#	Pagina
attuale pagina	/open-h2020/projects/193650/index.html

Opendata, web and dolomites

BUCOPHSYS SIGNED

Bottom-up hybrid control and planning synthesis with application to multi-robot multi-human coordination

Total Cost €

EC-Contrib. €

Partnership

Views

Outcomes and
results

BUCOPHSYS project word cloud

Explore the words cloud of the BUCOPHSYS project. It provides you a very rough idea of what is the project "BUCOPHSYS" about.

solutions manner distributed controllers fulfill hybrid computer extensively abstraction completely unification human demonstrated coupled plan treatment soa consideration components constraints complementary yield groundbreaking thinking continuous layer coordinate mutually necessitate ways interaction centralized fulfil planning paradigm apparent automata feedback corresponding specifications agents conflicting becomes first layers science solution scenario current interconnected form relations combination single discrete decentralized robots constitute plans multiple limited individual relies subsystems fashion time instead satisfy communication appropriate rely coordinated exchange possibly

Project "BUCOPHSYS" data sheet

The following table provides information about the project.

Coordinator	KUNGLIGA TEKNISKA HOEGSKOLAN Organization address address: BRINELLVAGEN 8 city: STOCKHOLM postcode: 100 44 website: www.kth.se contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.
Coordinator Country	Sweden [SE]
Project website	http://bucophsys.eu/index.html
Total cost	1˙498˙729 €
EC max contribution	1˙498˙729 € (100%)
Programme	1. H2020-EU.1.1. (EXCELLENT SCIENCE - European Research Council (ERC))
Code Call	ERC-2014-STG
Funding Scheme	ERC-STG
Starting year	2015
Duration (year-month-day)	from 2015-03-01 to 2020-02-29

Partnership

Take a look of project's partnership.

#	participants	country	role	EC contrib. [€]
1	KUNGLIGA TEKNISKA HOEGSKOLAN KUNGLIGA TEKNISKA HOEGSKOLAN Organization address address: BRINELLVAGEN 8 city: STOCKHOLM postcode: 100 44 website: www.kth.se contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	SE (STOCKHOLM)	coordinator	1˙498˙729.00

Map

Project objective

Current control applications necessitate the treatment of systems with multiple interconnected components, rather than the traditional single component paradigm that has been studied extensively. The individual subsystems may need to fulfil different and possibly conflicting specifications in a real-time manner. At the same time, they may need to fulfill coupled constraints that are defined as relations between their states. Towards this end, the need for methods for decentralized control at the continuous level and planning at the task level becomes apparent. We aim here towards unification of these two complementary approaches. Existing solutions rely on a top down centralized approach. We instead consider here a decentralized, bottom-up solution to the problem. The approach relies on three layers of interaction. In the first layer, agents aim at coordinating in order to fulfil their coupled constraints with limited communication exchange of their state information and design of appropriate feedback controllers; in the second layer, agents coordinate in order to mutually satisfy their discrete tasks through exchange of the corresponding plans in the form of automata; in the third and most challenging layer, the communication exchange for coordination now includes both continuous state and discrete plan/abstraction information. The results will be demonstrated in a scenario involving multiple (possibly human) users and multiple robots. The unification will yield a completely decentralized system, in which the bottom up approach to define tasks, the consideration of coupled constraints and their combination towards distributed hybrid control and planning in a coordinated fashion require for new ways of thinking and approaches to analysis and constitute the proposal a beyond the SoA and groundbreaking approach to the fields of control and computer science.

Publications

List of publications.
year	authors and title	journal	last update
2019	Dimitris Boskos, Dimos V. Dimarogonas Decentralized abstractions for multi-agent systems under coupled constraints published pages: 1-16, ISSN: 0947-3580, DOI: 10.1016/j.ejcon.2018.10.002	European Journal of Control 45	2019-09-17
2018	Philipp Schillinger, Mathias BÃ¼rger, Dimos V. Dimarogonas Simultaneous task allocation and planning for temporal logic goals in heterogeneous multi-robot systems published pages: 818-838, ISSN: 0278-3649, DOI: 10.1177/0278364918774135	The International Journal of Robotics Research 37/7	2019-09-17
2019	Lars Lindemann, Dimos V. Dimarogonas Robust control for signal temporal logic specifications using discrete average space robustness published pages: 377-387, ISSN: 0005-1098, DOI: 10.1016/j.automatica.2018.12.022	Automatica 101	2019-09-17
2019	Alexandros Nikou, Dimos V. Dimarogonas Decentralized tubeâ€based model predictive control of uncertain nonlinear multiagent systems published pages: 2799-2818, ISSN: 1049-8923, DOI: 10.1002/rnc.4522	International Journal of Robust and Nonlinear Control 29/10	2019-09-17
2018	Alexandros Nikou, Dimitris Boskos, Jana Tumova, Dimos V. Dimarogonas On the timed temporal logic planning of coupled multi-agent systems published pages: 339-345, ISSN: 0005-1098, DOI: 10.1016/j.automatica.2018.08.023	Automatica 97	2019-09-17
2019	Christos K. Verginis, Alexandros Nikou, Dimos V. Dimarogonas Robust formation control in SE ( 3 ) for tree-graph structures with prescribed transient and steady state performance published pages: 538-548, ISSN: 0005-1098, DOI: 10.1016/j.automatica.2019.02.034	Automatica 103	2019-09-17
2018	Kazumune Hashimoto, Shuichi Adachi, Dimos V. Dimarogonas Aperiodic Sampled-Data Control via Explicit Transmission Mapping: A Set-Invariance Approach published pages: 3523-3530, ISSN: 0018-9286, DOI: 10.1109/tac.2018.2798802	IEEE Transactions on Automatic Control 63/10	2019-09-17
2018	Alexandros Filotheou, Alexandros Nikou, Dimos V. Dimarogonas Robust decentralised navigation of multi-agent systems with collision avoidance and connectivity maintenance using model predictive controllers published pages: 1-15, ISSN: 0020-7179, DOI: 10.1080/00207179.2018.1514129	International Journal of Control	2019-09-17
2019	Lars Lindemann, Dimos V. Dimarogonas Control Barrier Functions for Signal Temporal Logic Tasks published pages: 96-101, ISSN: 2475-1456, DOI: 10.1109/lcsys.2018.2853182	IEEE Control Systems Letters 3/1	2019-09-17
2018	Christos K. Verginis, Dimos V. Dimarogonas Timed abstractions for distributed cooperative manipulation published pages: 781-799, ISSN: 0929-5593, DOI: 10.1007/s10514-017-9672-7	Autonomous Robots 42/4	2019-09-17
2018	Pierre-Jean Meyer, Dimos V. Dimarogonas Compositional abstraction refinement for control synthesis published pages: 437-451, ISSN: 1751-570X, DOI: 10.1016/j.nahs.2017.10.006	Nonlinear Analysis: Hybrid Systems 27	2019-09-17
2019	Lars Lindemann, Dimos V. Dimarogonas Feedback control strategies for multi-agent systems under a fragment of signal temporal logic tasks published pages: 284-293, ISSN: 0005-1098, DOI: 10.1016/j.automatica.2019.05.013	Automatica 106	2019-09-17
2017	Dimitris Boskos, Dimos V. Dimarogonas Online Abstractions for Interconnected Multi-Agent Control Systems published pages: 15810-15815, ISSN: , DOI:	IFAC-PapersOnLine 50/1	2019-07-22
2017	Christos K. Verginis, Dimos V. Dimarogonas Multi-Agent Motion Planning and Object Transportation under High Level Goals published pages: 15816-15821, ISSN: , DOI:	IFAC-PapersOnLine 50/1	2019-07-22
2017	Paul Rousse, Pierre-Jean Meyer, Dimos V. Dimarogonas Using progress sets on non-deterministic transition systems for multiple UAV motion planning published pages: 15977-15982, ISSN: , DOI:	IFAC-PapersOnLine 50/1	2019-07-22
2017	Sofie Andersson, Alexandros Nikou, Dimos V. Dimarogonas Control Synthesis for Multi-Agent Systems under Metric Interval Temporal Logic Specifications published pages: 2397-2402, ISSN: , DOI:	IFAC-PapersOnLine 50/1	2019-07-22
2016	Jana Tumova, Dimos V. Dimarogonas Multi-agent planning under local LTL specifications and event-based synchronization published pages: 239-248, ISSN: 0005-1098, DOI: 10.1016/j.automatica.2016.04.006	Automatica 70	2019-07-22
2017	Kazumune Hashimoto, Shuichi Adachi, Dimos V. Dimarogonas Event-triggered intermittent sampling for nonlinear model predictive control published pages: 148-155, ISSN: 0005-1098, DOI: 10.1016/j.automatica.2017.03.028	Automatica 81	2019-07-22
2017	Dimitris Boskos, Dimos V. Dimarogonas Robustness and Invariance of Connectivity Maintenance Control for Multiagent Systems published pages: 1887-1914, ISSN: 0363-0129, DOI: 10.1137/16m1077064	SIAM Journal on Control and Optimization 55/3	2019-07-22
2017	Meng Guo, Dimos V. Dimarogonas Task and Motion Coordination for Heterogeneous Multiagent Systems With Loosely Coupled Local Tasks published pages: 797-808, ISSN: 1545-5955, DOI: 10.1109/TASE.2016.2628389	IEEE Transactions on Automation Science and Engineering 14/2	2019-07-22
2017	Alexandros Nikou, Christos K. Verginis, Dimos V. Dimarogonas Robust Distance-Based Formation Control of Multiple Rigid Bodies with Orientation Alignment published pages: 15458-15463, ISSN: , DOI:	IFAC-PapersOnLine 50/1	2019-07-22
2017	Alexandros Nikou, JanaTumova, Dimos V. Dimarogonas Probabilistic Plan Synthesis for Coupled Multi-Agent Systems published pages: 10766-10771, ISSN: , DOI:	IFAC-PapersOnLine 50/1	2019-07-22

Are you the coordinator (or a participant) of this project? Plaese send me more information about the "BUCOPHSYS" project.

For instance: the website url (it has not provided by EU-opendata yet), the logo, a more detailed description of the project (in plain text as a rtf file or a word file), some pictures (as picture files, not embedded into any word file), twitter account, linkedin page, etc.

Send me an email (fabio@fabiodisconzi.com) and I put them in your project's page as son as possible.

Thanks. And then put a link of this page into your project's website.

The information about "BUCOPHSYS" are provided by the European Opendata Portal: CORDIS opendata.