Alexandros Filotheou

Alexandros Filotheou, Alexandros Nikou, Dimos V. Dimarogonas

This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a decentralized control protocol such that each agent reaches a predefined position at the workspace, while using local information based on a limited sensing radius. The proposed scheme guarantees that the initially connected agents remain always connected. In addition, by introducing certain distance constraints, we guarantee inter-agent collision avoidance as well as collision avoidance with the obstacles and the boundary of the workspace. The proposed controllers employ a class of Decentralized Nonlinear Model Predictive Controllers (DNMPC) under the presence of disturbances and uncertainties. Finally, simulation results verify the validity of the proposed framework.

Alexandros Filotheou, Alexandros Nikou, Dimos V. Dimarogonas

This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol such that each agent reaches a predefined position at the workspace, while using only local information based on a limited sensing radius. The proposed scheme guarantees that the initially connected agents remain always connected. In addition, by introducing certain distance constraints, we guarantee inter-agent collision avoidance, as well as, collision avoidance with the obstacles and the boundary of the workspace. The proposed controllers employ a class of Decentralized Nonlinear Model Predictive Controllers (DNMPC) under the presence of disturbances and uncertainties. Finally, simulation results verify the validity of the proposed framework.

Alexandros Filotheou

The objective of this study is improving the location estimate of a mobile robot capable of motion on a plane and mounted with a conventional 2D LIDAR sensor, given an initial guess for its location on a 2D map of its surroundings. Documented herein is the theoretical reasoning behind solving a matching problem between two homoriented 2D scans, one derived from the robot's physical sensor and one derived by simulating its operation within the map, in a manner that does not require the establishing of correspondences between their constituting rays. Two results are proved and subsequently shown through experiments. The first is that the true position of the sensor can be recovered with arbitrary precision when the physical sensor reports faultless measurements and there is no discrepancy between the environment the robot operates in and its perception of it by the robot. The second is that when either is affected by disturbance, the location estimate is bound in a neighbourhood of the true location whose radius is proportional to the affecting disturbance.

Fani A. Tzima, Miltiadis Allamanis, Alexandros Filotheou et al.

In recent years, multi-label classification has attracted a significant body of research, motivated by real-life applications, such as text classification and medical diagnoses. Although sparsely studied in this context, Learning Classifier Systems are naturally well-suited to multi-label classification problems, whose search space typically involves multiple highly specific niches. This is the motivation behind our current work that introduces a generalized multi-label rule format -- allowing for flexible label-dependency modeling, with no need for explicit knowledge of which correlations to search for -- and uses it as a guide for further adapting the general Michigan-style supervised Learning Classifier System framework. The integration of the aforementioned rule format and framework adaptations results in a novel algorithm for multi-label classification whose behavior is studied through a set of properly defined artificial problems. The proposed algorithm is also thoroughly evaluated on a set of multi-label datasets and found competitive to other state-of-the-art multi-label classification methods.