Achieving Complex Collaborative Missions via Decentralized Control and Coordination of Interacting Robots

Informations projet

Co4Robots

N° de convention de subvention: 731869

DOI 10.3030/731869

Projet clôturé

Date de signature de la CE 26 Octobre 2016

Date de début 1 Janvier 2017

Date de fin 30 Juin 2020

Financé au titre de

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT)

Coût total € 3 820 956,25

Contribution de l’UE € 3 820 956,25

Coordonné par

KUNGLIGA TEKNISKA HOEGSKOLAN
Sweden

CORDIS fournit des liens vers les livrables publics et les publications des projets HORIZON.

Les liens vers les livrables et les publications des projets du 7e PC, ainsi que les liens vers certains types de résultats spécifiques tels que les jeux de données et les logiciels, sont récupérés dynamiquement sur OpenAIRE .

Livrables

Documents, reports (19)

Collaborative Object Transportation via Heterogeneous Agents

This deliverable describes the control strategies that are designed for the collaborative transportation of objects by humans and mobile manipulators as well as the collaborative loading and unloading of objects by mobile and static manipulators.

Platform Architectural Description

The deliverable will provide an architecture description of the Co4Robots platform, including guidelines for all software components so that to fit them into the overall Co4Robots architecture.

Interface for high-level specification

This deliverable describes the chosen high-level specification language, the interface to let the users easily specify missions and the transformation of these missions into a more rigorous temporal logic formalism.

Load Exchange among Heterogeneous Agents

This deliverable describes the control strategies developed for load exchange tasks between humans and mobile manipulators as well as between mobile and static manipulators.

Decentralized abstractions, task assignment and plan synthesis

This deliverable describes how a control plan is synthesized for each agent in a decentralized manner based on a discrete abstraction of the agent’s dynamics (including its interactions with other agents) and the tasks assigned to the agent obtained from the decomposition of the global mission.

Real-time reconfiguration of abstraction and planning

This deliverable describes the methods to adapt the abstractions or the task assignment in case of infeasibility of the mission due to the coarseness of the initial abstractions, arrival of new tasks or the failure of an agent.

Scenario Definition, Benchmarks & Demonstration Plan

The use-case requirements will be gathered in this deliverable; based on this Benchmarks and a Demonstration plan are defined.

Co4Robots Platform Implementation

A first version of the Co4Robots platform that can be started to be used by the other workpackages with all the major features implemented even though they’re not completely finished. The deliverable will contain also an integration plan and guidelines for the definition of integration test cases.

Co4Robots Implementation – Second Version

A final version of the Co4Robots platform will be released, including configuration facilities.

Environment perception in the presence of interaction

Report on the perception in the presence of interactions module of Task 2.2.

Robustness against planning variations

This deliverable describes how the low-level controller can adapt to the real-time updates of the high-level planner due to increased information or plan reconfiguration in case of an unsatisfied mission.

Collaborative perception

Report on the collaborative perception module of Task 2.3.

Cooperative Motion Planning and Collision Avoidance for Heterogeneous Agents

This deliverable describes the distributed motion control schemes that guarantee collision avoidance and satisfaction of operational constraints and are employed for the coordination of the heterogeneous robotic agents (mobile robots, mobile and static manipulators) in collaborative tasks.

Assessment and Conclusions

Based on the Benchmarks identified in D6.2 the system performance will be evaluated.

Milestone Demonstration 1

The results will be integrated on the demonstrator platforms in three progressive demonstrations. Each sub-deliverable will be led by the corresponding Milestone leader participant.

Baseline localization and environment perception

Report on the baseline perception module of Task 2.1.

Milestone Demonstration 2

The results will be integrated on the demonstrator platforms in three progressive demonstrations. Each sub-deliverable will be led by the corresponding Milestone leader participant.

Milestone Demonstration 3

The results will be integrated on the demonstrator platforms in three progressive demonstrations. Each sub-deliverable will be led by the corresponding Milestone leader participant.

Test Facilities Description & Simulation Environment

The deliverable will provide a detailed description of the demonstrator platforms and simulation models with the correct interfaces.

Websites, patent fillings, videos etc. (1)

Project website

The project website will be used as the main internal and external communication channel of the project.

Open Research Data Pilot (1)

Data Management Plan

This deliverable will describe the Data Management Plan for the project as requested by the EC for H2020 projects.

Publications

Conference proceedings (80)

A Variable Impedance Control Strategy for Object Manipulation Considering Non–Rigid Grasp

Auteurs: Michalis Logothetis, George C. Karras and Kostas J. Kyriakopoulos
Publié dans: IEEE Intelligent Robots and Systems, October, 25-29, 2020, Las Vegas, USA (to appear), 2020
Éditeur: IEEE

Decomposition of finite LTL specifications for efficient multi-agent planning

Auteurs: Philipp Schillinger, Mathias Bürger, Dimos Dimarogonas
Publié dans: Distributed Autonomous Robotic Systems, 2018, Page(s) 253-267
Éditeur: Springer

Multi-objective search for optimal multi-robot planning with finite LTL specifications and resource constraints

Auteurs: Philipp Schillinger, Mathias Burger, Dimos V. Dimarogonas
Publié dans: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 768-774, ISBN 978-1-5090-4633-1
Éditeur: IEEE
DOI: 10.1109/ICRA.2017.7989094

Auctioning over Probabilistic Options for Temporal Logic-Based Multi-Robot Cooperation under Uncertainty

Auteurs: Philipp Schillinger, Mathias Bürger, Dimos Dimarogonas
Publié dans: IEEE International Conference on Robotics and Automation, 2018
Éditeur: IEEE

Improving Multi-Robot Behavior Using Learning-Based Receding Horizon Task Allocation

Auteurs: Philipp Schillinger, Mathias Bürger, Dimos Dimarogonas
Publié dans: Robotics: Science and Systems, 2018
Éditeur: RSS

Optimal Control of Left-Invariant Multi- Agent Systems with Asymmetric Formation Constraints

Auteurs: Leonardo Colombo, Dimos V. Dimarogonas
Publié dans: IEEE European Control Conference 2018, 2018
Éditeur: IEEE

Decentralized Control of Uncertain Multi-Agent Systems with Connectivity Maintenance and Collision Avoidance

Auteurs: Alexandros Filotheou, Alexandros Nikou, Dimos V. Dimarogonas
Publié dans: IEEE European Control Conference 2018, 2018
Éditeur: IEEE

Human-in-the-Loop Mixed-Initiative Control Under Termporal Tasks

Auteurs: Meng Guo, Sofie Andersson, Dimos V. Dimarogonas
Publié dans: IEEE International Conference on Robotics and Automation, 2018
Éditeur: IEEE

Decentralized Robust Control of Coupled Multi-Agent Systems under Local Signal Temporal Logic Tasks

Auteurs: Lars Lindemann, Dimos V. Dimarogonas
Publié dans: American Control Conference, 2018
Éditeur: IEEE

Event-triggered Feedback Control for Signal Temporal Logic Tasks

Auteurs: Lars Lindemann, Dipankar Maity, John S. Baras, Dimos V. Dimarogonas
Publié dans: IEEE Conference on Decision and Control, 2018
Éditeur: IEEE

Prescribed performance control for signal temporal logic specifications

Auteurs: Lars Lindemann, Christos K. Verginis, Dimos V. Dimarogonas
Publié dans: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 2997-3002, ISBN 978-1-5090-2873-3
Éditeur: IEEE
DOI: 10.1109/CDC.2017.8264095

Compositional abstraction refinement for control synthesis under lasso-shaped specifications

Auteurs: Pierre-Jean Meyer, Dimos V. Dimarogonas
Publié dans: 2017 American Control Conference (ACC), 2017, Page(s) 523-528, ISBN 978-1-5090-5992-8
Éditeur: IEEE
DOI: 10.23919/ACC.2017.7963006

Decentralized abstractions and timed constrained planning of a general class of coupled multi-agent systems

Auteurs: Alexandros Nikou, Shahab Heshmati-alamdari, Christos K. Verginis, Dimos V. Dimarogonas
Publié dans: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 990-995, ISBN 978-1-5090-2873-3
Éditeur: IEEE
DOI: 10.1109/CDC.2017.8263787

A Nonlinear Model Predictive Control scheme for cooperative manipulation with singularity and collision avoidance

Auteurs: Alexandres Nikou, Christos Verginis, Shahab Heshmati-alamdari, Dimos V. Dimarogonas
Publié dans: 2017 25th Mediterranean Conference on Control and Automation (MED), 2017, Page(s) 707-712, ISBN 978-1-5090-4533-4
Éditeur: IEEE
DOI: 10.1109/MED.2017.7984201

Position and orientation based formation control of multiple rigid bodies with collision avoidance and connectivity maintenance

Auteurs: Christos K. Verginis, Alexandras Nikou, Dimos V. Dimarogonas
Publié dans: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 411-416, ISBN 978-1-5090-2873-3
Éditeur: IEEE
DOI: 10.1109/CDC.2017.8263699

Communication-based Decentralized Cooperative Object Transportation Using Nonlinear Model Predictive Control

Auteurs: Christos K. Verginis, Alexandros Nikou, Dimos V. Dimarogonas
Publié dans: IEEE European Control Conference, 2018
Éditeur: IEEE

Robust decentralized abstractions for multiple mobile manipulators

Auteurs: Christos K. Verginis, Dimos V. Dimarogonas
Publié dans: 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, Page(s) 2222-2227, ISBN 978-1-5090-2873-3
Éditeur: IEEE
DOI: 10.1109/CDC.2017.8263974

Decentralized motion planning with collision avoidance for a team of UAVs under high level goals

Auteurs: Christos K. Verginis, Ziwei Xu, Dimos V. Dimarogonas
Publié dans: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 781-787, ISBN 978-1-5090-4633-1
Éditeur: IEEE
DOI: 10.1109/ICRA.2017.7989096

Robot Navigation in Complex Workspaces Using Harmonic Maps

Auteurs: Panagiotis Vlantis, Constantinos Vrohidis, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos
Publié dans: IEEE Int. Conf. on Robotics and Automation (ICRA 2018), May 21-25, 2018, Brisbane, Australia, 2018
Éditeur: IEEE

A Model Predictive Control Approach for Vision-based Object Grasping via Mobile Manipulator

Auteurs: Michalis Logothetis, George C. Karras, Shahab Heshmati-alamdari, Panagiotis Vlantis and Kostas J. Kyriakopoulos
Publié dans: IEEE Intelligent Robots and Systems,October, 1-5, 2018, Madrid, Spain, 2018
Éditeur: IEEE

Human-Robot Collaboration based on Robust Motion Intention Estimation with Prescribed Performance

Auteurs: Christos N. Mavridis, Konstantinos Alevizos, Charalampos P. Bechlioulis and Kostas J. Kyriakopoulos 2
Publié dans: ECC 2018 – European Control Conference 2018, Limassol Cyprus, 12-15 June, 2018, 2018
Éditeur: IFAC

Prescribed Time Scale Robot Navigation in Dynamic Environments

Auteurs: Constantinos Vrohidis, Panagiotis Vlantis, Charalampos P. Bechlioulis and Kostas J. Kyriakopoulos
Publié dans: ECC 2018 – European Control Conference 2018, Limassol Cyprus, June 12-15, 2018, 2018
Éditeur: IFAC

Decentralized Reconfigurable Multi-Robot Coordination from Local Connectivity and Collosion Avoidance Specifications

Auteurs: Constantinos Vrohidis, Charalampos P. Bechlioulis and Kostas J. Kyriakopoulos
Publié dans: IFAC 2017 World Congress, Toulouse, France The 20th World Congress of the International Federation of Automatic Control, 9-14 July 2017, 2017
Éditeur: IFAC

Safe Decentralized and Reconfigurable Multi-agent Control with Guaranteed Convergence

Auteurs: C. Vrohidis, C. P. Bechlioulis, K. J. Kyriakopoulos
Publié dans: 2017 IEEE International Conference on Robotics and Automation, Singapore, 2017, Page(s) pp. 267-272
Éditeur: IEEE

Unsupervised Detection of Periodic Segments in Videos

Auteurs: Costas Panagiotakis, Giorgos Karvounas, Antonis Argyros
Publié dans: International Conference on Image Processing (ICIP2018), 2018
Éditeur: IEEE

Joint 3D tracking of a deformable object in interaction with a hand

Auteurs: Aggeliki Tsoli, Antonis Argyros
Publié dans: European Conference on Computer Vision (ECCV 2018), 2018
Éditeur: Springer

A Comparative Study of Matrix Completion and Recovery Techniques for Human Pose Estimation

Auteurs: Dennis Bautembach, Iason Oikonomidis, Antonis Argyros
Publié dans: Proceedings of the 11th PErvasive Technologies Related to Assistive Environments Conference on - PETRA '18, 2018, Page(s) 23-30, ISBN 9781-450363907
Éditeur: ACM Press
DOI: 10.1145/3197768.3197791

Distributed Real-Time Generative 3D Hand Tracking using Edge GPGPU Acceleration

Auteurs: Ammar Qammaz, Sokol Kosta, Nikolaos Kyriazis, Antonis Argyros
Publié dans: Proceedings of the 16th Annual International Conference on Mobile Systems, Applications, and Services - MobiSys '18, 2018, Page(s) 540-540, ISBN 9781-450357203
Éditeur: ACM Press
DOI: 10.1145/3210240.3211112

Depth-Based 3D Hand Pose Estimation: From Current Achievements to Future Goals

Auteurs: Shanxin Yuan, Guillermo Garcia-Hernando, Bjorn Stenger, Gyeongsik Moon, Ju Yong Chang, Kyoung Mu Lee, Pavlo Molchanov, Jan Kautz, Sina Honari, Liuhao Ge, Junsong Yuan, Xinghao Chen, Guijin Wang, Fan Yang, Kai Akiyama, Yang Wu, Qingfu Wan, Meysam Madadi, Sergio Escalera, Shile Li, Dongheui Lee, Iason Oikonomidis, Antonis Argyros, Tae-Kyun Kim
Publié dans: IEEE Computer Vision and Pattern Recognition (CVPR 2018), 2018
Éditeur: IEEE

Using a Single RGB Frame for Real Time 3D Hand Pose Estimation in the Wild

Auteurs: Paschalis Panteleris, Iason Oikonomidis, Antonis Argyros
Publié dans: 2018 IEEE Winter Conference on Applications of Computer Vision (WACV), 2018, Page(s) 436-445, ISBN 978-1-5386-4886-5
Éditeur: IEEE
DOI: 10.1109/wacv.2018.00054

A Hybrid Method for 3D Pose Estimation of Personalized Human Body Models

Auteurs: Ammar Qammaz, Damien Michel, Antonis Argyros
Publié dans: 2018 IEEE Winter Conference on Applications of Computer Vision (WACV), 2018, Page(s) 456-465, ISBN 978-1-5386-4886-5
Éditeur: IEEE
DOI: 10.1109/wacv.2018.00056

Evaluating Method Design Options for Action Classification based on Bags of Visual Words

Auteurs: Victoria Manousaki, Konstantinos Papoutsakis, Antonis Argyros
Publié dans: Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, 2018, Page(s) 185-192, ISBN 978-989-758-290-5
Éditeur: SCITEPRESS - Science and Technology Publications
DOI: 10.5220/0006544201850192

Back to RGB: 3D Tracking of Hands and Hand-Object Interactions Based on Short-Baseline Stereo

Auteurs: Paschalis Panteleris, Antonis Argyros
Publié dans: 2017 IEEE International Conference on Computer Vision Workshops (ICCVW), 2017, Page(s) 575-584, ISBN 978-1-5386-1034-3
Éditeur: IEEE
DOI: 10.1109/iccvw.2017.74

Temporal Action Co-Segmentation in 3D Motion Capture Data and Videos

Auteurs: Konstantinos Papoutsakis, Costas Panagiotakis, Antonis A. Argyros
Publié dans: 2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2017, Page(s) 2146-2155, ISBN 978-1-5386-0457-1
Éditeur: IEEE
DOI: 10.1109/cvpr.2017.231

Generative 3D Hand Tracking with Spatially Constrained Pose Sampling

Auteurs: Konstantinos Roditakis, Alexandros Makris, Antonis Argyros
Publié dans: British Machine Vision Conference (BMVC 2017), 2017
Éditeur: BMVA

An Architecture for Decentralized, Collaborative, and Autonomous Robots

Auteurs: Sergio Garcia, Claudio Menghi, Patrizio Pelliccione, Thorsten Berger, Rebekka Wohlrab
Publié dans: 2018 IEEE International Conference on Software Architecture (ICSA), 2018, Page(s) 75-7509, ISBN 978-1-5386-6398-1
Éditeur: IEEE
DOI: 10.1109/icsa.2018.00017

Engineering the software of robotic systems

Auteurs: Federico Ciccozzi, Davide Di Ruscio, Ivano Malavolta, Patrizio Pelliccione, Jana Tumova
Publié dans: 2017 IEEE/ACM 39th International Conference on Software Engineering Companion (ICSE-C), 2017, Page(s) 507-508, ISBN 978-1-5386-1589-8
Éditeur: IEEE
DOI: 10.1109/ICSE-C.2017.167

Supporting Verification-Driven Incremental Distributed Design of Components

Auteurs: Claudio Menghi, Paola Spoletini, Marsha Chechik, Carlo Ghezzi
Publié dans: In: Russo A., Schürr A. (eds) Fundamental Approaches to Software Engineering. FASE 2018, 2018, Page(s) 169-188
Éditeur: Springer International Publishing
DOI: 10.1007/978-3-319-89363-1_10

Property specification patterns for robotic missions

Auteurs: Claudio Menghi, Christos Tsigkanos, Thorsten Berger, Patrizio Pelliccione, Carlo Ghezzi
Publié dans: Proceedings of the 40th International Conference on Software Engineering Companion Proceeedings - ICSE '18, 2018, Page(s) 434-435, ISBN 9781-450356633
Éditeur: ACM Press
DOI: 10.1145/3183440.3195044

Towards multi-robot applications planning under uncertainty

Auteurs: Claudio Menghi, Sergio García, Patrizio Pelliccione, Jana Tumova
Publié dans: Proceedings of the 40th International Conference on Software Engineering Companion Proceeedings - ICSE '18, 2018, Page(s) 438-439, ISBN 9781-450356633
Éditeur: ACM Press
DOI: 10.1145/3183440.3195046

Multi-robot LTL planning under uncertainty

Auteurs: Claudio Menghi, Sergio Garcia, Patrizio Pelliccione, Jana Tumova
Publié dans: 2018, Page(s) 399-417
Éditeur: Springer International Publishing
DOI: 10.1007/978-3-319-95582-7_24

Distributed cooperative manipulation under timed temporal specifications

Auteurs: Christos K. Verginis, Dimos V. Dimarogonas
Publié dans: 2017 American Control Conference (ACC), 2017, Page(s) 1358-1363, ISBN 978-1-5090-5992-8
Éditeur: IEEE
DOI: 10.23919/acc.2017.7963141

Effective engineering of multi-robot software applications

Auteurs: Sergio García
Publié dans: Proceedings of the 40th International Conference on Software Engineering: Companion Proceeedings, 2018, Page(s) 454-455, ISBN 9781-450356633
Éditeur: ACM
DOI: 10.1145/3183440.3183445

A Tube-based MPC Scheme for Interaction Control of Underwater Vehicle Manipulator Systems

Auteurs: Alexandros Nikou, Christos K. Verginis, Dimos V. Dimarogonas
Publié dans: 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV), Numéro 6-9 Nov. 2018, 2018, Page(s) 1-6, ISBN 978-1-7281-0253-5
Éditeur: IEEE
DOI: 10.1109/auv.2018.8729801

Event-triggered Feedback Control for Signal Temporal Logic Tasks

Auteurs: Lars Lindemann, Dipankar Maity, John S. Baras, Dimos V. Dimarogonas
Publié dans: 2018 IEEE Conference on Decision and Control (CDC), Numéro 17-19 Dec. 2018, 2018, Page(s) 146-151, ISBN 978-1-5386-1395-5
Éditeur: IEEE
DOI: 10.1109/cdc.2018.8619000

Orientation-Aware Motion Planning in Complex Workspaces using Adaptive Harmonic Potential Fields

Auteurs: Panagiotis Vlantis, Constantinos Vrohidis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos
Publié dans: 2019 International Conference on Robotics and Automation (ICRA), Numéro 20-24 May 2019, 2019, Page(s) 8592-8598, ISBN 978-1-5386-6027-0
Éditeur: IEEE
DOI: 10.1109/icra.2019.8794053

A Motion Planning Scheme for Cooperative Loading Using Heterogeneous Robotic Agents

Auteurs: Michalis Logothetis, Panagiotis Vlantis, Constantinos Vrohidis, George C. Karras, Kostas J. Kyriakopoulos
Publié dans: 2019 International Conference on Robotics and Automation (ICRA), Numéro 20-24 May 2019, 2019, Page(s) 9660-9666, ISBN 978-1-5386-6027-0
Éditeur: IEEE
DOI: 10.1109/icra.2019.8794323

ReActNet: Temporal Localization of Repetitive Activities in Real-World Videos

Auteurs: Giorgos Karvounas, Iason Oikonomidis, Antonis Argyros
Publié dans: 2019
Éditeur: International Conference on Computer Vision Workshop

Reconfigurable Motion Planning and Control in Obstacle Cluttered Environments under Timed Temporal Tasks

Auteurs: Christos K. Verginis, Constantinos Vrohidis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos, Dimos V. Dimarogonas
Publié dans: 2019 International Conference on Robotics and Automation (ICRA), Numéro 20-24 May 2019, 2019, Page(s) 951-957, ISBN 978-1-5386-6027-0
Éditeur: IEEE
DOI: 10.1109/icra.2019.8794000

Patch-based reconstruction of a textureless deformable 3D surface from a single RGB image

Auteurs: Aggeliki Tsoli, Antonis. A. Argyros
Publié dans: International Conference on Computer Vision, 2019
Éditeur: IEEE

MocapNET: Ensemble of SNN Encoders for 3D Human Pose Estimation in RGB Images

Auteurs: Ammar Qammaz, Antonis A. Argyros
Publié dans: British Machine Vision Conference, 2019
Éditeur: British Machine Vision Association

Unsupervised and Explainable Assessment of Video Similarity

Auteurs: Konstantinos E. Papoutsakis, Antonis A. Argyros
Publié dans: British Machine Vision Conference, 2019
Éditeur: British Machine Vision Association

Novelty Detection for Person Re-identification in an Open World

Auteurs: George Galanakis, Xenophon Zabulis, Antonis A Argyros
Publié dans: International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, 2019
Éditeur: SCITEPRESS

Robust 3D Human Pose Estimation Guided by Filtered Subsets of Body Keypoints

Auteurs: Alexandros Makris, Antonis Argyros
Publié dans: 2019 16th International Conference on Machine Vision Applications (MVA), Numéro 27-31 May 2019, 2019, Page(s) 1-6, ISBN 978-4-901122-18-4
Éditeur: IEEE
DOI: 10.23919/mva.2019.8757907

PsALM: Specification of Dependable Robotic Missions

Auteurs: Claudio Menghi, Christos Tsigkanos, Thorsten Berger, Patrizio Pelliccione
Publié dans: 2019 IEEE/ACM 41st International Conference on Software Engineering: Companion Proceedings (ICSE-Companion), Numéro 25-31 May 2019, 2019, Page(s) 99-102, ISBN 978-1-7281-1764-5
Éditeur: IEEE
DOI: 10.1109/icse-companion.2019.00048

MAPmAKER: Performing Multi-Robot LTL Planning under Uncertainty

Auteurs: Sergio Garcia, Claudio Menghi, Patrizio Pelliccione
Publié dans: 2019 IEEE/ACM 2nd International Workshop on Robotics Software Engineering (RoSE), Numéro May 2019, 2019, Page(s) 1-4, ISBN 978-1-7281-2249-6
Éditeur: IEEE
DOI: 10.1109/rose.2019.00008

Variability Modeling of Service Robots - Experiences and Challenges

Auteurs: Sergio García, Daniel Strüber, Davide Brugali, Alessandro Di Fava, Philipp Schillinger, Patrizio Pelliccione, Thorsten Berger
Publié dans: Proceedings of the 13th International Workshop on Variability Modelling of Software-Intensive Systems - VAMOS '19, 2019, Page(s) 1-6, ISBN 9781-450366489
Éditeur: ACM Press
DOI: 10.1145/3302333.3302350

Decentralized Control Barrier Functions for Coupled Multi-Agent Systems under Signal Temporal Logic Tasks

Auteurs: Lars Lindemann, Dimos V. Dimarogonas
Publié dans: 2019 18th European Control Conference (ECC), 2019, Page(s) 89-94, ISBN 978-3-907144-00-8
Éditeur: IEEE
DOI: 10.23919/ecc.2019.8796109

A Hybrid Controller for Obstacle Avoidance in an $n$-dimensional Euclidean Space

Auteurs: Soulaimane Berkane, Andrea Bisoffi, Dimos V. Dimarogonas
Publié dans: 2019 18th European Control Conference (ECC), 2019, Page(s) 764-769, ISBN 978-3-907144-00-8
Éditeur: IEEE
DOI: 10.23919/ecc.2019.8795713

Integrated Motion Planning and Control Under Metric Interval Temporal Logic Specifications

Auteurs: Fernando S. Barbosa, Lars Lindemann, Dimos V. Dimarogonas, Jana Tumova
Publié dans: 2019 18th European Control Conference (ECC), 2019, Page(s) 2042-2049, ISBN 978-3-907144-00-8
Éditeur: IEEE
DOI: 10.23919/ecc.2019.8795925

Logarithmic Quantization based Symbolic Abstractions for Nonlinear Control Systems

Auteurs: Wei Ren, Dimos V. Dimarogonas
Publié dans: 2019 18th European Control Conference (ECC), 2019, Page(s) 1312-1317, ISBN 978-3-907144-00-8
Éditeur: IEEE
DOI: 10.23919/ecc.2019.8795730

Abstractions of varying decentralization degree for coupled multi-agent systems

Auteurs: Dimitris Boskos, Dimos V. Dimarogonas
Publié dans: 2016 IEEE 55th Conference on Decision and Control (CDC), 2016, Page(s) 81-86, ISBN 978-1-5090-1837-6
Éditeur: IEEE
DOI: 10.1109/cdc.2016.7798250

Design and Experimental Validation of Tube-based MPC for Timed-constrained Robot Planning

Auteurs: Alexandros Nikou, Shahab Heshmati-alamdari, Dimos V. Dimarogonas
Publié dans: 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), 2019, Page(s) 1181-1186, ISBN 978-1-7281-0356-3
Éditeur: IEEE
DOI: 10.1109/coase.2019.8843167

Consensus Control for Leader-follower Multi-agent Systems under Prescribed Performance Guarantees

Auteurs: Fei Chen, Dimos V. Dimarogonas
Publié dans: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 4785-4790, ISBN 978-1-7281-1398-2
Éditeur: IEEE
DOI: 10.1109/cdc40024.2019.9029509

Asymptotic Stability of Uncertain Lagrangian Systems with Prescribed Transient Response

Auteurs: Christos K. Verginis, Dimos V. Dimarogonas
Publié dans: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 7037-7042, ISBN 978-1-7281-1398-2
Éditeur: IEEE
DOI: 10.1109/cdc40024.2019.9030217

Adaptive Leader-Follower Coordination of Lagrangian Multi-Agent Systems under Transient Constraints

Auteurs: Christos K. Verginis, Dimos V. Dimarogonas
Publié dans: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 3833-3838, ISBN 978-1-7281-1398-2
Éditeur: IEEE
DOI: 10.1109/cdc40024.2019.9029560

Dynamic Quantization based Symbolic Abstractions for Nonlinear Control Systems

Auteurs: Wei Ren, Dimos V. Dimarogonas
Publié dans: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 4343-4348, ISBN 978-1-7281-1398-2
Éditeur: IEEE
DOI: 10.1109/cdc40024.2019.9029665

A Learning Framework for Versatile STL Controller Synthesis

Auteurs: Peter Varnai and Dimos, V. Dimarogonas
Publié dans: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 4596-4600, ISBN 978-1-7281-1398-2
Éditeur: IEEE
DOI: 10.1109/cdc40024.2019.9029727

Robust motion planning for non-holonomicrobots with planar geometric constraints

Auteurs: Tajvar, P., Varava, A., Kragic, D., Jana, T.
Publié dans: International Symposium on Robotics Research, 2019
Éditeur: IEEE

Energy-Optimal Cooperative Manipulation via Provable Internal-Force Regulation

Auteurs: Christos Verginis, Dimos V. Dimarogonas
Publié dans: International Conference on Robotics and Automation, 2020
Éditeur: IEEE

Symbolic abstractions for periodic event-triggered linear control systems

Auteurs: Wei Ren, Dimos V. Dimarogonas
Publié dans: European Control Conference, 2020
Éditeur: IEEE

Sampling-based motion planning for uncertain highdimensional systems via adaptive control

Auteurs: Christos K. Verginis, Dimos V. Dimarogonas, Lydia E. Kavraki
Publié dans: Workshop on the Algorithmic Foundations on Robotics, 2020
Éditeur: Springer

Improving Deep Learning Approaches for Human Activity Recognition based on Natural Language Processing of Action Labels

Auteurs: Konstantinos Bacharidis, Antonis A. Argyros
Publié dans: International Joint Conference on Neural Networks, 2020
Éditeur: IEEE

Faster and Simpler SNN Simulation with Work Queues

Auteurs: Dennis Bautembach, Iason Oikonomidis, Nikolaos Kyriazis, Antonis A. Argyros
Publié dans: International Joint Conference on Neural Networks, 2020
Éditeur: IEEE

Robotics Software Engineering: A Perspective from the Service Robotics Domain

Auteurs: Sergio García, Daniel Strüber, Davide Brugali, Thorsten Berger, Patrizio Pelliccione
Publié dans: European Software Engineering Conference and Symposium on the Foundations of Software Engineering, 2020
Éditeur: IEEE

Mind the gap: Robotic Mission Planning Meets Software Engineering

Auteurs: Mehrnoosh Askarpour, Claudio Menghi, Gabriele Belli, Marcello Bersani, Patrizio Pelliccione
Publié dans: International Conference on Formal Methods in Software Engineering, 2020
Éditeur: IEEE

A Hybrid Approach Combining Control Theory and AI for Engineering Self-Adaptive Systems

Auteurs: Ricardo Diniz Caldas, Arthur Rodrigues, Eric Bernd Gil, Genaína Nunes Rodrigues, Thomas Vogel, and Patrizio Pelliccione
Publié dans: Software Engineering for Adaptive and Self-Managing Systems, 2020
Éditeur: IEEE

PROMISE: High-Level Mission Specification for Multiple Robots

Auteurs: Sergio García, Patrizio Pelliccione, Claudio Menghi, Thorsten Berger, and Tomas Bures
Publié dans: 2020
Éditeur: IEEE

Robot Navigation Under MITL Constraints Using Time-Dependent Vector Field Based Control

Auteurs: Christos N. Mavridis, Constantinos Vrohidis, John S. Baras, Kostas J. Kyriakopoulos
Publié dans: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 232-237, ISBN 978-1-7281-1398-2
Éditeur: IEEE
DOI: 10.1109/cdc40024.2019.9028890

Robust Dynamic Average Consensus with Prescribed Performance

Auteurs: Charis J. Stamouli, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos
Publié dans: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 5420-5425, ISBN 978-1-7281-1398-2
Éditeur: IEEE
DOI: 10.1109/cdc40024.2019.9030197

Peer reviewed articles (30)

Simultaneous task allocation and planning for temporal logic goals in heterogeneous multi-robot systems

Auteurs: Philipp Schillinger, Mathias Bürger, Dimos V. Dimarogonas
Publié dans: The International Journal of Robotics Research, Numéro 37/7, 2018, Page(s) 818-838, ISSN 0278-3649
Éditeur: SAGE Publications
DOI: 10.1177/0278364918774135

Robust Decentralized Navigation of Multi-Agent Systems with Collision Avoidance and Connectivity Maintenance Using Model Predictive Controllers

Auteurs: Alexandros Filotheou, Alexandros Nikou, Dimos V. Dimarogonas
Publié dans: International Journal of Control, 2018
Éditeur: Taylor and Francis

Control Barrier Functions for Signal Temporal Logic Tasks

Auteurs: Lars Lindemann, Dimos V. Dimarogonas
Publié dans: IEEE Control Systems Letters, Numéro 3/1, 2019, Page(s) 96-101, ISSN 2475-1456
Éditeur: IEEE
DOI: 10.1109/LCSYS.2018.2853182

Compositional abstraction refinement for control synthesis

Auteurs: Pierre-Jean Meyer, Dimos V. Dimarogonas
Publié dans: Nonlinear Analysis: Hybrid Systems, Numéro 27, 2018, Page(s) 437-451, ISSN 1751-570X
Éditeur: Elsevier BV
DOI: 10.1016/j.nahs.2017.10.006

Abstraction refinement and plan revision for control synthesis under high level specifications * *This work was supported by the H2020 ERC Starting Grant BUCOPHSYS, the EU H2020 AEROWORKS project, the EU H2020 Co4Robots project, the Swedish Foundation for Strategic Research, the Swedish Research Council and the KAW Foundation

Auteurs: Pierre-Jean Meyer, Dimos V. Dimarogonas
Publié dans: IFAC-PapersOnLine, Numéro 50/1, 2017, Page(s) 9254-9259
Éditeur: Elsevier
DOI: 10.1016/j.ifacol.2017.08.1292

Using progress sets on non-deterministic transition systems for multiple UAV motion planning * *This work was supported by the H2020 ERC Starting Grant BUCOPHSYS, the EU H2020 AEROWORKS project, the EU H2020 Co4Robots project, the Swedish Foundation for Strategic Research, the Swedish Research Council and the KAW Foundation

Auteurs: Paul Rousse, Pierre-Jean Meyer, Dimos V. Dimarogonas
Publié dans: IFAC-PapersOnLine, Numéro 50/1, 2017, Page(s) 15977-15982, ISSN 2405-8963
Éditeur: Elsevier
DOI: 10.1016/j.ifacol.2017.08.1752

Timed abstractions for distributed cooperative manipulation

Auteurs: Christos K. Verginis, Dimos V. Dimarogonas
Publié dans: Autonomous Robots, Numéro 42/4, 2018, Page(s) 781-799, ISSN 0929-5593
Éditeur: Kluwer Academic Publishers
DOI: 10.1007/s10514-017-9672-7

A graph-based approach for detecting common actions in motion capture data and videos

Auteurs: Costas Panagiotakis, Konstantinos Papoutsakis, Antonis Argyros
Publié dans: Pattern Recognition, Numéro 79, 2018, Page(s) 1-11, ISSN 0031-3203
Éditeur: Pergamon Press
DOI: 10.1016/j.patcog.2018.02.001

Prescribed Time Scale Robot Navigation

Auteurs: Constantinos Vrohidis, Panagiotis Vlantis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos
Publié dans: IEEE Robotics and Automation Letters, Numéro 3/2, 2018, Page(s) 1191-1198, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/LRA.2018.2794616

Reconfigurable multi-robot coordination with guaranteed convergence in obstacle cluttered environments under local communication

Auteurs: Constantinos Vrohidis, Panagiotis Vlantis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos
Publié dans: Autonomous Robots, Numéro 42/4, 2018, Page(s) 853-873, ISSN 0929-5593
Éditeur: Kluwer Academic Publishers
DOI: 10.1007/s10514-017-9660-y

Collaborative Multi-Robot Transportation in Obstacle-Cluttered Environments via Implicit Communication

Auteurs: C. P. Bechlioulis, K. J. Kyriakopoulos
Publié dans: Frontiers in Robotics and AI, 2018, ISSN 2296-9144
Éditeur: Frontiers in Robotics and AI

Decentralized tube‐based model predictive control of uncertain nonlinear multiagent systems

Auteurs: Alexandros Nikou, Dimos V. Dimarogonas
Publié dans: International Journal of Robust and Nonlinear Control, Numéro 29/10, 2019, Page(s) 2799-2818, ISSN 1049-8923
Éditeur: John Wiley & Sons Inc.
DOI: 10.1002/rnc.4522

Decentralized abstractions for multi-agent systems under coupled constraints

Auteurs: Dimitris Boskos, Dimos V. Dimarogonas
Publié dans: European Journal of Control, Numéro 45, 2019, Page(s) 1-16, ISSN 0947-3580
Éditeur: Lavoisier
DOI: 10.1016/j.ejcon.2018.10.002

Robust Cooperative Manipulation Without Force/Torque Measurements: Control Design and Experiments

Auteurs: Christos K. Verginis, Matteo Mastellaro, Dimos V. Dimarogonas
Publié dans: IEEE Transactions on Control Systems Technology, Numéro 28/3, 2020, Page(s) 713-729, ISSN 1063-6536
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tcst.2018.2885682

Robust control for signal temporal logic specifications using discrete average space robustness

Auteurs: Lars Lindemann, Dimos V. Dimarogonas
Publié dans: Automatica, Numéro 101, 2019, Page(s) 377-387, ISSN 0005-1098
Éditeur: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2018.12.022

Single-shot 3D hand pose estimation using radial basis function networks trained on synthetic data

Auteurs: Vassilis C. Nicodemou, Iason Oikonomidis, Antonis Argyros
Publié dans: Pattern Analysis and Applications, Numéro 23/1, 2020, Page(s) 415-428, ISSN 1433-7541
Éditeur: Springer Verlag
DOI: 10.1007/s10044-019-00801-7

A verification-driven framework for iterative design of controllers

Auteurs: Claudio Menghi, Paola Spoletini, Marsha Chechik, Carlo Ghezzi
Publié dans: Formal Aspects of Computing, Numéro 31/5, 2019, Page(s) 459-502, ISSN 0934-5043
Éditeur: Springer Verlag
DOI: 10.1007/s00165-019-00484-1

Managing safety and mission completion via collective run-time adaptation

Auteurs: Darko Bozhinoski, David Garlan, Ivano Malavolta, Patrizio Pelliccione
Publié dans: Journal of Systems Architecture, Numéro 95, 2019, Page(s) 19-35, ISSN 1383-7621
Éditeur: Elsevier BV
DOI: 10.1016/j.sysarc.2019.02.018

Safety for mobile robotic systems: A systematic mapping study from a software engineering perspective

Auteurs: Darko Bozhinoski, Davide Di Ruscio, Ivano Malavolta, Patrizio Pelliccione, Ivica Crnkovic
Publié dans: Journal of Systems and Software, Numéro 151, 2019, Page(s) 150-179, ISSN 0164-1212
Éditeur: Elsevier BV
DOI: 10.1016/j.jss.2019.02.021

Robust formation control in SE ( 3 ) for tree-graph structures with prescribed transient and steady state performance

Auteurs: Christos K. Verginis, Alexandros Nikou, Dimos V. Dimarogonas
Publié dans: Automatica, Numéro 103, 2019, Page(s) 538-548, ISSN 0005-1098
Éditeur: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2019.02.034

Feedback control strategies for multi-agent systems under a fragment of signal temporal logic tasks

Auteurs: Lars Lindemann, Dimos V. Dimarogonas
Publié dans: Automatica, Numéro 106, 2019, Page(s) 284-293, ISSN 0005-1098
Éditeur: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2019.05.013

Control Barrier Functions for Multi-Agent Systems Under Conflicting Local Signal Temporal Logic Tasks

Auteurs: Lars Lindemann, Dimos V. Dimarogonas
Publié dans: IEEE Control Systems Letters, Numéro 3/3, 2019, Page(s) 757-762, ISSN 2475-1456
Éditeur: IEEE
DOI: 10.1109/lcsys.2019.2917975

Closed-Form Barrier Functions for Multi-Agent Ellipsoidal Systems With Uncertain Lagrangian Dynamics

Auteurs: Christos K. Verginis, Dimos V. Dimarogonas
Publié dans: IEEE Control Systems Letters, Numéro 3/3, 2019, Page(s) 727-732, ISSN 2475-1456
Éditeur: IEEE
DOI: 10.1109/lcsys.2019.2917822

Abstractions of Varying Decentralization Degree for Reachability of Coupled Multiagent Systems

Auteurs: Dimitris Boskos, Dimos V. Dimarogonas
Publié dans: SIAM Journal on Control and Optimization, Numéro 57/5, 2019, Page(s) 3471-3495, ISSN 0363-0129
Éditeur: Society for Industrial and Applied Mathematics
DOI: 10.1137/17m1133981

Coupled Multi-Robot Systems Under Linear Temporal Logic and Signal Temporal Logic Tasks

Auteurs: Lars Lindemann, Jakub Nowak, Lukas Schonbachler, Meng Guo, Jana Tumova, Dimos V. Dimarogonas
Publié dans: IEEE Transactions on Control Systems Technology, 2019, Page(s) 1-8, ISSN 1063-6536
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tcst.2019.2955628

Second Order Consensus for Leader-follower Multi-agent Systems with Prescribed Performance

Auteurs: Fei Chen, Dimos V. Dimarogonas
Publié dans: IFAC-PapersOnLine, Numéro 52/20, 2019, Page(s) 103-108, ISSN 2405-8963
Éditeur: IFAC
DOI: 10.1016/j.ifacol.2019.12.136

Symbolic abstractions for nonlinear control systems via feedback refinement relation

Auteurs: Wei Ren, Dimos V. Dimarogonas
Publié dans: Automatica, Numéro 114, 2020, Page(s) 108828, ISSN 0005-1098
Éditeur: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2020.108828

Finite horizon discrete models for multi-agent control systems with coupled dynamics

Auteurs: Dimitris Boskos, Dimos V. Dimarogonas
Publié dans: Automatica, Numéro 115, 2020, Page(s) 108838, ISSN 0005-1098
Éditeur: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2020.108838

PuRSUE -from specification of robotic environments to synthesis of controllers

Auteurs: Marcello M. Bersani, Matteo Soldo, Claudio Menghi, Patrizio Pelliccione, Matteo Rossi
Publié dans: Formal Aspects of Computing, Numéro 23 March 2020, 2020, Page(s) 41, ISSN 0934-5043
Éditeur: Springer Verlag
DOI: 10.1007/s00165-020-00509-0

Multi-Agent Formation Control Based on Distributed Estimation With Prescribed Performance

Auteurs: Charis J. Stamouli, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos
Publié dans: IEEE Robotics and Automation Letters, Numéro 5/2, 2020, Page(s) 2929-2934, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2020.2970574

Other (2)

On the Feasibility of Real-Time 3D Hand Tracking using Edge GPGPU Acceleration

Auteurs: Ammar Qammaz, Sokol Kosta, Nikolaos Kyriazis, Antonis Argyros
Publié dans: 2018
Éditeur: arXiv

Learning to Infer the Depth Map of a Hand from its Color Image

Auteurs: Vassilis C. Nicodemou, Iason Oikonomidis, Georgios Tzimiropoulos, Antonis Argyros
Publié dans: 2018
Éditeur: FORTH

Book chapters (4)

From Model Checking to a Temporal Proof for Partial Models

Auteurs: Anna Bernasconi, Claudio Menghi, Paola Spoletini, Lenore D. Zuck, Carlo Ghezzi
Publié dans: Software Engineering and Formal Methods - 15th International Conference, SEFM 2017, Trento, Italy, September 4–8, 2017, Proceedings, Numéro 10469, 2017, Page(s) 54-69, ISBN 978-3-319-66196-4
Éditeur: Springer International Publishing
DOI: 10.1007/978-3-319-66197-1_4

Distributed Hybrid Control Synthesis for Multi-Agent Systems from High-Level Specifications

Auteurs: M. Guo, D. Boskos, J. Tumova, D. V. Dimarogonas
Publié dans: Control Subject to Computational and Communication Constraints, Numéro 475, 2018, Page(s) 241-260, ISBN 978-3-319-78448-9
Éditeur: Springer International Publishing
DOI: 10.1007/978-3-319-78449-6_12

A Two-Stage Approach for Commonality-Based Temporal Localization of Periodic Motions

Auteurs: Costas Panagiotakis, Antonis Argyros
Publié dans: Computer Vision Systems - 12th International Conference, ICVS 2019, Thessaloniki, Greece, September 23–25, 2019, Proceedings, Numéro 11754, 2019, Page(s) 366-375, ISBN 978-3-030-34994-3
Éditeur: Springer International Publishing
DOI: 10.1007/978-3-030-34995-0_33

3D Hand Tracking by Employing Probabilistic Principal Component Analysis to Model Action Priors

Auteurs: Emmanouil Oulof Porfyrakis, Alexandros Makris, Antonis Argyros
Publié dans: Computer Vision Systems - 12th International Conference, ICVS 2019, Thessaloniki, Greece, September 23–25, 2019, Proceedings, Numéro 11754, 2019, Page(s) 531-541, ISBN 978-3-030-34994-3
Éditeur: Springer International Publishing
DOI: 10.1007/978-3-030-34995-0_48

Thesis and dissertations (1)

The revolution of software: a look at the automotive and robotic domains

Auteurs: Patrizio Pelliccione
Publié dans: 2017
Éditeur: UGOT

Droits de propriété intellectuelle

Patent (1)

METHOD, COMPUTER PROGRAM AND SYSTEM FOR CONTROLLING A PLURALITY OF ROBOTS, AND COMPUTER-READABLE STORAGE MEDIUM

Numéro de demande/publication: 20 1715704782
Date: 2017-09-14