|Time:||January 14, 2016|
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Prof. Dimos Dimarogonas
KTH Royal Institute of Technology,
Thursday 2016-01-14 16:00
IST-Seminar-Room V2.268 - Pfaffenwaldring 9 - Campus Stuttgart-Vaihingen
Current control applications necessitate in many cases the consideration of systems with multiple interconnected components. These components/agents may need to fulfill high level tasks at a discrete planning layer and also coupled constraints at the continuous control layer. Towards this end, the need for combined decentralized control at the continuous layer and planning at the discrete layer becomes apparent. While there are approaches that handle the problem in a top-down centralized manner, decentralized bottom up approaches have not been pursued to the same extent. We present here some of our initial results for the problem of combined, hybrid control and task planning from high level specifications for multi-agent systems in a bottom up manner. In the first part, we present some initial results on extending the necessary notion of abstractions to multi-agent systems in a distributed fashion. We then consider a set up where agents are assigned individual tasks in the form of Linear Temporal Logic (LTL) formulas and derive local task planning strategies for each agent. The results are supported by simulations and experiments in different robotic testbeds.
Dimos V. Dimarogonas was born in Athens, Greece, in 1978. He received the Diploma in Electrical
and Computer Engineering in 2001 and the Ph.D. in Mechanical Engineering in 2007, both from the
National Technical University of Athens (NTUA), Greece. Between May 2007 and February 2009, he was
a Postdoctoral Researcher at the Automatic Control Laboratory, School of Electrical Engineering,
ACCESS Linnaeus Center, KTH Royal Institute of Technology, Stockholm, Sweden. Between February 2009
and March 2010, he was a Postdoctoral Associate at the Laboratory for Information and Decision
Systems (LIDS) at the Massachusetts Institute of Technology (MIT), Boston, MA, USA. He is currently
an Associate Professor at the Automatic Control Laboratory, ACCESS Linnaeus Center, KTH Royal
Institute of Technology, Stockholm, Sweden.
His current research interests include Multi-Agent Systems, Hybrid Systems and Control, Robot Navigation and Networked Control. He was awarded a Docent in Automatic Control from KTH in 2012. He serves in the Editorial Board of Automatica, the IEEE Transactions on Automation Science and Engineering and the IET Control Theory and Applications and is a member of IEEE and the Technical Chamber of Greece. He is coordinating the EU FP7 project RECONFIG and has received an ERC Starting Grant from the European Commission for the proposal BUCOPHSYS in 2014. He was awarded a Wallenberg Academy Fellow grant in 2015.