no code implementations • 3 Apr 2023 • Dženan Lapandić, Christos K. Verginis, Dimos V. Dimarogonas, Bo Wahlberg
In this paper we propose a novel distributed model predictive control (DMPC) based algorithm with a trajectory predictor for a scenario of landing of unmanned aerial vehicles (UAVs) on a moving unmanned surface vehicle (USV).
no code implementations • 17 Jul 2022 • Christos K. Verginis, Zhe Xu, Ufuk Topcu
Most existing algorithms either assume certain parametric forms for the unknown dynamic terms or resort to unnecessarily large control inputs in order to provide theoretical guarantees.
no code implementations • 13 Jun 2022 • Dženan Lapandić, Christos K. Verginis, Dimos V. Dimarogonas, Bo Wahlberg
We propose a control protocol based on the prescribed performance control (PPC) methodology for a quadrotor unmanned aerial vehicle (UAV).
no code implementations • 25 Apr 2022 • Christos K. Verginis, Yiannis Kantaros, Dimos V. Dimarogonas
We achieve such a construction by designing appropriate adaptive control protocols in the lower level, which guarantee the safe robot navigation/object transportation in the environment while compensating for the dynamic uncertainties.
no code implementations • 11 Oct 2021 • Christos K. Verginis, Zhe Xu, Ufuk Topcu
Most existing algorithms either assume certain parametric forms for the unknown dynamic terms or resort to unnecessarily large control inputs in order to provide theoretical guarantees.
no code implementations • 14 Sep 2021 • Yagiz Savas, Christos K. Verginis, Ufuk Topcu
We study the design of autonomous agents that are capable of deceiving outside observers about their intentions while carrying out tasks in stochastic, complex environments.
no code implementations • 13 May 2021 • Christos K. Verginis, Franck Djeumou, Ufuk Topcu
We develop a control algorithm that ensures the safety, in terms of confinement in a set, of a system with unknown, 2nd-order nonlinear dynamics.