BUCOPHSYS SIGNED
Bottom-up hybrid control and planning synthesis with application to multi-robot multi-human coordination
Total Cost €
0EC-Contrib. €
0Partnership
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Project "BUCOPHSYS" data sheet
The following table provides information about the project.
| Coordinator |
KUNGLIGA TEKNISKA HOEGSKOLAN
Organization address contact info |
| Coordinator Country | Sweden [SE] |
| Project website | http://bucophsys.eu/index.html |
| Total cost | 1˙498˙729 € |
| EC max contribution | 1˙498˙729 € (100%) |
| Programme |
1. H2020-EU.1.1. (EXCELLENT SCIENCE - European Research Council (ERC)) |
| Code Call | ERC-2014-STG |
| Funding Scheme | ERC-STG |
| Starting year | 2015 |
| Duration (year-month-day) | from 2015-03-01 to 2020-02-29 |
Partnership
Take a look of project's partnership.
| # | ||||
|---|---|---|---|---|
| 1 | KUNGLIGA TEKNISKA HOEGSKOLAN | SE (STOCKHOLM) | coordinator | 1˙498˙729.00 |
Map
Project objective
Current control applications necessitate the treatment of systems with multiple interconnected components, rather than the traditional single component paradigm that has been studied extensively. The individual subsystems may need to fulfil different and possibly conflicting specifications in a real-time manner. At the same time, they may need to fulfill coupled constraints that are defined as relations between their states. Towards this end, the need for methods for decentralized control at the continuous level and planning at the task level becomes apparent. We aim here towards unification of these two complementary approaches. Existing solutions rely on a top down centralized approach. We instead consider here a decentralized, bottom-up solution to the problem. The approach relies on three layers of interaction. In the first layer, agents aim at coordinating in order to fulfil their coupled constraints with limited communication exchange of their state information and design of appropriate feedback controllers; in the second layer, agents coordinate in order to mutually satisfy their discrete tasks through exchange of the corresponding plans in the form of automata; in the third and most challenging layer, the communication exchange for coordination now includes both continuous state and discrete plan/abstraction information. The results will be demonstrated in a scenario involving multiple (possibly human) users and multiple robots. The unification will yield a completely decentralized system, in which the bottom up approach to define tasks, the consideration of coupled constraints and their combination towards distributed hybrid control and planning in a coordinated fashion require for new ways of thinking and approaches to analysis and constitute the proposal a beyond the SoA and groundbreaking approach to the fields of control and computer science.
Publications
| year | authors and title | journal | last update |
|---|---|---|---|
| 2019 |
Dimitris Boskos, Dimos V. Dimarogonas Decentralized abstractions for multi-agent systems under coupled constraints published pages: 1-16, ISSN: 0947-3580, DOI: 10.1016/j.ejcon.2018.10.002 |
European Journal of Control 45 | 2019-09-17 |
| 2018 |
Philipp Schillinger, Mathias Bürger, Dimos V. Dimarogonas Simultaneous task allocation and planning for temporal logic goals in heterogeneous multi-robot systems published pages: 818-838, ISSN: 0278-3649, DOI: 10.1177/0278364918774135 |
The International Journal of Robotics Research 37/7 | 2019-09-17 |
| 2019 |
Lars Lindemann, Dimos V. Dimarogonas Robust control for signal temporal logic specifications using discrete average space robustness published pages: 377-387, ISSN: 0005-1098, DOI: 10.1016/j.automatica.2018.12.022 |
Automatica 101 | 2019-09-17 |
| 2019 |
Alexandros Nikou, Dimos V. Dimarogonas Decentralized tubeâ€based model predictive control of uncertain nonlinear multiagent systems published pages: 2799-2818, ISSN: 1049-8923, DOI: 10.1002/rnc.4522 |
International Journal of Robust and Nonlinear Control 29/10 | 2019-09-17 |
| 2018 |
Alexandros Nikou, Dimitris Boskos, Jana Tumova, Dimos V. Dimarogonas On the timed temporal logic planning of coupled multi-agent systems published pages: 339-345, ISSN: 0005-1098, DOI: 10.1016/j.automatica.2018.08.023 |
Automatica 97 | 2019-09-17 |
| 2019 |
Christos K. Verginis, Alexandros Nikou, Dimos V. Dimarogonas Robust formation control in SE ( 3 ) for tree-graph structures with prescribed transient and steady state performance published pages: 538-548, ISSN: 0005-1098, DOI: 10.1016/j.automatica.2019.02.034 |
Automatica 103 | 2019-09-17 |
| 2018 |
Kazumune Hashimoto, Shuichi Adachi, Dimos V. Dimarogonas Aperiodic Sampled-Data Control via Explicit Transmission Mapping: A Set-Invariance Approach published pages: 3523-3530, ISSN: 0018-9286, DOI: 10.1109/tac.2018.2798802 |
IEEE Transactions on Automatic Control 63/10 | 2019-09-17 |
| 2018 |
Alexandros Filotheou, Alexandros Nikou, Dimos V. Dimarogonas Robust decentralised navigation of multi-agent systems with collision avoidance and connectivity maintenance using model predictive controllers published pages: 1-15, ISSN: 0020-7179, DOI: 10.1080/00207179.2018.1514129 |
International Journal of Control | 2019-09-17 |
| 2019 |
Lars Lindemann, Dimos V. Dimarogonas Control Barrier Functions for Signal Temporal Logic Tasks published pages: 96-101, ISSN: 2475-1456, DOI: 10.1109/lcsys.2018.2853182 |
IEEE Control Systems Letters 3/1 | 2019-09-17 |
| 2018 |
Christos K. Verginis, Dimos V. Dimarogonas Timed abstractions for distributed cooperative manipulation published pages: 781-799, ISSN: 0929-5593, DOI: 10.1007/s10514-017-9672-7 |
Autonomous Robots 42/4 | 2019-09-17 |
| 2018 |
Pierre-Jean Meyer, Dimos V. Dimarogonas Compositional abstraction refinement for control synthesis published pages: 437-451, ISSN: 1751-570X, DOI: 10.1016/j.nahs.2017.10.006 |
Nonlinear Analysis: Hybrid Systems 27 | 2019-09-17 |
| 2019 |
Lars Lindemann, Dimos V. Dimarogonas Feedback control strategies for multi-agent systems under a fragment of signal temporal logic tasks published pages: 284-293, ISSN: 0005-1098, DOI: 10.1016/j.automatica.2019.05.013 |
Automatica 106 | 2019-09-17 |
| 2017 |
Dimitris Boskos, Dimos V. Dimarogonas Online Abstractions for Interconnected Multi-Agent Control Systems published pages: 15810-15815, ISSN: , DOI: |
IFAC-PapersOnLine 50/1 | 2019-07-22 |
| 2017 |
Christos K. Verginis, Dimos V. Dimarogonas Multi-Agent Motion Planning and Object Transportation under High Level Goals published pages: 15816-15821, ISSN: , DOI: |
IFAC-PapersOnLine 50/1 | 2019-07-22 |
| 2017 |
Paul Rousse, Pierre-Jean Meyer, Dimos V. Dimarogonas Using progress sets on non-deterministic transition systems for multiple UAV motion planning published pages: 15977-15982, ISSN: , DOI: |
IFAC-PapersOnLine 50/1 | 2019-07-22 |
| 2017 |
Sofie Andersson, Alexandros Nikou, Dimos V. Dimarogonas Control Synthesis for Multi-Agent Systems under Metric Interval Temporal Logic Specifications published pages: 2397-2402, ISSN: , DOI: |
IFAC-PapersOnLine 50/1 | 2019-07-22 |
| 2016 |
Jana Tumova, Dimos V. Dimarogonas Multi-agent planning under local LTL specifications and event-based synchronization published pages: 239-248, ISSN: 0005-1098, DOI: 10.1016/j.automatica.2016.04.006 |
Automatica 70 | 2019-07-22 |
| 2017 |
Kazumune Hashimoto, Shuichi Adachi, Dimos V. Dimarogonas Event-triggered intermittent sampling for nonlinear model predictive control published pages: 148-155, ISSN: 0005-1098, DOI: 10.1016/j.automatica.2017.03.028 |
Automatica 81 | 2019-07-22 |
| 2017 |
Dimitris Boskos, Dimos V. Dimarogonas Robustness and Invariance of Connectivity Maintenance Control for Multiagent Systems published pages: 1887-1914, ISSN: 0363-0129, DOI: 10.1137/16m1077064 |
SIAM Journal on Control and Optimization 55/3 | 2019-07-22 |
| 2017 |
Meng Guo, Dimos V. Dimarogonas Task and Motion Coordination for Heterogeneous Multiagent Systems With Loosely Coupled Local Tasks published pages: 797-808, ISSN: 1545-5955, DOI: 10.1109/TASE.2016.2628389 |
IEEE Transactions on Automation Science and Engineering 14/2 | 2019-07-22 |
| 2017 |
Alexandros Nikou, Christos K. Verginis, Dimos V. Dimarogonas Robust Distance-Based Formation Control of Multiple Rigid Bodies with Orientation Alignment published pages: 15458-15463, ISSN: , DOI: |
IFAC-PapersOnLine 50/1 | 2019-07-22 |
| 2017 |
Alexandros Nikou, JanaTumova, Dimos V. Dimarogonas Probabilistic Plan Synthesis for Coupled Multi-Agent Systems published pages: 10766-10771, ISSN: , DOI: |
IFAC-PapersOnLine 50/1 | 2019-07-22 |
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