autom. Control. --- diff --git a/content/papers/2017/2017-panagou-distributed_dynamic_coverage_and_avoidance_control_under_anisotropic_sensing.md b/content/papers/2017/2017-panagou-distributed_dynamic_coverage_and_avoidance_control_under_anisotropic_sensing.md index 1c535bb..9b51295 100644 --- a/content/papers/2017/2017-panagou-distributed_dynamic_coverage_and_avoidance_control_under_anisotropic_sensing.md +++ b/content/papers/2017/2017-panagou-distributed_dynamic_coverage_and_avoidance_control_under_anisotropic_sensing.md @@ -1,32 +1,32 @@ --- +abstract: This paper addresses dynamic coverage in multi-agent systems along with + certain safety and convergence guarantees. We consider anisotropic sensing for each + agent, realized as conical sensing footprints and coverage functionals. This modeling + results in asymmetric (directed) interactions among agents, in the sense that connected + agents may either all be in the same mode (avoidance) or in different modes (avoidance + and coverage). We build local and global coverage strategies which force the agents + to collaboratively search a domain of interest, and avoidance strategies which waive + the assumption on only pairwise interactions among agents. The proposed approach + is suitable for surveillance applications where agents explore and gather sufficient + information about an environment. The efficacy of the approach is demonstrated through + simulation results. +authors: +- dimitrapanagou +- Dusan M. Stipanovic +- Petros G. Voulgaris +bib: "@article{DBLP:journals/tcns/PanagouSV17,\n author = {Dimitra Panagou\ + \ and\n Dusan M. Stipanovic and\n Petros G. Voulgaris},\n\ + \ title = {Distributed Dynamic Coverage and Avoidance Control Under Anisotropic\n\ + \ Sensing},\n journal = {{IEEE} Trans. Control. Netw. Syst.},\n\ + \ volume = {4},\n number = {4},\n pages = {850--862},\n year\ + \ = {2017},\n url = {https://doi.org/10.1109/TCNS.2016.2576403},\n\ + \ doi = {10.1109/TCNS.2016.2576403},\n timestamp = {Tue, 21 Mar 2023\ + \ 21:14:27 +0100},\n biburl = {https://dblp.org/rec/journals/tcns/PanagouSV17.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2017-01-01 key: journals/tcns/PanagouSV17 layout: papers -title: "Distributed Dynamic Coverage and Avoidance Control Under Anisotropic Sensing." -date: 2017-01-01 -venue: "IEEE Trans. Control. Netw. Syst." -authors: - - dimitrapanagou - - Dusan M. Stipanovic - - Petros G. Voulgaris link: https://doi.org/10.1109/TCNS.2016.2576403 -bib: |- - @article{DBLP:journals/tcns/PanagouSV17, - author = {Dimitra Panagou and - Dusan M. Stipanovic and - Petros G. Voulgaris}, - title = {Distributed Dynamic Coverage and Avoidance Control Under Anisotropic - Sensing}, - journal = {{IEEE} Trans. Control. Netw. Syst.}, - volume = {4}, - number = {4}, - pages = {850--862}, - year = {2017}, - url = {https://doi.org/10.1109/TCNS.2016.2576403}, - doi = {10.1109/TCNS.2016.2576403}, - timestamp = {Tue, 21 Mar 2023 21:14:27 +0100}, - biburl = {https://dblp.org/rec/journals/tcns/PanagouSV17.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Distributed Dynamic Coverage and Avoidance Control Under Anisotropic Sensing. +venue: IEEE Trans. Control. Netw. Syst. --- diff --git a/content/papers/2017/2017-usevitch-r_robustness_and_r_s_robustness_of_circulant_graphs.md b/content/papers/2017/2017-usevitch-r_robustness_and_r_s_robustness_of_circulant_graphs.md index 0ed9659..01814f8 100644 --- a/content/papers/2017/2017-usevitch-r_robustness_and_r_s_robustness_of_circulant_graphs.md +++ b/content/papers/2017/2017-usevitch-r_robustness_and_r_s_robustness_of_circulant_graphs.md @@ -1,29 +1,30 @@ --- +abstract: There has been recent growing interest in graph theoretical properties known + as r- and (r, s) -robustness. These properties serve as sufficient conditions guaranteeing + the success of certain consensus algorithms in networks with misbehaving agents + present. Due to the complexity of determining the robustness for an arbitrary graph, + several methods have previously been proposed for identifying the robustness of + specific classes of graphs or constructing graphs with specified robustness levels. + The majority of such approaches have focused on undirected graphs. In this paper + we identify a class of scalable directed graphs whose edge set is determined by + a parameter k and prove that the robustness of these graphs is also determined by + k. We support our results through computer simulations. +authors: +- James Usevitch +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/cdc/UsevitchP17,\n author = {James Usevitch\ + \ and\n Dimitra Panagou},\n title = {r-Robustness and (r,\ + \ s)-robustness of circulant graphs},\n booktitle = {56th {IEEE} Annual Conference\ + \ on Decision and Control, {CDC} 2017,\n Melbourne, Australia,\ + \ December 12-15, 2017},\n pages = {4416--4421},\n publisher = {{IEEE}},\n\ + \ year = {2017},\n url = {https://doi.org/10.1109/CDC.2017.8264310},\n\ + \ doi = {10.1109/CDC.2017.8264310},\n timestamp = {Fri, 04 Mar 2022\ + \ 13:29:55 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/UsevitchP17.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2017-01-01 key: conf/cdc/UsevitchP17 layout: papers -title: "r-Robustness and (r, s)-robustness of circulant graphs." -date: 2017-01-01 -venue: "CDC" -authors: - - James Usevitch - - dimitrapanagou link: https://doi.org/10.1109/CDC.2017.8264310 -bib: |- - @inproceedings{DBLP:conf/cdc/UsevitchP17, - author = {James Usevitch and - Dimitra Panagou}, - title = {r-Robustness and (r, s)-robustness of circulant graphs}, - booktitle = {56th {IEEE} Annual Conference on Decision and Control, {CDC} 2017, - Melbourne, Australia, December 12-15, 2017}, - pages = {4416--4421}, - publisher = {{IEEE}}, - year = {2017}, - url = {https://doi.org/10.1109/CDC.2017.8264310}, - doi = {10.1109/CDC.2017.8264310}, - timestamp = {Fri, 04 Mar 2022 13:29:55 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/UsevitchP17.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: r-Robustness and (r, s)-robustness of circulant graphs. +venue: CDC --- diff --git a/content/papers/2018/2018-bentz-bayesian_inferred_flexible_path_generation_in_human_robot_collaborative_networks.md b/content/papers/2018/2018-bentz-bayesian_inferred_flexible_path_generation_in_human_robot_collaborative_networks.md index 9c28fad..5c1f703 100644 --- a/content/papers/2018/2018-bentz-bayesian_inferred_flexible_path_generation_in_human_robot_collaborative_networks.md +++ b/content/papers/2018/2018-bentz-bayesian_inferred_flexible_path_generation_in_human_robot_collaborative_networks.md @@ -1,30 +1,32 @@ --- +abstract: This paper presents a novel method for generating the trajectory of a robot + assisting a human in servicing a set of tasks embedded in a convex 2-D domain. This + method makes use of Bayesian inference to predict human intent in task selection. + Rather than following optimal trajectory towards a single task, the robot computes + a set of potentially optimal tasks each weighted by the human's posterior probability + and superimposes them into a cost function that is designed to minimize the weighted + Euclidean distance relative to set. The effect is a flexible path human-robot collaborative + network that is shown in simulation to complete all tasks in a given domain in less + time than existing methods for a certain class of highly impulsive humans, i.e., + humans that tend to randomly switch tasks at times generated by a Poisson counting + process. The algorithm is also illustrated through an experimental demonstration. +authors: +- William Bentz +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/iros/BentzP18,\n author = {William Bentz and\n\ + \ Dimitra Panagou},\n title = {Bayesian-inferred Flexible\ + \ Path Generation in Human-Robot Collaborative\n Networks},\n \ + \ booktitle = {2018 {IEEE/RSJ} International Conference on Intelligent Robots\ + \ and\n Systems, {IROS} 2018, Madrid, Spain, October 1-5, 2018},\n\ + \ pages = {1816--1822},\n publisher = {{IEEE}},\n year = {2018},\n\ + \ url = {https://doi.org/10.1109/IROS.2018.8593611},\n doi =\ + \ {10.1109/IROS.2018.8593611},\n timestamp = {Wed, 16 Oct 2019 14:14:51 +0200},\n\ + \ biburl = {https://dblp.org/rec/conf/iros/BentzP18.bib},\n bibsource \ + \ = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2018-01-01 key: conf/iros/BentzP18 layout: papers -title: "Bayesian-inferred Flexible Path Generation in Human-Robot Collaborative Networks." -date: 2018-01-01 -venue: "IROS" -authors: - - William Bentz - - dimitrapanagou link: https://doi.org/10.1109/IROS.2018.8593611 -bib: |- - @inproceedings{DBLP:conf/iros/BentzP18, - author = {William Bentz and - Dimitra Panagou}, - title = {Bayesian-inferred Flexible Path Generation in Human-Robot Collaborative - Networks}, - booktitle = {2018 {IEEE/RSJ} International Conference on Intelligent Robots and - Systems, {IROS} 2018, Madrid, Spain, October 1-5, 2018}, - pages = {1816--1822}, - publisher = {{IEEE}}, - year = {2018}, - url = {https://doi.org/10.1109/IROS.2018.8593611}, - doi = {10.1109/IROS.2018.8593611}, - timestamp = {Wed, 16 Oct 2019 14:14:51 +0200}, - biburl = {https://dblp.org/rec/conf/iros/BentzP18.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Bayesian-inferred Flexible Path Generation in Human-Robot Collaborative Networks. +venue: IROS --- diff --git a/content/papers/2018/2018-bentz-complete_d_dynamic_coverage_in_energy_constrained_multi_uav_sensor_networks.md b/content/papers/2018/2018-bentz-complete_d_dynamic_coverage_in_energy_constrained_multi_uav_sensor_networks.md index e56bcc2..7af88ef 100644 --- a/content/papers/2018/2018-bentz-complete_d_dynamic_coverage_in_energy_constrained_multi_uav_sensor_networks.md +++ b/content/papers/2018/2018-bentz-complete_d_dynamic_coverage_in_energy_constrained_multi_uav_sensor_networks.md @@ -1,34 +1,23 @@ --- +abstract: null +authors: +- William Bentz +- Tru Hoang +- Enkhmurun Bayasgalan +- dimitrapanagou +bib: "@article{DBLP:journals/arobots/BentzHBP18,\n author = {William Bentz\ + \ and\n Tru Hoang and\n Enkhmurun Bayasgalan and\n\ + \ Dimitra Panagou},\n title = {Complete 3-D dynamic coverage\ + \ in energy-constrained multi-UAV sensor\n networks},\n journal\ + \ = {Auton. Robots},\n volume = {42},\n number = {4},\n pages\ + \ = {825--851},\n year = {2018},\n url = {https://doi.org/10.1007/s10514-017-9661-x},\n\ + \ doi = {10.1007/S10514-017-9661-X},\n timestamp = {Sat, 17 Mar 2018\ + \ 15:02:27 +0100},\n biburl = {https://dblp.org/rec/journals/arobots/BentzHBP18.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2018-01-01 key: journals/arobots/BentzHBP18 layout: papers -title: "Complete 3-D dynamic coverage in energy-constrained multi-UAV sensor networks." -date: 2018-01-01 -venue: "Auton. Robots" -authors: - - William Bentz - - Tru Hoang - - Enkhmurun Bayasgalan - - dimitrapanagou link: https://doi.org/10.1007/s10514-017-9661-x -bib: |- - @article{DBLP:journals/arobots/BentzHBP18, - author = {William Bentz and - Tru Hoang and - Enkhmurun Bayasgalan and - Dimitra Panagou}, - title = {Complete 3-D dynamic coverage in energy-constrained multi-UAV sensor - networks}, - journal = {Auton. Robots}, - volume = {42}, - number = {4}, - pages = {825--851}, - year = {2018}, - url = {https://doi.org/10.1007/s10514-017-9661-x}, - doi = {10.1007/S10514-017-9661-X}, - timestamp = {Sat, 17 Mar 2018 15:02:27 +0100}, - biburl = {https://dblp.org/rec/journals/arobots/BentzHBP18.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Complete 3-D dynamic coverage in energy-constrained multi-UAV sensor networks. +venue: Auton. Robots --- diff --git a/content/papers/2018/2018-bentz-energy_aware_persistent_coverage_and_intruder_interception_in_d_dynamic_environments.md b/content/papers/2018/2018-bentz-energy_aware_persistent_coverage_and_intruder_interception_in_d_dynamic_environments.md index cc8eb9e..b58aac3 100644 --- a/content/papers/2018/2018-bentz-energy_aware_persistent_coverage_and_intruder_interception_in_d_dynamic_environments.md +++ b/content/papers/2018/2018-bentz-energy_aware_persistent_coverage_and_intruder_interception_in_d_dynamic_environments.md @@ -1,30 +1,30 @@ --- +abstract: This paper considers the persistent coverage of a 2-D manifold that has + been embedded in 3-D space. The manifold is subject to continual collisions by intruders + that are generated with random trajectories. The trajectories of intruders are estimated + online with an extended Kalman filter and their predicted impact points contribute + normally distributed decay terms to the coverage map. A formal hybrid control strategy + is presented that allows for power-constrained 3-D free-flyer agents to persistently + monitor the domain, track and intercept intruders, and periodically deploy from + and return to a single charging station on the manifold. Guarantees on intruder + interception with respect to agent power lifespans are formally proven. The efficacy + of the algorithm is demonstrated through simulation. +authors: +- William Bentz +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/amcc/BentzP18,\n author = {William Bentz and\n\ + \ Dimitra Panagou},\n title = {Energy-aware Persistent\ + \ Coverage and Intruder Interception in 3D Dynamic\n Environments},\n\ + \ booktitle = {2018 Annual American Control Conference, {ACC} 2018, Milwaukee,\ + \ WI,\n USA, June 27-29, 2018},\n pages = {4426--4433},\n\ + \ publisher = {{IEEE}},\n year = {2018},\n url = {https://doi.org/10.23919/ACC.2018.8431191},\n\ + \ doi = {10.23919/ACC.2018.8431191},\n timestamp = {Sun, 08 Aug 2021\ + \ 01:40:57 +0200},\n biburl = {https://dblp.org/rec/conf/amcc/BentzP18.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2018-01-01 key: conf/amcc/BentzP18 layout: papers -title: "Energy-aware Persistent Coverage and Intruder Interception in 3D Dynamic Environments." -date: 2018-01-01 -venue: "ACC" -authors: - - William Bentz - - dimitrapanagou link: https://doi.org/10.23919/ACC.2018.8431191 -bib: |- - @inproceedings{DBLP:conf/amcc/BentzP18, - author = {William Bentz and - Dimitra Panagou}, - title = {Energy-aware Persistent Coverage and Intruder Interception in 3D Dynamic - Environments}, - booktitle = {2018 Annual American Control Conference, {ACC} 2018, Milwaukee, WI, - USA, June 27-29, 2018}, - pages = {4426--4433}, - publisher = {{IEEE}}, - year = {2018}, - url = {https://doi.org/10.23919/ACC.2018.8431191}, - doi = {10.23919/ACC.2018.8431191}, - timestamp = {Sun, 08 Aug 2021 01:40:57 +0200}, - biburl = {https://dblp.org/rec/conf/amcc/BentzP18.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Energy-aware Persistent Coverage and Intruder Interception in 3D Dynamic Environments. +venue: ACC --- diff --git a/content/papers/2018/2018-garg-new_results_on_finite_time_stability_geometric_conditions_and_finite_time_controllers.md b/content/papers/2018/2018-garg-new_results_on_finite_time_stability_geometric_conditions_and_finite_time_controllers.md index 7420c55..bae6521 100644 --- a/content/papers/2018/2018-garg-new_results_on_finite_time_stability_geometric_conditions_and_finite_time_controllers.md +++ b/content/papers/2018/2018-garg-new_results_on_finite_time_stability_geometric_conditions_and_finite_time_controllers.md @@ -1,30 +1,29 @@ --- +abstract: This paper presents novel controllers that yield finite-time stability for + linear systems. We first present a necessary and sufficient condition for the origin + of a scalar system to be finite-time stable. Then we present novel finite-time controllers + based on vector fields and barrier functions to demonstrate the utility of this + geometric condition. We also consider the general class of linear controllable systems, + and present a continuous feedback control law to stabilize the system in finite + time. Finally, we present simulation results for each of these cases, showing the + efficacy of the designed control laws. +authors: +- Kunal Garg +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/amcc/GargP18,\n author = {Kunal Garg and\n \ + \ Dimitra Panagou},\n title = {New Results on Finite-Time\ + \ Stability: Geometric Conditions and Finite-Time\n Controllers},\n\ + \ booktitle = {2018 Annual American Control Conference, {ACC} 2018, Milwaukee,\ + \ WI,\n USA, June 27-29, 2018},\n pages = {442--447},\n\ + \ publisher = {{IEEE}},\n year = {2018},\n url = {https://doi.org/10.23919/ACC.2018.8431699},\n\ + \ doi = {10.23919/ACC.2018.8431699},\n timestamp = {Sun, 08 Aug 2021\ + \ 01:40:57 +0200},\n biburl = {https://dblp.org/rec/conf/amcc/GargP18.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2018-01-01 key: conf/amcc/GargP18 layout: papers -title: "New Results on Finite-Time Stability: Geometric Conditions and Finite-Time Controllers." -date: 2018-01-01 -venue: "ACC" -authors: - - Kunal Garg - - dimitrapanagou link: https://doi.org/10.23919/ACC.2018.8431699 -bib: |- - @inproceedings{DBLP:conf/amcc/GargP18, - author = {Kunal Garg and - Dimitra Panagou}, - title = {New Results on Finite-Time Stability: Geometric Conditions and Finite-Time - Controllers}, - booktitle = {2018 Annual American Control Conference, {ACC} 2018, Milwaukee, WI, - USA, June 27-29, 2018}, - pages = {442--447}, - publisher = {{IEEE}}, - year = {2018}, - url = {https://doi.org/10.23919/ACC.2018.8431699}, - doi = {10.23919/ACC.2018.8431699}, - timestamp = {Sun, 08 Aug 2021 01:40:57 +0200}, - biburl = {https://dblp.org/rec/conf/amcc/GargP18.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: 'New Results on Finite-Time Stability: Geometric Conditions and Finite-Time + Controllers.' +venue: ACC --- diff --git a/content/papers/2018/2018-han-approximating_the_region_of_multi_task_coordination_via_the_optimal_lyapunov_like_barrier_function.md b/content/papers/2018/2018-han-approximating_the_region_of_multi_task_coordination_via_the_optimal_lyapunov_like_barrier_function.md index 5aec62f..6a313a8 100644 --- a/content/papers/2018/2018-han-approximating_the_region_of_multi_task_coordination_via_the_optimal_lyapunov_like_barrier_function.md +++ b/content/papers/2018/2018-han-approximating_the_region_of_multi_task_coordination_via_the_optimal_lyapunov_like_barrier_function.md @@ -1,32 +1,35 @@ --- +abstract: 'We consider the multi-task coordination problem for multi-agent systems + under the following objectives: 1. collision avoidance; 2. connectivity maintenance; + 3. convergence to desired destinations. The paper focuses on the safety guaranteed + region of multi-task coordination (SG-RMTC), i.e., the set of initial states from + which all trajectories converge to the desired configuration, while at the same + time achieve the multi-task coordination and avoid unsafe sets. In contrast to estimating + the domain of attraction via Lyapunov functions, the main underlying idea is to + employ the sublevel sets of Lyapunov-like barrier functions to approximate the SG-RMTC. + Rather than using fixed Lyapunov-like barrier functions, a systematic way is proposed + to search an optimal Lyapunov-like barrier function such that the under-estimate + of SG-RMTC is maximized. Numerical examples illustrate the effectiveness of the + proposed method.' +authors: +- Dongkun Han +- Lixing Huang +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/amcc/HanHP18,\n author = {Dongkun Han and\n\ + \ Lixing Huang and\n Dimitra Panagou},\n title\ + \ = {Approximating the Region of Multi-Task Coordination via the Optimal\n\ + \ Lyapunov-Like Barrier Function},\n booktitle = {2018 Annual\ + \ American Control Conference, {ACC} 2018, Milwaukee, WI,\n USA,\ + \ June 27-29, 2018},\n pages = {5070--5075},\n publisher = {{IEEE}},\n\ + \ year = {2018},\n url = {https://doi.org/10.23919/ACC.2018.8431021},\n\ + \ doi = {10.23919/ACC.2018.8431021},\n timestamp = {Sun, 08 Aug 2021\ + \ 01:40:57 +0200},\n biburl = {https://dblp.org/rec/conf/amcc/HanHP18.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2018-01-01 key: conf/amcc/HanHP18 layout: papers -title: "Approximating the Region of Multi-Task Coordination via the Optimal Lyapunov-Like Barrier Function." -date: 2018-01-01 -venue: "ACC" -authors: - - Dongkun Han - - Lixing Huang - - dimitrapanagou link: https://doi.org/10.23919/ACC.2018.8431021 -bib: |- - @inproceedings{DBLP:conf/amcc/HanHP18, - author = {Dongkun Han and - Lixing Huang and - Dimitra Panagou}, - title = {Approximating the Region of Multi-Task Coordination via the Optimal - Lyapunov-Like Barrier Function}, - booktitle = {2018 Annual American Control Conference, {ACC} 2018, Milwaukee, WI, - USA, June 27-29, 2018}, - pages = {5070--5075}, - publisher = {{IEEE}}, - year = {2018}, - url = {https://doi.org/10.23919/ACC.2018.8431021}, - doi = {10.23919/ACC.2018.8431021}, - timestamp = {Sun, 08 Aug 2021 01:40:57 +0200}, - biburl = {https://dblp.org/rec/conf/amcc/HanHP18.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Approximating the Region of Multi-Task Coordination via the Optimal Lyapunov-Like + Barrier Function. +venue: ACC --- diff --git a/content/papers/2018/2018-huang-hierarchical_design_of_highway_merging_controller_using_navigation_vector_fields_under_bounded_sensing_uncertainty.md b/content/papers/2018/2018-huang-hierarchical_design_of_highway_merging_controller_using_navigation_vector_fields_under_bounded_sensing_uncertainty.md index f105d58..68e29b9 100644 --- a/content/papers/2018/2018-huang-hierarchical_design_of_highway_merging_controller_using_navigation_vector_fields_under_bounded_sensing_uncertainty.md +++ b/content/papers/2018/2018-huang-hierarchical_design_of_highway_merging_controller_using_navigation_vector_fields_under_bounded_sensing_uncertainty.md @@ -1,35 +1,26 @@ --- +abstract: null +authors: +- Lixing Huang +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/dars/HuangP18,\n author = {Lixing Huang and\n\ + \ Dimitra Panagou},\n editor = {Nikolaus Correll and\n \ + \ Mac Schwager and\n Michael W. Otte},\n title\ + \ = {Hierarchical Design of Highway Merging Controller Using Navigation\n\ + \ Vector Fields Under Bounded Sensing Uncertainty},\n booktitle\ + \ = {Distributed Autonomous Robotic Systems, The 14th International Symposium,\n\ + \ {DARS} 2018, Boulder, CO, USA, October 15-17, 2018},\n series\ + \ = {Springer Proceedings in Advanced Robotics},\n volume = {9},\n\ + \ pages = {341--356},\n publisher = {Springer},\n year = {2018},\n\ + \ url = {https://doi.org/10.1007/978-3-030-05816-6\\_24},\n doi \ + \ = {10.1007/978-3-030-05816-6\\_24},\n timestamp = {Tue, 05 Mar 2019 11:11:05\ + \ +0100},\n biburl = {https://dblp.org/rec/conf/dars/HuangP18.bib},\n bibsource\ + \ = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2018-01-01 key: conf/dars/HuangP18 layout: papers -title: "Hierarchical Design of Highway Merging Controller Using Navigation Vector Fields Under Bounded Sensing Uncertainty." -date: 2018-01-01 -venue: "DARS" -authors: - - Lixing Huang - - dimitrapanagou link: https://doi.org/10.1007/978-3-030-05816-6_24 -bib: |- - @inproceedings{DBLP:conf/dars/HuangP18, - author = {Lixing Huang and - Dimitra Panagou}, - editor = {Nikolaus Correll and - Mac Schwager and - Michael W. Otte}, - title = {Hierarchical Design of Highway Merging Controller Using Navigation - Vector Fields Under Bounded Sensing Uncertainty}, - booktitle = {Distributed Autonomous Robotic Systems, The 14th International Symposium, - {DARS} 2018, Boulder, CO, USA, October 15-17, 2018}, - series = {Springer Proceedings in Advanced Robotics}, - volume = {9}, - pages = {341--356}, - publisher = {Springer}, - year = {2018}, - url = {https://doi.org/10.1007/978-3-030-05816-6\_24}, - doi = {10.1007/978-3-030-05816-6\_24}, - timestamp = {Tue, 05 Mar 2019 11:11:05 +0100}, - biburl = {https://dblp.org/rec/conf/dars/HuangP18.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Hierarchical Design of Highway Merging Controller Using Navigation Vector Fields + Under Bounded Sensing Uncertainty. +venue: DARS --- diff --git a/content/papers/2018/2018-ma-_d_decentralized_prioritized_motion_planning_and_coordination_for_high_density_operations_of_micro_aerial_vehicles.md b/content/papers/2018/2018-ma-_d_decentralized_prioritized_motion_planning_and_coordination_for_high_density_operations_of_micro_aerial_vehicles.md index fe424ba..6111248 100644 --- a/content/papers/2018/2018-ma-_d_decentralized_prioritized_motion_planning_and_coordination_for_high_density_operations_of_micro_aerial_vehicles.md +++ b/content/papers/2018/2018-ma-_d_decentralized_prioritized_motion_planning_and_coordination_for_high_density_operations_of_micro_aerial_vehicles.md @@ -1,34 +1,42 @@ --- +abstract: This paper presents a decentralized motion planning method for multiple + aerial vehicles moving among 3-D polygonal obstacles resembling an urbanlike environment. + The algorithm combines a prioritized $A^\star$ algorithm for high-level planning, + along with a coordination method based on barrier functions for low-level trajectory + generation and vehicle control. To this end, we extend the barrier functions method + developed in our earlier work so that it treats 2-D and 3-D polygonal obstacles, + and generates collision-free trajectories for the multiagent system. We furthermore + augment the low-level trajectory generation and control with a prioritized $A^\star$ path + planning algorithm, in order to compute waypoints and paths that force the agents + of lower priority to avoid the paths of the agents of higher priority, reducing + thus congestion. This feature enhances further the performance of the barrier-based + coordination, and results in shorter paths and time to the goal destinations. We + finally extend the proposed control design to the agents of constrained double-integrator + dynamics, compared with the single-integrator case in our earlier work. We assume + that the obstacles are known to the agents, and that each agent knows the state + of other agents lying in its sensing area. Simulation results in 2-D and 3-D polygonal + environments, as well as experimental results with micro aerial vehicles (quadrotors) + in an indoor lab environment demonstrate the efficacy of the proposed approach. +authors: +- Xiaobai Ma +- Ziyuan Jiao +- Zhenkai Wang +- dimitrapanagou +bib: "@article{DBLP:journals/tcst/MaJWP18,\n author = {Xiaobai Ma and\n \ + \ Ziyuan Jiao and\n Zhenkai Wang and\n \ + \ Dimitra Panagou},\n title = {3-D Decentralized Prioritized Motion\ + \ Planning and Coordination for\n High-Density Operations of Micro\ + \ Aerial Vehicles},\n journal = {{IEEE} Trans. Control. Syst. Technol.},\n\ + \ volume = {26},\n number = {3},\n pages = {939--953},\n \ + \ year = {2018},\n url = {https://doi.org/10.1109/TCST.2017.2699165},\n\ + \ doi = {10.1109/TCST.2017.2699165},\n timestamp = {Mon, 08 Jun 2020\ + \ 22:20:35 +0200},\n biburl = {https://dblp.org/rec/journals/tcst/MaJWP18.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2018-01-01 key: journals/tcst/MaJWP18 layout: papers -title: "3-D Decentralized Prioritized Motion Planning and Coordination for High-Density Operations of Micro Aerial Vehicles." -date: 2018-01-01 -venue: "IEEE Trans. Control. Syst. Technol." -authors: - - Xiaobai Ma - - Ziyuan Jiao - - Zhenkai Wang - - dimitrapanagou link: https://doi.org/10.1109/TCST.2017.2699165 -bib: |- - @article{DBLP:journals/tcst/MaJWP18, - author = {Xiaobai Ma and - Ziyuan Jiao and - Zhenkai Wang and - Dimitra Panagou}, - title = {3-D Decentralized Prioritized Motion Planning and Coordination for - High-Density Operations of Micro Aerial Vehicles}, - journal = {{IEEE} Trans. Control. Syst. Technol.}, - volume = {26}, - number = {3}, - pages = {939--953}, - year = {2018}, - url = {https://doi.org/10.1109/TCST.2017.2699165}, - doi = {10.1109/TCST.2017.2699165}, - timestamp = {Mon, 08 Jun 2020 22:20:35 +0200}, - biburl = {https://dblp.org/rec/journals/tcst/MaJWP18.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: 3-D Decentralized Prioritized Motion Planning and Coordination for High-Density + Operations of Micro Aerial Vehicles. +venue: IEEE Trans. Control. Syst. Technol. --- diff --git a/content/papers/2018/2018-usevitch-finite_time_resilient_formation_control_with_bounded_inputs.md b/content/papers/2018/2018-usevitch-finite_time_resilient_formation_control_with_bounded_inputs.md index 45e73b9..b90389b 100644 --- a/content/papers/2018/2018-usevitch-finite_time_resilient_formation_control_with_bounded_inputs.md +++ b/content/papers/2018/2018-usevitch-finite_time_resilient_formation_control_with_bounded_inputs.md @@ -1,31 +1,32 @@ --- +abstract: In this paper we consider the problem of a multiagent system achieving a + formation in the presence of misbehaving or adversarial agents. We introduce a novel + continuous time resilient controller to guarantee that normally behaving agents + can converge to a formation with respect to a set of leaders. The controller employs + a norm-based filtering mechanism, and unlike most prior algorithms, also incorporates + input bounds. In addition, the controller is shown to guarantee convergence in finite + time. A sufficient condition for the controller to guarantee convergence is shown + to be a graph theoretical structure which we denote as Resilient Directed Acyclic + Graph (RDAG). Further, we employ our filtering mechanism on a discrete time system + which is shown to have exponential convergence. Our results are demonstrated through + simulations. +authors: +- James Usevitch +- Kunal Garg +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/cdc/UsevitchGP18,\n author = {James Usevitch\ + \ and\n Kunal Garg and\n Dimitra Panagou},\n \ + \ title = {Finite-Time Resilient Formation Control with Bounded Inputs},\n\ + \ booktitle = {57th {IEEE} Conference on Decision and Control, {CDC} 2018, Miami,\n\ + \ FL, USA, December 17-19, 2018},\n pages = {2567--2574},\n\ + \ publisher = {{IEEE}},\n year = {2018},\n url = {https://doi.org/10.1109/CDC.2018.8619697},\n\ + \ doi = {10.1109/CDC.2018.8619697},\n timestamp = {Fri, 04 Mar 2022\ + \ 13:30:11 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/UsevitchGP18.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2018-01-01 key: conf/cdc/UsevitchGP18 layout: papers -title: "Finite-Time Resilient Formation Control with Bounded Inputs." -date: 2018-01-01 -venue: "CDC" -authors: - - James Usevitch - - Kunal Garg - - dimitrapanagou link: https://doi.org/10.1109/CDC.2018.8619697 -bib: |- - @inproceedings{DBLP:conf/cdc/UsevitchGP18, - author = {James Usevitch and - Kunal Garg and - Dimitra Panagou}, - title = {Finite-Time Resilient Formation Control with Bounded Inputs}, - booktitle = {57th {IEEE} Conference on Decision and Control, {CDC} 2018, Miami, - FL, USA, December 17-19, 2018}, - pages = {2567--2574}, - publisher = {{IEEE}}, - year = {2018}, - url = {https://doi.org/10.1109/CDC.2018.8619697}, - doi = {10.1109/CDC.2018.8619697}, - timestamp = {Fri, 04 Mar 2022 13:30:11 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/UsevitchGP18.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Finite-Time Resilient Formation Control with Bounded Inputs. +venue: CDC --- diff --git a/content/papers/2018/2018-usevitch-resilient_leader_follower_consensus_to_arbitrary_reference_values.md b/content/papers/2018/2018-usevitch-resilient_leader_follower_consensus_to_arbitrary_reference_values.md index 4d8fcfb..3c0aa66 100644 --- a/content/papers/2018/2018-usevitch-resilient_leader_follower_consensus_to_arbitrary_reference_values.md +++ b/content/papers/2018/2018-usevitch-resilient_leader_follower_consensus_to_arbitrary_reference_values.md @@ -1,29 +1,29 @@ --- +abstract: The problem of consensus in the presence of misbehaving agents has increasingly + attracted attention in the literature. Prior results have established algorithms + and graph structures for multi-agent networks which guarantee the consensus of normally + behaving agents in the presence of a bounded number of misbehaving agents. The final + consensus value is guaranteed to fall within the convex hull of initial agent states. + However, the problem of consensus tracking considers consensus to arbitrary reference + values which may not lie within such bounds. Conditions for consensus tracking in + the presence of misbehaving agents has not been fully studied. This paper presents + conditions for a network of agents using the W-MSR algorithm to achieve this objective. +authors: +- James Usevitch +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/amcc/UsevitchP18,\n author = {James Usevitch\ + \ and\n Dimitra Panagou},\n title = {Resilient Leader-Follower\ + \ Consensus to Arbitrary Reference Values},\n booktitle = {2018 Annual American\ + \ Control Conference, {ACC} 2018, Milwaukee, WI,\n USA, June 27-29,\ + \ 2018},\n pages = {1292--1298},\n publisher = {{IEEE}},\n year \ + \ = {2018},\n url = {https://doi.org/10.23919/ACC.2018.8431573},\n\ + \ doi = {10.23919/ACC.2018.8431573},\n timestamp = {Sun, 08 Aug 2021\ + \ 01:40:57 +0200},\n biburl = {https://dblp.org/rec/conf/amcc/UsevitchP18.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2018-01-01 key: conf/amcc/UsevitchP18 layout: papers -title: "Resilient Leader-Follower Consensus to Arbitrary Reference Values." -date: 2018-01-01 -venue: "ACC" -authors: - - James Usevitch - - dimitrapanagou link: https://doi.org/10.23919/ACC.2018.8431573 -bib: |- - @inproceedings{DBLP:conf/amcc/UsevitchP18, - author = {James Usevitch and - Dimitra Panagou}, - title = {Resilient Leader-Follower Consensus to Arbitrary Reference Values}, - booktitle = {2018 Annual American Control Conference, {ACC} 2018, Milwaukee, WI, - USA, June 27-29, 2018}, - pages = {1292--1298}, - publisher = {{IEEE}}, - year = {2018}, - url = {https://doi.org/10.23919/ACC.2018.8431573}, - doi = {10.23919/ACC.2018.8431573}, - timestamp = {Sun, 08 Aug 2021 01:40:57 +0200}, - biburl = {https://dblp.org/rec/conf/amcc/UsevitchP18.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Resilient Leader-Follower Consensus to Arbitrary Reference Values. +venue: ACC --- diff --git a/content/papers/2019/2019-bentz-a_hybrid_approach_to_persistent_coverage_in_stochastic_environments.md b/content/papers/2019/2019-bentz-a_hybrid_approach_to_persistent_coverage_in_stochastic_environments.md index 0ff713c..cbd2451 100644 --- a/content/papers/2019/2019-bentz-a_hybrid_approach_to_persistent_coverage_in_stochastic_environments.md +++ b/content/papers/2019/2019-bentz-a_hybrid_approach_to_persistent_coverage_in_stochastic_environments.md @@ -1,27 +1,19 @@ --- +abstract: null +authors: +- William Bentz +- dimitrapanagou +bib: "@article{DBLP:journals/automatica/BentzP19,\n author = {William Bentz\ + \ and\n Dimitra Panagou},\n title = {A hybrid approach\ + \ to persistent coverage in stochastic environments},\n journal = {Autom.},\n\ + \ volume = {109},\n year = {2019},\n url = {https://doi.org/10.1016/j.automatica.2019.108554},\n\ + \ doi = {10.1016/J.AUTOMATICA.2019.108554},\n timestamp = {Thu, 20\ + \ Feb 2020 09:15:52 +0100},\n biburl = {https://dblp.org/rec/journals/automatica/BentzP19.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2019-01-01 key: journals/automatica/BentzP19 layout: papers -title: "A hybrid approach to persistent coverage in stochastic environments." -date: 2019-01-01 -venue: "Autom." -authors: - - William Bentz - - dimitrapanagou link: https://doi.org/10.1016/j.automatica.2019.108554 -bib: |- - @article{DBLP:journals/automatica/BentzP19, - author = {William Bentz and - Dimitra Panagou}, - title = {A hybrid approach to persistent coverage in stochastic environments}, - journal = {Autom.}, - volume = {109}, - year = {2019}, - url = {https://doi.org/10.1016/j.automatica.2019.108554}, - doi = {10.1016/J.AUTOMATICA.2019.108554}, - timestamp = {Thu, 20 Feb 2020 09:15:52 +0100}, - biburl = {https://dblp.org/rec/journals/automatica/BentzP19.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: A hybrid approach to persistent coverage in stochastic environments. +venue: Autom. --- diff --git a/content/papers/2019/2019-bentz-unsupervised_learning_of_assistive_camera_views_by_an_aerial_co_robot_in_augmented_reality_multitasking_environments.md b/content/papers/2019/2019-bentz-unsupervised_learning_of_assistive_camera_views_by_an_aerial_co_robot_in_augmented_reality_multitasking_environments.md index 9b031a6..9140a05 100644 --- a/content/papers/2019/2019-bentz-unsupervised_learning_of_assistive_camera_views_by_an_aerial_co_robot_in_augmented_reality_multitasking_environments.md +++ b/content/papers/2019/2019-bentz-unsupervised_learning_of_assistive_camera_views_by_an_aerial_co_robot_in_augmented_reality_multitasking_environments.md @@ -1,32 +1,34 @@ --- +abstract: "This paper presents a novel method by which an assistive aerial robot can\ + \ learn the relevant camera views within a task domain through tracking the head\ + \ motions of a human collaborator. The human\u2019s visual field is modeled as an\ + \ anisotropic spherical sensor, which decays in acuity towards the periphery, and\ + \ is integrated in time throughout the domain. This data is resampled and fed into\ + \ an expectation maximization solver in order to estimate the environment\u2019\ + s visual interest as a mixture of Gaussians. A dynamic coverage control law directs\ + \ the robot to capture camera views of the peaks of these Gaussians which is broadcast\ + \ to an augmented reality display worn by the human operator. An experimental study\ + \ is presented that assesses the influence of the assitive robot on reflex time,\ + \ head motion, and task completion time." +authors: +- William Bentz +- Sahib Dhanjal +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/icra/BentzDP19,\n author = {William Bentz and\n\ + \ Sahib Dhanjal and\n Dimitra Panagou},\n title\ + \ = {Unsupervised Learning of Assistive Camera Views by an Aerial Co-robot\n\ + \ in Augmented Reality Multitasking Environments},\n booktitle\ + \ = {International Conference on Robotics and Automation, {ICRA} 2019,\n \ + \ Montreal, QC, Canada, May 20-24, 2019},\n pages = {3003--3009},\n\ + \ publisher = {{IEEE}},\n year = {2019},\n url = {https://doi.org/10.1109/ICRA.2019.8793587},\n\ + \ doi = {10.1109/ICRA.2019.8793587},\n timestamp = {Wed, 16 Oct 2019\ + \ 14:14:51 +0200},\n biburl = {https://dblp.org/rec/conf/icra/BentzDP19.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2019-01-01 key: conf/icra/BentzDP19 layout: papers -title: "Unsupervised Learning of Assistive Camera Views by an Aerial Co-robot in Augmented Reality Multitasking Environments." -date: 2019-01-01 -venue: "ICRA" -authors: - - William Bentz - - Sahib Dhanjal - - dimitrapanagou link: https://doi.org/10.1109/ICRA.2019.8793587 -bib: |- - @inproceedings{DBLP:conf/icra/BentzDP19, - author = {William Bentz and - Sahib Dhanjal and - Dimitra Panagou}, - title = {Unsupervised Learning of Assistive Camera Views by an Aerial Co-robot - in Augmented Reality Multitasking Environments}, - booktitle = {International Conference on Robotics and Automation, {ICRA} 2019, - Montreal, QC, Canada, May 20-24, 2019}, - pages = {3003--3009}, - publisher = {{IEEE}}, - year = {2019}, - url = {https://doi.org/10.1109/ICRA.2019.8793587}, - doi = {10.1109/ICRA.2019.8793587}, - timestamp = {Wed, 16 Oct 2019 14:14:51 +0200}, - biburl = {https://dblp.org/rec/conf/icra/BentzDP19.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Unsupervised Learning of Assistive Camera Views by an Aerial Co-robot in Augmented + Reality Multitasking Environments. +venue: ICRA --- diff --git a/content/papers/2019/2019-bobade-multi_agent_adaptive_estimation_with_consensus_in_reproducing_kernel_hilbert_spaces.md b/content/papers/2019/2019-bobade-multi_agent_adaptive_estimation_with_consensus_in_reproducing_kernel_hilbert_spaces.md index a4f2dff..42a30db 100644 --- a/content/papers/2019/2019-bobade-multi_agent_adaptive_estimation_with_consensus_in_reproducing_kernel_hilbert_spaces.md +++ b/content/papers/2019/2019-bobade-multi_agent_adaptive_estimation_with_consensus_in_reproducing_kernel_hilbert_spaces.md @@ -1,32 +1,40 @@ --- +abstract: This paper presents a framework for online adaptive estimation of unknown + or uncertain systems of nonlinear ordinary differential equation (ODEs) that characterize + a multiagent sensor network. This paper extends recent results in [2], [36] and + here the nonlinear ODEs are embedded in the real, vector-valued reproducing kernel + Hilbert space (RKHS) $\mathbb{H}:=H^{N}$ with $H$ a real, scalar RKHS. Each agent + casts its local representation of the unknown function $f$ as a member of the RKHS + H. The result defines a distributed parameter system that governs the state estimates + and estimates of the unknown function. The convergence of state estimates is proven + along similar lines to that encountered in conventional adaptive estimation for + systems of unknown nonlinear ODEs. The analysis of the parameter estimates, which + is studied by an evolution in Euclidean space in conventional methods, now concerns + the convergence of error functions in the RKHS. We show that the convergence of + the function estimates to the unknown function in the RKHS is guaranteed provided + a newly introduced persistency of excitation (PE) condition holds. This PE condition + is defined on functions defined over a subset $\Omega$ that contains the trajectory + of the true dynamic system. It can be viewed as an extension of the notion of partial + persistence of excitation to the RKHS embedding framework. +authors: +- Parag Bobade +- dimitrapanagou +- Andrew J. Kurdila +bib: "@inproceedings{DBLP:conf/eucc/BobadePK19,\n author = {Parag Bobade and\n\ + \ Dimitra Panagou and\n Andrew J. Kurdila},\n\ + \ title = {Multi-agent adaptive estimation with consensus in reproducing\ + \ kernel\n Hilbert spaces},\n booktitle = {17th European Control\ + \ Conference, {ECC} 2019, Naples, Italy, June\n 25-28, 2019},\n\ + \ pages = {572--577},\n publisher = {{IEEE}},\n year = {2019},\n\ + \ url = {https://doi.org/10.23919/ECC.2019.8796214},\n doi =\ + \ {10.23919/ECC.2019.8796214},\n timestamp = {Sun, 02 Oct 2022 16:00:47 +0200},\n\ + \ biburl = {https://dblp.org/rec/conf/eucc/BobadePK19.bib},\n bibsource\ + \ = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2019-01-01 key: conf/eucc/BobadePK19 layout: papers -title: "Multi-agent adaptive estimation with consensus in reproducing kernel Hilbert spaces." -date: 2019-01-01 -venue: "ECC" -authors: - - Parag Bobade - - dimitrapanagou - - Andrew J. Kurdila link: https://doi.org/10.23919/ECC.2019.8796214 -bib: |- - @inproceedings{DBLP:conf/eucc/BobadePK19, - author = {Parag Bobade and - Dimitra Panagou and - Andrew J. Kurdila}, - title = {Multi-agent adaptive estimation with consensus in reproducing kernel - Hilbert spaces}, - booktitle = {17th European Control Conference, {ECC} 2019, Naples, Italy, June - 25-28, 2019}, - pages = {572--577}, - publisher = {{IEEE}}, - year = {2019}, - url = {https://doi.org/10.23919/ECC.2019.8796214}, - doi = {10.23919/ECC.2019.8796214}, - timestamp = {Sun, 02 Oct 2022 16:00:47 +0200}, - biburl = {https://dblp.org/rec/conf/eucc/BobadePK19.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Multi-agent adaptive estimation with consensus in reproducing kernel Hilbert + spaces. +venue: ECC --- diff --git a/content/papers/2019/2019-chipade-herding_an_adversarial_attacker_to_a_safe_area_for_defending_safety_critical_infrastructure.md b/content/papers/2019/2019-chipade-herding_an_adversarial_attacker_to_a_safe_area_for_defending_safety_critical_infrastructure.md index ff5f4a7..fcf555a 100644 --- a/content/papers/2019/2019-chipade-herding_an_adversarial_attacker_to_a_safe_area_for_defending_safety_critical_infrastructure.md +++ b/content/papers/2019/2019-chipade-herding_an_adversarial_attacker_to_a_safe_area_for_defending_safety_critical_infrastructure.md @@ -1,30 +1,30 @@ --- +abstract: This paper investigates a problem of defending safety-critical infrastructure + from an adversarial aerial attacker in an urban environment. A circular arc formation + of defenders is formed around the attacker, and vector-field based guidance laws + herd the attacker to a predefined safe area in the presence of rectangular obstacles. + The defenders' formation is defined based on a novel vector field that imposes super-elliptic + contours around the obstacles, to closely resemble their rectangular shape. A novel + finite-time stabilizing controller is proposed to guide the defenders to their desired + formation, while avoiding obstacles and inter-agent collisions. The efficacy of + the approach is demonstrated via simulation results. +authors: +- Vishnu S. Chipade +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/amcc/ChipadeP19,\n author = {Vishnu S. Chipade\ + \ and\n Dimitra Panagou},\n title = {Herding an Adversarial\ + \ Attacker to a Safe Area for Defending Safety-Critical\n Infrastructure},\n\ + \ booktitle = {2019 American Control Conference, {ACC} 2019, Philadelphia, PA,\ + \ USA,\n July 10-12, 2019},\n pages = {1035--1041},\n \ + \ publisher = {{IEEE}},\n year = {2019},\n url = {https://doi.org/10.23919/ACC.2019.8814380},\n\ + \ doi = {10.23919/ACC.2019.8814380},\n timestamp = {Thu, 14 Oct 2021\ + \ 10:23:10 +0200},\n biburl = {https://dblp.org/rec/conf/amcc/ChipadeP19.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2019-01-01 key: conf/amcc/ChipadeP19 layout: papers -title: "Herding an Adversarial Attacker to a Safe Area for Defending Safety-Critical Infrastructure." -date: 2019-01-01 -venue: "ACC" -authors: - - Vishnu S. Chipade - - dimitrapanagou link: https://doi.org/10.23919/ACC.2019.8814380 -bib: |- - @inproceedings{DBLP:conf/amcc/ChipadeP19, - author = {Vishnu S. Chipade and - Dimitra Panagou}, - title = {Herding an Adversarial Attacker to a Safe Area for Defending Safety-Critical - Infrastructure}, - booktitle = {2019 American Control Conference, {ACC} 2019, Philadelphia, PA, USA, - July 10-12, 2019}, - pages = {1035--1041}, - publisher = {{IEEE}}, - year = {2019}, - url = {https://doi.org/10.23919/ACC.2019.8814380}, - doi = {10.23919/ACC.2019.8814380}, - timestamp = {Thu, 14 Oct 2021 10:23:10 +0200}, - biburl = {https://dblp.org/rec/conf/amcc/ChipadeP19.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Herding an Adversarial Attacker to a Safe Area for Defending Safety-Critical + Infrastructure. +venue: ACC --- diff --git a/content/papers/2019/2019-chipade-herding_an_adversarial_swarm_in_an_obstacle_environment.md b/content/papers/2019/2019-chipade-herding_an_adversarial_swarm_in_an_obstacle_environment.md index 468fe53..fb407ce 100644 --- a/content/papers/2019/2019-chipade-herding_an_adversarial_swarm_in_an_obstacle_environment.md +++ b/content/papers/2019/2019-chipade-herding_an_adversarial_swarm_in_an_obstacle_environment.md @@ -1,29 +1,28 @@ --- +abstract: "This paper studies a defense approach against a swarm of adversarial agents.\ + \ We employ a closed formation (\u2018StringNet\u2019) of defending agents around\ + \ the adversarial agents to restrict their motion and guide them to a safe area\ + \ while navigating in an obstacle-populated environment. Control laws for forming\ + \ the StringNet and guiding it to a safe area are developed, and the stability of\ + \ the closed-loop system is analyzed formally. The adversarial swarm is assumed\ + \ to move as a flock in the presence of rectangular obstacles. Simulation results\ + \ are provided to demonstrate the efficacy of the approach." +authors: +- Vishnu S. Chipade +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/cdc/ChipadeP19,\n author = {Vishnu S. Chipade\ + \ and\n Dimitra Panagou},\n title = {Herding an Adversarial\ + \ Swarm in an Obstacle Environment},\n booktitle = {58th {IEEE} Conference on\ + \ Decision and Control, {CDC} 2019, Nice,\n France, December 11-13,\ + \ 2019},\n pages = {3685--3690},\n publisher = {{IEEE}},\n year \ + \ = {2019},\n url = {https://doi.org/10.1109/CDC40024.2019.9029573},\n\ + \ doi = {10.1109/CDC40024.2019.9029573},\n timestamp = {Fri, 04 Mar\ + \ 2022 13:30:46 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/ChipadeP19.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2019-01-01 key: conf/cdc/ChipadeP19 layout: papers -title: "Herding an Adversarial Swarm in an Obstacle Environment." -date: 2019-01-01 -venue: "CDC" -authors: - - Vishnu S. Chipade - - dimitrapanagou link: https://doi.org/10.1109/CDC40024.2019.9029573 -bib: |- - @inproceedings{DBLP:conf/cdc/ChipadeP19, - author = {Vishnu S. Chipade and - Dimitra Panagou}, - title = {Herding an Adversarial Swarm in an Obstacle Environment}, - booktitle = {58th {IEEE} Conference on Decision and Control, {CDC} 2019, Nice, - France, December 11-13, 2019}, - pages = {3685--3690}, - publisher = {{IEEE}}, - year = {2019}, - url = {https://doi.org/10.1109/CDC40024.2019.9029573}, - doi = {10.1109/CDC40024.2019.9029573}, - timestamp = {Fri, 04 Mar 2022 13:30:46 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/ChipadeP19.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Herding an Adversarial Swarm in an Obstacle Environment. +venue: CDC --- diff --git a/content/papers/2019/2019-chipade-safe_autonomous_overtaking_with_intention_estimation.md b/content/papers/2019/2019-chipade-safe_autonomous_overtaking_with_intention_estimation.md index c806c11..30a1958 100644 --- a/content/papers/2019/2019-chipade-safe_autonomous_overtaking_with_intention_estimation.md +++ b/content/papers/2019/2019-chipade-safe_autonomous_overtaking_with_intention_estimation.md @@ -1,37 +1,32 @@ --- +abstract: This paper investigates the problem of overtaking a lead car by an autonomous + ego car on a two-lane road in the presence of an oncoming car. We propose an intention-aware + overtaking controller for the ego car. The intention of the lead car is estimated + via a combination of active model discrimination and model selection algorithms. + Then, a safe overtaking controller is designed based on vector fields that take + into account the estimated intent, and ensure safety of the overtaking maneuver. + Simulation results demonstrate the efficacy of the proposed approach. +authors: +- Vishnu S. Chipade +- Qiang Shen 0003 +- Lixing Huang +- Necmiye Ozay +- Sze Zheng Yong +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/eucc/ChipadeSHOYP19,\n author = {Vishnu S. Chipade\ + \ and\n Qiang Shen and\n Lixing Huang and\n \ + \ Necmiye Ozay and\n Sze Zheng Yong and\n \ + \ Dimitra Panagou},\n title = {Safe Autonomous Overtaking with\ + \ Intention Estimation},\n booktitle = {17th European Control Conference, {ECC}\ + \ 2019, Naples, Italy, June\n 25-28, 2019},\n pages = {2050--2057},\n\ + \ publisher = {{IEEE}},\n year = {2019},\n url = {https://doi.org/10.23919/ECC.2019.8795715},\n\ + \ doi = {10.23919/ECC.2019.8795715},\n timestamp = {Wed, 07 Dec 2022\ + \ 23:07:12 +0100},\n biburl = {https://dblp.org/rec/conf/eucc/ChipadeSHOYP19.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2019-01-01 key: conf/eucc/ChipadeSHOYP19 layout: papers -title: "Safe Autonomous Overtaking with Intention Estimation." -date: 2019-01-01 -venue: "ECC" -authors: - - Vishnu S. Chipade - - Qiang Shen 0003 - - Lixing Huang - - Necmiye Ozay - - Sze Zheng Yong - - dimitrapanagou link: https://doi.org/10.23919/ECC.2019.8795715 -bib: |- - @inproceedings{DBLP:conf/eucc/ChipadeSHOYP19, - author = {Vishnu S. Chipade and - Qiang Shen and - Lixing Huang and - Necmiye Ozay and - Sze Zheng Yong and - Dimitra Panagou}, - title = {Safe Autonomous Overtaking with Intention Estimation}, - booktitle = {17th European Control Conference, {ECC} 2019, Naples, Italy, June - 25-28, 2019}, - pages = {2050--2057}, - publisher = {{IEEE}}, - year = {2019}, - url = {https://doi.org/10.23919/ECC.2019.8795715}, - doi = {10.23919/ECC.2019.8795715}, - timestamp = {Wed, 07 Dec 2022 23:07:12 +0100}, - biburl = {https://dblp.org/rec/conf/eucc/ChipadeSHOYP19.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Safe Autonomous Overtaking with Intention Estimation. +venue: ECC --- diff --git a/content/papers/2019/2019-garg-control_lyapunov_and_control_barrier_functions_based_quadratic_program_for_spatio_temporal_specifications.md b/content/papers/2019/2019-garg-control_lyapunov_and_control_barrier_functions_based_quadratic_program_for_spatio_temporal_specifications.md index 5d8593e..9f62f84 100644 --- a/content/papers/2019/2019-garg-control_lyapunov_and_control_barrier_functions_based_quadratic_program_for_spatio_temporal_specifications.md +++ b/content/papers/2019/2019-garg-control_lyapunov_and_control_barrier_functions_based_quadratic_program_for_spatio_temporal_specifications.md @@ -1,30 +1,41 @@ --- +abstract: "This paper presents a method for control synthesis under spatio-temporal\ + \ constraints. First, we consider the problem of reaching a set S in a user-defined\ + \ or prescribed time T. We define a new class of control Lyapunov functions, called\ + \ prescribed-time control Lyapunov functions (PT CLF), and present sufficient conditions\ + \ on the existence of a controller for this problem in terms of PT CLF. Then, we\ + \ formulate a quadratic program (QP) to compute a control input that satisfies these\ + \ sufficient conditions. Next, we consider control synthesis under spatio-temporal\ + \ objectives given as: the closed- loop trajectories remain in a given set Ss at\ + \ all times; and, remain in a specific set Si during the time interval [ti,ti+1)\ + \ for i = 0,1,\u22EF, N; and, reach the set Si+1 on or before t = ti+1. We show\ + \ that such spatio-temporal specifications can be translated into temporal logic\ + \ formulas. We present sufficient conditions on the existence of a control input\ + \ in terms of PT CLF and control barrier functions. Then, we present a QP to compute\ + \ the control input efficiently, and show its feasibility under the assumptions\ + \ of existence of a PT CLF. To the best of authors\u2019 knowledge, this is the\ + \ first paper proposing a QP based method for the aforementioned problem of satisfying\ + \ spatiotemporal specifications for nonlinear control-affine dynamics with input\ + \ constraints. We also discuss the limitations of the proposed methods and directions\ + \ of future work to overcome these limitations. We present numerical examples to\ + \ corroborate our proposed methods." +authors: +- Kunal Garg +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/cdc/GargP19,\n author = {Kunal Garg and\n \ + \ Dimitra Panagou},\n title = {Control-Lyapunov and Control-Barrier\ + \ Functions based Quadratic Program\n for Spatio-temporal Specifications},\n\ + \ booktitle = {58th {IEEE} Conference on Decision and Control, {CDC} 2019, Nice,\n\ + \ France, December 11-13, 2019},\n pages = {1422--1429},\n\ + \ publisher = {{IEEE}},\n year = {2019},\n url = {https://doi.org/10.1109/CDC40024.2019.9029666},\n\ + \ doi = {10.1109/CDC40024.2019.9029666},\n timestamp = {Fri, 04 Mar\ + \ 2022 13:30:46 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/GargP19.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2019-01-01 key: conf/cdc/GargP19 layout: papers -title: "Control-Lyapunov and Control-Barrier Functions based Quadratic Program for Spatio-temporal Specifications." -date: 2019-01-01 -venue: "CDC" -authors: - - Kunal Garg - - dimitrapanagou link: https://doi.org/10.1109/CDC40024.2019.9029666 -bib: |- - @inproceedings{DBLP:conf/cdc/GargP19, - author = {Kunal Garg and - Dimitra Panagou}, - title = {Control-Lyapunov and Control-Barrier Functions based Quadratic Program - for Spatio-temporal Specifications}, - booktitle = {58th {IEEE} Conference on Decision and Control, {CDC} 2019, Nice, - France, December 11-13, 2019}, - pages = {1422--1429}, - publisher = {{IEEE}}, - year = {2019}, - url = {https://doi.org/10.1109/CDC40024.2019.9029666}, - doi = {10.1109/CDC40024.2019.9029666}, - timestamp = {Fri, 04 Mar 2022 13:30:46 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/GargP19.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Control-Lyapunov and Control-Barrier Functions based Quadratic Program for + Spatio-temporal Specifications. +venue: CDC --- diff --git a/content/papers/2019/2019-han-robust_multitask_formation_control_via_parametric_lyapunov_like_barrier_functions.md b/content/papers/2019/2019-han-robust_multitask_formation_control_via_parametric_lyapunov_like_barrier_functions.md index 33a0035..39887b4 100644 --- a/content/papers/2019/2019-han-robust_multitask_formation_control_via_parametric_lyapunov_like_barrier_functions.md +++ b/content/papers/2019/2019-han-robust_multitask_formation_control_via_parametric_lyapunov_like_barrier_functions.md @@ -1,30 +1,33 @@ --- +abstract: An essential problem in the coordination of multiple agents is formation + control. Significant challenges to the theoretical design may arise when the multiagent + system is subject to uncertainty. This paper considers the robust multitask formation + control problem for multiple agents, whose communication and measurements are disturbed + by uncertain parameters. The control objectives include achieving the desired configuration, + avoiding collisions, and preserving the connectivity of the uncertain topology. + To achieve these objectives, we first provide conditions in terms of linear matrix + inequalities for checking the connectivity of uncertain topologies. Then, we propose + a new type of Lyapunov-like barrier function, called parametric Lyapunov-like barrier + function, that is applicable to multiagent systems with uncertainties in communication + and measurements. It is shown that this new type of Lyapunov-like barrier function + guarantees the robust multitask formation and displays advantages over parameter-independent + Lyapunov-like barrier functions. The efficacy of the proposed method is demonstrated + via simulation results. +authors: +- Dongkun Han +- dimitrapanagou +bib: "@article{DBLP:journals/tac/HanP19,\n author = {Dongkun Han and\n \ + \ Dimitra Panagou},\n title = {Robust Multitask Formation Control\ + \ via Parametric Lyapunov-Like Barrier\n Functions},\n journal\ + \ = {{IEEE} Trans. Autom. Control.},\n volume = {64},\n number \ + \ = {11},\n pages = {4439--4453},\n year = {2019},\n url \ + \ = {https://doi.org/10.1109/TAC.2019.2894587},\n doi = {10.1109/TAC.2019.2894587},\n\ + \ timestamp = {Wed, 20 May 2020 21:28:39 +0200},\n biburl = {https://dblp.org/rec/journals/tac/HanP19.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2019-01-01 key: journals/tac/HanP19 layout: papers -title: "Robust Multitask Formation Control via Parametric Lyapunov-Like Barrier Functions." -date: 2019-01-01 -venue: "IEEE Trans. Autom. Control." -authors: - - Dongkun Han - - dimitrapanagou link: https://doi.org/10.1109/TAC.2019.2894587 -bib: |- - @article{DBLP:journals/tac/HanP19, - author = {Dongkun Han and - Dimitra Panagou}, - title = {Robust Multitask Formation Control via Parametric Lyapunov-Like Barrier - Functions}, - journal = {{IEEE} Trans. Autom. Control.}, - volume = {64}, - number = {11}, - pages = {4439--4453}, - year = {2019}, - url = {https://doi.org/10.1109/TAC.2019.2894587}, - doi = {10.1109/TAC.2019.2894587}, - timestamp = {Wed, 20 May 2020 21:28:39 +0200}, - biburl = {https://dblp.org/rec/journals/tac/HanP19.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Robust Multitask Formation Control via Parametric Lyapunov-Like Barrier Functions. +venue: IEEE Trans. Autom. Control. --- diff --git a/content/papers/2019/2019-huang-a_predictive_vector_field_based_lane_changing_controller.md b/content/papers/2019/2019-huang-a_predictive_vector_field_based_lane_changing_controller.md index d9b7e77..7d7ff16 100644 --- a/content/papers/2019/2019-huang-a_predictive_vector_field_based_lane_changing_controller.md +++ b/content/papers/2019/2019-huang-a_predictive_vector_field_based_lane_changing_controller.md @@ -1,29 +1,26 @@ --- +abstract: This paper presents a predictive vector-field based controller for the motion + of an ego-vehicle through highway traffic. The design is composed of a vector field + controller in closed form, whose control gains are optimized online. Upon certain + assumptions on the traffic conditions, safe solutions can be derived. Simulation + results illustrate the efficacy of the proposed algorithm compared to a standard + NMPC approach. +authors: +- Lixing Huang +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/cdc/HuangP19,\n author = {Lixing Huang and\n\ + \ Dimitra Panagou},\n title = {A predictive vector-field\ + \ based lane-changing controller},\n booktitle = {58th {IEEE} Conference on\ + \ Decision and Control, {CDC} 2019, Nice,\n France, December 11-13,\ + \ 2019},\n pages = {5748--5753},\n publisher = {{IEEE}},\n year \ + \ = {2019},\n url = {https://doi.org/10.1109/CDC40024.2019.9029640},\n\ + \ doi = {10.1109/CDC40024.2019.9029640},\n timestamp = {Fri, 04 Mar\ + \ 2022 13:30:46 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/HuangP19.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2019-01-01 key: conf/cdc/HuangP19 layout: papers -title: "A predictive vector-field based lane-changing controller." -date: 2019-01-01 -venue: "CDC" -authors: - - Lixing Huang - - dimitrapanagou link: https://doi.org/10.1109/CDC40024.2019.9029640 -bib: |- - @inproceedings{DBLP:conf/cdc/HuangP19, - author = {Lixing Huang and - Dimitra Panagou}, - title = {A predictive vector-field based lane-changing controller}, - booktitle = {58th {IEEE} Conference on Decision and Control, {CDC} 2019, Nice, - France, December 11-13, 2019}, - pages = {5748--5753}, - publisher = {{IEEE}}, - year = {2019}, - url = {https://doi.org/10.1109/CDC40024.2019.9029640}, - doi = {10.1109/CDC40024.2019.9029640}, - timestamp = {Fri, 04 Mar 2022 13:30:46 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/HuangP19.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: A predictive vector-field based lane-changing controller. +venue: CDC --- diff --git a/content/papers/2019/2019-rastgoftar-safe_multiquadcopter_system_continuum_deformation_over_moving_frames.md b/content/papers/2019/2019-rastgoftar-safe_multiquadcopter_system_continuum_deformation_over_moving_frames.md index 12a5372..dcea643 100644 --- a/content/papers/2019/2019-rastgoftar-safe_multiquadcopter_system_continuum_deformation_over_moving_frames.md +++ b/content/papers/2019/2019-rastgoftar-safe_multiquadcopter_system_continuum_deformation_over_moving_frames.md @@ -1,31 +1,39 @@ --- +abstract: "This paper proposes a new scalable model for coordination of multiple quadcopter\ + \ systems by treating collective motion as continuum deformation over a moving frame.\ + \ The quadcopters are considered as particles in a 2-D deformable body evolving\ + \ in a 3-D motion space. The 2-D continuum reference frame (CRF) can arbitrarily\ + \ translate and rotate in a 3-D motion space for maneuverability. Furthermore, a\ + \ quadcopter team can significantly deform over the CRF presenting risk of interagent\ + \ collisions. The formulation is therefore proven in this paper to guarantee interagent\ + \ collision avoidance and quadcopter containment. Quadcopter team deformation is\ + \ guided by $N_L\\geq 3$ leader quadcopters initially placed at the vertices of\ + \ a convex polygon denoted as a leading convex polygon. The CRF is then assigned\ + \ based on independent leader quadcopters\u2019 3-D positions defined by a homogeneous\ + \ deformation, which, in turn, dictates follower motions. A local communication\ + \ protocol is defined for the followers to acquire the desired continuum deformation.\ + \ By formal characterization of the leading convex polygon deformation, both interagent\ + \ collision avoidance and quadcopter containment are guaranteed in a large-scale\ + \ continuum deformation coordination. A quadcopter team with 40 agents is simulated\ + \ to illustrate a large-scale collective descent defined by continuum deformation\ + \ coordination over a reference frame moving in the longitudinal plane." +authors: +- Hossein Rastgoftar +- Ella M. Atkins +- dimitrapanagou +bib: "@article{DBLP:journals/tcns/RastgoftarAP19,\n author = {Hossein Rastgoftar\ + \ and\n Ella M. Atkins and\n Dimitra Panagou},\n\ + \ title = {Safe Multiquadcopter System Continuum Deformation Over Moving\ + \ Frames},\n journal = {{IEEE} Trans. Control. Netw. Syst.},\n volume \ + \ = {6},\n number = {2},\n pages = {737--749},\n year \ + \ = {2019},\n url = {https://doi.org/10.1109/TCNS.2018.2873204},\n doi\ + \ = {10.1109/TCNS.2018.2873204},\n timestamp = {Thu, 09 Apr 2020 17:10:56\ + \ +0200},\n biburl = {https://dblp.org/rec/journals/tcns/RastgoftarAP19.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2019-01-01 key: journals/tcns/RastgoftarAP19 layout: papers -title: "Safe Multiquadcopter System Continuum Deformation Over Moving Frames." -date: 2019-01-01 -venue: "IEEE Trans. Control. Netw. Syst." -authors: - - Hossein Rastgoftar - - Ella M. Atkins - - dimitrapanagou link: https://doi.org/10.1109/TCNS.2018.2873204 -bib: |- - @article{DBLP:journals/tcns/RastgoftarAP19, - author = {Hossein Rastgoftar and - Ella M. Atkins and - Dimitra Panagou}, - title = {Safe Multiquadcopter System Continuum Deformation Over Moving Frames}, - journal = {{IEEE} Trans. Control. Netw. Syst.}, - volume = {6}, - number = {2}, - pages = {737--749}, - year = {2019}, - url = {https://doi.org/10.1109/TCNS.2018.2873204}, - doi = {10.1109/TCNS.2018.2873204}, - timestamp = {Thu, 09 Apr 2020 17:10:56 +0200}, - biburl = {https://dblp.org/rec/journals/tcns/RastgoftarAP19.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Safe Multiquadcopter System Continuum Deformation Over Moving Frames. +venue: IEEE Trans. Control. Netw. Syst. --- diff --git a/content/papers/2019/2019-sahin-intention_aware_supervisory_control_with_driving_safety_applications.md b/content/papers/2019/2019-sahin-intention_aware_supervisory_control_with_driving_safety_applications.md index c4c844a..41115ce 100644 --- a/content/papers/2019/2019-sahin-intention_aware_supervisory_control_with_driving_safety_applications.md +++ b/content/papers/2019/2019-sahin-intention_aware_supervisory_control_with_driving_safety_applications.md @@ -1,37 +1,39 @@ --- +abstract: This paper proposes a guardian architecture, consisting of an estimation + and a supervisor module providing a set of inputs that guarantees safety, in driving + scenarios. The main idea is to offline compute a library of robust controlled invariant + sets (RCIS), for each possible driver intention model of the other vehicles, together + with an intention-agnostic albeit conservative RCIS. At runtime, when the intention + estimation module determines which driver model the other vehicles are following, + the appropriate RCIS is chosen to provide the safe and less conservative input set + for supervision. We show that the composition of the intention estimation module + with the proposed intention-aware supervisor module is safe. Moreover, we show how + to compute intention-agnostic and intention-specific RCIS by growing an analytically + found simple invariant safe set. The results are demonstrated on a case study on + how to safely interact with a human-driven car on a highway scenario, using data + collected from a driving simulator. +authors: +- Yunus Emre Sahin +- Zexiang Liu +- Kwesi J. Rutledge +- dimitrapanagou +- Sze Zheng Yong +- Necmiye Ozay +bib: "@inproceedings{DBLP:conf/ccta/SahinLRPYO19,\n author = {Yunus Emre Sahin\ + \ and\n Zexiang Liu and\n Kwesi J. Rutledge and\n\ + \ Dimitra Panagou and\n Sze Zheng Yong and\n \ + \ Necmiye Ozay},\n title = {Intention-Aware Supervisory\ + \ Control with Driving Safety Applications},\n booktitle = {2019 {IEEE} Conference\ + \ on Control Technology and Applications, {CCTA}\n 2019, Hong Kong,\ + \ SAR, China, August 19-21, 2019},\n pages = {1--8},\n publisher = {{IEEE}},\n\ + \ year = {2019},\n url = {https://doi.org/10.1109/CCTA.2019.8920426},\n\ + \ doi = {10.1109/CCTA.2019.8920426},\n timestamp = {Wed, 07 Dec 2022\ + \ 23:10:43 +0100},\n biburl = {https://dblp.org/rec/conf/ccta/SahinLRPYO19.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2019-01-01 key: conf/ccta/SahinLRPYO19 layout: papers -title: "Intention-Aware Supervisory Control with Driving Safety Applications." -date: 2019-01-01 -venue: "CCTA" -authors: - - Yunus Emre Sahin - - Zexiang Liu - - Kwesi J. Rutledge - - dimitrapanagou - - Sze Zheng Yong - - Necmiye Ozay link: https://doi.org/10.1109/CCTA.2019.8920426 -bib: |- - @inproceedings{DBLP:conf/ccta/SahinLRPYO19, - author = {Yunus Emre Sahin and - Zexiang Liu and - Kwesi J. Rutledge and - Dimitra Panagou and - Sze Zheng Yong and - Necmiye Ozay}, - title = {Intention-Aware Supervisory Control with Driving Safety Applications}, - booktitle = {2019 {IEEE} Conference on Control Technology and Applications, {CCTA} - 2019, Hong Kong, SAR, China, August 19-21, 2019}, - pages = {1--8}, - publisher = {{IEEE}}, - year = {2019}, - url = {https://doi.org/10.1109/CCTA.2019.8920426}, - doi = {10.1109/CCTA.2019.8920426}, - timestamp = {Wed, 07 Dec 2022 23:10:43 +0100}, - biburl = {https://dblp.org/rec/conf/ccta/SahinLRPYO19.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Intention-Aware Supervisory Control with Driving Safety Applications. +venue: CCTA --- diff --git a/content/papers/2019/2019-usevitch-determining_r_robustness_of_digraphs_using_mixed_integer_linear_programming.md b/content/papers/2019/2019-usevitch-determining_r_robustness_of_digraphs_using_mixed_integer_linear_programming.md index 2d9f19c..b2fca26 100644 --- a/content/papers/2019/2019-usevitch-determining_r_robustness_of_digraphs_using_mixed_integer_linear_programming.md +++ b/content/papers/2019/2019-usevitch-determining_r_robustness_of_digraphs_using_mixed_integer_linear_programming.md @@ -1,29 +1,31 @@ --- +abstract: Convergence guarantees of many resilient consensus algorithms are based + on the graph theoretic properties of rand (r, s)-robustness. These algorithms guarantee + consensus of normally behaving agents in the presence of a bounded number of arbitrarily + misbehaving agents if the values of the integers $r$ and $s$ are sufficiently high. + However, determining the largest integer $r$ for which an arbitrary digraph is r-robust + is highly nontrivial. This paper introduces a novel method for calculating this + value using mixed integer linear programming. The method only requires knowledge + of the graph Laplacian matrix, and can be formulated with affine objective and constraints, + except for the integer constraint. Integer programming methods such as branch-and-bound + can allow both lower and upper bounds on $r$ to be iteratively tightened. Simulations + suggest the proposed method demonstrates greater efficiency than prior algorithms. +authors: +- James Usevitch +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/amcc/UsevitchP19,\n author = {James Usevitch\ + \ and\n Dimitra Panagou},\n title = {Determining r-Robustness\ + \ of Digraphs Using Mixed Integer Linear Programming},\n booktitle = {2019 American\ + \ Control Conference, {ACC} 2019, Philadelphia, PA, USA,\n July\ + \ 10-12, 2019},\n pages = {2257--2263},\n publisher = {{IEEE}},\n year\ + \ = {2019},\n url = {https://doi.org/10.23919/ACC.2019.8814405},\n\ + \ doi = {10.23919/ACC.2019.8814405},\n timestamp = {Sun, 08 Aug 2021\ + \ 01:40:57 +0200},\n biburl = {https://dblp.org/rec/conf/amcc/UsevitchP19.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2019-01-01 key: conf/amcc/UsevitchP19 layout: papers -title: "Determining r-Robustness of Digraphs Using Mixed Integer Linear Programming." -date: 2019-01-01 -venue: "ACC" -authors: - - James Usevitch - - dimitrapanagou link: https://doi.org/10.23919/ACC.2019.8814405 -bib: |- - @inproceedings{DBLP:conf/amcc/UsevitchP19, - author = {James Usevitch and - Dimitra Panagou}, - title = {Determining r-Robustness of Digraphs Using Mixed Integer Linear Programming}, - booktitle = {2019 American Control Conference, {ACC} 2019, Philadelphia, PA, USA, - July 10-12, 2019}, - pages = {2257--2263}, - publisher = {{IEEE}}, - year = {2019}, - url = {https://doi.org/10.23919/ACC.2019.8814405}, - doi = {10.23919/ACC.2019.8814405}, - timestamp = {Sun, 08 Aug 2021 01:40:57 +0200}, - biburl = {https://dblp.org/rec/conf/amcc/UsevitchP19.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Determining r-Robustness of Digraphs Using Mixed Integer Linear Programming. +venue: ACC --- diff --git a/content/papers/2019/2019-usevitch-resilient_leader_follower_consensus_with_time_varying_leaders_in_discrete_time_systems.md b/content/papers/2019/2019-usevitch-resilient_leader_follower_consensus_with_time_varying_leaders_in_discrete_time_systems.md index 679b197..679baf1 100644 --- a/content/papers/2019/2019-usevitch-resilient_leader_follower_consensus_with_time_varying_leaders_in_discrete_time_systems.md +++ b/content/papers/2019/2019-usevitch-resilient_leader_follower_consensus_with_time_varying_leaders_in_discrete_time_systems.md @@ -1,30 +1,31 @@ --- +abstract: "The problem of consensus in the presence of adversarially behaving agents\ + \ has been studied extensively in the literature. The proposed algorithms typically\ + \ guarantee that the consensus value lies within the convex hull of the initial\ + \ states of the normally-behaving agents. In leader-follower consensus problems\ + \ however, the objective for normally behaving agents is to track a time-varying\ + \ reference state that may take on values outside of this convex hull. In this paper\ + \ we present a method for agents with discrete-time dynamics to resiliently track\ + \ a set of leaders\u2019 common time-varying reference state despite a bounded subset\ + \ of the leaders and followers behaving adversarially. The efficacy of our results\ + \ are demonstrated through simulations." +authors: +- James Usevitch +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/cdc/UsevitchP19,\n author = {James Usevitch\ + \ and\n Dimitra Panagou},\n title = {Resilient Leader-Follower\ + \ Consensus with Time-Varying Leaders in Discrete-Time\n Systems},\n\ + \ booktitle = {58th {IEEE} Conference on Decision and Control, {CDC} 2019, Nice,\n\ + \ France, December 11-13, 2019},\n pages = {5432--5437},\n\ + \ publisher = {{IEEE}},\n year = {2019},\n url = {https://doi.org/10.1109/CDC40024.2019.9030246},\n\ + \ doi = {10.1109/CDC40024.2019.9030246},\n timestamp = {Fri, 04 Mar\ + \ 2022 13:30:46 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/UsevitchP19.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2019-01-01 key: conf/cdc/UsevitchP19 layout: papers -title: "Resilient Leader-Follower Consensus with Time-Varying Leaders in Discrete-Time Systems." -date: 2019-01-01 -venue: "CDC" -authors: - - James Usevitch - - dimitrapanagou link: https://doi.org/10.1109/CDC40024.2019.9030246 -bib: |- - @inproceedings{DBLP:conf/cdc/UsevitchP19, - author = {James Usevitch and - Dimitra Panagou}, - title = {Resilient Leader-Follower Consensus with Time-Varying Leaders in Discrete-Time - Systems}, - booktitle = {58th {IEEE} Conference on Decision and Control, {CDC} 2019, Nice, - France, December 11-13, 2019}, - pages = {5432--5437}, - publisher = {{IEEE}}, - year = {2019}, - url = {https://doi.org/10.1109/CDC40024.2019.9030246}, - doi = {10.1109/CDC40024.2019.9030246}, - timestamp = {Fri, 04 Mar 2022 13:30:46 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/UsevitchP19.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Resilient Leader-Follower Consensus with Time-Varying Leaders in Discrete-Time + Systems. +venue: CDC --- diff --git a/content/papers/2020/2020-arabi-safety_critical_adaptive_control_with_nonlinear_reference_model_systems.md b/content/papers/2020/2020-arabi-safety_critical_adaptive_control_with_nonlinear_reference_model_systems.md index d55d2e2..5e00c62 100644 --- a/content/papers/2020/2020-arabi-safety_critical_adaptive_control_with_nonlinear_reference_model_systems.md +++ b/content/papers/2020/2020-arabi-safety_critical_adaptive_control_with_nonlinear_reference_model_systems.md @@ -1,31 +1,33 @@ --- +abstract: In this paper, a model reference adaptive control architecture is proposed + for uncertain nonlinear systems to achieve prescribed performance guarantees. Specifically, + a general nonlinear reference model system is considered that captures an ideal + and safe system behavior. An adaptive control architecture is then proposed to suppress + the effects of system uncertainties without any prior knowledge of their magnitude + and rate upper bounds. More importantly, the proposed control architecture enforces + the system state trajectories to evolve within a user-specified prescribed distance + from the reference system trajectories, satisfying the safety constraints. This + eliminates the ad-hoc tuning process for the adaptation rate that is conventionally + required in model reference adaptive control to ensure safety. The efficacy of the + proposed control architecture is also demonstrated through an illustrative numerical + example. +authors: +- Ehsan Arabi +- Kunal Garg +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/amcc/ArabiGP20,\n author = {Ehsan Arabi and\n\ + \ Kunal Garg and\n Dimitra Panagou},\n title\ + \ = {Safety-Critical Adaptive Control with Nonlinear Reference Model Systems},\n\ + \ booktitle = {2020 American Control Conference, {ACC} 2020, Denver, CO, USA,\ + \ July\n 1-3, 2020},\n pages = {1749--1754},\n publisher\ + \ = {{IEEE}},\n year = {2020},\n url = {https://doi.org/10.23919/ACC45564.2020.9147999},\n\ + \ doi = {10.23919/ACC45564.2020.9147999},\n timestamp = {Sun, 08 Aug\ + \ 2021 01:40:57 +0200},\n biburl = {https://dblp.org/rec/conf/amcc/ArabiGP20.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2020-01-01 key: conf/amcc/ArabiGP20 layout: papers -title: "Safety-Critical Adaptive Control with Nonlinear Reference Model Systems." -date: 2020-01-01 -venue: "ACC" -authors: - - Ehsan Arabi - - Kunal Garg - - dimitrapanagou link: https://doi.org/10.23919/ACC45564.2020.9147999 -bib: |- - @inproceedings{DBLP:conf/amcc/ArabiGP20, - author = {Ehsan Arabi and - Kunal Garg and - Dimitra Panagou}, - title = {Safety-Critical Adaptive Control with Nonlinear Reference Model Systems}, - booktitle = {2020 American Control Conference, {ACC} 2020, Denver, CO, USA, July - 1-3, 2020}, - pages = {1749--1754}, - publisher = {{IEEE}}, - year = {2020}, - url = {https://doi.org/10.23919/ACC45564.2020.9147999}, - doi = {10.23919/ACC45564.2020.9147999}, - timestamp = {Sun, 08 Aug 2021 01:40:57 +0200}, - biburl = {https://dblp.org/rec/conf/amcc/ArabiGP20.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Safety-Critical Adaptive Control with Nonlinear Reference Model Systems. +venue: ACC --- diff --git a/content/papers/2020/2020-black-a_quadratic_program_based_control_synthesis_under_spatiotemporal_constraints_and_non_vanishing_disturbances.md b/content/papers/2020/2020-black-a_quadratic_program_based_control_synthesis_under_spatiotemporal_constraints_and_non_vanishing_disturbances.md index 54ae617..046ceec 100644 --- a/content/papers/2020/2020-black-a_quadratic_program_based_control_synthesis_under_spatiotemporal_constraints_and_non_vanishing_disturbances.md +++ b/content/papers/2020/2020-black-a_quadratic_program_based_control_synthesis_under_spatiotemporal_constraints_and_non_vanishing_disturbances.md @@ -1,32 +1,34 @@ --- +abstract: In this paper, we study the effect of non-vanishing disturbances on the + stability of fixed-time stable (FxTS) systems. We present a new result on FxTS, + which allows a positive term in the time derivative of the Lyapunov function with + the aim to model bounded, non-vanishing disturbances in system dynamics. We characterize + the neighborhood to which the system trajectories converge, as well as the convergence + time. Then, we use the new FxTS result and formulate a quadratic program (QP) that + yields control inputs which drive the trajectories of a class of nonlinear, control-affine + systems to a goal set in the presence of control input constraints and nonvanishing, + bounded disturbances in the system dynamics. We consider an overtaking problem on + a highway as a case study, and discuss how to both set up the QP and decide when + to start the overtake maneuver in the presence of sensing errors. +authors: +- Mitchell Black +- Kunal Garg +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/cdc/BlackGP20,\n author = {Mitchell Black and\n\ + \ Kunal Garg and\n Dimitra Panagou},\n title\ + \ = {A Quadratic Program based Control Synthesis under Spatiotemporal Constraints\n\ + \ and Non-vanishing Disturbances},\n booktitle = {59th {IEEE}\ + \ Conference on Decision and Control, {CDC} 2020, Jeju Island,\n \ + \ South Korea, December 14-18, 2020},\n pages = {2726--2731},\n publisher\ + \ = {{IEEE}},\n year = {2020},\n url = {https://doi.org/10.1109/CDC42340.2020.9304071},\n\ + \ doi = {10.1109/CDC42340.2020.9304071},\n timestamp = {Fri, 04 Mar\ + \ 2022 13:31:02 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/BlackGP20.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2020-01-01 key: conf/cdc/BlackGP20 layout: papers -title: "A Quadratic Program based Control Synthesis under Spatiotemporal Constraints and Non-vanishing Disturbances." -date: 2020-01-01 -venue: "CDC" -authors: - - Mitchell Black - - Kunal Garg - - dimitrapanagou link: https://doi.org/10.1109/CDC42340.2020.9304071 -bib: |- - @inproceedings{DBLP:conf/cdc/BlackGP20, - author = {Mitchell Black and - Kunal Garg and - Dimitra Panagou}, - title = {A Quadratic Program based Control Synthesis under Spatiotemporal Constraints - and Non-vanishing Disturbances}, - booktitle = {59th {IEEE} Conference on Decision and Control, {CDC} 2020, Jeju Island, - South Korea, December 14-18, 2020}, - pages = {2726--2731}, - publisher = {{IEEE}}, - year = {2020}, - url = {https://doi.org/10.1109/CDC42340.2020.9304071}, - doi = {10.1109/CDC42340.2020.9304071}, - timestamp = {Fri, 04 Mar 2022 13:31:02 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/BlackGP20.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: A Quadratic Program based Control Synthesis under Spatiotemporal Constraints + and Non-vanishing Disturbances. +venue: CDC --- diff --git a/content/papers/2020/2020-breeden-quadratic_programs_for_high_relative_degree_spatial_constraints_and_spatiotemporal_specifications_with_spacecraft_applications.md b/content/papers/2020/2020-breeden-quadratic_programs_for_high_relative_degree_spatial_constraints_and_spatiotemporal_specifications_with_spacecraft_applications.md index 0e2803f..19ddf91 100644 --- a/content/papers/2020/2020-breeden-quadratic_programs_for_high_relative_degree_spatial_constraints_and_spatiotemporal_specifications_with_spacecraft_applications.md +++ b/content/papers/2020/2020-breeden-quadratic_programs_for_high_relative_degree_spatial_constraints_and_spatiotemporal_specifications_with_spacecraft_applications.md @@ -1,30 +1,33 @@ --- +abstract: This paper presents a new methodology for ensuring forward invariance of + sublevel sets of high relative degree functions, and convergence of the state to + these sets. We introduce the notion of the boundary layer of a set defined by multiple + constraints, and develop polynomially-derived trajectory constraints as means to + enforce set invariance by redirecting trajectories that enter this boundary layer. + This strategy is then extended to achieve convergence to and invariance of goal + sets that are specified using Signal Temporal Logic. A quadratic program computes + control inputs online that yield trajectories that achieve high level objectives + specified by these sets, such as obstacle avoidance and target observation. We present + a case study utilizing this controller for a spacecraft position and attitude control + problem requiring observation of targets on the surface of a small body. +authors: +- Joseph Breeden +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/cdc/BreedenP20,\n author = {Joseph Breeden and\n\ + \ Dimitra Panagou},\n title = {Quadratic Programs for High\ + \ Relative Degree Spatial Constraints and\n Spatiotemporal Specifications\ + \ with Spacecraft Applications},\n booktitle = {59th {IEEE} Conference on Decision\ + \ and Control, {CDC} 2020, Jeju Island,\n South Korea, December\ + \ 14-18, 2020},\n pages = {1496--1502},\n publisher = {{IEEE}},\n year\ + \ = {2020},\n url = {https://doi.org/10.1109/CDC42340.2020.9304162},\n\ + \ doi = {10.1109/CDC42340.2020.9304162},\n timestamp = {Fri, 04 Mar\ + \ 2022 13:31:02 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/BreedenP20.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2020-01-01 key: conf/cdc/BreedenP20 layout: papers -title: "Quadratic Programs for High Relative Degree Spatial Constraints and Spatiotemporal Specifications with Spacecraft Applications." -date: 2020-01-01 -venue: "CDC" -authors: - - Joseph Breeden - - dimitrapanagou link: https://doi.org/10.1109/CDC42340.2020.9304162 -bib: |- - @inproceedings{DBLP:conf/cdc/BreedenP20, - author = {Joseph Breeden and - Dimitra Panagou}, - title = {Quadratic Programs for High Relative Degree Spatial Constraints and - Spatiotemporal Specifications with Spacecraft Applications}, - booktitle = {59th {IEEE} Conference on Decision and Control, {CDC} 2020, Jeju Island, - South Korea, December 14-18, 2020}, - pages = {1496--1502}, - publisher = {{IEEE}}, - year = {2020}, - url = {https://doi.org/10.1109/CDC42340.2020.9304162}, - doi = {10.1109/CDC42340.2020.9304162}, - timestamp = {Fri, 04 Mar 2022 13:31:02 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/BreedenP20.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Quadratic Programs for High Relative Degree Spatial Constraints and Spatiotemporal + Specifications with Spacecraft Applications. +venue: CDC --- diff --git a/content/papers/2020/2020-chipade-multi_swarm_herding_protecting_against_adversarial_swarms.md b/content/papers/2020/2020-chipade-multi_swarm_herding_protecting_against_adversarial_swarms.md index 575b117..96e65b0 100644 --- a/content/papers/2020/2020-chipade-multi_swarm_herding_protecting_against_adversarial_swarms.md +++ b/content/papers/2020/2020-chipade-multi_swarm_herding_protecting_against_adversarial_swarms.md @@ -1,29 +1,34 @@ --- +abstract: "This paper studies a defense approach against one or more swarms of adversarial\ + \ agents. In our earlier work, we employ a closed formation (\u2018StringNet\u2019\ + ) of defending agents (defenders) around a swarm of adversarial agents (attackers)\ + \ to confine their motion within given bounds, and guide them to a safe area. The\ + \ control design relies on the assumption that the adversarial agents remain close\ + \ enough to each other, i.e., within a prescribed connectivity region. To handle\ + \ situations when the attackers no longer stay within such a connectivity region,\ + \ but rather split into smaller swarms (clusters) to maximize the chance or impact\ + \ of attack, this paper proposes an approach to learn the attacking sub-swarms and\ + \ reassign defenders towards the attackers. We use a \u2018Density-based Spatial\ + \ Clustering of Application with Noise (DBSCAN)\u2019 algorithm to identify the\ + \ spatially distributed swarms of the attackers. Then, the defenders are assigned\ + \ to each identified swarm of attackers by solving a constrained generalized assignment\ + \ problem. Simulations are provided to demonstrate the effectiveness of the approach." +authors: +- Vishnu S. Chipade +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/cdc/ChipadeP20,\n author = {Vishnu S. Chipade\ + \ and\n Dimitra Panagou},\n title = {Multi-Swarm Herding:\ + \ Protecting against Adversarial Swarms},\n booktitle = {59th {IEEE} Conference\ + \ on Decision and Control, {CDC} 2020, Jeju Island,\n South Korea,\ + \ December 14-18, 2020},\n pages = {5374--5379},\n publisher = {{IEEE}},\n\ + \ year = {2020},\n url = {https://doi.org/10.1109/CDC42340.2020.9303837},\n\ + \ doi = {10.1109/CDC42340.2020.9303837},\n timestamp = {Fri, 04 Mar\ + \ 2022 13:31:02 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/ChipadeP20.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2020-01-01 key: conf/cdc/ChipadeP20 layout: papers -title: "Multi-Swarm Herding: Protecting against Adversarial Swarms." -date: 2020-01-01 -venue: "CDC" -authors: - - Vishnu S. Chipade - - dimitrapanagou link: https://doi.org/10.1109/CDC42340.2020.9303837 -bib: |- - @inproceedings{DBLP:conf/cdc/ChipadeP20, - author = {Vishnu S. Chipade and - Dimitra Panagou}, - title = {Multi-Swarm Herding: Protecting against Adversarial Swarms}, - booktitle = {59th {IEEE} Conference on Decision and Control, {CDC} 2020, Jeju Island, - South Korea, December 14-18, 2020}, - pages = {5374--5379}, - publisher = {{IEEE}}, - year = {2020}, - url = {https://doi.org/10.1109/CDC42340.2020.9303837}, - doi = {10.1109/CDC42340.2020.9303837}, - timestamp = {Fri, 04 Mar 2022 13:31:02 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/ChipadeP20.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: 'Multi-Swarm Herding: Protecting against Adversarial Swarms.' +venue: CDC --- diff --git a/content/papers/2020/2020-garg-a_fixed_time_convergent_distributed_algorithm_for_strongly_convex_functions_in_a_time_varying_network.md b/content/papers/2020/2020-garg-a_fixed_time_convergent_distributed_algorithm_for_strongly_convex_functions_in_a_time_varying_network.md index 6207293..8bbc2da 100644 --- a/content/papers/2020/2020-garg-a_fixed_time_convergent_distributed_algorithm_for_strongly_convex_functions_in_a_time_varying_network.md +++ b/content/papers/2020/2020-garg-a_fixed_time_convergent_distributed_algorithm_for_strongly_convex_functions_in_a_time_varying_network.md @@ -1,32 +1,34 @@ --- +abstract: This paper presents a novel distributed nonlinear protocol for minimizing + the sum of convex objective functions in a fixed time under time-varying communication + topology. In a distributed setting, each node in the network has access only to + its private objective function, while exchange of local information, such as, state + and gradient values, is permitted between the immediate neighbors. Earlier work + in literature considers distributed optimization protocols that achieve convergence + of the estimation error in a finite time for static communication topology, or under + specific set of initial conditions. This study investigates first such protocol + for achieving distributed optimization in a fixed time that is independent of the + initial conditions, for time-varying communication topology. Numerical examples + corroborate our theoretical analysis. +authors: +- Kunal Garg +- Mayank Baranwal +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/cdc/GargBP20,\n author = {Kunal Garg and\n \ + \ Mayank Baranwal and\n Dimitra Panagou},\n title\ + \ = {A Fixed-Time Convergent Distributed Algorithm for Strongly Convex\n\ + \ Functions in a Time-Varying Network},\n booktitle = {59th\ + \ {IEEE} Conference on Decision and Control, {CDC} 2020, Jeju Island,\n \ + \ South Korea, December 14-18, 2020},\n pages = {4405--4410},\n\ + \ publisher = {{IEEE}},\n year = {2020},\n url = {https://doi.org/10.1109/CDC42340.2020.9303778},\n\ + \ doi = {10.1109/CDC42340.2020.9303778},\n timestamp = {Fri, 04 Mar\ + \ 2022 13:31:02 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/GargBP20.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2020-01-01 key: conf/cdc/GargBP20 layout: papers -title: "A Fixed-Time Convergent Distributed Algorithm for Strongly Convex Functions in a Time-Varying Network." -date: 2020-01-01 -venue: "CDC" -authors: - - Kunal Garg - - Mayank Baranwal - - dimitrapanagou link: https://doi.org/10.1109/CDC42340.2020.9303778 -bib: |- - @inproceedings{DBLP:conf/cdc/GargBP20, - author = {Kunal Garg and - Mayank Baranwal and - Dimitra Panagou}, - title = {A Fixed-Time Convergent Distributed Algorithm for Strongly Convex - Functions in a Time-Varying Network}, - booktitle = {59th {IEEE} Conference on Decision and Control, {CDC} 2020, Jeju Island, - South Korea, December 14-18, 2020}, - pages = {4405--4410}, - publisher = {{IEEE}}, - year = {2020}, - url = {https://doi.org/10.1109/CDC42340.2020.9303778}, - doi = {10.1109/CDC42340.2020.9303778}, - timestamp = {Fri, 04 Mar 2022 13:31:02 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/GargBP20.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: A Fixed-Time Convergent Distributed Algorithm for Strongly Convex Functions + in a Time-Varying Network. +venue: CDC --- diff --git a/content/papers/2020/2020-garg-prescribed_time_convergence_with_input_constraints_a_control_lyapunov_function_based_approach.md b/content/papers/2020/2020-garg-prescribed_time_convergence_with_input_constraints_a_control_lyapunov_function_based_approach.md index ee81963..50828a4 100644 --- a/content/papers/2020/2020-garg-prescribed_time_convergence_with_input_constraints_a_control_lyapunov_function_based_approach.md +++ b/content/papers/2020/2020-garg-prescribed_time_convergence_with_input_constraints_a_control_lyapunov_function_based_approach.md @@ -1,32 +1,39 @@ --- +abstract: "In this paper, we present a control framework for a general class of control-affine\ + \ nonlinear systems under spatiotemporal and input constraints. Specifically, the\ + \ proposed control architecture addresses the problem of reaching a given final\ + \ set S in a prescribed (user-defined) time with bounded control inputs. To this\ + \ end, a time transformation technique is utilized to transform the system subject\ + \ to temporal constraints into an equivalent form without temporal constraints.\ + \ The transformation is defined so that asymptotic convergence in the transformed\ + \ time scale results into prescribed-time convergence in the original time scale.\ + \ To incorporate input constraints, we characterize a set of initial conditions\ + \ DM such that starting from this set, the closed-loop trajectories reach the set\ + \ S within the prescribed time. We further show that starting from outside the set\ + \ DM , the system trajectories reach the set DM in a finite time that depends upon\ + \ the initial conditions and the control input bounds. We use a novel parameter\ + \ \u03BC in the controller, that controls the convergence-rate of the closed-loop\ + \ trajectories and dictates the size of the set DM. Finally, we present a numerical\ + \ example to showcase the efficacy of our proposed method." +authors: +- Kunal Garg +- Ehsan Arabi +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/amcc/GargAP20,\n author = {Kunal Garg and\n\ + \ Ehsan Arabi and\n Dimitra Panagou},\n title\ + \ = {Prescribed-time Convergence with Input Constraints: {A} Control Lyapunov\n\ + \ Function Based Approach},\n booktitle = {2020 American Control\ + \ Conference, {ACC} 2020, Denver, CO, USA, July\n 1-3, 2020},\n\ + \ pages = {962--967},\n publisher = {{IEEE}},\n year = {2020},\n\ + \ url = {https://doi.org/10.23919/ACC45564.2020.9147641},\n doi \ + \ = {10.23919/ACC45564.2020.9147641},\n timestamp = {Sun, 08 Aug 2021 01:40:57\ + \ +0200},\n biburl = {https://dblp.org/rec/conf/amcc/GargAP20.bib},\n bibsource\ + \ = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2020-01-01 key: conf/amcc/GargAP20 layout: papers -title: "Prescribed-time Convergence with Input Constraints: A Control Lyapunov Function Based Approach." -date: 2020-01-01 -venue: "ACC" -authors: - - Kunal Garg - - Ehsan Arabi - - dimitrapanagou link: https://doi.org/10.23919/ACC45564.2020.9147641 -bib: |- - @inproceedings{DBLP:conf/amcc/GargAP20, - author = {Kunal Garg and - Ehsan Arabi and - Dimitra Panagou}, - title = {Prescribed-time Convergence with Input Constraints: {A} Control Lyapunov - Function Based Approach}, - booktitle = {2020 American Control Conference, {ACC} 2020, Denver, CO, USA, July - 1-3, 2020}, - pages = {962--967}, - publisher = {{IEEE}}, - year = {2020}, - url = {https://doi.org/10.23919/ACC45564.2020.9147641}, - doi = {10.23919/ACC45564.2020.9147641}, - timestamp = {Sun, 08 Aug 2021 01:40:57 +0200}, - biburl = {https://dblp.org/rec/conf/amcc/GargAP20.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: 'Prescribed-time Convergence with Input Constraints: A Control Lyapunov Function + Based Approach.' +venue: ACC --- diff --git a/content/papers/2020/2020-panagou-decentralized_goal_assignment_and_safe_trajectory_generation_in_multirobot_networks_via_multiple_lyapunov_functions.md b/content/papers/2020/2020-panagou-decentralized_goal_assignment_and_safe_trajectory_generation_in_multirobot_networks_via_multiple_lyapunov_functions.md index 5ee07a9..164bde3 100644 --- a/content/papers/2020/2020-panagou-decentralized_goal_assignment_and_safe_trajectory_generation_in_multirobot_networks_via_multiple_lyapunov_functions.md +++ b/content/papers/2020/2020-panagou-decentralized_goal_assignment_and_safe_trajectory_generation_in_multirobot_networks_via_multiple_lyapunov_functions.md @@ -1,32 +1,36 @@ --- +abstract: This article considers the problem of decentralized goal assignment and + trajectory generation for multirobot networks when only local communication is available + and proposes an approach based on methods related to switched systems and set invariance. + A family of Lyapunov-like functions is employed to encode the (local) decision making + among candidate goal assignments, under which a group of connected agents chooses + the assignment that results in the shortest total distance to the goals. An additional + family of Lyapunov-like barrier functions is activated in the case when the optimal + assignment may lead to colliding trajectories, maintaining thus system safety while + preserving the convergence guarantees. The proposed switching strategies give rise + to feedback control policies that are computationally efficient and scalable with + the number of agents and, therefore, suitable for applications, including first-response + deployment of robotic networks under limited information sharing. The efficacy of + the proposed method is demonstrated via simulation results and experiments with + six ground robots. +authors: +- dimitrapanagou +- Matthew Turpin +- Vijay Kumar +bib: "@article{DBLP:journals/tac/PanagouTK20,\n author = {Dimitra Panagou and\n\ + \ Matthew Turpin and\n Vijay Kumar},\n title\ + \ = {Decentralized Goal Assignment and Safe Trajectory Generation in Multirobot\n\ + \ Networks via Multiple Lyapunov Functions},\n journal =\ + \ {{IEEE} Trans. Autom. Control.},\n volume = {65},\n number = {8},\n\ + \ pages = {3365--3380},\n year = {2020},\n url = {https://doi.org/10.1109/TAC.2019.2946333},\n\ + \ doi = {10.1109/TAC.2019.2946333},\n timestamp = {Wed, 26 Aug 2020\ + \ 11:05:09 +0200},\n biburl = {https://dblp.org/rec/journals/tac/PanagouTK20.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2020-01-01 key: journals/tac/PanagouTK20 layout: papers -title: "Decentralized Goal Assignment and Safe Trajectory Generation in Multirobot Networks via Multiple Lyapunov Functions." -date: 2020-01-01 -venue: "IEEE Trans. Autom. Control." -authors: - - dimitrapanagou - - Matthew Turpin - - Vijay Kumar link: https://doi.org/10.1109/TAC.2019.2946333 -bib: |- - @article{DBLP:journals/tac/PanagouTK20, - author = {Dimitra Panagou and - Matthew Turpin and - Vijay Kumar}, - title = {Decentralized Goal Assignment and Safe Trajectory Generation in Multirobot - Networks via Multiple Lyapunov Functions}, - journal = {{IEEE} Trans. Autom. Control.}, - volume = {65}, - number = {8}, - pages = {3365--3380}, - year = {2020}, - url = {https://doi.org/10.1109/TAC.2019.2946333}, - doi = {10.1109/TAC.2019.2946333}, - timestamp = {Wed, 26 Aug 2020 11:05:09 +0200}, - biburl = {https://dblp.org/rec/journals/tac/PanagouTK20.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Decentralized Goal Assignment and Safe Trajectory Generation in Multirobot + Networks via Multiple Lyapunov Functions. +venue: IEEE Trans. Autom. Control. --- diff --git a/content/papers/2020/2020-radmanesh-liv_lam_lidar_and_visual_localization_and_mapping.md b/content/papers/2020/2020-radmanesh-liv_lam_lidar_and_visual_localization_and_mapping.md index 18ccf89..f910704 100644 --- a/content/papers/2020/2020-radmanesh-liv_lam_lidar_and_visual_localization_and_mapping.md +++ b/content/papers/2020/2020-radmanesh-liv_lam_lidar_and_visual_localization_and_mapping.md @@ -1,35 +1,38 @@ --- +abstract: This paper presents a framework for Simultaneous Localization and Mapping + (SLAM) by combining a novel method for object discovery and localization from a + monocular camera with depth information provided by Light Detection and Ranging + (LiDAR). One major challenge in vision is discovering unknown objects without prior + training/supervision, in the wild, and on-the-fly. In our framework, no training + samples are available prior to the deployment. We develop an efficient proposal-matching + method to discover object temporal saliency, and then finetune these frequently + matched object proposals according to tracking information. Detected features of + the objects are used as landmark features, and are merged with the LiDAR data in + the proposed LIV-LAM (LiDAR and Visual Localization and Mapping). Compared to most + visual SLAM or LiDAR-based SLAM, the novelty of this method is the computationally-efficient + object detection and localization for feature set-and-match, in order to increase + the accuracy of the generated map. The results show that the presented method is + superior in both accuracy and efficiency of the maps generated by LiDAR. +authors: +- Reza Radmanesh +- Ziyin Wang +- Vishnu S. Chipade +- Gavriil Tsechpenakis +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/amcc/RadmaneshWCTP20,\n author = {Reza Radmanesh\ + \ and\n Ziyin Wang and\n Vishnu S. Chipade and\n\ + \ Gavriil Tsechpenakis and\n Dimitra Panagou},\n\ + \ title = {{LIV-LAM:} LiDAR and Visual Localization and Mapping},\n booktitle\ + \ = {2020 American Control Conference, {ACC} 2020, Denver, CO, USA, July\n \ + \ 1-3, 2020},\n pages = {659--664},\n publisher = {{IEEE}},\n\ + \ year = {2020},\n url = {https://doi.org/10.23919/ACC45564.2020.9148037},\n\ + \ doi = {10.23919/ACC45564.2020.9148037},\n timestamp = {Thu, 14 Oct\ + \ 2021 10:23:23 +0200},\n biburl = {https://dblp.org/rec/conf/amcc/RadmaneshWCTP20.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2020-01-01 key: conf/amcc/RadmaneshWCTP20 layout: papers -title: "LIV-LAM: LiDAR and Visual Localization and Mapping." -date: 2020-01-01 -venue: "ACC" -authors: - - Reza Radmanesh - - Ziyin Wang - - Vishnu S. Chipade - - Gavriil Tsechpenakis - - dimitrapanagou link: https://doi.org/10.23919/ACC45564.2020.9148037 -bib: |- - @inproceedings{DBLP:conf/amcc/RadmaneshWCTP20, - author = {Reza Radmanesh and - Ziyin Wang and - Vishnu S. Chipade and - Gavriil Tsechpenakis and - Dimitra Panagou}, - title = {{LIV-LAM:} LiDAR and Visual Localization and Mapping}, - booktitle = {2020 American Control Conference, {ACC} 2020, Denver, CO, USA, July - 1-3, 2020}, - pages = {659--664}, - publisher = {{IEEE}}, - year = {2020}, - url = {https://doi.org/10.23919/ACC45564.2020.9148037}, - doi = {10.23919/ACC45564.2020.9148037}, - timestamp = {Thu, 14 Oct 2021 10:23:23 +0200}, - biburl = {https://dblp.org/rec/conf/amcc/RadmaneshWCTP20.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: 'LIV-LAM: LiDAR and Visual Localization and Mapping.' +venue: ACC --- diff --git a/content/papers/2020/2020-usevitch-determining_r_and_r_s_robustness_of_digraphs_using_mixed_integer_linear_programming.md b/content/papers/2020/2020-usevitch-determining_r_and_r_s_robustness_of_digraphs_using_mixed_integer_linear_programming.md index f58bade..5c123c9 100644 --- a/content/papers/2020/2020-usevitch-determining_r_and_r_s_robustness_of_digraphs_using_mixed_integer_linear_programming.md +++ b/content/papers/2020/2020-usevitch-determining_r_and_r_s_robustness_of_digraphs_using_mixed_integer_linear_programming.md @@ -1,28 +1,21 @@ --- +abstract: null +authors: +- James Usevitch +- dimitrapanagou +bib: "@article{DBLP:journals/automatica/UsevitchP20,\n author = {James Usevitch\ + \ and\n Dimitra Panagou},\n title = {Determining r- and\ + \ (r, s)-robustness of digraphs using mixed integer\n linear programming},\n\ + \ journal = {Autom.},\n volume = {111},\n year = {2020},\n\ + \ url = {https://doi.org/10.1016/j.automatica.2019.108586},\n doi \ + \ = {10.1016/J.AUTOMATICA.2019.108586},\n timestamp = {Thu, 20 Feb 2020\ + \ 09:13:58 +0100},\n biburl = {https://dblp.org/rec/journals/automatica/UsevitchP20.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2020-01-01 key: journals/automatica/UsevitchP20 layout: papers -title: "Determining r- and (r, s)-robustness of digraphs using mixed integer linear programming." -date: 2020-01-01 -venue: "Autom." -authors: - - James Usevitch - - dimitrapanagou link: https://doi.org/10.1016/j.automatica.2019.108586 -bib: |- - @article{DBLP:journals/automatica/UsevitchP20, - author = {James Usevitch and - Dimitra Panagou}, - title = {Determining r- and (r, s)-robustness of digraphs using mixed integer - linear programming}, - journal = {Autom.}, - volume = {111}, - year = {2020}, - url = {https://doi.org/10.1016/j.automatica.2019.108586}, - doi = {10.1016/J.AUTOMATICA.2019.108586}, - timestamp = {Thu, 20 Feb 2020 09:13:58 +0100}, - biburl = {https://dblp.org/rec/journals/automatica/UsevitchP20.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Determining r- and (r, s)-robustness of digraphs using mixed integer linear + programming. +venue: Autom. --- diff --git a/content/papers/2020/2020-usevitch-resilient_finite_time_consensus_a_discontinuous_systems_perspective.md b/content/papers/2020/2020-usevitch-resilient_finite_time_consensus_a_discontinuous_systems_perspective.md index 27fca08..8663c83 100644 --- a/content/papers/2020/2020-usevitch-resilient_finite_time_consensus_a_discontinuous_systems_perspective.md +++ b/content/papers/2020/2020-usevitch-resilient_finite_time_consensus_a_discontinuous_systems_perspective.md @@ -1,29 +1,32 @@ --- +abstract: Many algorithms have been proposed in prior literature to guarantee resilient + multi-agent consensus in the presence of adversarial attacks or faults. The majority + of prior work present excellent results that focus on discrete-time or discretized + continuous-time systems. Fewer authors have explored applying similar resilient + techniques to continuous-time systems without discretization. These prior works + typically consider asymptotic convergence and make assumptions such as continuity + of adversarial signals, the existence of a dwell time between switching instances + for the system dynamics, or the existence of trusted agents that do not misbehave. + In this paper, we expand the study of resilient continuous-time systems by removing + many of these assumptions and using discontinuous systems theory to provide conditions + for normally-behaving agents with nonlinear dynamics to achieve consensus in finite + time despite the presence of adversarial agents. +authors: +- James Usevitch +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/amcc/UsevitchP20,\n author = {James Usevitch\ + \ and\n Dimitra Panagou},\n title = {Resilient Finite-Time\ + \ Consensus: {A} Discontinuous Systems Perspective},\n booktitle = {2020 American\ + \ Control Conference, {ACC} 2020, Denver, CO, USA, July\n 1-3,\ + \ 2020},\n pages = {3285--3290},\n publisher = {{IEEE}},\n year \ + \ = {2020},\n url = {https://doi.org/10.23919/ACC45564.2020.9147904},\n\ + \ doi = {10.23919/ACC45564.2020.9147904},\n timestamp = {Sun, 08 Aug\ + \ 2021 01:40:57 +0200},\n biburl = {https://dblp.org/rec/conf/amcc/UsevitchP20.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2020-01-01 key: conf/amcc/UsevitchP20 layout: papers -title: "Resilient Finite-Time Consensus: A Discontinuous Systems Perspective." -date: 2020-01-01 -venue: "ACC" -authors: - - James Usevitch - - dimitrapanagou link: https://doi.org/10.23919/ACC45564.2020.9147904 -bib: |- - @inproceedings{DBLP:conf/amcc/UsevitchP20, - author = {James Usevitch and - Dimitra Panagou}, - title = {Resilient Finite-Time Consensus: {A} Discontinuous Systems Perspective}, - booktitle = {2020 American Control Conference, {ACC} 2020, Denver, CO, USA, July - 1-3, 2020}, - pages = {3285--3290}, - publisher = {{IEEE}}, - year = {2020}, - url = {https://doi.org/10.23919/ACC45564.2020.9147904}, - doi = {10.23919/ACC45564.2020.9147904}, - timestamp = {Sun, 08 Aug 2021 01:40:57 +0200}, - biburl = {https://dblp.org/rec/conf/amcc/UsevitchP20.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: 'Resilient Finite-Time Consensus: A Discontinuous Systems Perspective.' +venue: ACC --- diff --git a/content/papers/2020/2020-usevitch-resilient_leader_follower_consensus_to_arbitrary_reference_values_in_time_varying_graphs.md b/content/papers/2020/2020-usevitch-resilient_leader_follower_consensus_to_arbitrary_reference_values_in_time_varying_graphs.md index 76d0e73..b262928 100644 --- a/content/papers/2020/2020-usevitch-resilient_leader_follower_consensus_to_arbitrary_reference_values_in_time_varying_graphs.md +++ b/content/papers/2020/2020-usevitch-resilient_leader_follower_consensus_to_arbitrary_reference_values_in_time_varying_graphs.md @@ -1,30 +1,31 @@ --- +abstract: "Several algorithms in prior literature have been proposed, which guarantee\ + \ the consensus of normally behaving agents in a network that may contain adversarially\ + \ behaving agents. These algorithms guarantee that the consensus value lies within\ + \ the convex hull of initial normal agents\u2019 states, with the exact consensus\ + \ value possibly being unknown. In leader-follower consensus problems, however,\ + \ the objective is for normally behaving agents to track a reference state that\ + \ may take on values outside of this convex hull. In this paper, we present methods\ + \ for agents in time-varying graphs with discrete-time dynamics to resiliently track\ + \ a reference state propagated by a set of leaders, despite a bounded subset of\ + \ the leaders and followers behaving adversarially. Our results are demonstrated\ + \ through simulations." +authors: +- James Usevitch +- dimitrapanagou +bib: "@article{DBLP:journals/tac/UsevitchP20,\n author = {James Usevitch and\n\ + \ Dimitra Panagou},\n title = {Resilient Leader-Follower\ + \ Consensus to Arbitrary Reference Values\n in Time-Varying Graphs},\n\ + \ journal = {{IEEE} Trans. Autom. Control.},\n volume = {65},\n number\ + \ = {4},\n pages = {1755--1762},\n year = {2020},\n url\ + \ = {https://doi.org/10.1109/TAC.2019.2934954},\n doi = {10.1109/TAC.2019.2934954},\n\ + \ timestamp = {Tue, 30 Jun 2020 11:42:39 +0200},\n biburl = {https://dblp.org/rec/journals/tac/UsevitchP20.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2020-01-01 key: journals/tac/UsevitchP20 layout: papers -title: "Resilient Leader-Follower Consensus to Arbitrary Reference Values in Time-Varying Graphs." -date: 2020-01-01 -venue: "IEEE Trans. Autom. Control." -authors: - - James Usevitch - - dimitrapanagou link: https://doi.org/10.1109/TAC.2019.2934954 -bib: |- - @article{DBLP:journals/tac/UsevitchP20, - author = {James Usevitch and - Dimitra Panagou}, - title = {Resilient Leader-Follower Consensus to Arbitrary Reference Values - in Time-Varying Graphs}, - journal = {{IEEE} Trans. Autom. Control.}, - volume = {65}, - number = {4}, - pages = {1755--1762}, - year = {2020}, - url = {https://doi.org/10.1109/TAC.2019.2934954}, - doi = {10.1109/TAC.2019.2934954}, - timestamp = {Tue, 30 Jun 2020 11:42:39 +0200}, - biburl = {https://dblp.org/rec/journals/tac/UsevitchP20.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Resilient Leader-Follower Consensus to Arbitrary Reference Values in Time-Varying + Graphs. +venue: IEEE Trans. Autom. Control. --- diff --git a/content/papers/2020/2020-usevitch-strong_invariance_using_control_barrier_functions_a_clarke_tangent_cone_approach.md b/content/papers/2020/2020-usevitch-strong_invariance_using_control_barrier_functions_a_clarke_tangent_cone_approach.md index 420a48f..3e43e77 100644 --- a/content/papers/2020/2020-usevitch-strong_invariance_using_control_barrier_functions_a_clarke_tangent_cone_approach.md +++ b/content/papers/2020/2020-usevitch-strong_invariance_using_control_barrier_functions_a_clarke_tangent_cone_approach.md @@ -1,32 +1,35 @@ --- +abstract: Many control applications require that a system be constrained to a particular + set of states, often termed as safe set. A practical and flexible method for rendering + safe sets forward-invariant involves computing control input using Control Barrier + Functions and Quadratic Programming methods. Many prior results however require + the resulting control input to be continuous, which requires strong assumptions + or can be difficult to demonstrate theoretically. In this paper we use differential + inclusion methods to show that simultaneously rendering multiple sets invariant + can be accomplished using a discontinuous control input. We present an optimization + formulation which computes such control inputs and which can be posed in multiple + forms, including a feasibility problem, a linear program, or a quadratic program. + In addition, we discuss conditions under which the optimization problem is feasible + and show that any feasible solution of the considered optimization problem which + is measurable renders the multiple safe sets forward invariant. +authors: +- James Usevitch +- Kunal Garg +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/cdc/UsevitchGP20,\n author = {James Usevitch\ + \ and\n Kunal Garg and\n Dimitra Panagou},\n \ + \ title = {Strong Invariance Using Control Barrier Functions: {A} Clarke\ + \ Tangent\n Cone Approach},\n booktitle = {59th {IEEE} Conference\ + \ on Decision and Control, {CDC} 2020, Jeju Island,\n South Korea,\ + \ December 14-18, 2020},\n pages = {2044--2049},\n publisher = {{IEEE}},\n\ + \ year = {2020},\n url = {https://doi.org/10.1109/CDC42340.2020.9303873},\n\ + \ doi = {10.1109/CDC42340.2020.9303873},\n timestamp = {Fri, 04 Mar\ + \ 2022 13:31:02 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/UsevitchGP20.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2020-01-01 key: conf/cdc/UsevitchGP20 layout: papers -title: "Strong Invariance Using Control Barrier Functions: A Clarke Tangent Cone Approach." -date: 2020-01-01 -venue: "CDC" -authors: - - James Usevitch - - Kunal Garg - - dimitrapanagou link: https://doi.org/10.1109/CDC42340.2020.9303873 -bib: |- - @inproceedings{DBLP:conf/cdc/UsevitchGP20, - author = {James Usevitch and - Kunal Garg and - Dimitra Panagou}, - title = {Strong Invariance Using Control Barrier Functions: {A} Clarke Tangent - Cone Approach}, - booktitle = {59th {IEEE} Conference on Decision and Control, {CDC} 2020, Jeju Island, - South Korea, December 14-18, 2020}, - pages = {2044--2049}, - publisher = {{IEEE}}, - year = {2020}, - url = {https://doi.org/10.1109/CDC42340.2020.9303873}, - doi = {10.1109/CDC42340.2020.9303873}, - timestamp = {Fri, 04 Mar 2022 13:31:02 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/UsevitchGP20.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: 'Strong Invariance Using Control Barrier Functions: A Clarke Tangent Cone Approach.' +venue: CDC --- diff --git a/content/papers/2021/2021-arabi-adaptive_active_passive_networked_multiagent_systems.md b/content/papers/2021/2021-arabi-adaptive_active_passive_networked_multiagent_systems.md index 8f93c97..8168889 100644 --- a/content/papers/2021/2021-arabi-adaptive_active_passive_networked_multiagent_systems.md +++ b/content/papers/2021/2021-arabi-adaptive_active_passive_networked_multiagent_systems.md @@ -1,31 +1,36 @@ --- +abstract: Active-passive multiagent systems consist of agents subject to inputs (active + agents) and agents with no inputs (passive agents), where active and passive agent + roles are considered to be interchangeable in order to capture a wide array of applications. + A challenge in the control of active-passive multiagent systems is the presence + of information exchange uncertainties that can yield to undesirable closed-loop + system performance. Motivated by this standpoint, this paper proposes an adaptive + control algorithm for this class of multiagent systems to suppress the negative + effects of information exchange uncertainties. Specifically, by estimating these + uncertainties, the proposed adaptive control architecture has the ability to recover + the active-passive multiagent system performance in a distributed manner. As a result, + the agents converge to a user-adjustable neighborhood of the average of the applied + inputs to the active agents. The efficacy of the proposed control architecture is + also validated from a human-robot collaboration perspective, where a human is visiting + several task locations, and the multiagent system identifies these locations and + move toward them as a coverage control problem. +authors: +- Ehsan Arabi +- dimitrapanagou +- Tansel Yucelen +bib: "@inproceedings{DBLP:conf/amcc/ArabiPY21,\n author = {Ehsan Arabi and\n\ + \ Dimitra Panagou and\n Tansel Yucelen},\n title\ + \ = {Adaptive Active-Passive Networked Multiagent Systems},\n booktitle\ + \ = {2021 American Control Conference, {ACC} 2021, New Orleans, LA, USA,\n \ + \ May 25-28, 2021},\n pages = {1113--1118},\n publisher\ + \ = {{IEEE}},\n year = {2021},\n url = {https://doi.org/10.23919/ACC50511.2021.9483258},\n\ + \ doi = {10.23919/ACC50511.2021.9483258},\n timestamp = {Fri, 30 Jul\ + \ 2021 11:11:53 +0200},\n biburl = {https://dblp.org/rec/conf/amcc/ArabiPY21.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2021-01-01 key: conf/amcc/ArabiPY21 layout: papers -title: "Adaptive Active-Passive Networked Multiagent Systems." -date: 2021-01-01 -venue: "ACC" -authors: - - Ehsan Arabi - - dimitrapanagou - - Tansel Yucelen link: https://doi.org/10.23919/ACC50511.2021.9483258 -bib: |- - @inproceedings{DBLP:conf/amcc/ArabiPY21, - author = {Ehsan Arabi and - Dimitra Panagou and - Tansel Yucelen}, - title = {Adaptive Active-Passive Networked Multiagent Systems}, - booktitle = {2021 American Control Conference, {ACC} 2021, New Orleans, LA, USA, - May 25-28, 2021}, - pages = {1113--1118}, - publisher = {{IEEE}}, - year = {2021}, - url = {https://doi.org/10.23919/ACC50511.2021.9483258}, - doi = {10.23919/ACC50511.2021.9483258}, - timestamp = {Fri, 30 Jul 2021 11:11:53 +0200}, - biburl = {https://dblp.org/rec/conf/amcc/ArabiPY21.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Adaptive Active-Passive Networked Multiagent Systems. +venue: ACC --- diff --git a/content/papers/2021/2021-baranwal-robust_distributed_fixed_time_economic_dispatch_under_time_varying_topology.md b/content/papers/2021/2021-baranwal-robust_distributed_fixed_time_economic_dispatch_under_time_varying_topology.md index 07abc9d..a60f07b 100644 --- a/content/papers/2021/2021-baranwal-robust_distributed_fixed_time_economic_dispatch_under_time_varying_topology.md +++ b/content/papers/2021/2021-baranwal-robust_distributed_fixed_time_economic_dispatch_under_time_varying_topology.md @@ -1,34 +1,32 @@ --- +abstract: The centralized power generation infrastructure that defines the North American + electric grid is slowly moving to the distributed architecture due to the explosion + in use of renewable generation and distributed energy resources (DERs), such as + residential solar, wind turbines and battery storage. Furthermore, variable pricing + policies and profusion of flexible loads entail frequent and severe changes in power + outputs required from the individual generation units, requiring fast availability + of power allocation. To this end, a fixed-time convergent, fully distributed economic + dispatch algorithm for scheduling optimal power generation among a set of DERs is + proposed. The proposed algorithm incorporates both load balance and generation capacity + constraints. +authors: +- Mayank Baranwal +- Kunal Garg +- dimitrapanagou +- Alfred O. Hero III +bib: "@article{DBLP:journals/csysl/BaranwalGPH21,\n author = {Mayank Baranwal\ + \ and\n Kunal Garg and\n Dimitra Panagou and\n\ + \ Alfred O. Hero III},\n title = {Robust Distributed Fixed-Time\ + \ Economic Dispatch Under Time-Varying\n Topology},\n journal\ + \ = {{IEEE} Control. Syst. Lett.},\n volume = {5},\n number =\ + \ {4},\n pages = {1183--1188},\n year = {2021},\n url \ + \ = {https://doi.org/10.1109/LCSYS.2020.3020248},\n doi = {10.1109/LCSYS.2020.3020248},\n\ + \ timestamp = {Thu, 16 Sep 2021 18:01:58 +0200},\n biburl = {https://dblp.org/rec/journals/csysl/BaranwalGPH21.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2021-01-01 key: journals/csysl/BaranwalGPH21 layout: papers -title: "Robust Distributed Fixed-Time Economic Dispatch Under Time-Varying Topology." -date: 2021-01-01 -venue: "IEEE Control. Syst. Lett." -authors: - - Mayank Baranwal - - Kunal Garg - - dimitrapanagou - - Alfred O. Hero III link: https://doi.org/10.1109/LCSYS.2020.3020248 -bib: |- - @article{DBLP:journals/csysl/BaranwalGPH21, - author = {Mayank Baranwal and - Kunal Garg and - Dimitra Panagou and - Alfred O. Hero III}, - title = {Robust Distributed Fixed-Time Economic Dispatch Under Time-Varying - Topology}, - journal = {{IEEE} Control. Syst. Lett.}, - volume = {5}, - number = {4}, - pages = {1183--1188}, - year = {2021}, - url = {https://doi.org/10.1109/LCSYS.2020.3020248}, - doi = {10.1109/LCSYS.2020.3020248}, - timestamp = {Thu, 16 Sep 2021 18:01:58 +0200}, - biburl = {https://dblp.org/rec/journals/csysl/BaranwalGPH21.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Robust Distributed Fixed-Time Economic Dispatch Under Time-Varying Topology. +venue: IEEE Control. Syst. Lett. --- diff --git a/content/papers/2021/2021-black-a_fixed_time_stable_adaptation_law_for_safety_critical_control_under_parametric_uncertainty.md b/content/papers/2021/2021-black-a_fixed_time_stable_adaptation_law_for_safety_critical_control_under_parametric_uncertainty.md index cdd3be8..dcbb2d3 100644 --- a/content/papers/2021/2021-black-a_fixed_time_stable_adaptation_law_for_safety_critical_control_under_parametric_uncertainty.md +++ b/content/papers/2021/2021-black-a_fixed_time_stable_adaptation_law_for_safety_critical_control_under_parametric_uncertainty.md @@ -1,32 +1,34 @@ --- +abstract: We present a novel technique for solving the problem of safe control for + a class of nonlinear, control-affine systems subject to parametric model uncertainty. + Invoking Lyapunov analysis and the notion of fixed-time stability (FxTS), we introduce + a parameter adaptation law which guarantees convergence of the estimates of unknown + parameters in the system dynamics to their true values within a fixed-time independent + of the initial error. We then synthesize this law with a robust, adaptive control + barrier function (RaCBF)-based quadratic program to compute safe control inputs + despite the considered uncertainty. To corroborate our results, we undertake a comparative + case study on the efficacy of this result versus other recent approaches in the + literature to safe control under uncertainty, and close by highlighting the value + of our method in the context of an automobile overtake scenario. +authors: +- Mitchell Black +- Ehsan Arabi +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/eucc/BlackAP21,\n author = {Mitchell Black and\n\ + \ Ehsan Arabi and\n Dimitra Panagou},\n title\ + \ = {A Fixed-Time Stable Adaptation Law for Safety-Critical Control under\n\ + \ Parametric Uncertainty},\n booktitle = {2021 European Control\ + \ Conference, {ECC} 2021, Virtual Event / Delft,\n The Netherlands,\ + \ June 29 - July 2, 2021},\n pages = {1328--1333},\n publisher = {{IEEE}},\n\ + \ year = {2021},\n url = {https://doi.org/10.23919/ECC54610.2021.9655080},\n\ + \ doi = {10.23919/ECC54610.2021.9655080},\n timestamp = {Thu, 31 Mar\ + \ 2022 11:10:43 +0200},\n biburl = {https://dblp.org/rec/conf/eucc/BlackAP21.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2021-01-01 key: conf/eucc/BlackAP21 layout: papers -title: "A Fixed-Time Stable Adaptation Law for Safety-Critical Control under Parametric Uncertainty." -date: 2021-01-01 -venue: "ECC" -authors: - - Mitchell Black - - Ehsan Arabi - - dimitrapanagou link: https://doi.org/10.23919/ECC54610.2021.9655080 -bib: |- - @inproceedings{DBLP:conf/eucc/BlackAP21, - author = {Mitchell Black and - Ehsan Arabi and - Dimitra Panagou}, - title = {A Fixed-Time Stable Adaptation Law for Safety-Critical Control under - Parametric Uncertainty}, - booktitle = {2021 European Control Conference, {ECC} 2021, Virtual Event / Delft, - The Netherlands, June 29 - July 2, 2021}, - pages = {1328--1333}, - publisher = {{IEEE}}, - year = {2021}, - url = {https://doi.org/10.23919/ECC54610.2021.9655080}, - doi = {10.23919/ECC54610.2021.9655080}, - timestamp = {Thu, 31 Mar 2022 11:10:43 +0200}, - biburl = {https://dblp.org/rec/conf/eucc/BlackAP21.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: A Fixed-Time Stable Adaptation Law for Safety-Critical Control under Parametric + Uncertainty. +venue: ECC --- diff --git a/content/papers/2021/2021-breeden-high_relative_degree_control_barrier_functions_under_input_constraints.md b/content/papers/2021/2021-breeden-high_relative_degree_control_barrier_functions_under_input_constraints.md index d15f0a4..c43c6ea 100644 --- a/content/papers/2021/2021-breeden-high_relative_degree_control_barrier_functions_under_input_constraints.md +++ b/content/papers/2021/2021-breeden-high_relative_degree_control_barrier_functions_under_input_constraints.md @@ -1,29 +1,31 @@ --- +abstract: This paper presents methodologies for ensuring forward invariance of sublevel + sets of constraint functions with high-relative-degree with respect to the system + dynamics and in the presence of input constraints. We show that such constraint + functions can be converted into special Zeroing Control Barrier Functions (ZCBFs), + which, by construction, generate sufficient conditions for rendering the state always + inside a sublevel set of the constraint function in the presence of input constraints. + We present a general form for one such ZCBF, as well as a special case applicable + to a specific class of systems. We conclude with a comparison of system trajectories + under the two ZCBFs developed and prior literature, and a case study for an asteroid + observation problem using quadratic-program based controllers to enforce the ZCBF + condition. +authors: +- Joseph Breeden +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/cdc/BreedenP21,\n author = {Joseph Breeden and\n\ + \ Dimitra Panagou},\n title = {High Relative Degree Control\ + \ Barrier Functions Under Input Constraints},\n booktitle = {2021 60th {IEEE}\ + \ Conference on Decision and Control (CDC), Austin,\n TX, USA,\ + \ December 14-17, 2021},\n pages = {6119--6124},\n publisher = {{IEEE}},\n\ + \ year = {2021},\n url = {https://doi.org/10.1109/CDC45484.2021.9683705},\n\ + \ doi = {10.1109/CDC45484.2021.9683705},\n timestamp = {Tue, 17 May\ + \ 2022 15:53:17 +0200},\n biburl = {https://dblp.org/rec/conf/cdc/BreedenP21.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2021-01-01 key: conf/cdc/BreedenP21 layout: papers -title: "High Relative Degree Control Barrier Functions Under Input Constraints." -date: 2021-01-01 -venue: "CDC" -authors: - - Joseph Breeden - - dimitrapanagou link: https://doi.org/10.1109/CDC45484.2021.9683705 -bib: |- - @inproceedings{DBLP:conf/cdc/BreedenP21, - author = {Joseph Breeden and - Dimitra Panagou}, - title = {High Relative Degree Control Barrier Functions Under Input Constraints}, - booktitle = {2021 60th {IEEE} Conference on Decision and Control (CDC), Austin, - TX, USA, December 14-17, 2021}, - pages = {6119--6124}, - publisher = {{IEEE}}, - year = {2021}, - url = {https://doi.org/10.1109/CDC45484.2021.9683705}, - doi = {10.1109/CDC45484.2021.9683705}, - timestamp = {Tue, 17 May 2022 15:53:17 +0200}, - biburl = {https://dblp.org/rec/conf/cdc/BreedenP21.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: High Relative Degree Control Barrier Functions Under Input Constraints. +venue: CDC --- diff --git a/content/papers/2021/2021-chipade-aerial_swarm_defense_by_stringent_herding_theory_and_experiments.md b/content/papers/2021/2021-chipade-aerial_swarm_defense_by_stringent_herding_theory_and_experiments.md index 23993cf..a1ec3e7 100644 --- a/content/papers/2021/2021-chipade-aerial_swarm_defense_by_stringent_herding_theory_and_experiments.md +++ b/content/papers/2021/2021-chipade-aerial_swarm_defense_by_stringent_herding_theory_and_experiments.md @@ -1,30 +1,36 @@ --- +abstract: "This paper studies a defense approach against one or more swarms of adversarial\ + \ agents. In our earlier work, we employed a closed formation (\u201CStringNet\u201D\ + ) of defending agents (defenders) around a swarm of adversarial agents (attackers)\ + \ to confine their motion within given bounds, and guide them to a safe area. The\ + \ adversarial agents were assumed to remain close enough to each other, i.e., within\ + \ a prescribed connectivity region. To handle situations when the attackers no longer\ + \ stay within such a connectivity region, but rather split into smaller swarms (clusters)\ + \ to maximize the chance or impact of attack, this paper proposes an approach to\ + \ learn the attacking sub-swarms and reassign defenders toward the attackers. We\ + \ use a \u201CDensity-based Spatial Clustering of Application with Noise (DBSCAN)\u201D\ + \ algorithm to identify the spatially distributed swarms of the attackers. Then,\ + \ the defenders are assigned to each identified swarm of attackers by solving a\ + \ constrained generalized assignment problem. We also provide conditions under which\ + \ defenders can successfully herd all the attackers. The efficacy of the approach\ + \ is demonstrated via computer simulations, as well as hardware experiments with\ + \ a fleet of quadrotors." +authors: +- Vishnu S. Chipade +- Venkata Sai Aditya Marella +- dimitrapanagou +bib: "@article{DBLP:journals/firai/ChipadeMP21,\n author = {Vishnu S. Chipade\ + \ and\n Venkata Sai Aditya Marella and\n Dimitra\ + \ Panagou},\n title = {Aerial Swarm Defense by StringNet Herding: Theory\ + \ and Experiments},\n journal = {Frontiers Robotics {AI}},\n volume \ + \ = {8},\n pages = {640446},\n year = {2021},\n url \ + \ = {https://doi.org/10.3389/frobt.2021.640446},\n doi = {10.3389/FROBT.2021.640446},\n\ + \ timestamp = {Tue, 04 May 2021 17:49:02 +0200},\n biburl = {https://dblp.org/rec/journals/firai/ChipadeMP21.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2021-01-01 key: journals/firai/ChipadeMP21 layout: papers -title: "Aerial Swarm Defense by StringNet Herding: Theory and Experiments." -date: 2021-01-01 -venue: "Frontiers Robotics AI" -authors: - - Vishnu S. Chipade - - Venkata Sai Aditya Marella - - dimitrapanagou link: https://doi.org/10.3389/frobt.2021.640446 -bib: |- - @article{DBLP:journals/firai/ChipadeMP21, - author = {Vishnu S. Chipade and - Venkata Sai Aditya Marella and - Dimitra Panagou}, - title = {Aerial Swarm Defense by StringNet Herding: Theory and Experiments}, - journal = {Frontiers Robotics {AI}}, - volume = {8}, - pages = {640446}, - year = {2021}, - url = {https://doi.org/10.3389/frobt.2021.640446}, - doi = {10.3389/FROBT.2021.640446}, - timestamp = {Tue, 04 May 2021 17:49:02 +0200}, - biburl = {https://dblp.org/rec/journals/firai/ChipadeMP21.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: 'Aerial Swarm Defense by StringNet Herding: Theory and Experiments.' +venue: Frontiers Robotics AI --- diff --git a/content/papers/2021/2021-chipade-multiagent_planning_and_control_for_swarm_herding_in_d_obstacle_environments_under_bounded_inputs.md b/content/papers/2021/2021-chipade-multiagent_planning_and_control_for_swarm_herding_in_d_obstacle_environments_under_bounded_inputs.md index 8d72b1e..c618b32 100644 --- a/content/papers/2021/2021-chipade-multiagent_planning_and_control_for_swarm_herding_in_d_obstacle_environments_under_bounded_inputs.md +++ b/content/papers/2021/2021-chipade-multiagent_planning_and_control_for_swarm_herding_in_d_obstacle_environments_under_bounded_inputs.md @@ -1,30 +1,36 @@ --- +abstract: "This article presents a method for herding a swarm of adversarial agents\ + \ toward a safe area in a 2-D obstacle environment. The team of defending agents\ + \ (defenders) aims to block the path of a swarm of risk-averse, adversarial agents\ + \ (attackers) and guide it to a safe area while navigating in an obstacle-populated\ + \ environment. To achieve this, a closed formation (StringNet) of defenders is formed\ + \ around the adversarial swarm. A combination of open-loop, near time-optimal controllers\ + \ (that result in forming the defenders\u2019 formation), and state-feedback controllers\ + \ with finite-time convergence guarantees under bounded inputs (that guide the formation\ + \ around attackers and toward the safe area) synthesize the herding strategy. For\ + \ demonstration purpose, we consider that the attacking swarm moves under a flocking\ + \ model, which however is unknown to the defenders. Collision-free trajectory generation\ + \ for the defenders, as well as their convergence to the desired formations, is\ + \ proved formally, and simulations are provided to demonstrate the efficacy of the\ + \ proposed approach. An implementation of the proposed approach on quadrotor vehicles\ + \ simulated in the Gazebo simulator is also provided." +authors: +- Vishnu S. Chipade +- dimitrapanagou +bib: "@article{DBLP:journals/trob/ChipadeP21,\n author = {Vishnu S. Chipade\ + \ and\n Dimitra Panagou},\n title = {Multiagent Planning\ + \ and Control for Swarm Herding in 2-D Obstacle\n Environments\ + \ Under Bounded Inputs},\n journal = {{IEEE} Trans. Robotics},\n volume \ + \ = {37},\n number = {6},\n pages = {1956--1972},\n year \ + \ = {2021},\n url = {https://doi.org/10.1109/TRO.2021.3072026},\n\ + \ doi = {10.1109/TRO.2021.3072026},\n timestamp = {Wed, 15 Dec 2021\ + \ 10:26:10 +0100},\n biburl = {https://dblp.org/rec/journals/trob/ChipadeP21.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2021-01-01 key: journals/trob/ChipadeP21 layout: papers -title: "Multiagent Planning and Control for Swarm Herding in 2-D Obstacle Environments Under Bounded Inputs." -date: 2021-01-01 -venue: "IEEE Trans. Robotics" -authors: - - Vishnu S. Chipade - - dimitrapanagou link: https://doi.org/10.1109/TRO.2021.3072026 -bib: |- - @article{DBLP:journals/trob/ChipadeP21, - author = {Vishnu S. Chipade and - Dimitra Panagou}, - title = {Multiagent Planning and Control for Swarm Herding in 2-D Obstacle - Environments Under Bounded Inputs}, - journal = {{IEEE} Trans. Robotics}, - volume = {37}, - number = {6}, - pages = {1956--1972}, - year = {2021}, - url = {https://doi.org/10.1109/TRO.2021.3072026}, - doi = {10.1109/TRO.2021.3072026}, - timestamp = {Wed, 15 Dec 2021 10:26:10 +0100}, - biburl = {https://dblp.org/rec/journals/trob/ChipadeP21.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Multiagent Planning and Control for Swarm Herding in 2-D Obstacle Environments + Under Bounded Inputs. +venue: IEEE Trans. Robotics --- diff --git a/content/papers/2021/2021-garg-characterization_of_domain_of_fixed_time_stability_under_control_input_constraints.md b/content/papers/2021/2021-garg-characterization_of_domain_of_fixed_time_stability_under_control_input_constraints.md index d9b2881..67bb260 100644 --- a/content/papers/2021/2021-garg-characterization_of_domain_of_fixed_time_stability_under_control_input_constraints.md +++ b/content/papers/2021/2021-garg-characterization_of_domain_of_fixed_time_stability_under_control_input_constraints.md @@ -1,30 +1,31 @@ --- +abstract: In this paper, we study the effect of control input constraints on the domain + of attraction of an FxTS equilibrium point. We first present a new result on FxTS, + where we allow a positive term in the time derivative of the Lyapunov function. + We provide analytical expressions for the domain of attraction and the settling + time to the equilibrium in terms of the coefficients of the positive and negative + terms that appear in the time derivative of the Lyapunov function. We show that + this result serves as a robustness characterization of FxTS equilibria in the presence + of an additive, vanishing disturbances. We use the new FxTS result in formulating + a provably feasible quadratic program (QP) that computes control inputs that drive + the trajectories of a class of nonlinear, control-affine systems to a goal set, + in the presence of control input constraints. +authors: +- Kunal Garg +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/amcc/GargP21,\n author = {Kunal Garg and\n \ + \ Dimitra Panagou},\n title = {Characterization of Domain\ + \ of Fixed-time Stability under Control Input\n Constraints},\n\ + \ booktitle = {2021 American Control Conference, {ACC} 2021, New Orleans, LA,\ + \ USA,\n May 25-28, 2021},\n pages = {2272--2277},\n publisher\ + \ = {{IEEE}},\n year = {2021},\n url = {https://doi.org/10.23919/ACC50511.2021.9482780},\n\ + \ doi = {10.23919/ACC50511.2021.9482780},\n timestamp = {Thu, 14 Oct\ + \ 2021 10:23:17 +0200},\n biburl = {https://dblp.org/rec/conf/amcc/GargP21.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2021-01-01 key: conf/amcc/GargP21 layout: papers -title: "Characterization of Domain of Fixed-time Stability under Control Input Constraints." -date: 2021-01-01 -venue: "ACC" -authors: - - Kunal Garg - - dimitrapanagou link: https://doi.org/10.23919/ACC50511.2021.9482780 -bib: |- - @inproceedings{DBLP:conf/amcc/GargP21, - author = {Kunal Garg and - Dimitra Panagou}, - title = {Characterization of Domain of Fixed-time Stability under Control Input - Constraints}, - booktitle = {2021 American Control Conference, {ACC} 2021, New Orleans, LA, USA, - May 25-28, 2021}, - pages = {2272--2277}, - publisher = {{IEEE}}, - year = {2021}, - url = {https://doi.org/10.23919/ACC50511.2021.9482780}, - doi = {10.23919/ACC50511.2021.9482780}, - timestamp = {Thu, 14 Oct 2021 10:23:17 +0200}, - biburl = {https://dblp.org/rec/conf/amcc/GargP21.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Characterization of Domain of Fixed-time Stability under Control Input Constraints. +venue: ACC --- diff --git a/content/papers/2021/2021-garg-finite_time_stabilization_of_switched_systems_with_unstable_modes.md b/content/papers/2021/2021-garg-finite_time_stabilization_of_switched_systems_with_unstable_modes.md index ff82686..041e1c4 100644 --- a/content/papers/2021/2021-garg-finite_time_stabilization_of_switched_systems_with_unstable_modes.md +++ b/content/papers/2021/2021-garg-finite_time_stabilization_of_switched_systems_with_unstable_modes.md @@ -1,29 +1,31 @@ --- +abstract: In this paper, we study finite-time stability and stabilization of switched + systems in the presence of unstable modes. In contrast to asymptotic or exponential + stability where the system trajectories reach the equilibrium point as time tends + to infinity, the notion of finite-time stability requires the trajectories to reach + the equilibrium within a finite amount of time. We show that even if the value of + the Lyapunov function increases in between two switches, i.e., if there are unstable + modes in the system, finite-time stability can still be guaranteed if the finite-time + convergent mode is active for a long enough cumulative time duration. Then, we present + a method for the synthesis of a finite-time stabilizing switching signal. As a case + study, we design a finite-time stable, output-feedback controller for a linear switched + system, in which only one of the modes is both controllable and observable. +authors: +- Kunal Garg +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/cdc/GargP21,\n author = {Kunal Garg and\n \ + \ Dimitra Panagou},\n title = {Finite-Time Stabilization\ + \ of Switched Systems with Unstable Modes},\n booktitle = {2021 60th {IEEE}\ + \ Conference on Decision and Control (CDC), Austin,\n TX, USA,\ + \ December 14-17, 2021},\n pages = {3924--3929},\n publisher = {{IEEE}},\n\ + \ year = {2021},\n url = {https://doi.org/10.1109/CDC45484.2021.9683332},\n\ + \ doi = {10.1109/CDC45484.2021.9683332},\n timestamp = {Wed, 07 Dec\ + \ 2022 23:07:58 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/GargP21.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2021-01-01 key: conf/cdc/GargP21 layout: papers -title: "Finite-Time Stabilization of Switched Systems with Unstable Modes." -date: 2021-01-01 -venue: "CDC" -authors: - - Kunal Garg - - dimitrapanagou link: https://doi.org/10.1109/CDC45484.2021.9683332 -bib: |- - @inproceedings{DBLP:conf/cdc/GargP21, - author = {Kunal Garg and - Dimitra Panagou}, - title = {Finite-Time Stabilization of Switched Systems with Unstable Modes}, - booktitle = {2021 60th {IEEE} Conference on Decision and Control (CDC), Austin, - TX, USA, December 14-17, 2021}, - pages = {3924--3929}, - publisher = {{IEEE}}, - year = {2021}, - url = {https://doi.org/10.1109/CDC45484.2021.9683332}, - doi = {10.1109/CDC45484.2021.9683332}, - timestamp = {Wed, 07 Dec 2022 23:07:58 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/GargP21.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Finite-Time Stabilization of Switched Systems with Unstable Modes. +venue: CDC --- diff --git a/content/papers/2021/2021-garg-fixed_time_stable_gradient_flows_applications_to_continuous_time_optimization.md b/content/papers/2021/2021-garg-fixed_time_stable_gradient_flows_applications_to_continuous_time_optimization.md index da0a3a7..47d83bf 100644 --- a/content/papers/2021/2021-garg-fixed_time_stable_gradient_flows_applications_to_continuous_time_optimization.md +++ b/content/papers/2021/2021-garg-fixed_time_stable_gradient_flows_applications_to_continuous_time_optimization.md @@ -1,30 +1,37 @@ --- +abstract: "Continuous-time optimization is currently an active field of research in\ + \ optimization theory; prior work in this area has yielded useful insights and elegant\ + \ methods for proving stability and convergence properties of the continuous-time\ + \ optimization algorithms. This article proposes novel gradient-flow schemes that\ + \ yield convergence to the optimal point of a convex optimization problem within\ + \ a fixed time from any given initial condition for unconstrained optimization,\ + \ constrained optimization, and min\u2013max problems. It is shown that the solution\ + \ of the modified gradient-flow dynamics exists and is unique under certain regularity\ + \ conditions on the objective function, while fixed-time convergence to the optimal\ + \ point is shown via Lyapunov-based analysis. The application of the modified gradient\ + \ flow to unconstrained optimization problems is studied under the assumption of\ + \ gradient dominance, a relaxation of strong convexity. Then, a modified Newton's\ + \ method is presented that exhibits fixed-time convergence under some mild conditions\ + \ on the objective function. Building upon this method, a novel technique for solving\ + \ convex optimization problems with linear equality constraints that yields convergence\ + \ to the optimal point in fixed time is developed. Finally, the general min\u2013\ + max problem is considered, and a modified saddle-point dynamics to obtain the optimal\ + \ solution in fixed time is developed." +authors: +- Kunal Garg +- dimitrapanagou +bib: "@article{DBLP:journals/tac/GargP21,\n author = {Kunal Garg and\n \ + \ Dimitra Panagou},\n title = {Fixed-Time Stable Gradient Flows:\ + \ Applications to Continuous-Time\n Optimization},\n journal \ + \ = {{IEEE} Trans. Autom. Control.},\n volume = {66},\n number \ + \ = {5},\n pages = {2002--2015},\n year = {2021},\n url \ + \ = {https://doi.org/10.1109/TAC.2020.3001436},\n doi = {10.1109/TAC.2020.3001436},\n\ + \ timestamp = {Sun, 25 Jul 2021 11:40:11 +0200},\n biburl = {https://dblp.org/rec/journals/tac/GargP21.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2021-01-01 key: journals/tac/GargP21 layout: papers -title: "Fixed-Time Stable Gradient Flows: Applications to Continuous-Time Optimization." -date: 2021-01-01 -venue: "IEEE Trans. Autom. Control." -authors: - - Kunal Garg - - dimitrapanagou link: https://doi.org/10.1109/TAC.2020.3001436 -bib: |- - @article{DBLP:journals/tac/GargP21, - author = {Kunal Garg and - Dimitra Panagou}, - title = {Fixed-Time Stable Gradient Flows: Applications to Continuous-Time - Optimization}, - journal = {{IEEE} Trans. Autom. Control.}, - volume = {66}, - number = {5}, - pages = {2002--2015}, - year = {2021}, - url = {https://doi.org/10.1109/TAC.2020.3001436}, - doi = {10.1109/TAC.2020.3001436}, - timestamp = {Sun, 25 Jul 2021 11:40:11 +0200}, - biburl = {https://dblp.org/rec/journals/tac/GargP21.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: 'Fixed-Time Stable Gradient Flows: Applications to Continuous-Time Optimization.' +venue: IEEE Trans. Autom. Control. --- diff --git a/content/papers/2021/2021-garg-robust_control_barrier_and_control_lyapunov_functions_with_fixed_time_convergence_guarantees.md b/content/papers/2021/2021-garg-robust_control_barrier_and_control_lyapunov_functions_with_fixed_time_convergence_guarantees.md index 5f3f3c3..664b5c2 100644 --- a/content/papers/2021/2021-garg-robust_control_barrier_and_control_lyapunov_functions_with_fixed_time_convergence_guarantees.md +++ b/content/papers/2021/2021-garg-robust_control_barrier_and_control_lyapunov_functions_with_fixed_time_convergence_guarantees.md @@ -1,30 +1,31 @@ --- +abstract: This paper studies control synthesis for a general class of nonlinear, control-affine + dynamical systems under additive disturbances and state-estimation errors. We enforce + forward invariance of static and dynamic safe sets and convergence to a given goal + set within a user-defined time in the presence of input constraints. We use robust + variants of control barrier functions (CBF) and fixed-time control Lyapunov functions + (FxT-CLF) to incorporate a class of additive disturbances in the system dynamics, + and state-estimation errors. To solve the underlying constrained control problem, + we formulate a quadratic program and use the proposed robust CBF-FxT-CLF conditions + to compute the control input. We showcase the efficacy of the proposed method on + a numerical case study involving multiple underactuated marine vehicles. +authors: +- Kunal Garg +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/amcc/GargP21a,\n author = {Kunal Garg and\n\ + \ Dimitra Panagou},\n title = {Robust Control Barrier and\ + \ Control Lyapunov Functions with Fixed-Time\n Convergence Guarantees},\n\ + \ booktitle = {2021 American Control Conference, {ACC} 2021, New Orleans, LA,\ + \ USA,\n May 25-28, 2021},\n pages = {2292--2297},\n publisher\ + \ = {{IEEE}},\n year = {2021},\n url = {https://doi.org/10.23919/ACC50511.2021.9482751},\n\ + \ doi = {10.23919/ACC50511.2021.9482751},\n timestamp = {Thu, 14 Oct\ + \ 2021 10:23:01 +0200},\n biburl = {https://dblp.org/rec/conf/amcc/GargP21a.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2021-01-01 key: conf/amcc/GargP21a layout: papers -title: "Robust Control Barrier and Control Lyapunov Functions with Fixed-Time Convergence Guarantees." -date: 2021-01-01 -venue: "ACC" -authors: - - Kunal Garg - - dimitrapanagou link: https://doi.org/10.23919/ACC50511.2021.9482751 -bib: |- - @inproceedings{DBLP:conf/amcc/GargP21a, - author = {Kunal Garg and - Dimitra Panagou}, - title = {Robust Control Barrier and Control Lyapunov Functions with Fixed-Time - Convergence Guarantees}, - booktitle = {2021 American Control Conference, {ACC} 2021, New Orleans, LA, USA, - May 25-28, 2021}, - pages = {2292--2297}, - publisher = {{IEEE}}, - year = {2021}, - url = {https://doi.org/10.23919/ACC50511.2021.9482751}, - doi = {10.23919/ACC50511.2021.9482751}, - timestamp = {Thu, 14 Oct 2021 10:23:01 +0200}, - biburl = {https://dblp.org/rec/conf/amcc/GargP21a.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Robust Control Barrier and Control Lyapunov Functions with Fixed-Time Convergence + Guarantees. +venue: ACC --- diff --git a/content/papers/2021/2021-haydon-dynamic_coverage_meets_regret_unifying_two_control_performance_measures_for_mobile_agents_in_spatiotemporally_varying_environments.md b/content/papers/2021/2021-haydon-dynamic_coverage_meets_regret_unifying_two_control_performance_measures_for_mobile_agents_in_spatiotemporally_varying_environments.md index 2db0d20..866476b 100644 --- a/content/papers/2021/2021-haydon-dynamic_coverage_meets_regret_unifying_two_control_performance_measures_for_mobile_agents_in_spatiotemporally_varying_environments.md +++ b/content/papers/2021/2021-haydon-dynamic_coverage_meets_regret_unifying_two_control_performance_measures_for_mobile_agents_in_spatiotemporally_varying_environments.md @@ -1,40 +1,45 @@ --- +abstract: Numerous mobile robotic applications require agents to persistently explore + and exploit spatiotemporally varying, partially observable environments. Ultimately, + the mathematical notion of regret, which quite simply represents the instantaneous + or time-averaged difference between the optimal reward and realized reward, serves + as a meaningful measure of how well the agents have exploited the environment. However, + while numerous theoretical regret bounds have been derived within the machine learning + community, restrictions on the manner in which the environment evolves preclude + their application to persistent missions. On the other hand, meaningful theoretical + properties can be derived for the related concept of dynamic coverage, which serves + as an exploration measurement but does not have an immediately intuitive connection + with regret. In this paper, we demonstrate a clear correlation between an appropriately + defined measure of dynamic coverage and regret, then go on to derive performance + bounds on dynamic coverage as a function of the environmental parameters. We evaluate + the correlation for several variants of an airborne wind energy system, for which + the objective is to adjust the operating altitude in order to maximize power output + in a spatiotemporally evolving wind field. +authors: +- Ben Haydon +- Kirti D. Mishra +- Patrick Keyantuo +- dimitrapanagou +- Fotini K. Chow +- Scott J. Moura +- Chris Vermillion +bib: "@inproceedings{DBLP:conf/cdc/HaydonMKPCMV21,\n author = {Ben Haydon and\n\ + \ Kirti D. Mishra and\n Patrick Keyantuo and\n\ + \ Dimitra Panagou and\n Fotini K. Chow and\n \ + \ Scott J. Moura and\n Chris Vermillion},\n title\ + \ = {Dynamic Coverage Meets Regret: Unifying Two Control Performance Measures\n\ + \ for Mobile Agents in Spatiotemporally Varying Environments},\n\ + \ booktitle = {2021 60th {IEEE} Conference on Decision and Control (CDC), Austin,\n\ + \ TX, USA, December 14-17, 2021},\n pages = {521--526},\n\ + \ publisher = {{IEEE}},\n year = {2021},\n url = {https://doi.org/10.1109/CDC45484.2021.9682826},\n\ + \ doi = {10.1109/CDC45484.2021.9682826},\n timestamp = {Tue, 17 May\ + \ 2022 15:53:17 +0200},\n biburl = {https://dblp.org/rec/conf/cdc/HaydonMKPCMV21.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2021-01-01 key: conf/cdc/HaydonMKPCMV21 layout: papers -title: "Dynamic Coverage Meets Regret: Unifying Two Control Performance Measures for Mobile Agents in Spatiotemporally Varying Environments." -date: 2021-01-01 -venue: "CDC" -authors: - - Ben Haydon - - Kirti D. Mishra - - Patrick Keyantuo - - dimitrapanagou - - Fotini K. Chow - - Scott J. Moura - - Chris Vermillion link: https://doi.org/10.1109/CDC45484.2021.9682826 -bib: |- - @inproceedings{DBLP:conf/cdc/HaydonMKPCMV21, - author = {Ben Haydon and - Kirti D. Mishra and - Patrick Keyantuo and - Dimitra Panagou and - Fotini K. Chow and - Scott J. Moura and - Chris Vermillion}, - title = {Dynamic Coverage Meets Regret: Unifying Two Control Performance Measures - for Mobile Agents in Spatiotemporally Varying Environments}, - booktitle = {2021 60th {IEEE} Conference on Decision and Control (CDC), Austin, - TX, USA, December 14-17, 2021}, - pages = {521--526}, - publisher = {{IEEE}}, - year = {2021}, - url = {https://doi.org/10.1109/CDC45484.2021.9682826}, - doi = {10.1109/CDC45484.2021.9682826}, - timestamp = {Tue, 17 May 2022 15:53:17 +0200}, - biburl = {https://dblp.org/rec/conf/cdc/HaydonMKPCMV21.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: 'Dynamic Coverage Meets Regret: Unifying Two Control Performance Measures for + Mobile Agents in Spatiotemporally Varying Environments.' +venue: CDC --- diff --git a/content/papers/2021/2021-usevitch-adversarial_resilience_for_sampled_data_systems_using_control_barrier_function_methods.md b/content/papers/2021/2021-usevitch-adversarial_resilience_for_sampled_data_systems_using_control_barrier_function_methods.md index 81f45c4..fe98656 100644 --- a/content/papers/2021/2021-usevitch-adversarial_resilience_for_sampled_data_systems_using_control_barrier_function_methods.md +++ b/content/papers/2021/2021-usevitch-adversarial_resilience_for_sampled_data_systems_using_control_barrier_function_methods.md @@ -1,30 +1,32 @@ --- +abstract: Control barrier functions (CBFs) have recently become a powerful method + for rendering a desired safe set forward invariant in single- and multi-agent systems. + In the multiagent case, prior literature has considered scenarios where all agents + cooperate to ensure that the corresponding set remains invariant. However, these + works do not consider scenarios where a subset of the agents are behaving adversarially + with the intent to violate safety bounds. In addition, prior results on multi-agent + CBFs assume that control inputs are continuous and do not explicitly consider sampled-data + dynamics. This paper presents a method for normally behaving agents in a multi-agent + system with heterogeneous control-affine sampled-data dynamics to render a safe + set forward invariant in the presence of adversarial agents. The efficacy of these + results are demonstrated through simulations. +authors: +- James Usevitch +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/amcc/UsevitchP21,\n author = {James Usevitch\ + \ and\n Dimitra Panagou},\n title = {Adversarial Resilience\ + \ for Sampled-Data Systems using Control Barrier\n Function Methods},\n\ + \ booktitle = {2021 American Control Conference, {ACC} 2021, New Orleans, LA,\ + \ USA,\n May 25-28, 2021},\n pages = {758--763},\n publisher\ + \ = {{IEEE}},\n year = {2021},\n url = {https://doi.org/10.23919/ACC50511.2021.9482659},\n\ + \ doi = {10.23919/ACC50511.2021.9482659},\n timestamp = {Fri, 30 Jul\ + \ 2021 11:11:53 +0200},\n biburl = {https://dblp.org/rec/conf/amcc/UsevitchP21.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2021-01-01 key: conf/amcc/UsevitchP21 layout: papers -title: "Adversarial Resilience for Sampled-Data Systems using Control Barrier Function Methods." -date: 2021-01-01 -venue: "ACC" -authors: - - James Usevitch - - dimitrapanagou link: https://doi.org/10.23919/ACC50511.2021.9482659 -bib: |- - @inproceedings{DBLP:conf/amcc/UsevitchP21, - author = {James Usevitch and - Dimitra Panagou}, - title = {Adversarial Resilience for Sampled-Data Systems using Control Barrier - Function Methods}, - booktitle = {2021 American Control Conference, {ACC} 2021, New Orleans, LA, USA, - May 25-28, 2021}, - pages = {758--763}, - publisher = {{IEEE}}, - year = {2021}, - url = {https://doi.org/10.23919/ACC50511.2021.9482659}, - doi = {10.23919/ACC50511.2021.9482659}, - timestamp = {Fri, 30 Jul 2021 11:11:53 +0200}, - biburl = {https://dblp.org/rec/conf/amcc/UsevitchP21.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Adversarial Resilience for Sampled-Data Systems using Control Barrier Function + Methods. +venue: ACC --- diff --git a/content/papers/2021/2021-zhang-herding_an_adversarial_swarm_in_three_dimensional_spaces.md b/content/papers/2021/2021-zhang-herding_an_adversarial_swarm_in_three_dimensional_spaces.md index 2d4cc22..2abafa7 100644 --- a/content/papers/2021/2021-zhang-herding_an_adversarial_swarm_in_three_dimensional_spaces.md +++ b/content/papers/2021/2021-zhang-herding_an_adversarial_swarm_in_three_dimensional_spaces.md @@ -1,31 +1,34 @@ --- +abstract: "This paper presents a defense approach to safeguard a protected area against\ + \ an attack by a swarm of adversarial agents in three-dimensional (3D) space. We\ + \ extend our 2D \u2018stringNet Herding\u2019 approach, in which a closed formation\ + \ of string-barriers is established around the adversarial swarm to confine their\ + \ motion and herd them to a safe area, to 3D spaces by introducing 3D-StringNet.\ + \ 3D-StringNet is a closed 3D formation of triangular netlike barriers. We provide\ + \ a systematic approach to generate three types of 3D formations that are used in\ + \ the 3D herding process and modifications to the finite-time convergent control\ + \ laws developed in our earlier work. Furthermore, for given initial positions of\ + \ the defenders, we provide conditions on the initial positions of the attackers\ + \ for which the defenders are guaranteed to gather as a specified formation at a\ + \ position on the shortest path of the attackers to the protected area before attackers\ + \ reach there. The approach is investigated in simulations." +authors: +- Weifan Zhang +- Vishnu S. Chipade +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/amcc/ZhangCP21,\n author = {Weifan Zhang and\n\ + \ Vishnu S. Chipade and\n Dimitra Panagou},\n\ + \ title = {Herding an Adversarial Swarm in Three-dimensional Spaces},\n\ + \ booktitle = {2021 American Control Conference, {ACC} 2021, New Orleans, LA,\ + \ USA,\n May 25-28, 2021},\n pages = {4722--4728},\n publisher\ + \ = {{IEEE}},\n year = {2021},\n url = {https://doi.org/10.23919/ACC50511.2021.9482990},\n\ + \ doi = {10.23919/ACC50511.2021.9482990},\n timestamp = {Fri, 30 Jul\ + \ 2021 11:11:53 +0200},\n biburl = {https://dblp.org/rec/conf/amcc/ZhangCP21.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2021-01-01 key: conf/amcc/ZhangCP21 layout: papers -title: "Herding an Adversarial Swarm in Three-dimensional Spaces." -date: 2021-01-01 -venue: "ACC" -authors: - - Weifan Zhang - - Vishnu S. Chipade - - dimitrapanagou link: https://doi.org/10.23919/ACC50511.2021.9482990 -bib: |- - @inproceedings{DBLP:conf/amcc/ZhangCP21, - author = {Weifan Zhang and - Vishnu S. Chipade and - Dimitra Panagou}, - title = {Herding an Adversarial Swarm in Three-dimensional Spaces}, - booktitle = {2021 American Control Conference, {ACC} 2021, New Orleans, LA, USA, - May 25-28, 2021}, - pages = {4722--4728}, - publisher = {{IEEE}}, - year = {2021}, - url = {https://doi.org/10.23919/ACC50511.2021.9482990}, - doi = {10.23919/ACC50511.2021.9482990}, - timestamp = {Fri, 30 Jul 2021 11:11:53 +0200}, - biburl = {https://dblp.org/rec/conf/amcc/ZhangCP21.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Herding an Adversarial Swarm in Three-dimensional Spaces. +venue: ACC --- diff --git a/content/papers/2022/2022-arabi-adaptive_control_of_second_order_safety_critical_multiagent_systems_with_nonlinear_dynamics.md b/content/papers/2022/2022-arabi-adaptive_control_of_second_order_safety_critical_multiagent_systems_with_nonlinear_dynamics.md index e5bbe94..22592d1 100644 --- a/content/papers/2022/2022-arabi-adaptive_control_of_second_order_safety_critical_multiagent_systems_with_nonlinear_dynamics.md +++ b/content/papers/2022/2022-arabi-adaptive_control_of_second_order_safety_critical_multiagent_systems_with_nonlinear_dynamics.md @@ -1,30 +1,39 @@ --- +abstract: In this article, we propose a distributed adaptive control architecture + for leader-following consensus of uncertain multiagent systems with second-order + nonlinear dynamics. A nonlinear reference model system captures an ideal behavior + of the agents for the leader-following consensus problem. We design a modified nonlinear + reference model system and propose a distributed model reference adaptive control + architecture to suppress the effects of system uncertainties without a strict knowledge + of their magnitude and rate upper bounds. Consequently, each agent evolves within + a (possibly different) prescribed distance from the corresponding modified reference + system trajectories. Based on an input-to-state stability analysis, it is shown + that the trajectories of the modified reference model system can get arbitrarily + close to the trajectories of the ideal reference model system. As a result, the + trajectories of the agents evolve within a user-specified prescribed distance from + their ideal system trajectories, satisfying the safety constraints. The key feature + of the presented control architecture in this article is the elimination of the + ad hoc tuning process for the adaptation rate that is conventionally required in + model reference adaptive control systems to ensure safety. An illustrative numerical + example finally demonstrates the efficacy of the proposed distributed adaptive control + architecture. +authors: +- Ehsan Arabi +- dimitrapanagou +bib: "@article{DBLP:journals/tcns/ArabiP22,\n author = {Ehsan Arabi and\n \ + \ Dimitra Panagou},\n title = {Adaptive Control of Second-Order\ + \ Safety-Critical Multiagent Systems\n With Nonlinear Dynamics},\n\ + \ journal = {{IEEE} Trans. Control. Netw. Syst.},\n volume = {9},\n\ + \ number = {4},\n pages = {1911--1922},\n year = {2022},\n\ + \ url = {https://doi.org/10.1109/TCNS.2022.3181547},\n doi =\ + \ {10.1109/TCNS.2022.3181547},\n timestamp = {Sun, 15 Jan 2023 18:31:15 +0100},\n\ + \ biburl = {https://dblp.org/rec/journals/tcns/ArabiP22.bib},\n bibsource\ + \ = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2022-01-01 key: journals/tcns/ArabiP22 layout: papers -title: "Adaptive Control of Second-Order Safety-Critical Multiagent Systems With Nonlinear Dynamics." -date: 2022-01-01 -venue: "IEEE Trans. Control. Netw. Syst." -authors: - - Ehsan Arabi - - dimitrapanagou link: https://doi.org/10.1109/TCNS.2022.3181547 -bib: |- - @article{DBLP:journals/tcns/ArabiP22, - author = {Ehsan Arabi and - Dimitra Panagou}, - title = {Adaptive Control of Second-Order Safety-Critical Multiagent Systems - With Nonlinear Dynamics}, - journal = {{IEEE} Trans. Control. Netw. Syst.}, - volume = {9}, - number = {4}, - pages = {1911--1922}, - year = {2022}, - url = {https://doi.org/10.1109/TCNS.2022.3181547}, - doi = {10.1109/TCNS.2022.3181547}, - timestamp = {Sun, 15 Jan 2023 18:31:15 +0100}, - biburl = {https://dblp.org/rec/journals/tcns/ArabiP22.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Adaptive Control of Second-Order Safety-Critical Multiagent Systems With Nonlinear + Dynamics. +venue: IEEE Trans. Control. Netw. Syst. --- diff --git a/content/papers/2022/2022-bentz-expanding_human_visual_field_online_learning_of_assistive_camera_views_by_an_aerial_co_robot.md b/content/papers/2022/2022-bentz-expanding_human_visual_field_online_learning_of_assistive_camera_views_by_an_aerial_co_robot.md index 5c5e436..9119bfb 100644 --- a/content/papers/2022/2022-bentz-expanding_human_visual_field_online_learning_of_assistive_camera_views_by_an_aerial_co_robot.md +++ b/content/papers/2022/2022-bentz-expanding_human_visual_field_online_learning_of_assistive_camera_views_by_an_aerial_co_robot.md @@ -1,32 +1,23 @@ --- +abstract: null +authors: +- William Bentz +- Long Qian +- dimitrapanagou +bib: "@article{DBLP:journals/arobots/BentzQP22,\n author = {William Bentz and\n\ + \ Long Qian and\n Dimitra Panagou},\n title \ + \ = {Expanding human visual field: online learning of assistive camera\n \ + \ views by an aerial co-robot},\n journal = {Auton. Robots},\n\ + \ volume = {46},\n number = {8},\n pages = {949--970},\n \ + \ year = {2022},\n url = {https://doi.org/10.1007/s10514-022-10059-4},\n\ + \ doi = {10.1007/S10514-022-10059-4},\n timestamp = {Sun, 13 Nov 2022\ + \ 17:53:19 +0100},\n biburl = {https://dblp.org/rec/journals/arobots/BentzQP22.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2022-01-01 key: journals/arobots/BentzQP22 layout: papers -title: "Expanding human visual field: online learning of assistive camera views by an aerial co-robot." -date: 2022-01-01 -venue: "Auton. Robots" -authors: - - William Bentz - - Long Qian - - dimitrapanagou link: https://doi.org/10.1007/s10514-022-10059-4 -bib: |- - @article{DBLP:journals/arobots/BentzQP22, - author = {William Bentz and - Long Qian and - Dimitra Panagou}, - title = {Expanding human visual field: online learning of assistive camera - views by an aerial co-robot}, - journal = {Auton. Robots}, - volume = {46}, - number = {8}, - pages = {949--970}, - year = {2022}, - url = {https://doi.org/10.1007/s10514-022-10059-4}, - doi = {10.1007/S10514-022-10059-4}, - timestamp = {Sun, 13 Nov 2022 17:53:19 +0100}, - biburl = {https://dblp.org/rec/journals/arobots/BentzQP22.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: 'Expanding human visual field: online learning of assistive camera views by + an aerial co-robot.' +venue: Auton. Robots --- diff --git a/content/papers/2022/2022-breeden-control_barrier_functions_in_sampled_data_systems.md b/content/papers/2022/2022-breeden-control_barrier_functions_in_sampled_data_systems.md index b43f26d..eab2d66 100644 --- a/content/papers/2022/2022-breeden-control_barrier_functions_in_sampled_data_systems.md +++ b/content/papers/2022/2022-breeden-control_barrier_functions_in_sampled_data_systems.md @@ -1,30 +1,31 @@ --- +abstract: This letter presents conditions for ensuring forward invariance of safe + sets under sampled-data system dynamics with piecewise-constant controllers and + fixed time-steps. First, we introduce two different metrics to compare the conservativeness + of sufficient conditions on forward invariance under piecewise-constant controllers. + Then, we propose three approaches for guaranteeing forward invariance, two motivated + by continuous-time barrier functions, and one motivated by discrete-time barrier + functions. All proposed conditions are control affine, and thus can be incorporated + into quadratic programs for control synthesis. We show that the proposed conditions + are less conservative than those in earlier studies, and show via simulation how + this enables the use of barrier functions that are impossible to implement with + the desired time-step using existing methods. +authors: +- Joseph Breeden +- Kunal Garg +- dimitrapanagou +bib: "@article{DBLP:journals/csysl/BreedenGP22,\n author = {Joseph Breeden\ + \ and\n Kunal Garg and\n Dimitra Panagou},\n \ + \ title = {Control Barrier Functions in Sampled-Data Systems},\n journal\ + \ = {{IEEE} Control. Syst. Lett.},\n volume = {6},\n pages =\ + \ {367--372},\n year = {2022},\n url = {https://doi.org/10.1109/LCSYS.2021.3076127},\n\ + \ doi = {10.1109/LCSYS.2021.3076127},\n timestamp = {Tue, 13 Jul 2021\ + \ 13:26:13 +0200},\n biburl = {https://dblp.org/rec/journals/csysl/BreedenGP22.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2022-01-01 key: journals/csysl/BreedenGP22 layout: papers -title: "Control Barrier Functions in Sampled-Data Systems." -date: 2022-01-01 -venue: "IEEE Control. Syst. Lett." -authors: - - Joseph Breeden - - Kunal Garg - - dimitrapanagou link: https://doi.org/10.1109/LCSYS.2021.3076127 -bib: |- - @article{DBLP:journals/csysl/BreedenGP22, - author = {Joseph Breeden and - Kunal Garg and - Dimitra Panagou}, - title = {Control Barrier Functions in Sampled-Data Systems}, - journal = {{IEEE} Control. Syst. Lett.}, - volume = {6}, - pages = {367--372}, - year = {2022}, - url = {https://doi.org/10.1109/LCSYS.2021.3076127}, - doi = {10.1109/LCSYS.2021.3076127}, - timestamp = {Tue, 13 Jul 2021 13:26:13 +0200}, - biburl = {https://dblp.org/rec/journals/csysl/BreedenGP22.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Control Barrier Functions in Sampled-Data Systems. +venue: IEEE Control. Syst. Lett. --- diff --git a/content/papers/2022/2022-breeden-guaranteed_safe_spacecraft_docking_with_control_barrier_functions.md b/content/papers/2022/2022-breeden-guaranteed_safe_spacecraft_docking_with_control_barrier_functions.md index 273706a..1e0d5d7 100644 --- a/content/papers/2022/2022-breeden-guaranteed_safe_spacecraft_docking_with_control_barrier_functions.md +++ b/content/papers/2022/2022-breeden-guaranteed_safe_spacecraft_docking_with_control_barrier_functions.md @@ -1,28 +1,31 @@ --- +abstract: This letter presents a strategy for control of a spacecraft docking with + a non-maneuvering target in the presence of safety constraints and bounded disturbances. + The presence of disturbances prevents convergence to a unique docking state, so + in our formulation, docking is defined as occurring within a set constructed using + prescribed tolerances. Safety is ensured via application of Robust Control Barrier + Functions to render a designated safe set forward invariant for any allowable disturbance. + However, this safety strategy necessarily presumes a worst-case disturbance, and + thus restricts trajectories to a subset of the safe set when a worst-case disturbance + is not present. The presented controller accounts for this restriction, and guarantees + that the spacecraft both remains safe and achieves docking in finite time for any + allowable disturbance. The controller is then validated in simulation for a spacecraft + landing on an asteroid, and two spacecraft docking in low Earth orbit. +authors: +- Joseph Breeden +- dimitrapanagou +bib: "@article{DBLP:journals/csysl/BreedenP22,\n author = {Joseph Breeden and\n\ + \ Dimitra Panagou},\n title = {Guaranteed Safe Spacecraft\ + \ Docking With Control Barrier Functions},\n journal = {{IEEE} Control. Syst.\ + \ Lett.},\n volume = {6},\n pages = {2000--2005},\n year \ + \ = {2022},\n url = {https://doi.org/10.1109/LCSYS.2021.3136813},\n \ + \ doi = {10.1109/LCSYS.2021.3136813},\n timestamp = {Sat, 08 Jan 2022\ + \ 02:23:17 +0100},\n biburl = {https://dblp.org/rec/journals/csysl/BreedenP22.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2022-01-01 key: journals/csysl/BreedenP22 layout: papers -title: "Guaranteed Safe Spacecraft Docking With Control Barrier Functions." -date: 2022-01-01 -venue: "IEEE Control. Syst. Lett." -authors: - - Joseph Breeden - - dimitrapanagou link: https://doi.org/10.1109/LCSYS.2021.3136813 -bib: |- - @article{DBLP:journals/csysl/BreedenP22, - author = {Joseph Breeden and - Dimitra Panagou}, - title = {Guaranteed Safe Spacecraft Docking With Control Barrier Functions}, - journal = {{IEEE} Control. Syst. Lett.}, - volume = {6}, - pages = {2000--2005}, - year = {2022}, - url = {https://doi.org/10.1109/LCSYS.2021.3136813}, - doi = {10.1109/LCSYS.2021.3136813}, - timestamp = {Sat, 08 Jan 2022 02:23:17 +0100}, - biburl = {https://dblp.org/rec/journals/csysl/BreedenP22.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Guaranteed Safe Spacecraft Docking With Control Barrier Functions. +venue: IEEE Control. Syst. Lett. --- diff --git a/content/papers/2022/2022-breeden-predictive_control_barrier_functions_for_online_safety_critical_control.md b/content/papers/2022/2022-breeden-predictive_control_barrier_functions_for_online_safety_critical_control.md index 6a0ea67..fbfb8ff 100644 --- a/content/papers/2022/2022-breeden-predictive_control_barrier_functions_for_online_safety_critical_control.md +++ b/content/papers/2022/2022-breeden-predictive_control_barrier_functions_for_online_safety_critical_control.md @@ -1,29 +1,34 @@ --- +abstract: This paper presents a methodology for constructing Control Barrier Functions + (CBFs) that proactively consider the future safety of a system along a nominal trajectory, + and effect corrective action before the trajectory leaves a designated safe set. + Specifically, this paper presents a systematic approach for propagating a nominal + trajectory on a receding horizon, and then encoding the future safety of this trajectory + into a CBF. If the propagated trajectory is unsafe, then a controller satisfying + the CBF condition will modify the nominal trajectory before the trajectory becomes + unsafe. Compared to existing CBF techniques, this strategy is proactive rather than + reactive and thus potentially results in smaller modifications to the nominal trajectory. + The proposed strategy is shown to be provably safe, and then is demonstrated in + simulated scenarios where it would otherwise be difficult to construct a traditional + CBF. In simulation, the predictive CBF results in less modification to the nominal + trajectory and smaller control inputs than a traditional CBF, and faster computations + than a nonlinear model predictive control approach. +authors: +- Joseph Breeden +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/cdc/BreedenP22,\n author = {Joseph Breeden and\n\ + \ Dimitra Panagou},\n title = {Predictive Control Barrier\ + \ Functions for Online Safety Critical Control},\n booktitle = {61st {IEEE}\ + \ Conference on Decision and Control, {CDC} 2022, Cancun,\n Mexico,\ + \ December 6-9, 2022},\n pages = {924--931},\n publisher = {{IEEE}},\n\ + \ year = {2022},\n url = {https://doi.org/10.1109/CDC51059.2022.9992926},\n\ + \ doi = {10.1109/CDC51059.2022.9992926},\n timestamp = {Wed, 18 Jan\ + \ 2023 15:37:50 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/BreedenP22.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2022-01-01 key: conf/cdc/BreedenP22 layout: papers -title: "Predictive Control Barrier Functions for Online Safety Critical Control." -date: 2022-01-01 -venue: "CDC" -authors: - - Joseph Breeden - - dimitrapanagou link: https://doi.org/10.1109/CDC51059.2022.9992926 -bib: |- - @inproceedings{DBLP:conf/cdc/BreedenP22, - author = {Joseph Breeden and - Dimitra Panagou}, - title = {Predictive Control Barrier Functions for Online Safety Critical Control}, - booktitle = {61st {IEEE} Conference on Decision and Control, {CDC} 2022, Cancun, - Mexico, December 6-9, 2022}, - pages = {924--931}, - publisher = {{IEEE}}, - year = {2022}, - url = {https://doi.org/10.1109/CDC51059.2022.9992926}, - doi = {10.1109/CDC51059.2022.9992926}, - timestamp = {Wed, 18 Jan 2023 15:37:50 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/BreedenP22.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Predictive Control Barrier Functions for Online Safety Critical Control. +venue: CDC --- diff --git a/content/papers/2022/2022-garg-fixed_time_control_under_spatiotemporal_and_input_constraints_a_quadratic_programming_based_approach.md b/content/papers/2022/2022-garg-fixed_time_control_under_spatiotemporal_and_input_constraints_a_quadratic_programming_based_approach.md index 9fd4770..fc4a392 100644 --- a/content/papers/2022/2022-garg-fixed_time_control_under_spatiotemporal_and_input_constraints_a_quadratic_programming_based_approach.md +++ b/content/papers/2022/2022-garg-fixed_time_control_under_spatiotemporal_and_input_constraints_a_quadratic_programming_based_approach.md @@ -1,31 +1,23 @@ --- +abstract: null +authors: +- Kunal Garg +- Ehsan Arabi +- dimitrapanagou +bib: "@article{DBLP:journals/automatica/GargAP22,\n author = {Kunal Garg and\n\ + \ Ehsan Arabi and\n Dimitra Panagou},\n title\ + \ = {Fixed-time control under spatiotemporal and input constraints: {A}\n\ + \ Quadratic Programming based approach},\n journal = {Autom.},\n\ + \ volume = {141},\n pages = {110314},\n year = {2022},\n\ + \ url = {https://doi.org/10.1016/j.automatica.2022.110314},\n doi \ + \ = {10.1016/J.AUTOMATICA.2022.110314},\n timestamp = {Wed, 07 Dec 2022\ + \ 23:03:25 +0100},\n biburl = {https://dblp.org/rec/journals/automatica/GargAP22.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2022-01-01 key: journals/automatica/GargAP22 layout: papers -title: "Fixed-time control under spatiotemporal and input constraints: A Quadratic Programming based approach." -date: 2022-01-01 -venue: "Autom." -authors: - - Kunal Garg - - Ehsan Arabi - - dimitrapanagou link: https://doi.org/10.1016/j.automatica.2022.110314 -bib: |- - @article{DBLP:journals/automatica/GargAP22, - author = {Kunal Garg and - Ehsan Arabi and - Dimitra Panagou}, - title = {Fixed-time control under spatiotemporal and input constraints: {A} - Quadratic Programming based approach}, - journal = {Autom.}, - volume = {141}, - pages = {110314}, - year = {2022}, - url = {https://doi.org/10.1016/j.automatica.2022.110314}, - doi = {10.1016/J.AUTOMATICA.2022.110314}, - timestamp = {Wed, 07 Dec 2022 23:03:25 +0100}, - biburl = {https://dblp.org/rec/journals/automatica/GargAP22.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: 'Fixed-time control under spatiotemporal and input constraints: A Quadratic + Programming based approach.' +venue: Autom. --- diff --git a/content/papers/2022/2022-garg-multi_rate_control_design_under_input_constraints_via_fixed_time_barrier_functions.md b/content/papers/2022/2022-garg-multi_rate_control_design_under_input_constraints_via_fixed_time_barrier_functions.md index 7813231..053e0c6 100644 --- a/content/papers/2022/2022-garg-multi_rate_control_design_under_input_constraints_via_fixed_time_barrier_functions.md +++ b/content/papers/2022/2022-garg-multi_rate_control_design_under_input_constraints_via_fixed_time_barrier_functions.md @@ -1,35 +1,36 @@ --- +abstract: In this letter, we introduce the notion of periodic safety, which requires + that the system trajectories periodically visit a subset of a forward-invariant + safe set, and utilize it in a multi-rate framework where a high-level planner generates + a reference trajectory that is tracked by a low-level controller under input constraints. + We introduce the notion of fixed-time barrier functions which is leveraged by the + proposed low-level controller in a quadratic programming framework. Then, we design + a model predictive control policy for high-level planning with a bound on the rate + of change for the reference trajectory to guarantee that periodic safety is achieved. + We demonstrate the effectiveness of the proposed strategy on a simulation example, + where the proposed fixed-time stabilizing low-level controller shows successful + satisfaction of control objectives, whereas an exponentially stabilizing low-level + controller fails. +authors: +- Kunal Garg +- Ryan K. Cosner +- Ugo Rosolia +- Aaron D. Ames +- dimitrapanagou +bib: "@article{DBLP:journals/csysl/GargCRAP22,\n author = {Kunal Garg and\n\ + \ Ryan K. Cosner and\n Ugo Rosolia and\n \ + \ Aaron D. Ames and\n Dimitra Panagou},\n title \ + \ = {Multi-Rate Control Design Under Input Constraints via Fixed-Time Barrier\n\ + \ Functions},\n journal = {{IEEE} Control. Syst. Lett.},\n\ + \ volume = {6},\n pages = {608--613},\n year = {2022},\n\ + \ url = {https://doi.org/10.1109/LCSYS.2021.3084322},\n doi \ + \ = {10.1109/LCSYS.2021.3084322},\n timestamp = {Thu, 16 Sep 2021 18:02:01 +0200},\n\ + \ biburl = {https://dblp.org/rec/journals/csysl/GargCRAP22.bib},\n bibsource\ + \ = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2022-01-01 key: journals/csysl/GargCRAP22 layout: papers -title: "Multi-Rate Control Design Under Input Constraints via Fixed-Time Barrier Functions." -date: 2022-01-01 -venue: "IEEE Control. Syst. Lett." -authors: - - Kunal Garg - - Ryan K. Cosner - - Ugo Rosolia - - Aaron D. Ames - - dimitrapanagou link: https://doi.org/10.1109/LCSYS.2021.3084322 -bib: |- - @article{DBLP:journals/csysl/GargCRAP22, - author = {Kunal Garg and - Ryan K. Cosner and - Ugo Rosolia and - Aaron D. Ames and - Dimitra Panagou}, - title = {Multi-Rate Control Design Under Input Constraints via Fixed-Time Barrier - Functions}, - journal = {{IEEE} Control. Syst. Lett.}, - volume = {6}, - pages = {608--613}, - year = {2022}, - url = {https://doi.org/10.1109/LCSYS.2021.3084322}, - doi = {10.1109/LCSYS.2021.3084322}, - timestamp = {Thu, 16 Sep 2021 18:02:01 +0200}, - biburl = {https://dblp.org/rec/journals/csysl/GargCRAP22.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Multi-Rate Control Design Under Input Constraints via Fixed-Time Barrier Functions. +venue: IEEE Control. Syst. Lett. --- diff --git a/content/papers/2022/2022-gilbert-robust_leader_follower_formation_control_for_human_robot_scenarios.md b/content/papers/2022/2022-gilbert-robust_leader_follower_formation_control_for_human_robot_scenarios.md index 9429128..ca0f9dc 100644 --- a/content/papers/2022/2022-gilbert-robust_leader_follower_formation_control_for_human_robot_scenarios.md +++ b/content/papers/2022/2022-gilbert-robust_leader_follower_formation_control_for_human_robot_scenarios.md @@ -1,31 +1,28 @@ --- +abstract: "This paper presents a robust formation control problem for multiple robots\ + \ surrounding a human leader in the presence of measurement uncertainties. Utilizing\ + \ previous work on adaptive estimation and Lyapunov-like barrier functions, an architecture\ + \ is designed for the formation control of follower robots around a human leader\ + \ in the presence of uncertainties in the leader\u2019s and follower robots\u2019\ + \ state information. Convergence and safety of the follower robots is proved formally.\ + \ The proposed architecture is demonstrated in simulations and experiments." +authors: +- Alia Gilbert +- Vishnu S. Chipade +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/amcc/GilbertCP22,\n author = {Alia Gilbert and\n\ + \ Vishnu S. Chipade and\n Dimitra Panagou},\n\ + \ title = {Robust Leader-Follower Formation Control for Human-Robot Scenarios},\n\ + \ booktitle = {American Control Conference, {ACC} 2022, Atlanta, GA, USA, June\ + \ 8-10,\n 2022},\n pages = {641--646},\n publisher \ + \ = {{IEEE}},\n year = {2022},\n url = {https://doi.org/10.23919/ACC53348.2022.9867709},\n\ + \ doi = {10.23919/ACC53348.2022.9867709},\n timestamp = {Mon, 06 Nov\ + \ 2023 12:57:51 +0100},\n biburl = {https://dblp.org/rec/conf/amcc/GilbertCP22.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2022-01-01 key: conf/amcc/GilbertCP22 layout: papers -title: "Robust Leader-Follower Formation Control for Human-Robot Scenarios." -date: 2022-01-01 -venue: "ACC" -authors: - - Alia Gilbert - - Vishnu S. Chipade - - dimitrapanagou link: https://doi.org/10.23919/ACC53348.2022.9867709 -bib: |- - @inproceedings{DBLP:conf/amcc/GilbertCP22, - author = {Alia Gilbert and - Vishnu S. Chipade and - Dimitra Panagou}, - title = {Robust Leader-Follower Formation Control for Human-Robot Scenarios}, - booktitle = {American Control Conference, {ACC} 2022, Atlanta, GA, USA, June 8-10, - 2022}, - pages = {641--646}, - publisher = {{IEEE}}, - year = {2022}, - url = {https://doi.org/10.23919/ACC53348.2022.9867709}, - doi = {10.23919/ACC53348.2022.9867709}, - timestamp = {Mon, 06 Nov 2023 12:57:51 +0100}, - biburl = {https://dblp.org/rec/conf/amcc/GilbertCP22.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Robust Leader-Follower Formation Control for Human-Robot Scenarios. +venue: ACC --- diff --git a/content/papers/2022/2022-parwana-recursive_feasibility_guided_optimal_parameter_adaptation_of_differential_convex_optimization_policies_for_safety_critical_systems.md b/content/papers/2022/2022-parwana-recursive_feasibility_guided_optimal_parameter_adaptation_of_differential_convex_optimization_policies_for_safety_critical_systems.md index 94ee2ae..7e2af70 100644 --- a/content/papers/2022/2022-parwana-recursive_feasibility_guided_optimal_parameter_adaptation_of_differential_convex_optimization_policies_for_safety_critical_systems.md +++ b/content/papers/2022/2022-parwana-recursive_feasibility_guided_optimal_parameter_adaptation_of_differential_convex_optimization_policies_for_safety_critical_systems.md @@ -1,30 +1,39 @@ --- +abstract: Quadratic Program(QP) based state-feedback controllers, whose inequality + constraints bound the rate of change of control barrier (CBFs) and lyapunov function + with a class-$\mathcal{K}$ function of their values, are sensitive to the parameters + of these class-$\mathcal{K}$ functions. The construction of valid CBFs, however, + is not straightforward, and for arbitrarily chosen parameters of the QP, the system + trajectories may enter states at which the QP either eventually becomes infeasible, + or may not achieve desired performance. In this work, we pose the control synthesis + problem as a differential policy whose parameters are optimized for performance + over a time horizon at high level, thus resulting in a bi-level optimization routine. + In the absence of knowledge of the set of feasible parameters, we develop a Recursive + Feasibility Guided Gradient Descent approach for updating the parameters of QP so + that the new solution performs at least as well as previous solution. By considering + the dynamical system as a directed graph over time, this work presents a novel way + of optimizing performance of a QP controller over a time horizon for multiple CBFs + by (1) using the gradient of its solution with respect to its parameters by employing + sensitivity analysis, and (2) backpropagating these as well as system dynamics gradients + to update parameters while maintaining feasibility of QPs. +authors: +- Hardik Parwana +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/icra/ParwanaP22,\n author = {Hardik Parwana\ + \ and\n Dimitra Panagou},\n title = {Recursive Feasibility\ + \ Guided Optimal Parameter Adaptation of Differential\n Convex\ + \ Optimization Policies for Safety-Critical Systems},\n booktitle = {2022 International\ + \ Conference on Robotics and Automation, {ICRA} 2022,\n Philadelphia,\ + \ PA, USA, May 23-27, 2022},\n pages = {6807--6813},\n publisher = {{IEEE}},\n\ + \ year = {2022},\n url = {https://doi.org/10.1109/ICRA46639.2022.9812398},\n\ + \ doi = {10.1109/ICRA46639.2022.9812398},\n timestamp = {Wed, 20 Jul\ + \ 2022 18:22:50 +0200},\n biburl = {https://dblp.org/rec/conf/icra/ParwanaP22.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2022-01-01 key: conf/icra/ParwanaP22 layout: papers -title: "Recursive Feasibility Guided Optimal Parameter Adaptation of Differential Convex Optimization Policies for Safety-Critical Systems." -date: 2022-01-01 -venue: "ICRA" -authors: - - Hardik Parwana - - dimitrapanagou link: https://doi.org/10.1109/ICRA46639.2022.9812398 -bib: |- - @inproceedings{DBLP:conf/icra/ParwanaP22, - author = {Hardik Parwana and - Dimitra Panagou}, - title = {Recursive Feasibility Guided Optimal Parameter Adaptation of Differential - Convex Optimization Policies for Safety-Critical Systems}, - booktitle = {2022 International Conference on Robotics and Automation, {ICRA} 2022, - Philadelphia, PA, USA, May 23-27, 2022}, - pages = {6807--6813}, - publisher = {{IEEE}}, - year = {2022}, - url = {https://doi.org/10.1109/ICRA46639.2022.9812398}, - doi = {10.1109/ICRA46639.2022.9812398}, - timestamp = {Wed, 20 Jul 2022 18:22:50 +0200}, - biburl = {https://dblp.org/rec/conf/icra/ParwanaP22.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Recursive Feasibility Guided Optimal Parameter Adaptation of Differential Convex + Optimization Policies for Safety-Critical Systems. +venue: ICRA --- diff --git a/content/papers/2022/2022-parwana-trust_based_rate_tunable_control_barrier_functions_for_non_cooperative_multi_agent_systems.md b/content/papers/2022/2022-parwana-trust_based_rate_tunable_control_barrier_functions_for_non_cooperative_multi_agent_systems.md index a618c75..7046f0b 100644 --- a/content/papers/2022/2022-parwana-trust_based_rate_tunable_control_barrier_functions_for_non_cooperative_multi_agent_systems.md +++ b/content/papers/2022/2022-parwana-trust_based_rate_tunable_control_barrier_functions_for_non_cooperative_multi_agent_systems.md @@ -1,32 +1,35 @@ --- +abstract: For efficient and robust task accomplishment in multi-agent systems, an + agent must be able to distinguish cooperative agents from non-cooperative (i.e., + uncooperative and adversarial) agents. In this paper, we first develop a trust metric + based on which each agent forms its own belief of how cooperative the other agents + are, i.e., of how much the other agents contribute to maintaining safety. With safety + encoded as Control Barrier Functions (CBFs), the trust metric is in turn used to + adjust the rate at which the CBFs allow the system trajectories to approach the + boundary of the safe set. This is achieved via a novel Rate-Tunable CBF, which yields + less conservative performance compared to an identity-agnostic implementation, where + cooperative and non-cooperative agents are treated similarly. The proposed adaptation + and control method is evaluated via simulations on heterogeneous multi-agent systems + including non-cooperative agents. +authors: +- Hardik Parwana +- Aquib Mustafa +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/cdc/ParwanaMP22,\n author = {Hardik Parwana\ + \ and\n Aquib Mustafa and\n Dimitra Panagou},\n\ + \ title = {Trust-based Rate-Tunable Control Barrier Functions for Non-Cooperative\n\ + \ Multi-Agent Systems},\n booktitle = {61st {IEEE} Conference\ + \ on Decision and Control, {CDC} 2022, Cancun,\n Mexico, December\ + \ 6-9, 2022},\n pages = {2222--2229},\n publisher = {{IEEE}},\n year\ + \ = {2022},\n url = {https://doi.org/10.1109/CDC51059.2022.9992744},\n\ + \ doi = {10.1109/CDC51059.2022.9992744},\n timestamp = {Wed, 18 Jan\ + \ 2023 15:37:50 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/ParwanaMP22.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2022-01-01 key: conf/cdc/ParwanaMP22 layout: papers -title: "Trust-based Rate-Tunable Control Barrier Functions for Non-Cooperative Multi-Agent Systems." -date: 2022-01-01 -venue: "CDC" -authors: - - Hardik Parwana - - Aquib Mustafa - - dimitrapanagou link: https://doi.org/10.1109/CDC51059.2022.9992744 -bib: |- - @inproceedings{DBLP:conf/cdc/ParwanaMP22, - author = {Hardik Parwana and - Aquib Mustafa and - Dimitra Panagou}, - title = {Trust-based Rate-Tunable Control Barrier Functions for Non-Cooperative - Multi-Agent Systems}, - booktitle = {61st {IEEE} Conference on Decision and Control, {CDC} 2022, Cancun, - Mexico, December 6-9, 2022}, - pages = {2222--2229}, - publisher = {{IEEE}}, - year = {2022}, - url = {https://doi.org/10.1109/CDC51059.2022.9992744}, - doi = {10.1109/CDC51059.2022.9992744}, - timestamp = {Wed, 18 Jan 2023 15:37:50 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/ParwanaMP22.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Trust-based Rate-Tunable Control Barrier Functions for Non-Cooperative Multi-Agent + Systems. +venue: CDC --- diff --git a/content/papers/2022/2022-usevitch-resilient_trajectory_propagation_in_multirobot_networks.md b/content/papers/2022/2022-usevitch-resilient_trajectory_propagation_in_multirobot_networks.md index 0122b7b..26f4e95 100644 --- a/content/papers/2022/2022-usevitch-resilient_trajectory_propagation_in_multirobot_networks.md +++ b/content/papers/2022/2022-usevitch-resilient_trajectory_propagation_in_multirobot_networks.md @@ -1,29 +1,28 @@ --- +abstract: "This article presents a novel method for a class of multirobot networks\ + \ to resiliently propagate vector messages from a set of leaders to all followers\ + \ within the network in the presence of faulty or adversarially behaving robots.\ + \ It is shown that the proposed method can operate under heterogeneous communication\ + \ rates between robots and perturbations of the leaders\u2019 propagated information.\ + \ As a case study, the proposed method is applied to the problem of time-varying\ + \ trajectory tracking; more specifically, time-varying reference trajectories in\ + \ the form of Bezier curves are encoded into vectors of static parameters, which,\ + \ in turn, are resiliently propagated from the leaders to the followers." +authors: +- James Usevitch +- dimitrapanagou +bib: "@article{DBLP:journals/trob/UsevitchP22,\n author = {James Usevitch and\n\ + \ Dimitra Panagou},\n title = {Resilient Trajectory Propagation\ + \ in Multirobot Networks},\n journal = {{IEEE} Trans. Robotics},\n volume\ + \ = {38},\n number = {1},\n pages = {42--56},\n year \ + \ = {2022},\n url = {https://doi.org/10.1109/TRO.2021.3127076},\n \ + \ doi = {10.1109/TRO.2021.3127076},\n timestamp = {Wed, 23 Feb 2022\ + \ 11:15:29 +0100},\n biburl = {https://dblp.org/rec/journals/trob/UsevitchP22.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2022-01-01 key: journals/trob/UsevitchP22 layout: papers -title: "Resilient Trajectory Propagation in Multirobot Networks." -date: 2022-01-01 -venue: "IEEE Trans. Robotics" -authors: - - James Usevitch - - dimitrapanagou link: https://doi.org/10.1109/TRO.2021.3127076 -bib: |- - @article{DBLP:journals/trob/UsevitchP22, - author = {James Usevitch and - Dimitra Panagou}, - title = {Resilient Trajectory Propagation in Multirobot Networks}, - journal = {{IEEE} Trans. Robotics}, - volume = {38}, - number = {1}, - pages = {42--56}, - year = {2022}, - url = {https://doi.org/10.1109/TRO.2021.3127076}, - doi = {10.1109/TRO.2021.3127076}, - timestamp = {Wed, 23 Feb 2022 11:15:29 +0100}, - biburl = {https://dblp.org/rec/journals/trob/UsevitchP22.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Resilient Trajectory Propagation in Multirobot Networks. +venue: IEEE Trans. Robotics --- diff --git a/content/papers/2023/2023-black-adaptation_for_validation_of_consolidated_control_barrier_functions.md b/content/papers/2023/2023-black-adaptation_for_validation_of_consolidated_control_barrier_functions.md index 06ef710..7570088 100644 --- a/content/papers/2023/2023-black-adaptation_for_validation_of_consolidated_control_barrier_functions.md +++ b/content/papers/2023/2023-black-adaptation_for_validation_of_consolidated_control_barrier_functions.md @@ -1,29 +1,32 @@ --- +abstract: We develop a novel adaptation-based technique for safe control design in + the presence of multiple state constraints. Specifically, we introduce an approach + for synthesizing any number of candidate control barrier functions (CBFs), each + encoding a different state constraint, into one consolidated CBF (C-CBF) candidate. + We then propose a parameter adaptation law for the weights of the C-CBF's constituent + functions such that its controllable dynamics are non-vanishing. We prove that the + adaptation law certifies the consolidated CBF candidate as valid for a class of + nonlinear, control-affine, multi-agent systems, which permits its use in a quadratic + program based control law. We highlight the success of our approach in simulation + on a multi-robot goal-reaching problem in a warehouse environment, and further demonstrate + its efficacy via a laboratory study with an AION ground rover operating amongst + other vehicles behaving both aggressively and conservatively. +authors: +- Mitchell Black +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/cdc/BlackP23,\n author = {Mitchell Black and\n\ + \ Dimitra Panagou},\n title = {Adaptation for Validation\ + \ of Consolidated Control Barrier Functions},\n booktitle = {62nd {IEEE} Conference\ + \ on Decision and Control, {CDC} 2023, Singapore,\n December 13-15,\ + \ 2023},\n pages = {751--757},\n publisher = {{IEEE}},\n year \ + \ = {2023},\n url = {https://doi.org/10.1109/CDC49753.2023.10383597},\n\ + \ doi = {10.1109/CDC49753.2023.10383597},\n timestamp = {Mon, 29 Jan\ + \ 2024 17:31:54 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/BlackP23.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2023-01-01 key: conf/cdc/BlackP23 layout: papers -title: "Adaptation for Validation of Consolidated Control Barrier Functions." -date: 2023-01-01 -venue: "CDC" -authors: - - Mitchell Black - - dimitrapanagou link: https://doi.org/10.1109/CDC49753.2023.10383597 -bib: |- - @inproceedings{DBLP:conf/cdc/BlackP23, - author = {Mitchell Black and - Dimitra Panagou}, - title = {Adaptation for Validation of Consolidated Control Barrier Functions}, - booktitle = {62nd {IEEE} Conference on Decision and Control, {CDC} 2023, Singapore, - December 13-15, 2023}, - pages = {751--757}, - publisher = {{IEEE}}, - year = {2023}, - url = {https://doi.org/10.1109/CDC49753.2023.10383597}, - doi = {10.1109/CDC49753.2023.10383597}, - timestamp = {Mon, 29 Jan 2024 17:31:54 +0100}, - biburl = {https://dblp.org/rec/conf/cdc/BlackP23.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Adaptation for Validation of Consolidated Control Barrier Functions. +venue: CDC --- diff --git a/content/papers/2023/2023-black-future_focused_control_barrier_functions_for_autonomous_vehicle_control.md b/content/papers/2023/2023-black-future_focused_control_barrier_functions_for_autonomous_vehicle_control.md index 56509fa..14eb9fe 100644 --- a/content/papers/2023/2023-black-future_focused_control_barrier_functions_for_autonomous_vehicle_control.md +++ b/content/papers/2023/2023-black-future_focused_control_barrier_functions_for_autonomous_vehicle_control.md @@ -1,33 +1,39 @@ --- +abstract: In this paper, we introduce a class of future-focused control barrier functions + (ff-CBF) aimed at improving traditionally myopic CBF based control design and study + their efficacy in the context of an unsignaled four-way intersection crossing problem + for collections of both communicating and non-communicating autonomous vehicles. + Our novel ff-CBF encodes that vehicles take control actions that avoid collisions + predicted under a zero-acceleration policy over an arbitrarily long future time + interval. In this sense the ff-CBF defines a virtual barrier, a loosening of which + we propose in the form of a relaxed future-focused CBF (rff-CBF) that allows a relaxation + of the virtual ff-CBF barrier far from the physical barrier between vehicles. We + study the performance of ff-CBF and rff-CBF based controllers on communicating vehicles + via a series of simulated trials of the intersection scenario, and in particular + highlight how the rff-CBF based controller empirically outperforms a benchmark controller + from the literature by improving intersection throughput while preserving safety + and feasibility. Finally, we demonstrate our proposed ff-CBF control law on an intersection + scenario in the laboratory environment with a collection of 5 non-communicating + AION ground rovers. +authors: +- Mitchell Black +- Mrdjan Jankovic +- Abhishek Sharma +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/amcc/BlackJSP23,\n author = {Mitchell Black\ + \ and\n Mrdjan Jankovic and\n Abhishek Sharma\ + \ and\n Dimitra Panagou},\n title = {Future-Focused Control\ + \ Barrier Functions for Autonomous Vehicle Control},\n booktitle = {American\ + \ Control Conference, {ACC} 2023, San Diego, CA, USA, May 31\n \ + \ - June 2, 2023},\n pages = {3324--3331},\n publisher = {{IEEE}},\n\ + \ year = {2023},\n url = {https://doi.org/10.23919/ACC55779.2023.10156163},\n\ + \ doi = {10.23919/ACC55779.2023.10156163},\n timestamp = {Tue, 11\ + \ Jul 2023 16:44:32 +0200},\n biburl = {https://dblp.org/rec/conf/amcc/BlackJSP23.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2023-01-01 key: conf/amcc/BlackJSP23 layout: papers -title: "Future-Focused Control Barrier Functions for Autonomous Vehicle Control." -date: 2023-01-01 -venue: "ACC" -authors: - - Mitchell Black - - Mrdjan Jankovic - - Abhishek Sharma - - dimitrapanagou link: https://doi.org/10.23919/ACC55779.2023.10156163 -bib: |- - @inproceedings{DBLP:conf/amcc/BlackJSP23, - author = {Mitchell Black and - Mrdjan Jankovic and - Abhishek Sharma and - Dimitra Panagou}, - title = {Future-Focused Control Barrier Functions for Autonomous Vehicle Control}, - booktitle = {American Control Conference, {ACC} 2023, San Diego, CA, USA, May 31 - - June 2, 2023}, - pages = {3324--3331}, - publisher = {{IEEE}}, - year = {2023}, - url = {https://doi.org/10.23919/ACC55779.2023.10156163}, - doi = {10.23919/ACC55779.2023.10156163}, - timestamp = {Tue, 11 Jul 2023 16:44:32 +0200}, - biburl = {https://dblp.org/rec/conf/amcc/BlackJSP23.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Future-Focused Control Barrier Functions for Autonomous Vehicle Control. +venue: ACC --- diff --git a/content/papers/2023/2023-black-safety_under_uncertainty_tight_bounds_with_risk_aware_control_barrier_functions.md b/content/papers/2023/2023-black-safety_under_uncertainty_tight_bounds_with_risk_aware_control_barrier_functions.md index bea1eda..c1550f5 100644 --- a/content/papers/2023/2023-black-safety_under_uncertainty_tight_bounds_with_risk_aware_control_barrier_functions.md +++ b/content/papers/2023/2023-black-safety_under_uncertainty_tight_bounds_with_risk_aware_control_barrier_functions.md @@ -1,36 +1,34 @@ --- +abstract: We propose a novel class of risk-aware control barrier functions (RA-CBFs) + for the control of stochastic safety-critical systems. Leveraging a result from + the stochastic level-crossing literature, we deviate from the martingale theory + that is currently used in stochastic CBF techniques and prove that a RA-CBF based + control synthesis confers a tighter upper bound on the probability of the system + becoming unsafe within a finite time interval than existing approaches. We highlight + the advantages of our proposed approach over the state-of-the-art via a comparative + study on an mobile-robot example, and further demonstrate its viability on an autonomous + vehicle highway merging problem in dense traffic. +authors: +- Mitchell Black +- Georgios Fainekos +- Bardh Hoxha +- Danil V. Prokhorov +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/icra/BlackFHPP23,\n author = {Mitchell Black\ + \ and\n Georgios Fainekos and\n Bardh Hoxha and\n\ + \ Danil V. Prokhorov and\n Dimitra Panagou},\n\ + \ title = {Safety Under Uncertainty: Tight Bounds with Risk-Aware Control\ + \ Barrier\n Functions},\n booktitle = {{IEEE} International\ + \ Conference on Robotics and Automation, {ICRA}\n 2023, London,\ + \ UK, May 29 - June 2, 2023},\n pages = {12686--12692},\n publisher \ + \ = {{IEEE}},\n year = {2023},\n url = {https://doi.org/10.1109/ICRA48891.2023.10161379},\n\ + \ doi = {10.1109/ICRA48891.2023.10161379},\n timestamp = {Sun, 06\ + \ Oct 2024 21:06:22 +0200},\n biburl = {https://dblp.org/rec/conf/icra/BlackFHPP23.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2023-01-01 key: conf/icra/BlackFHPP23 layout: papers -title: "Safety Under Uncertainty: Tight Bounds with Risk-Aware Control Barrier Functions." -date: 2023-01-01 -venue: "ICRA" -authors: - - Mitchell Black - - Georgios Fainekos - - Bardh Hoxha - - Danil V. Prokhorov - - dimitrapanagou link: https://doi.org/10.1109/ICRA48891.2023.10161379 -bib: |- - @inproceedings{DBLP:conf/icra/BlackFHPP23, - author = {Mitchell Black and - Georgios Fainekos and - Bardh Hoxha and - Danil V. Prokhorov and - Dimitra Panagou}, - title = {Safety Under Uncertainty: Tight Bounds with Risk-Aware Control Barrier - Functions}, - booktitle = {{IEEE} International Conference on Robotics and Automation, {ICRA} - 2023, London, UK, May 29 - June 2, 2023}, - pages = {12686--12692}, - publisher = {{IEEE}}, - year = {2023}, - url = {https://doi.org/10.1109/ICRA48891.2023.10161379}, - doi = {10.1109/ICRA48891.2023.10161379}, - timestamp = {Sun, 06 Oct 2024 21:06:22 +0200}, - biburl = {https://dblp.org/rec/conf/icra/BlackFHPP23.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: 'Safety Under Uncertainty: Tight Bounds with Risk-Aware Control Barrier Functions.' +venue: ICRA --- diff --git a/content/papers/2023/2023-breeden-compositions_of_multiple_control_barrier_functions_under_input_constraints.md b/content/papers/2023/2023-breeden-compositions_of_multiple_control_barrier_functions_under_input_constraints.md index 32fdcd3..c5bd19b 100644 --- a/content/papers/2023/2023-breeden-compositions_of_multiple_control_barrier_functions_under_input_constraints.md +++ b/content/papers/2023/2023-breeden-compositions_of_multiple_control_barrier_functions_under_input_constraints.md @@ -1,29 +1,33 @@ --- +abstract: This paper presents a methodology for ensuring that the composition of multiple + Control Barrier Functions (CBFs) always leads to feasible conditions on the control + input, even in the presence of input constraints. In the case of a system subject + to a single constraint function, there exist many methods to generate a CBF that + ensures constraint satisfaction. However, when there are multiple constraint functions, + the problem of finding and tuning one or more CBFs becomes more challenging, especially + in the presence of input constraints. This paper addresses this challenge by providing + tools to 1) decouple the design of multiple CBFs, so that a CBF can be designed + for each constraint function independently of other constraints, and 2) ensure that + the set composed from all the CBFs together is a viability domain. Thus, a quadratic + program subject to all the CBFs simultaneously is always feasible. The utility of + this methodology is then demonstrated in simulation for a nonlinear orientation + control system. +authors: +- Joseph Breeden +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/amcc/BreedenP23,\n author = {Joseph Breeden\ + \ and\n Dimitra Panagou},\n title = {Compositions of Multiple\ + \ Control Barrier Functions Under Input Constraints},\n booktitle = {American\ + \ Control Conference, {ACC} 2023, San Diego, CA, USA, May 31\n \ + \ - June 2, 2023},\n pages = {3688--3695},\n publisher = {{IEEE}},\n\ + \ year = {2023},\n url = {https://doi.org/10.23919/ACC55779.2023.10156625},\n\ + \ doi = {10.23919/ACC55779.2023.10156625},\n timestamp = {Tue, 11\ + \ Jul 2023 16:44:32 +0200},\n biburl = {https://dblp.org/rec/conf/amcc/BreedenP23.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2023-01-01 key: conf/amcc/BreedenP23 layout: papers -title: "Compositions of Multiple Control Barrier Functions Under Input Constraints." -date: 2023-01-01 -venue: "ACC" -authors: - - Joseph Breeden - - dimitrapanagou link: https://doi.org/10.23919/ACC55779.2023.10156625 -bib: |- - @inproceedings{DBLP:conf/amcc/BreedenP23, - author = {Joseph Breeden and - Dimitra Panagou}, - title = {Compositions of Multiple Control Barrier Functions Under Input Constraints}, - booktitle = {American Control Conference, {ACC} 2023, San Diego, CA, USA, May 31 - - June 2, 2023}, - pages = {3688--3695}, - publisher = {{IEEE}}, - year = {2023}, - url = {https://doi.org/10.23919/ACC55779.2023.10156625}, - doi = {10.23919/ACC55779.2023.10156625}, - timestamp = {Tue, 11 Jul 2023 16:44:32 +0200}, - biburl = {https://dblp.org/rec/conf/amcc/BreedenP23.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Compositions of Multiple Control Barrier Functions Under Input Constraints. +venue: ACC --- diff --git a/content/papers/2023/2023-breeden-robust_control_barrier_functions_under_high_relative_degree_and_input_constraints_for_satellite_trajectories.md b/content/papers/2023/2023-breeden-robust_control_barrier_functions_under_high_relative_degree_and_input_constraints_for_satellite_trajectories.md index 503c04c..2dcd118 100644 --- a/content/papers/2023/2023-breeden-robust_control_barrier_functions_under_high_relative_degree_and_input_constraints_for_satellite_trajectories.md +++ b/content/papers/2023/2023-breeden-robust_control_barrier_functions_under_high_relative_degree_and_input_constraints_for_satellite_trajectories.md @@ -1,29 +1,21 @@ --- +abstract: null +authors: +- Joseph Breeden +- dimitrapanagou +bib: "@article{DBLP:journals/automatica/BreedenP23,\n author = {Joseph Breeden\ + \ and\n Dimitra Panagou},\n title = {Robust Control Barrier\ + \ Functions under high relative degree and input\n constraints\ + \ for satellite trajectories},\n journal = {Autom.},\n volume = {155},\n\ + \ pages = {111109},\n year = {2023},\n url = {https://doi.org/10.1016/j.automatica.2023.111109},\n\ + \ doi = {10.1016/J.AUTOMATICA.2023.111109},\n timestamp = {Wed, 16\ + \ Aug 2023 16:57:32 +0200},\n biburl = {https://dblp.org/rec/journals/automatica/BreedenP23.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2023-01-01 key: journals/automatica/BreedenP23 layout: papers -title: "Robust Control Barrier Functions under high relative degree and input constraints for satellite trajectories." -date: 2023-01-01 -venue: "Autom." -authors: - - Joseph Breeden - - dimitrapanagou link: https://doi.org/10.1016/j.automatica.2023.111109 -bib: |- - @article{DBLP:journals/automatica/BreedenP23, - author = {Joseph Breeden and - Dimitra Panagou}, - title = {Robust Control Barrier Functions under high relative degree and input - constraints for satellite trajectories}, - journal = {Autom.}, - volume = {155}, - pages = {111109}, - year = {2023}, - url = {https://doi.org/10.1016/j.automatica.2023.111109}, - doi = {10.1016/J.AUTOMATICA.2023.111109}, - timestamp = {Wed, 16 Aug 2023 16:57:32 +0200}, - biburl = {https://dblp.org/rec/journals/automatica/BreedenP23.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Robust Control Barrier Functions under high relative degree and input constraints + for satellite trajectories. +venue: Autom. --- diff --git a/content/papers/2023/2023-breeden-safety_critical_control_for_systems_with_impulsive_actuators_and_dwell_time_constraints.md b/content/papers/2023/2023-breeden-safety_critical_control_for_systems_with_impulsive_actuators_and_dwell_time_constraints.md index 7d209e4..a02702c 100644 --- a/content/papers/2023/2023-breeden-safety_critical_control_for_systems_with_impulsive_actuators_and_dwell_time_constraints.md +++ b/content/papers/2023/2023-breeden-safety_critical_control_for_systems_with_impulsive_actuators_and_dwell_time_constraints.md @@ -1,29 +1,30 @@ --- +abstract: This letter presents extensions of control barrier function (CBF) and control + Lyapunov function (CLF) theory to systems wherein all actuators cause impulsive + changes to the state trajectory, and can only be used again after a minimum dwell + time has elapsed. These rules define a hybrid system, wherein the controller must + at each control cycle choose whether to remain on the current state flow or to jump + to a new trajectory. We first derive a sufficient condition to render a specified + set forward invariant using extensions of CBF theory. We then derive related conditions + to ensure asymptotic stability in such systems, and apply both conditions online + in an optimization-based control law with aperiodic impulses. We simulate both results + on a spacecraft docking problem with multiple obstacles. +authors: +- Joseph Breeden +- dimitrapanagou +bib: "@article{DBLP:journals/csysl/BreedenP23,\n author = {Joseph Breeden and\n\ + \ Dimitra Panagou},\n title = {Safety-Critical Control\ + \ for Systems With Impulsive Actuators and Dwell\n Time Constraints},\n\ + \ journal = {{IEEE} Control. Syst. Lett.},\n volume = {7},\n pages\ + \ = {2119--2124},\n year = {2023},\n url = {https://doi.org/10.1109/LCSYS.2023.3285141},\n\ + \ doi = {10.1109/LCSYS.2023.3285141},\n timestamp = {Fri, 07 Jul 2023\ + \ 23:32:29 +0200},\n biburl = {https://dblp.org/rec/journals/csysl/BreedenP23.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2023-01-01 key: journals/csysl/BreedenP23 layout: papers -title: "Safety-Critical Control for Systems With Impulsive Actuators and Dwell Time Constraints." -date: 2023-01-01 -venue: "IEEE Control. Syst. Lett." -authors: - - Joseph Breeden - - dimitrapanagou link: https://doi.org/10.1109/LCSYS.2023.3285141 -bib: |- - @article{DBLP:journals/csysl/BreedenP23, - author = {Joseph Breeden and - Dimitra Panagou}, - title = {Safety-Critical Control for Systems With Impulsive Actuators and Dwell - Time Constraints}, - journal = {{IEEE} Control. Syst. Lett.}, - volume = {7}, - pages = {2119--2124}, - year = {2023}, - url = {https://doi.org/10.1109/LCSYS.2023.3285141}, - doi = {10.1109/LCSYS.2023.3285141}, - timestamp = {Fri, 07 Jul 2023 23:32:29 +0200}, - biburl = {https://dblp.org/rec/journals/csysl/BreedenP23.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Safety-Critical Control for Systems With Impulsive Actuators and Dwell Time + Constraints. +venue: IEEE Control. Syst. Lett. --- diff --git a/content/papers/2023/2023-chipade-aerial_swarm_defense_using_interception_and_herding_strategies.md b/content/papers/2023/2023-chipade-aerial_swarm_defense_using_interception_and_herding_strategies.md index 1c1bd73..669c9a6 100644 --- a/content/papers/2023/2023-chipade-aerial_swarm_defense_using_interception_and_herding_strategies.md +++ b/content/papers/2023/2023-chipade-aerial_swarm_defense_using_interception_and_herding_strategies.md @@ -1,29 +1,33 @@ --- +abstract: 'This article presents a multimode solution to the problem of defending + a circular protected area (target) from a wide range of attacks by swarms of risk-taking + and/or risk-averse attacking agents (attackers). The proposed multimode solution + combines two defense strategies, namely: 1) an interception strategy for a team + of defenders to intercept multiple risk-taking attackers while ensuring that the + defenders do not collide with each other; 2) a herding strategy to herd a swarm + of risk-averse attackers to a safe area. In particular, we develop mixed integer + programs (MIPs) and geometry-inspired heuristics to distribute and assign and/or + reassign the defenders to interception and herding tasks under different spatiotemporal + behaviors by the attackers such as splitting into smaller swarms to evade defenders + easily or high-speed maneuvers by some risk-taking attackers to maximize damage + to the protected area. We provide theoretical as well as numerical comparison of + the computational costs of these MIPs and the heuristics, and demonstrate the overall + approach in simulations.' +authors: +- Vishnu S. Chipade +- dimitrapanagou +bib: "@article{DBLP:journals/trob/ChipadeP23,\n author = {Vishnu S. Chipade\ + \ and\n Dimitra Panagou},\n title = {Aerial Swarm Defense\ + \ Using Interception and Herding Strategies},\n journal = {{IEEE} Trans. Robotics},\n\ + \ volume = {39},\n number = {5},\n pages = {3821--3837},\n\ + \ year = {2023},\n url = {https://doi.org/10.1109/TRO.2023.3292514},\n\ + \ doi = {10.1109/TRO.2023.3292514},\n timestamp = {Sat, 14 Oct 2023\ + \ 20:13:20 +0200},\n biburl = {https://dblp.org/rec/journals/trob/ChipadeP23.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2023-01-01 key: journals/trob/ChipadeP23 layout: papers -title: "Aerial Swarm Defense Using Interception and Herding Strategies." -date: 2023-01-01 -venue: "IEEE Trans. Robotics" -authors: - - Vishnu S. Chipade - - dimitrapanagou link: https://doi.org/10.1109/TRO.2023.3292514 -bib: |- - @article{DBLP:journals/trob/ChipadeP23, - author = {Vishnu S. Chipade and - Dimitra Panagou}, - title = {Aerial Swarm Defense Using Interception and Herding Strategies}, - journal = {{IEEE} Trans. Robotics}, - volume = {39}, - number = {5}, - pages = {3821--3837}, - year = {2023}, - url = {https://doi.org/10.1109/TRO.2023.3292514}, - doi = {10.1109/TRO.2023.3292514}, - timestamp = {Sat, 14 Oct 2023 20:13:20 +0200}, - biburl = {https://dblp.org/rec/journals/trob/ChipadeP23.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Aerial Swarm Defense Using Interception and Herding Strategies. +venue: IEEE Trans. Robotics --- diff --git a/content/papers/2023/2023-chipade-collaborative_control_of_aerial_robots_for_inferring_human_intent_from_gaze_following.md b/content/papers/2023/2023-chipade-collaborative_control_of_aerial_robots_for_inferring_human_intent_from_gaze_following.md index 6e54607..f5a1cbd 100644 --- a/content/papers/2023/2023-chipade-collaborative_control_of_aerial_robots_for_inferring_human_intent_from_gaze_following.md +++ b/content/papers/2023/2023-chipade-collaborative_control_of_aerial_robots_for_inferring_human_intent_from_gaze_following.md @@ -1,34 +1,36 @@ --- +abstract: In an ideal human-robot collaboration, autonomous robots work side-by-side + with humans in a joint workspace, often performing complementary tasks to the humans. + A robotic ability to infer human intention and goals directly from human behavior + will facilitate the collaboration and maximize its efficiency. In this paper, we + focus on inferring which object the human wants picked up next, based on what the + human is looking at, by visually following the human gaze and head orientation. + We develop a coordination protocol for a team of aerial robots to extract effective + human head and gaze cues. The aerial robots are controlled to navigate around the + human and collect data that improves the detection of the human's gaze and hence + the intended object to be picked up. The effectiveness of the approach is shown + using simulations in AirSim, a photo-realistic simulator. +authors: +- Vishnu S. Chipade +- Alia Gilbert +- Daniel Harari +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/ccta/ChipadeGHP23,\n author = {Vishnu S. Chipade\ + \ and\n Alia Gilbert and\n Daniel Harari and\n\ + \ Dimitra Panagou},\n title = {Collaborative Control of\ + \ Aerial Robots for Inferring Human Intent\n from Gaze Following},\n\ + \ booktitle = {{IEEE} Conference on Control Technology and Applications, {CCTA}\ + \ 2023,\n Bridgetown, Barbados, August 16-18, 2023},\n pages \ + \ = {255--262},\n publisher = {{IEEE}},\n year = {2023},\n url\ + \ = {https://doi.org/10.1109/CCTA54093.2023.10252647},\n doi \ + \ = {10.1109/CCTA54093.2023.10252647},\n timestamp = {Thu, 28 Sep 2023 09:28:41\ + \ +0200},\n biburl = {https://dblp.org/rec/conf/ccta/ChipadeGHP23.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2023-01-01 key: conf/ccta/ChipadeGHP23 layout: papers -title: "Collaborative Control of Aerial Robots for Inferring Human Intent from Gaze Following." -date: 2023-01-01 -venue: "CCTA" -authors: - - Vishnu S. Chipade - - Alia Gilbert - - Daniel Harari - - dimitrapanagou link: https://doi.org/10.1109/CCTA54093.2023.10252647 -bib: |- - @inproceedings{DBLP:conf/ccta/ChipadeGHP23, - author = {Vishnu S. Chipade and - Alia Gilbert and - Daniel Harari and - Dimitra Panagou}, - title = {Collaborative Control of Aerial Robots for Inferring Human Intent - from Gaze Following}, - booktitle = {{IEEE} Conference on Control Technology and Applications, {CCTA} 2023, - Bridgetown, Barbados, August 16-18, 2023}, - pages = {255--262}, - publisher = {{IEEE}}, - year = {2023}, - url = {https://doi.org/10.1109/CCTA54093.2023.10252647}, - doi = {10.1109/CCTA54093.2023.10252647}, - timestamp = {Thu, 28 Sep 2023 09:28:41 +0200}, - biburl = {https://dblp.org/rec/conf/ccta/ChipadeGHP23.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Collaborative Control of Aerial Robots for Inferring Human Intent from Gaze + Following. +venue: CCTA --- diff --git a/content/papers/2023/2023-mustafa-adversary_detection_and_resilient_control_for_multiagent_systems.md b/content/papers/2023/2023-mustafa-adversary_detection_and_resilient_control_for_multiagent_systems.md index 23fa335..1a53f27 100644 --- a/content/papers/2023/2023-mustafa-adversary_detection_and_resilient_control_for_multiagent_systems.md +++ b/content/papers/2023/2023-mustafa-adversary_detection_and_resilient_control_for_multiagent_systems.md @@ -1,29 +1,30 @@ --- +abstract: This article presents an adversary detection mechanism and a resilient control + framework for multiagent systems under spatiotemporal constraints. Safety in multiagent + systems is typically addressed under the assumption that all agents collaborate + to ensure the forward invariance of a desired safe set. This work analyzes agent + behaviors based on certain behavior metrics, and designs a proactive adversary detection + mechanism based on the notion of the critical region for the system operation. In + particular, the presented detection mechanism not only identifies adversarial agents, + but also ensures all-time safety for intact agents. Then, based on the analysis + and detection results, a resilient quadratic programming-based controller is presented + to ensure safety and liveness constraints for intact agents. Simulation results + validate the efficacy of the presented theoretical contributions. +authors: +- Aquib Mustafa +- dimitrapanagou +bib: "@article{DBLP:journals/tcns/MustafaP23,\n author = {Aquib Mustafa and\n\ + \ Dimitra Panagou},\n title = {Adversary Detection and\ + \ Resilient Control for Multiagent Systems},\n journal = {{IEEE} Trans. Control.\ + \ Netw. Syst.},\n volume = {10},\n number = {1},\n pages =\ + \ {355--367},\n year = {2023},\n url = {https://doi.org/10.1109/TCNS.2022.3203350},\n\ + \ doi = {10.1109/TCNS.2022.3203350},\n timestamp = {Tue, 28 Mar 2023\ + \ 19:51:22 +0200},\n biburl = {https://dblp.org/rec/journals/tcns/MustafaP23.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2023-01-01 key: journals/tcns/MustafaP23 layout: papers -title: "Adversary Detection and Resilient Control for Multiagent Systems." -date: 2023-01-01 -venue: "IEEE Trans. Control. Netw. Syst." -authors: - - Aquib Mustafa - - dimitrapanagou link: https://doi.org/10.1109/TCNS.2022.3203350 -bib: |- - @article{DBLP:journals/tcns/MustafaP23, - author = {Aquib Mustafa and - Dimitra Panagou}, - title = {Adversary Detection and Resilient Control for Multiagent Systems}, - journal = {{IEEE} Trans. Control. Netw. Syst.}, - volume = {10}, - number = {1}, - pages = {355--367}, - year = {2023}, - url = {https://doi.org/10.1109/TCNS.2022.3203350}, - doi = {10.1109/TCNS.2022.3203350}, - timestamp = {Tue, 28 Mar 2023 19:51:22 +0200}, - biburl = {https://dblp.org/rec/journals/tcns/MustafaP23.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Adversary Detection and Resilient Control for Multiagent Systems. +venue: IEEE Trans. Control. Netw. Syst. --- diff --git a/content/papers/2023/2023-usevitch-adversarial_resilience_for_sampled_data_systems_under_high_relative_degree_safety_constraints.md b/content/papers/2023/2023-usevitch-adversarial_resilience_for_sampled_data_systems_under_high_relative_degree_safety_constraints.md index 422d5be..512f6c7 100644 --- a/content/papers/2023/2023-usevitch-adversarial_resilience_for_sampled_data_systems_under_high_relative_degree_safety_constraints.md +++ b/content/papers/2023/2023-usevitch-adversarial_resilience_for_sampled_data_systems_under_high_relative_degree_safety_constraints.md @@ -1,30 +1,35 @@ --- +abstract: Control barrier functions (CBFs) have recently become a powerful method + for rendering desired safe sets forward invariant in single-agent and multiagent + systems. In the multiagent case, prior literature has considered scenarios where + all agents cooperate to ensure that the corresponding set remains invariant. However, + these works do not consider scenarios where a subset of the agents are behaving + adversarially with the intent to violate safety bounds. In addition, prior results + on multiagent CBFs typically assume that control inputs are continuous and do not + consider sampled-data dynamics. This article presents a framework for normally behaving + agents in a multiagent system with heterogeneous control-affine, sampled-data dynamics + to render a safe set forward invariant in the presence of adversarial agents. The + proposed approach considers several aspects of practical control systems including + input constraints, clock asynchrony and disturbances, and distributed calculation + of control inputs. Our approach also considers functions describing safe sets having + high relative degree with respect to system dynamics. The efficacy of these results + are demonstrated through simulations. +authors: +- James Usevitch +- dimitrapanagou +bib: "@article{DBLP:journals/tac/UsevitchP23,\n author = {James Usevitch and\n\ + \ Dimitra Panagou},\n title = {Adversarial Resilience for\ + \ Sampled-Data Systems Under High-Relative-Degree\n Safety Constraints},\n\ + \ journal = {{IEEE} Trans. Autom. Control.},\n volume = {68},\n number\ + \ = {3},\n pages = {1537--1552},\n year = {2023},\n url\ + \ = {https://doi.org/10.1109/TAC.2022.3157791},\n doi = {10.1109/TAC.2022.3157791},\n\ + \ timestamp = {Sat, 11 Mar 2023 00:13:06 +0100},\n biburl = {https://dblp.org/rec/journals/tac/UsevitchP23.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2023-01-01 key: journals/tac/UsevitchP23 layout: papers -title: "Adversarial Resilience for Sampled-Data Systems Under High-Relative-Degree Safety Constraints." -date: 2023-01-01 -venue: "IEEE Trans. Autom. Control." -authors: - - James Usevitch - - dimitrapanagou link: https://doi.org/10.1109/TAC.2022.3157791 -bib: |- - @article{DBLP:journals/tac/UsevitchP23, - author = {James Usevitch and - Dimitra Panagou}, - title = {Adversarial Resilience for Sampled-Data Systems Under High-Relative-Degree - Safety Constraints}, - journal = {{IEEE} Trans. Autom. Control.}, - volume = {68}, - number = {3}, - pages = {1537--1552}, - year = {2023}, - url = {https://doi.org/10.1109/TAC.2022.3157791}, - doi = {10.1109/TAC.2022.3157791}, - timestamp = {Sat, 11 Mar 2023 00:13:06 +0100}, - biburl = {https://dblp.org/rec/journals/tac/UsevitchP23.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Adversarial Resilience for Sampled-Data Systems Under High-Relative-Degree + Safety Constraints. +venue: IEEE Trans. Autom. Control. --- diff --git a/content/papers/2024/2024-black-risk_aware_fixed_time_stabilization_of_stochastic_systems_under_measurement_uncertainty.md b/content/papers/2024/2024-black-risk_aware_fixed_time_stabilization_of_stochastic_systems_under_measurement_uncertainty.md index 07faf9f..956a82b 100644 --- a/content/papers/2024/2024-black-risk_aware_fixed_time_stabilization_of_stochastic_systems_under_measurement_uncertainty.md +++ b/content/papers/2024/2024-black-risk_aware_fixed_time_stabilization_of_stochastic_systems_under_measurement_uncertainty.md @@ -1,34 +1,40 @@ --- +abstract: This paper addresses the problem of risk-aware fixed-time stabilization + of a class of uncertain, output-feedback nonlinear systems modeled via stochastic + differential equations. First, novel classes of certificate functions, namely risk-aware + fixed-time- and risk-aware path-integral-control Lyapunov functions, are introduced. + Then, it is shown how the use of either for control design certifies that a system + is both stable in probability and probabilistically fixed-time convergent (for a + given probability) to a goal set. That is, the system trajectories probabilistically + reach the set within a finite time, independent of the initial condition, despite + the additional presence of measurement noise. These methods represent an improvement + over the state-of-the-art in stochastic fixed-time stabilization, which presently + offers bounds on the settling-time function in expectation only. The theoretical + results are verified by an empirical study on an illustrative, stochastic, nonlinear + system and the proposed controllers are evaluated against an existing method. Finally, + the methods are demonstrated via a simulated fixed-wing aerial robot on a reach-avoid + scenario to highlight their ability to certify the probability that a system safely + reaches its goal. +authors: +- Mitchell Black +- Georgios Fainekos +- Bardh Hoxha +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/amcc/BlackFHP24,\n author = {Mitchell Black\ + \ and\n Georgios Fainekos and\n Bardh Hoxha and\n\ + \ Dimitra Panagou},\n title = {Risk-Aware Fixed-Time Stabilization\ + \ of Stochastic Systems Under Measurement\n Uncertainty},\n booktitle\ + \ = {American Control Conference, {ACC} 2024, Toronto, ON, Canada, July\n \ + \ 10-12, 2024},\n pages = {3276--3283},\n publisher =\ + \ {{IEEE}},\n year = {2024},\n url = {https://doi.org/10.23919/ACC60939.2024.10644792},\n\ + \ doi = {10.23919/ACC60939.2024.10644792},\n timestamp = {Sat, 21\ + \ Sep 2024 12:19:37 +0200},\n biburl = {https://dblp.org/rec/conf/amcc/BlackFHP24.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2024-01-01 key: conf/amcc/BlackFHP24 layout: papers -title: "Risk-Aware Fixed-Time Stabilization of Stochastic Systems Under Measurement Uncertainty." -date: 2024-01-01 -venue: "ACC" -authors: - - Mitchell Black - - Georgios Fainekos - - Bardh Hoxha - - dimitrapanagou link: https://doi.org/10.23919/ACC60939.2024.10644792 -bib: |- - @inproceedings{DBLP:conf/amcc/BlackFHP24, - author = {Mitchell Black and - Georgios Fainekos and - Bardh Hoxha and - Dimitra Panagou}, - title = {Risk-Aware Fixed-Time Stabilization of Stochastic Systems Under Measurement - Uncertainty}, - booktitle = {American Control Conference, {ACC} 2024, Toronto, ON, Canada, July - 10-12, 2024}, - pages = {3276--3283}, - publisher = {{IEEE}}, - year = {2024}, - url = {https://doi.org/10.23919/ACC60939.2024.10644792}, - doi = {10.23919/ACC60939.2024.10644792}, - timestamp = {Sat, 21 Sep 2024 12:19:37 +0200}, - biburl = {https://dblp.org/rec/conf/amcc/BlackFHP24.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Risk-Aware Fixed-Time Stabilization of Stochastic Systems Under Measurement + Uncertainty. +venue: ACC --- diff --git a/content/papers/2024/2024-breeden-robust_safety_critical_control_for_systems_with_sporadic_measurements_and_dwell_time_constraints.md b/content/papers/2024/2024-breeden-robust_safety_critical_control_for_systems_with_sporadic_measurements_and_dwell_time_constraints.md index 23a3417..cb9291a 100644 --- a/content/papers/2024/2024-breeden-robust_safety_critical_control_for_systems_with_sporadic_measurements_and_dwell_time_constraints.md +++ b/content/papers/2024/2024-breeden-robust_safety_critical_control_for_systems_with_sporadic_measurements_and_dwell_time_constraints.md @@ -1,31 +1,32 @@ --- +abstract: This letter presents extensions of control barrier function (CBF) theory + to systems with disturbances wherein a controller only receives measurements infrequently + and operates open-loop between measurements, while still satisfying state constraints. + This letter considers both impulsive and continuous actuators, and models the actuators, + measurements, disturbances, and timing constraints as a hybrid dynamical system. + We then design an open-loop observer that bounds the worst-case uncertainty between + measurements. We develop definitions of CBFs for both actuation cases, and corresponding + conditions on the control input to guarantee satisfaction of the state constraints. + We apply these conditions to simulations of a satellite rendezvous in an elliptical + orbit and autonomous orbit stationkeeping. +authors: +- Joseph Breeden +- Luca Zaccarian +- dimitrapanagou +bib: "@article{DBLP:journals/csysl/BreedenZP24,\n author = {Joseph Breeden\ + \ and\n Luca Zaccarian and\n Dimitra Panagou},\n\ + \ title = {Robust Safety-Critical Control for Systems With Sporadic Measurements\n\ + \ and Dwell-Time Constraints},\n journal = {{IEEE} Control.\ + \ Syst. Lett.},\n volume = {8},\n pages = {1415--1420},\n year \ + \ = {2024},\n url = {https://doi.org/10.1109/LCSYS.2024.3410631},\n\ + \ doi = {10.1109/LCSYS.2024.3410631},\n timestamp = {Fri, 19 Jul 2024\ + \ 23:16:25 +0200},\n biburl = {https://dblp.org/rec/journals/csysl/BreedenZP24.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2024-01-01 key: journals/csysl/BreedenZP24 layout: papers -title: "Robust Safety-Critical Control for Systems With Sporadic Measurements and Dwell-Time Constraints." -date: 2024-01-01 -venue: "IEEE Control. Syst. Lett." -authors: - - Joseph Breeden - - Luca Zaccarian - - dimitrapanagou link: https://doi.org/10.1109/LCSYS.2024.3410631 -bib: |- - @article{DBLP:journals/csysl/BreedenZP24, - author = {Joseph Breeden and - Luca Zaccarian and - Dimitra Panagou}, - title = {Robust Safety-Critical Control for Systems With Sporadic Measurements - and Dwell-Time Constraints}, - journal = {{IEEE} Control. Syst. Lett.}, - volume = {8}, - pages = {1415--1420}, - year = {2024}, - url = {https://doi.org/10.1109/LCSYS.2024.3410631}, - doi = {10.1109/LCSYS.2024.3410631}, - timestamp = {Fri, 19 Jul 2024 23:16:25 +0200}, - biburl = {https://dblp.org/rec/journals/csysl/BreedenZP24.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Robust Safety-Critical Control for Systems With Sporadic Measurements and Dwell-Time + Constraints. +venue: IEEE Control. Syst. Lett. --- diff --git a/content/papers/2024/2024-parwana-algorithms_for_finding_compatible_constraints_in_receding_horizon_control_of_dynamical_systems.md b/content/papers/2024/2024-parwana-algorithms_for_finding_compatible_constraints_in_receding_horizon_control_of_dynamical_systems.md index ab0bf5c..c730d0f 100644 --- a/content/papers/2024/2024-parwana-algorithms_for_finding_compatible_constraints_in_receding_horizon_control_of_dynamical_systems.md +++ b/content/papers/2024/2024-parwana-algorithms_for_finding_compatible_constraints_in_receding_horizon_control_of_dynamical_systems.md @@ -1,32 +1,45 @@ --- +abstract: This paper addresses synthesizing receding-horizon controllers for nonlinear, + control-affine dynamical systems under multiple incompatible hard and soft constraints. + Handling incompatibility of constraints has mostly been addressed in literature + by relaxing the soft constraints via slack variables. However, this may lead to + trajectories that are far from the optimal solution and may compromise satisfaction + of the hard constraints over time. In that regard, permanently dropping incompatible + soft constraints may be beneficial for the satisfaction over time of the hard constraints + (under the assumption that hard constraints are compatible with each other at initial + time). To this end, motivated by approximate methods on the maximal feasible subset + (maxFS) selection problem, we propose heuristics that depend on the Lagrange multipliers + of the constraints. The main observation for using heuristics based on the Lagrange + multipliers instead of slack variables (which is the standard approach in the related + literature of finding maxFS) is that when the optimization is feasible, the Lagrange + multiplier of a given constraint is non-zero, in contrast to the slack variable + which is zero. This observation is particularly useful in the case of a dynamical + nonlinear system where its control input is computed recursively as the optimization + of a cost functional subject to the system dynamics and constraints, in the sense + that the Lagrange multipliers of the constraints over a prediction horizon can indicate + the constraints to be dropped so that the resulting constraints are compatible. + The method is evaluated empirically in a case study with a robot navigating under + multiple time and state constraints, and compared to a greedy method based on the + Lagrange multiplier. +authors: +- Hardik Parwana +- Ruiyang Wang +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/amcc/ParwanaWP24,\n author = {Hardik Parwana\ + \ and\n Ruiyang Wang and\n Dimitra Panagou},\n\ + \ title = {Algorithms for Finding Compatible Constraints in Receding-Horizon\n\ + \ Control of Dynamical Systems},\n booktitle = {American Control\ + \ Conference, {ACC} 2024, Toronto, ON, Canada, July\n 10-12, 2024},\n\ + \ pages = {2074--2081},\n publisher = {{IEEE}},\n year = {2024},\n\ + \ url = {https://doi.org/10.23919/ACC60939.2024.10644243},\n doi \ + \ = {10.23919/ACC60939.2024.10644243},\n timestamp = {Sat, 21 Sep 2024\ + \ 12:19:37 +0200},\n biburl = {https://dblp.org/rec/conf/amcc/ParwanaWP24.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2024-01-01 key: conf/amcc/ParwanaWP24 layout: papers -title: "Algorithms for Finding Compatible Constraints in Receding-Horizon Control of Dynamical Systems." -date: 2024-01-01 -venue: "ACC" -authors: - - Hardik Parwana - - Ruiyang Wang - - dimitrapanagou link: https://doi.org/10.23919/ACC60939.2024.10644243 -bib: |- - @inproceedings{DBLP:conf/amcc/ParwanaWP24, - author = {Hardik Parwana and - Ruiyang Wang and - Dimitra Panagou}, - title = {Algorithms for Finding Compatible Constraints in Receding-Horizon - Control of Dynamical Systems}, - booktitle = {American Control Conference, {ACC} 2024, Toronto, ON, Canada, July - 10-12, 2024}, - pages = {2074--2081}, - publisher = {{IEEE}}, - year = {2024}, - url = {https://doi.org/10.23919/ACC60939.2024.10644243}, - doi = {10.23919/ACC60939.2024.10644243}, - timestamp = {Sat, 21 Sep 2024 12:19:37 +0200}, - biburl = {https://dblp.org/rec/conf/amcc/ParwanaWP24.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Algorithms for Finding Compatible Constraints in Receding-Horizon Control of + Dynamical Systems. +venue: ACC --- diff --git a/content/papers/2024/2024-tekriwal-formally_verified_asymptotic_consensus_in_robust_networks.md b/content/papers/2024/2024-tekriwal-formally_verified_asymptotic_consensus_in_robust_networks.md index 39d59c4..526d734 100644 --- a/content/papers/2024/2024-tekriwal-formally_verified_asymptotic_consensus_in_robust_networks.md +++ b/content/papers/2024/2024-tekriwal-formally_verified_asymptotic_consensus_in_robust_networks.md @@ -1,42 +1,30 @@ --- +abstract: null +authors: +- Mohit Tekriwal +- Avi Tachna-Frame +- Jean-Baptiste Jeannin +- Manos Kapritsos +- dimitrapanagou +bib: "@inproceedings{DBLP:conf/tacas/TekriwalTJKP24,\n author = {Mohit Tekriwal\ + \ and\n Avi Tachna{-}Frame and\n Jean{-}Baptiste\ + \ Jeannin and\n Manos Kapritsos and\n Dimitra\ + \ Panagou},\n editor = {Bernd Finkbeiner and\n Laura Kov{\\\ + '{a}}cs},\n title = {Formally verified asymptotic consensus in robust networks},\n\ + \ booktitle = {Tools and Algorithms for the Construction and Analysis of Systems\n\ + \ - 30th International Conference, {TACAS} 2024, Held as Part of\ + \ the\n European Joint Conferences on Theory and Practice of Software,\ + \ {ETAPS}\n 2024, Luxembourg City, Luxembourg, April 6-11, 2024,\ + \ Proceedings,\n Part {I}},\n series = {Lecture Notes in\ + \ Computer Science},\n volume = {14570},\n pages = {248--267},\n\ + \ publisher = {Springer},\n year = {2024},\n url = {https://doi.org/10.1007/978-3-031-57246-3\\\ + _14},\n doi = {10.1007/978-3-031-57246-3\\_14},\n timestamp = {Sun,\ + \ 06 Oct 2024 21:15:24 +0200},\n biburl = {https://dblp.org/rec/conf/tacas/TekriwalTJKP24.bib},\n\ + \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" +date: 2024-01-01 key: conf/tacas/TekriwalTJKP24 layout: papers -title: "Formally verified asymptotic consensus in robust networks." -date: 2024-01-01 -venue: "TACAS (1)" -authors: - - Mohit Tekriwal - - Avi Tachna-Frame - - Jean-Baptiste Jeannin - - Manos Kapritsos - - dimitrapanagou link: https://doi.org/10.1007/978-3-031-57246-3_14 -bib: |- - @inproceedings{DBLP:conf/tacas/TekriwalTJKP24, - author = {Mohit Tekriwal and - Avi Tachna{-}Frame and - Jean{-}Baptiste Jeannin and - Manos Kapritsos and - Dimitra Panagou}, - editor = {Bernd Finkbeiner and - Laura Kov{\'{a}}cs}, - title = {Formally verified asymptotic consensus in robust networks}, - booktitle = {Tools and Algorithms for the Construction and Analysis of Systems - - 30th International Conference, {TACAS} 2024, Held as Part of the - European Joint Conferences on Theory and Practice of Software, {ETAPS} - 2024, Luxembourg City, Luxembourg, April 6-11, 2024, Proceedings, - Part {I}}, - series = {Lecture Notes in Computer Science}, - volume = {14570}, - pages = {248--267}, - publisher = {Springer}, - year = {2024}, - url = {https://doi.org/10.1007/978-3-031-57246-3\_14}, - doi = {10.1007/978-3-031-57246-3\_14}, - timestamp = {Sun, 06 Oct 2024 21:15:24 +0200}, - biburl = {https://dblp.org/rec/conf/tacas/TekriwalTJKP24.bib}, - bibsource = {dblp computer science bibliography, https://dblp.org} - } - - +title: Formally verified asymptotic consensus in robust networks. +venue: TACAS (1) ---