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Bottom-up hybrid control and planning synthesis with application to multi-robot multi-human coordination

Total Cost €


EC-Contrib. €






Project "BUCOPHSYS" data sheet

The following table provides information about the project.


Organization address
postcode: 100 44

contact info
title: n.a.
name: n.a.
surname: n.a.
function: n.a.
email: n.a.
telephone: n.a.
fax: n.a.

 Coordinator Country Sweden [SE]
 Project website
 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


Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 


 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.


year authors and title journal last update
List of publications.
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 tube‐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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