Dimitris Boskos

Alexandros Nikou, Dimitris Boskos, Jana Tumova et al.

This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling constraints and the other one is an additional bounded control input. We aim to design these inputs so that each agent meets an individual high-level specification given as a Metric Interval Temporal Logic (MITL). First, a decentralized abstraction that provides a space and time discretization of the multi-agent system is designed. Second, by utilizing this abstraction and techniques from formal verification, we propose an algorithm that computes the individual runs which provably satisfy the high-level tasks. The overall approach is demonstrated in a simulation example conducted in MATLAB environment.

Dimitris Boskos, Dimos V. Dimarogonas

The purpose of this report is to define abstractions for multi-agent systems under coupled constraints. In the proposed decentralized framework, we specify a finite or countable transition system for each agent which only takes into account the discrete positions of its neighbors. The dynamics of the considered systems consist of two components. An appropriate feedback law which guarantees that certain performance requirements (eg. connectivity) are preserved and induces the coupled constraints and additional free inputs which we exploit in order to accomplish high level tasks. In this work we provide sufficient conditions on the space and time discretization of the system which ensure that we can extract a well posed and hence meaningful finite transition system.

Pedro O. Pereira, Dimitris Boskos, Dimos V. Dimarogonas

In this paper, we study attitude synchronization for elements in the unit sphere of R3 and for elements in the 3D rotation group, for a network with switching topology. The agents angular velocities are assumed to be the control inputs, and a switching control law for each agent is devised that guarantees synchronization, provided that all elements are initially contained in a given region, unknown to the network. The control law is decentralized and it does not require a common orientation frame among all agents. We refer to synchronization of unit vectors in R3 as incomplete synchronization, and of 3D rotation matrices as complete synchronization. Our main contribution lies on showing that these two problems can be analyzed under a common framework, where all elements' dynamics are transformed into unit vectors dynamics on a sphere of appropriate dimension.

Zhisheng Xiong, Dimitris Boskos, Bo Zeng et al.

This paper studies the robust optimal operation of distribution networks (DNs) under renewable generation and load demand uncertainties, seeking an improved trade-off between robustness and economic performance. Building upon information gap decision theory (IGDT), a generalized uncertainty modelling is proposed to enhance the expressiveness of the uncertainty characterization. The proposed modelling captures both symmetric and asymmetric uncertainty features, and supports linear or nonlinear expansion of the uncertainty sets driven by confidence level. This advancement leads to the development of a confidence-level-based IGDT (CL-IGDT) framework for DN operation. To solve the resulting model, its equivalence to a family of two-stage robust optimization problems (TSROs) is established, enabling a Fibonacci search over the confidence level. To further improve computational efficiency, a cut-recycling strategy is proposed to exploit invariant information across TSROs. These techniques are integrated into a novel Fibonacci-Parametric Column-and-Constraint Generation algorithm with guaranteed asymptotic convergence. Case studies validate the effectiveness of the proposed framework and demonstrate the performance advantages of the proposed algorithm.

Alexandros Nikou, Dimitris Boskos, Jana Tumova et al.

This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupled constraints. Each agent has dynamics consisting of two terms: the first one models the coupled constraints and the other one is an additional control input. We aim to design these inputs so that each agent meets an individual high-level specification given as a Metric Interval Temporal Logic (MITL). First, a decentralized abstraction that provides a time and space discretization of the multi-agent system is designed. Second, by utilizing this abstraction and techniques from formal veri- fication, we provide an algorithm that computes the individual runs which provably satisfy the high-level tasks. The overall approach is demonstrated in a simulation example.

Dimitris Boskos, Dimos V. Dimarogonas

The goal of this report is to define abstractions for multi-agent systems with feedback interconnection in their dynamics. In the proposed decentralized framework, we specify a finite or countable transition system for each agent which only takes into account the discrete positions of its neighbors. The dynamics of the considered systems consist of two components. An appropriate feedback law which guarantees that certain system and network requirements are fulfilled and induces coupled constraints, and additional free inputs which we exploit in order to accomplish high level tasks. In this work, we provide sufficient conditions on the space and time discretization for the abstraction of the system's behaviour which ensure that we can extract a well posed and hence meaningful transition system. Furthermore, these conditions include design parameters whose tuning provides the possibility for multiple transitions, and hence, enable the construction of transition systems with motion planning capabilities.

Dimitris Boskos, Dimos V. Dimarogonas

In this report we provide a decentralized robust control approach, which guarantees that connectivity of a multi-agent network is maintained when certain bounded input terms are added to the control strategy. Our main motivation for this framework is to determine abstractions for multi-agent systems under coupled constraints which are further exploited for high level plan generation.