references.bib

%
@article{belta_2011_timed_optimal,
   title     = {{O}ptimal {M}ulti-{R}obot {P}ath {P}lanning with {T}emporal {L}ogic {C}onstraints},
   author    = {A. Ulusoy and S. Smith and X. Ding and C. Belta and D. Rus},
   journal   = {2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
   pages     = {3087--3092},
   year      = {2011},
   publisher = {IEEE}
}
%
@article{quottrup_timed_automata,
   title     = {{M}ulti-{R}obot {P}lanning: {A} {T}imed {A}utomata {A}pproach},
   author    = {M. Quottrup and T. Bak and R. Zamanabadi},
   journal   = {IEEE International Conference on Robotics and Automation (ICRA)},
   volume    = {5},
   pages     = {4417--4422},
   year      = {2004},
   publisher = {IEEE}
}
%
@article{quadrup2,
   title     = {{M}otion {P}lanning in {M}ulti-{R}obot {S}ystems {U}sing {T}imed {A}utomata},
   author    = {M. Andersen and R. Jensen and T. Bakand and M. Quottrup},
   journal   = {5th IFAC/EURON},
   year      = {2004}
}
%
@article{liu_MTL,
   title     = {{S}witching {C}ontrol of {D}ynamical {S}ystems from {M}etric {T}emporal {L}ogic {S}pecifications},
   author    = {J. Liu and P. Prabhakar},
   journal = {2014 IEEE International Conference on Robotics and Automation (ICRA)},
   pages     = {5333--5338},
   year      = {2014},
   publisher = {IEEE}
}
%
@article{muller_alternating_automata,
   title     = {{A}lternating {A}utomata on {I}nfinite {T}rees},
   author    = {D. Muller and P. Schupp},
   journal   = {Theoretical Computer Science},
   volume    = {54},
   number    = {2},
   pages     = {267--276},
   year      = {1987},
   publisher = {Elsevier}
}
%
@article{vardi_alternating_automata,
   title     = {{A}n {A}utomata-{T}heoretic {A}pproach to {L}inear {T}emporal {L}ogic},
   author    = {M. Vardi},
   journal   = {Logics for concurrency},
   pages     = {238--266},
   year      = {1996},
   publisher = {Springer}
}
%
@article{MITL_ata,
   title     = {{O}n {MITL} and {A}lternating {T}imed {A}utomata},
   author    = {T. Brihaye and M. Estiévenart and G. Geeraerts},
   journal   = {Formal Modeling and Analysis of Timed Systems},
   volume    = {8053},
   pages     = {47-61},
   year      = {2013},
   publisher = {Springer Berlin Heidelberg},
}

%
@article{bersani_MITL,
   title     = {{D}eciding the {S}atisfiability of {MITL} {S}pecifications},
   author    = {M. Bersani and M. Rossi and S. P. Pietro},
   journal   = {arXiv preprint arXiv:1307.4469},
   year      = {2013}
}
%
@article{reynold,
   title     = {{M}etric {T}emporal {L}ogics and {D}eterministic {T}imed {A}utomata},
   author    = {M. Reynolds},
   journal   = {unknown},
   year      = {2010}
}

%
@article{bersani,
   title     = {{A} {T}ool for {D}eciding the {S}atisfiability of {C}ontinuous - {T}ime {M}etric {T}emporal {L}ogic},
   author    = {M. Bersani and M. Rossi and P. S. Pietro},
   journal   = {20th International Symposium on Temporal Representation and Reasoning (TIME)},
   pages     = {99--106},
   year      = {2013},
   publisher = {IEEE}
}
%
@article{maler_MITL_TA,
   title      = {{F}rom {MITL} to {T}imed {A}utomata},
   author     = {O. Maler and D. Nickovic and A. Pnueli},
   journal  = {Formal Modeling and Analysis of Timed Systems},
   pages      = {274--289},
   year       = {2006},
   publisher  = {Springer}
}
%
@article{jana_degradation,
   title      = {{T}imed {A}utomata {A}pproach to {V}erification of {S}ystems with {D}egradation},
   author     = {J. Barnat and I. Cerna and J. Tumova},
   journal  = {Mathematical and Engineering Methods in Computer Science},
   pages      = {84--93},
   year       = {2012},
   publisher  = {Springer}
}
%
@article{bouyer_phd,
   title      = {{F}rom {Q}ualitative to {Q}uantitative {A}nalysis of {T}imed {S}ystems},
   author     = {P. Bouyer},
   journal    = {M{\'e}moire d’habilitation, Universit{\'e} Paris},
   volume     = {7},
   pages      = {135--175},
   year       = {2009}
}
%
@article{alur_mitl,
   title      = {{T}he {B}enefits of {R}elaxing {P}unctuality},
   author     = {R. Alur and T. Feder and T. A. Henzinger},
   journal    = {Journal of the ACM (JACM)},
   volume     = {43},
   number     = {1},
   pages      = {116--146},
   year       = {1996},
   publisher  = {ACM}
}
%
@article{nickovic_timed_aut,
   title      = {{F}rom {MTL} to {D}eterministic {T}imed {A}utomata},
   author     = {D. Ni{\v{c}}kovi{\'c} and N. Piterman},
   year       = {2010},
   pages={152--167},
   journal    = {Formal Modeling and Analysis of Timed Systems},
   publisher  = {Springer}
}
%
@article{quaknine_decidability,
   title     = {{O}n the {D}ecidability of {M}etric {T}emporal {L}ogic},
   author    = {J. Ouaknine and J. Worrell},
   journal   = {IEEE Symposium on Logic in Computer Science},
   pages     = {188--197},
   year      = {2005},
   publisher = {IEEE}
}
%
@article{pavithra_expressiveness,
   title     = {{O}n the {E}xpressiveness of {MTL} in the {P}ointwise and {C}ontinuous {S}emantics},
   author    = {D. D. Souza and P. Prabhakar},
   journal   = {International Journal on Software Tools for Technology Transfer},
   volume    = {9},
   number    = {1},
   pages     = {1--4},
   year      = {2007},
   publisher = {Springer}
}
%
@article{lasota,
   title     = {{A}lternating {T}imed {A}utomata},
   author    = {S. Lasota and I. Walukiewicz},
   journal   = {ACM Transactions on Computational Logic (TOCL)},
   volume    = {9},
   number    = {2},
   pages     = {10},
   year      = {2008},
   publisher = {ACM}
}
%
@article{belta_timed_automata,
   title     = {{O}ptimal {M}ulti - {R}obot {P}ath {P}lanning with {T}emporal {L}ogic {C}onstraints},
   author    = {A. Ulusoy and S. Smith and X. Ding and C. Belta and D. Rus},
   journal   = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
   pages     = {3087--3092},
   year      = {2011},
   publisher = {IEEE}
}
%
@article{belta_regular1,
   title     = {{A} {F}ormal {A}pproach to {D}eployment of {R}obotic {T}eams in an {U}rban-{L}ike {E}nvironment},
   author    = {Y. Chen and X. Ding and A. Stefanescu and C. Belta},
   journal = {Distributed Autonomous Robotic Systems},
   pages     = {313--327},
   year      = {2013},
   publisher = {Springer}
}
%
@article{belta_regular2,
   title      = {{F}ormal {A}pproach to the {D}eployment of {D}istributed {R}obotic {T}eams},
   author     = {Y. Chen and Ding and X. Chu and A. Stefanescu and C. Belta},
   journal    = {IEEE Transactions on Robotics},
   volume     = {28},
   number     = {1},
   pages      = {158--171},
   year       = {2012},
   publisher  = {IEEE}
}
%
@article{belta_cdc_reduced_communication,
   title     = {{M}ulti-{R}obot {D}eployment from {LTL} {S}pecifications with {R}educed {C}ommunication},
   author    = {M. Kloetzer and X. C. Ding and C. Belta},
   journal = {IEEE Conference o Decision and Control (CDC)},
   pages     = {4867--4872},
   year      = {2011},
   publisher = {IEEE}
}
%
@article{belta_2010_product_system,
   title     = {{A}utomatic {D}eployment of {D}istributed {T}eams of {R}obots {F}rom {T}emporal {L}ogic {M}otion {S}pecifications},
   author    = {M. Kloetzer and C. Belta},
   journal   = {IEEE Transactions on Robotics},
   volume    = {26},
   number    = {1},
   pages     = {48--61},
   year      = {2010},
   publisher = {IEEE}
}
%
@article{koymans_MTL,
   title     = {{S}pecifying {R}eal-{T}ime {P}roperties with {M}etric {T}emporal {L}ogic},
   author    = {R. Koymans},
   journal   = {Real-time systems},
   volume    = {2},
   number    = {4},
   pages     = {255--299},
   year      = {1990},
   publisher = {Springer}
}
%
@article{maler_interleaving,
   title     = {{O}n {I}nterleaving in {T}imed {A}utomata},
   author    = {R. Salah and M. Bozga and O. Maler},
   journal   = {CONCUR 2006--Concurrency Theory},
   pages     = {465--476},
   year      = {2006},
   publisher = {Springer}
}
%
@article{alur1994,
   title     = {{A} {T}heory of {T}imed {A}utomata},
   author    = {R. Alur and D.L. Dill},
   journal   = {Theoretical Computer Science},
   volume    = {126},
   number    = {2},
   pages     = {183--235},
   year      = {1994},
   publisher = {Elsevier}
}

%
@article{meng2013iros,
   author    = {M. Guo and K. Johansson and D. Dimarogonas},
   journal   = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
   title     = {{M}otion and {A}ction {P}lanning {U}nder LTL {S}pecifications {U}sing {N}avigation {F}unctions and {A}ction {D}escription {L}anguage},
   year      = {2013},
   month     = {Nov},
   pages     = {240-245},
   ISSN      = {2153-0858},}
%
@phdthesis{prajna2005,
   title     = {{O}ptimization-{B}ased {M}ethods for {N}onlinear and {H}ybrid {S}ystems {V}erification},
   author    = {Stephen Prajna},
   year      = {2005},
   school    = {California Institute of Technology}
}
%
@article{murray2013,
   title     = {Synthesis of control protocols for autonomous systems},
   author    = {T. Wongpiromsarn and U. Topcu and R. Murray},
   journal   = {Unmanned Systems},
   volume    = {1},
   number    = {01},
   pages     = {21--39},
   year      = {2013},
   publisher = {World Scientific}
}
%
@book{katoen,
   title     = {Principles of Model Checking},
   author    = {C. Baier and J.P. Katoen},
   year      = {2008},
   publisher = {MIT Press}
}
%
@book{bloch,
   author    = {A. Bloch and P. Crouch and J. Baillieul and J. Marsden},
   title     = {``{N}onholonomic {M}echanics and {C}ontrol"},
   series    = {Interdisciplinary Applied Mathematics},
   year      = {2003},
   publisher = {Springer},
}
%
@book{siciliano,
   author    = {B.Siciliano and L. Sciavicco and L. Villani},
   title     = {``{R}obotics: {M}odelling, {P}lanning and {C}ontrol"},
   series    = {Advanced Textbooks in Control and Signal Processing},
   year      = {2009},
   publisher = {Springer},
}
%
@book{Murray:1994:MIR:561828,
 author = {Murray, Richard M. and Sastry, S. Shankar and Zexiang, Li},
 title = {A  Mathematical Introduction to Robotic Manipulation},
 year = {1994},
 isbn = {0849379814},
 edition = {1st},
 publisher = {CRC Press, Inc.},
 address = {Boca Raton, FL, USA},
}
%
@Inbook{Fontes2007,
  author="Fontes, Fernando A. C. C.
  and Magni, Lalo
  and Gyurkovics, Eva",
  editor="Findeisen, Rolf
  and Allg{\"o}wer, Frank
  and Biegler, Lorenz T.",
  title="Sampled-Data Model Predictive Control for Nonlinear Time-Varying Systems: Stability and Robustness",
  bookTitle="Assessment and Future Directions of Nonlinear Model Predictive Control",
  year="2007",
  publisher="Springer Berlin Heidelberg",
  address="Berlin, Heidelberg",
  pages="115--129",
  isbn="978-3-540-72699-9",
  doi="10.1007/978-3-540-72699-9_9",
  url="http://dx.doi.org/10.1007/978-3-540-72699-9_9"
}
%
@book{khalil_nonlinear_systems,
   title     = {{N}oninear {S}ystems},
   author    = {H. Khalil},
   year      = {1996},
   publisher = {Prentice-Hall, New Jersey}
}
  %
@Inbook{Sontag2008,
author="Sontag, Eduardo D.",
editor="Nistri, Paolo
and Stefani, Gianna",
title="Input to State Stability: Basic Concepts and Results",
bookTitle="Nonlinear and Optimal Control Theory: Lectures given at the C.I.M.E. Summer School held in Cetraro, Italy June 19--29, 2004",
year="2008",
publisher="Springer Berlin Heidelberg",
address="Berlin, Heidelberg",
pages="163--220",
isbn="978-3-540-77653-6",
doi="10.1007/978-3-540-77653-6_3",
url="http://dx.doi.org/10.1007/978-3-540-77653-6_3"
}
%
@article{kolmanovsky,
   title     = {Theory and computation of disturbance invariant sets for discrete-time linear systems},
   author    = {Ilya Kolmanovsky and Elmer G. Gilbert},
   journal   = {Mathematical Problems in Engineering},
   volume    = {4},
   number    = {4},
   pages     = {317--367},
   year      = {1998},
   publisher = {Springer},
   doi={10.1155/S1024123X98000866}
}
%
@inbook{schneider_2013,
  place={Cambridge},
  series={Encyclopedia of Mathematics and its Applications},
  title={Minkowski addition},
  booktitle={Convex Bodies: The Brunn–Minkowski Theory:},
  publisher={Cambridge University Press},
  author={Schneider, Rolf},
  year={2013},
  pages={139--207},
  collection={Encyclopedia of Mathematics and its Applications}
}
%
@book{marquez2003nonlinear,
  title={Nonlinear Control Systems: Analysis and Design},
  author={M{\'a}rquez, H.},
  isbn={9780471427995},
  lccn={2002192421},
  url={https://books.google.se/books?id=0I6PQgAACAAJ},
  year={2003},
  publisher={Wiley}
}
%
@INPROCEEDINGS{ISS_SKATOLINI,
author={L. Magni and D. M. Raimondo and R. Scattolini},
booktitle={Proceedings of the 45th IEEE Conference on Decision and Control},
title={Input-to-State Stability for Nonlinear Model Predictive Control},
year={2006},
pages={4836-4841},
keywords={Lyapunov methods;nonlinear control systems;predictive control;stability;Lyapunov function;input-to-state stability;nonlinear constrained systems;nonlinear model predictive control;Control system synthesis;Control systems;Nonlinear control systems;Nonlinear systems;Open loop systems;Predictive control;Predictive models;Robust stability;Robustness;Stability analysis},
doi={10.1109/CDC.2006.376750},
ISSN={0191-2216},
month={Dec},}
%
@INPROCEEDINGS{1185106,
author={D. L. Marruedo and T. Alamo and E. F. Camacho},
booktitle={Proceedings of the 41st IEEE Conference on Decision and Control, 2002.},
title={Input-to-state stable MPC for constrained discrete-time nonlinear systems with bounded additive uncertainties},
year={2002},
volume={4},
pages={4619-4624 vol.4},
keywords={asymptotic stability;closed loop systems;convergence;discrete time systems;nonlinear control systems;predictive control;robust control;uncertain systems;asymptotic stability;bounded additive uncertainties;closed loop system;constrained discrete time nonlinear systems;convergence;decaying uncertainties;input to state stable;model predictive control;nominal predictions;terminal constraint;terminal cost;Additives;Automatic control;Closed loop systems;Control systems;Costs;Nonlinear systems;Robustness;Stability analysis;Telephony;Uncertainty},
doi={10.1109/CDC.2002.1185106},
ISSN={0191-2216},
month={Dec},}
%
@INPROCEEDINGS{1024831,
author={D. Limon Marruedo and T. Alamo and E. F. Camacho},
booktitle={Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301)},
title={Stability analysis of systems with bounded additive uncertainties based on invariant sets: Stability and feasibility of MPC},
year={2002},
volume={1},
pages={364-369 vol.1},
keywords={control system analysis;discrete time systems;invariance;nonlinear control systems;predictive control;stability criteria;uncertain systems;MPC;bounded additive uncertainties;bounded nondecaying additive uncertainties;constrained nonlinear discrete time systems;invariance set theory;invariant sets;model predictive control;stability analysis;stability conditions;stability criteria;ultimately bounded system;Constraint theory;Control systems;Industry applications;Optimal control;Robust stability;Set theory;Stability analysis;Sufficient conditions;Telephony;Uncertainty},
doi={10.1109/ACC.2002.1024831},
ISSN={0743-1619},
month={May},}
%
@book{grune2016nonlinear,
  title={Nonlinear Model Predictive Control: Theory and Algorithms},
  author={Gr{\"u}ne, L. and Pannek, J.},
  isbn={9783319460246},
  series={Communications and Control Engineering},
  url={https://books.google.se/books?id=4tJ5DQAAQBAJ},
  year={2016},
  publisher={Springer International Publishing}
}
%
@ARTICLE{262032,
author={H. Michalska and D. Q. Mayne},
journal={IEEE Transactions on Automatic Control},
title={Robust receding horizon control of constrained nonlinear systems},
year={1993},
volume={38},
number={11},
pages={1623-1633},
keywords={nonlinear control systems;stability;approximate minimization;constrained nonlinear systems;controller construction;dual-mode controller;linear feedback controller;linearized system;model error;nonlinear continuous time systems;optimal control;robust receding horizon control;stability;variable time horizon;Adaptive control;Continuous time systems;Control systems;Error correction;Linear feedback control systems;Nonlinear control systems;Nonlinear systems;Optimal control;Robust control;Robust stability},
doi={10.1109/9.262032},
ISSN={0018-9286},
month={Nov},}
%
@article{FINDEISEN2003190,
title = "State and Output Feedback Nonlinear Model Predictive Control: An Overview",
journal = "European Journal of Control",
volume = "9",
number = "2",
pages = "190 - 206",
year = "2003",
note = "",
issn = "0947-3580",
doi = "http://dx.doi.org/10.3166/ejc.9.190-206",
url = "http://www.sciencedirect.com/science/article/pii/S0947358003702751",
author = "Rolf Findeisen and Lars Imsland and Frank Allgower and Bjarne A. Foss",
keywords = "Nonlinear model predictive control",
keywords = "Output feedback",
keywords = "Performance",
keywords = "Stability"
}
%
@inproceedings{HashimotoAD15,
  author    = {Kazumune Hashimoto and
               Shuichi Adachi and
               Dimos V. Dimarogonas},
  title     = {Self-triggered nonlinear model predictive control for networked control
               systems},
  booktitle = {American Control Conference, {ACC} 2015, Chicago, IL, USA, July 1-3,
               2015},
  pages     = {4239--4244},
  year      = {2015},
  crossref  = {DBLP:conf/amcc/2015},
  url       = {http://dx.doi.org/10.1109/ACC.2015.7171995},
  doi       = {10.1109/ACC.2015.7171995},
  timestamp = {Wed, 05 Aug 2015 15:25:51 +0200},
  biburl    = {http://dblp.uni-trier.de/rec/bib/conf/amcc/HashimotoAD15},
  bibsource = {dblp computer science bibliography, http://dblp.org}
}
%
@INPROCEEDINGS{1429425,
author={A. Richards and J. How},
booktitle={2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)},
title={Decentralized model predictive control of cooperating UAVs},
year={2004},
volume={4},
pages={4286-4291 Vol.4},
keywords={aircraft control;collision avoidance;decentralised control;integer programming;linear programming;multi-robot systems;predictive control;remotely operated vehicles;collision avoidance;cooperating UAVs;cooperating uninhabited aerial vehicles;cooperative behavior;coupling constraints;decentralized model predictive control;integer programming;nonconvex problem;path planning;robust constraint satisfaction;Collision avoidance;Constraint optimization;Linear programming;Path planning;Predictive control;Predictive models;Robust control;Robustness;Unmanned aerial vehicles;Vehicle dynamics},
doi={10.1109/CDC.2004.1429425},
ISSN={0191-2216},
month={Dec},}
%
@INPROCEEDINGS{1383977,
author={A. Richards and J. How},
booktitle={Proceedings of the 2004 American Control Conference},
title={A decentralized algorithm for robust constrained model predictive control},
year={2004},
volume={5},
pages={4261-4266 vol.5},
keywords={collision avoidance;cooperative systems;decentralised control;optimisation;planning (artificial intelligence);predictive control;remotely operated vehicles;robust control;UAV;decentralized algorithm;robust constrained model predictive control;single large planning optimization},
ISSN={0743-1619},
month={June},}
%
@article{Dunbar2006549,
title = "Distributed receding horizon control for multi-vehicle formation stabilization ",
journal = "Automatica ",
volume = "42",
number = "4",
pages = "549 - 558",
year = "2006",
note = "",
issn = "0005-1098",
doi = "https://doi.org/10.1016/j.automatica.2005.12.008",
url = "http://www.sciencedirect.com/science/article/pii/S0005109806000136",
author = "William B. Dunbar and Richard M. Murray",
keywords = "Receding horizon control",
keywords = "Model predictive control",
keywords = "Distributed control",
keywords = "Multi-vehicle formations ",
abstract = "We consider the control of interacting subsystems whose dynamics and constraints are decoupled, but whose state vectors are coupled non-separably in a single cost function of a finite horizon optimal control problem. For a given cost structure, we generate distributed optimal control problems for each subsystem and establish that a distributed receding horizon control implementation is stabilizing to a neighborhood of the objective state. The implementation requires synchronous updates and the exchange of the most recent optimal control trajectory between coupled subsystems prior to each update. The key requirements for stability are that each subsystem not deviate too far from the previous open-loop state trajectory, and that the receding horizon updates happen sufficiently fast. The venue of multi-vehicle formation stabilization is used to demonstrate the distributed implementation. "
}
%
@ARTICLE{4389042,
author={T. Keviczky and F. Borrelli and K. Fregene and D. Godbole and G. J. Balas},
journal={IEEE Transactions on Control Systems Technology},
title={Decentralized Receding Horizon Control and Coordination of Autonomous Vehicle Formations},
year={2008},
volume={16},
number={1},
pages={19-33},
keywords={aerospace control;collision avoidance;decentralised control;graph theory;mobile robots;optimisation;predictive control;set theory;autonomous vehicle formation;collision avoidance;communication topology;conflict-free trajectory;decentralized receding horizon control;emergency maneuver;formation flight;graph structure;high-fidelity model;invariant set theory;optimisation;organic air vehicle;Collision avoidance;Communication system control;Distributed control;Laboratories;Land vehicles;Mobile robots;Monitoring;Remotely operated vehicles;Underwater vehicles;Unmanned aerial vehicles;Constrained optimization;formation flight;hierarchical decomposition;receding horizon control;set invariance},
doi={10.1109/TCST.2007.903066},
ISSN={1063-6536},
month={Jan},}
%
@ARTICLE{4459797,
author={E. Franco and L. Magni and T. Parisini and M. M. Polycarpou and D. M. Raimondo},
journal={IEEE Transactions on Automatic Control},
title={Cooperative Constrained Control of Distributed Agents With Nonlinear Dynamics and Delayed Information Exchange: A Stabilizing Receding-Horizon Approach},
year={2008},
volume={53},
number={1},
pages={324-338},
keywords={control system synthesis;delays;multi-agent systems;nonlinear dynamical systems;predictive control;stability;cooperative constrained control;delayed information exchange;distributed agent;nonlinear dynamics;receding-horizon approach;stability analysis;Centralized control;Control system synthesis;Control systems;Cost function;Delay;Distributed control;Large-scale systems;Nonlinear control systems;Sensor systems and applications;Stability analysis;Constrained systems;cooperative control;model predictive control;nonlinear systems;receding-horizon control},
doi={10.1109/TAC.2007.914956},
ISSN={0018-9286},
month={Feb},}
%
@article{00207170600867123,
author = { Dimos V.   Dimarogonas  and  Kostas J.   Kyriakopoulos },
title = {A feedback control scheme for multiple independent dynamic non-point agents},
journal = {International Journal of Control},
volume = {79},
number = {12},
pages = {1613-1623},
year = {2006},
doi = {10.1080/00207170600867123},
URL = {http://dx.doi.org/10.1080/00207170600867123},
eprint = {http://dx.doi.org/10.1080/00207170600867123}
}
%
@Article{Dimarogonas2007,
author="Dimarogonas, Dimos V.
and Kyriakopoulos, Kostas J.",
title="Decentralized Navigation Functions for Multiple Robotic Agents with Limited Sensing Capabilities",
journal="Journal of Intelligent and Robotic Systems",
year="2007",
volume="48",
number="3",
pages="411--433",
abstract="The decentralized navigation function methodology, established in our previous work for navigation of multiple holonomic agents with global sensing capabilities is extended to the case of local sensing capabilities. Each agent plans its actions without knowing the destinations of the others and the positions of those agents lying outside its sensing neighborhood. The stability properties of the closed loop system are checked via Lyapunov stability techniques for nonsmooth systems. The collision avoidance and global convergence properties are verified through simulations.",
issn="1573-0409",
doi="10.1007/s10846-006-9113-x",
url="http://dx.doi.org/10.1007/s10846-006-9113-x"
}
%
@article{Gustavi2010133,
title = "Sufficient conditions for connectivity maintenance and rendezvous in leader–follower networks ",
journal = "Automatica ",
volume = "46",
number = "1",
pages = "133 - 139",
year = "2010",
note = "",
issn = "0005-1098",
doi = "https://doi.org/10.1016/j.automatica.2009.10.014",
url = "http://www.sciencedirect.com/science/article/pii/S0005109809004750",
author = "Tove Gustavi and Dimos V. Dimarogonas and Magnus Egerstedt and Xiaoming Hu",
keywords = "Connectivity graphs",
keywords = "Multi-agent networks",
keywords = "Consensus ",
abstract = "In this paper we derive a set of constraints that are sufficient to guarantee maintained connectivity in a leader–follower multi-agent network with a proximity based communication topology. In the scenario we consider, only the leaders are aware of the global mission, which is to converge at a known destination point. Thus, the followers need to stay in contact with the group of leaders in order to reach the goal. In the paper we show that we can maintain the initial network structure, and thereby connectivity, by setting up bounds on the ratio of leaders-to-followers and on the magnitude of the goal attraction force experienced by the leaders. The results are first established for an initially complete communication graph and then extended to an incomplete graph. The results are illustrated by computer simulations. "
}
%
@INPROCEEDINGS{1470732,
author={D. V. Dimarogonas and K. J. Kyriakopoulos},
booktitle={Proceedings of the 2005, American Control Conference, 2005.},
title={Decentralized stabilization and collision avoidance of multiple air vehicles with limited sensing capabilities},
year={2005},
pages={4667-4672 vol. 7},
keywords={aerospace simulation;air traffic control;aircraft navigation;collision avoidance;decentralised control;mobile agents;motion compensation;stability;collision avoidance;decentralized stabilization;distributed air traffic management;global convergence;mobile agents;multiple air vehicles;multiple holonomic agents;nonsmooth decentralized navigation function;Air traffic control;Aircraft;Collision avoidance;Control systems;Convergence;Global Positioning System;Laboratories;Navigation;Road accidents;Vehicles},
doi={10.1109/ACC.2005.1470732},
ISSN={0743-1619},
month={June},}
%
@article{iswarm,
title = "Project ISWARM, http://microrobotics.ira.uka.de",
url = "http://microrobotics.ira.uka.de"
}
%
@article{micron,
title = "Project MICRON, http://wwwipr.ira.uka.de/micron",
url = "http://wwwipr.ira.uka.de/micron"
}
%
@book{Lav06,
  author       = {S. M. LaValle},
  title        = {Planning Algorithms},
  publisher    = {Cambridge University Press},
  address      = {Cambridge, U.K.},
  note         = {Available at http://planning.cs.uiuc.edu/},
  year         = {2006}
}
%
@article{Mayne2000789,
title = "Constrained model predictive control: Stability and optimality ",
journal = "Automatica ",
volume = "36",
number = "6",
pages = "789 - 814",
year = "2000",
note = "",
issn = "0005-1098",
doi = "https://doi.org/10.1016/S0005-1098(99)00214-9",
url = "http://www.sciencedirect.com/science/article/pii/S0005109899002149",
author = "D.Q. Mayne and J.B. Rawlings and C.V. Rao and P.O.M. Scokaert",
keywords = "Model predictive control",
keywords = "Stability",
keywords = "Optimality",
keywords = "Robustness ",
abstract = "Model predictive control is a form of control in which the current control action is obtained by solving, at each sampling instant, a finite horizon open-loop optimal control problem, using the current state of the plant as the initial state; the optimization yields an optimal control sequence and the first control in this sequence is applied to the plant. An important advantage of this type of control is its ability to cope with hard constraints on controls and states. It has, therefore, been widely applied in petro-chemical and related industries where satisfaction of constraints is particularly important because efficiency demands operating points on or close to the boundary of the set of admissible states and controls. In this review, we focus on model predictive control of constrained systems, both linear and nonlinear and discuss only briefly model predictive control of unconstrained nonlinear and/or time-varying systems. We concentrate our attention on research dealing with stability and optimality; in these areas the subject has developed, in our opinion, to a stage where it has achieved sufficient maturity to warrant the active interest of researchers in nonlinear control. We distill from an extensive literature essential principles that ensure stability and use these to present a concise characterization of most of the model predictive controllers that have been proposed in the literature. In some cases the finite horizon optimal control problem solved on-line is exactly equivalent to the same problem with an infinite horizon; in other cases it is equivalent to a modified infinite horizon optimal control problem. In both situations, known advantages of infinite horizon optimal control accrue. "
}