Merge pull request #29 from dasc-lab/papers/add_abstracts

Papers/add abstracts

Author: dev10110

content/papers/2009/2009-panagou-a_viability_approach_for_the_stabilization_of_an_underactuated_underwater_vehicle_in_the_presence_of_current_disturbances.md

@@ -1,37 +1,38 @@
 ---
+abstract: In this paper we present a viability-based formulation for the stabilization
+  of an underactuated underwater vehicle under the influence of a known, constant
+  current and state constraints. The stabilization problem is described by three problems
+  in terms of viability theory. We present a solution to the first problem which addresses
+  the safety of the system, i.e. guarantees that there exists a control law such that
+  the vehicle always remains into the safe set of state constraints. In order to overcome
+  the computational limitations due to the high dimension of the system we develop
+  a two-stage approach, based on forward reachability and game theory. The control
+  law is thus the safety controller when the system viability is at stake, i.e. close
+  to the boundary of the safe set. The viability kernel and the control law are numerically
+  computed.
+authors:
+- dimitrapanagou
+- Kostas Margellos
+- Sean Summers
+- John Lygeros
+- Kostas J. Kyriakopoulos
+bib: "@inproceedings{DBLP:conf/cdc/PanagouMSLK09,\n  author       = {Dimitra Panagou\
+  \ and\n                  Kostas Margellos and\n                  Sean Summers and\n\
+  \                  John Lygeros and\n                  Kostas J. Kyriakopoulos},\n\
+  \  title        = {A viability approach for the stabilization of an underactuated\
+  \ underwater\n                  vehicle in the presence of current disturbances},\n\
+  \  booktitle    = {Proceedings of the 48th {IEEE} Conference on Decision and Control,\n\
+  \                  {CDC} 2009, combined withe the 28th Chinese Control Conference,\
+  \ December\n                  16-18, 2009, Shanghai, China},\n  pages        = {8612--8617},\n\
+  \  publisher    = {{IEEE}},\n  year         = {2009},\n  url          = {https://doi.org/10.1109/CDC.2009.5400954},\n\
+  \  doi          = {10.1109/CDC.2009.5400954},\n  timestamp    = {Fri, 04 Mar 2022\
+  \ 13:27:41 +0100},\n  biburl       = {https://dblp.org/rec/conf/cdc/PanagouMSLK09.bib},\n\
+  \  bibsource    = {dblp computer science bibliography, https://dblp.org}\n}"
+date: 2009-01-01
 key: conf/cdc/PanagouMSLK09
 layout: papers
-title: "A viability approach for the stabilization of an underactuated underwater vehicle in the presence of current disturbances."
-date: 2009-01-01
-venue: "CDC"
-authors:
-  - dimitrapanagou
-  - Kostas Margellos
-  - Sean Summers
-  - John Lygeros
-  - Kostas J. Kyriakopoulos
 link: https://doi.org/10.1109/CDC.2009.5400954
-bib: |-
-  @inproceedings{DBLP:conf/cdc/PanagouMSLK09,
-    author       = {Dimitra Panagou and
-                    Kostas Margellos and
-                    Sean Summers and
-                    John Lygeros and
-                    Kostas J. Kyriakopoulos},
-    title        = {A viability approach for the stabilization of an underactuated underwater
-                    vehicle in the presence of current disturbances},
-    booktitle    = {Proceedings of the 48th {IEEE} Conference on Decision and Control,
-                    {CDC} 2009, combined withe the 28th Chinese Control Conference, December
-                    16-18, 2009, Shanghai, China},
-    pages        = {8612--8617},
-    publisher    = {{IEEE}},
-    year         = {2009},
-    url          = {https://doi.org/10.1109/CDC.2009.5400954},
-    doi          = {10.1109/CDC.2009.5400954},
-    timestamp    = {Fri, 04 Mar 2022 13:27:41 +0100},
-    biburl       = {https://dblp.org/rec/conf/cdc/PanagouMSLK09.bib},
-    bibsource    = {dblp computer science bibliography, https://dblp.org}
-  }
-
-
+title: A viability approach for the stabilization of an underactuated underwater vehicle
+  in the presence of current disturbances.
+venue: CDC
 ---

content/papers/2010/2010-panagou-dipole_like_fields_for_stabilization_of_systems_with_pfaffian_constraints.md

@@ -1,31 +1,31 @@
 ---
+abstract: This paper introduces a framework that guides the design of stabilizing
+  feedback control laws for systems with Pfaffian constraints. A new class of N-dimensional
+  vector fields, the dipole-like vector fields is proposed, inspired by the form of
+  the flow lines of the electric point dipole. A general connection between the dipole-like
+  field and the Pfaffian constraints of catastatic nonholonomic systems is exploited,
+  to establish systematic guidelines on the design of stabilizing control laws. The
+  methodology is applied to the stabilization of the unicycle and of the nonholonomic
+  double integrator. Based on these guidelines, switching control laws are constructed.
+  The efficacy of the methodology is demonstrated through simulation results.
+authors:
+- dimitrapanagou
+- Herbert G. Tanner
+- Kostas J. Kyriakopoulos
+bib: "@inproceedings{DBLP:conf/icra/PanagouTK10,\n  author       = {Dimitra Panagou\
+  \ and\n                  Herbert G. Tanner and\n                  Kostas J. Kyriakopoulos},\n\
+  \  title        = {Dipole-like fields for stabilization of systems with Pfaffian\
+  \ constraints},\n  booktitle    = {{IEEE} International Conference on Robotics and\
+  \ Automation, {ICRA}\n                  2010, Anchorage, Alaska, USA, 3-7 May 2010},\n\
+  \  pages        = {4499--4504},\n  publisher    = {{IEEE}},\n  year         = {2010},\n\
+  \  url          = {https://doi.org/10.1109/ROBOT.2010.5509296},\n  doi         \
+  \ = {10.1109/ROBOT.2010.5509296},\n  timestamp    = {Mon, 06 Nov 2017 12:15:02 +0100},\n\
+  \  biburl       = {https://dblp.org/rec/conf/icra/PanagouTK10.bib},\n  bibsource\
+  \    = {dblp computer science bibliography, https://dblp.org}\n}"
+date: 2010-01-01
 key: conf/icra/PanagouTK10
 layout: papers
-title: "Dipole-like fields for stabilization of systems with Pfaffian constraints."
-date: 2010-01-01
-venue: "ICRA"
-authors:
-  - dimitrapanagou
-  - Herbert G. Tanner
-  - Kostas J. Kyriakopoulos
 link: https://doi.org/10.1109/ROBOT.2010.5509296
-bib: |-
-  @inproceedings{DBLP:conf/icra/PanagouTK10,
-    author       = {Dimitra Panagou and
-                    Herbert G. Tanner and
-                    Kostas J. Kyriakopoulos},
-    title        = {Dipole-like fields for stabilization of systems with Pfaffian constraints},
-    booktitle    = {{IEEE} International Conference on Robotics and Automation, {ICRA}
-                    2010, Anchorage, Alaska, USA, 3-7 May 2010},
-    pages        = {4499--4504},
-    publisher    = {{IEEE}},
-    year         = {2010},
-    url          = {https://doi.org/10.1109/ROBOT.2010.5509296},
-    doi          = {10.1109/ROBOT.2010.5509296},
-    timestamp    = {Mon, 06 Nov 2017 12:15:02 +0100},
-    biburl       = {https://dblp.org/rec/conf/icra/PanagouTK10.bib},
-    bibsource    = {dblp computer science bibliography, https://dblp.org}
-  }
-
-
+title: Dipole-like fields for stabilization of systems with Pfaffian constraints.
+venue: ICRA
 ---

content/papers/2011/2011-panagou-control_of_nonholonomic_systems_using_reference_vector_fields.md

@@ -1,32 +1,35 @@
 ---
+abstract: "This paper presents a control design methodology for n-dimensional nonholonomic\
+  \ systems. The main idea is that, given a nonholonomic system subject to \u03BA\
+  \ Pfaffian constraints, one can define a smooth, N-dimensional reference vector\
+  \ field F, which is nonsingular everywhere except for a submanifold containing the\
+  \ origin. The dimension N \u2264 n of F depends on the structure of the constraint\
+  \ equations, which induces a foliation of the configuration space. This foliation,\
+  \ together with the objective of having the system vector field aligned with F,\
+  \ suggests a choice of Lyapunov-like functions V. The proposed approach recasts\
+  \ the original nonholonomic control problem into a lower-dimensional output regulation\
+  \ problem, which although nontrivial, can more easily be tackled with existing design\
+  \ and analysis tools. The methodology applies to a wide class of nonholonomic systems,\
+  \ and its efficacy is demonstrated through numerical simulations for the cases of\
+  \ the unicycle and the n-dimensional chained systems, for n = 3, 4."
+authors:
+- dimitrapanagou
+- Herbert G. Tanner
+- Kostas J. Kyriakopoulos
+bib: "@inproceedings{DBLP:conf/cdc/PanagouTK11,\n  author       = {Dimitra Panagou\
+  \ and\n                  Herbert G. Tanner and\n                  Kostas J. Kyriakopoulos},\n\
+  \  title        = {Control of nonholonomic systems using reference vector fields},\n\
+  \  booktitle    = {50th {IEEE} Conference on Decision and Control and European Control\n\
+  \                  Conference, 11th European Control Conference, {CDC/ECC} 2011,\
+  \ Orlando,\n                  FL, USA, December 12-15, 2011},\n  pages        =\
+  \ {2831--2836},\n  publisher    = {{IEEE}},\n  year         = {2011},\n  url   \
+  \       = {https://doi.org/10.1109/CDC.2011.6160922},\n  doi          = {10.1109/CDC.2011.6160922},\n\
+  \  timestamp    = {Wed, 24 Feb 2021 08:49:08 +0100},\n  biburl       = {https://dblp.org/rec/conf/cdc/PanagouTK11.bib},\n\
+  \  bibsource    = {dblp computer science bibliography, https://dblp.org}\n}"
+date: 2011-01-01
 key: conf/cdc/PanagouTK11
 layout: papers
-title: "Control of nonholonomic systems using reference vector fields."
-date: 2011-01-01
-venue: "CDC/ECC"
-authors:
-  - dimitrapanagou
-  - Herbert G. Tanner
-  - Kostas J. Kyriakopoulos
 link: https://doi.org/10.1109/CDC.2011.6160922
-bib: |-
-  @inproceedings{DBLP:conf/cdc/PanagouTK11,
-    author       = {Dimitra Panagou and
-                    Herbert G. Tanner and
-                    Kostas J. Kyriakopoulos},
-    title        = {Control of nonholonomic systems using reference vector fields},
-    booktitle    = {50th {IEEE} Conference on Decision and Control and European Control
-                    Conference, 11th European Control Conference, {CDC/ECC} 2011, Orlando,
-                    FL, USA, December 12-15, 2011},
-    pages        = {2831--2836},
-    publisher    = {{IEEE}},
-    year         = {2011},
-    url          = {https://doi.org/10.1109/CDC.2011.6160922},
-    doi          = {10.1109/CDC.2011.6160922},
-    timestamp    = {Wed, 24 Feb 2021 08:49:08 +0100},
-    biburl       = {https://dblp.org/rec/conf/cdc/PanagouTK11.bib},
-    bibsource    = {dblp computer science bibliography, https://dblp.org}
-  }
-
-
+title: Control of nonholonomic systems using reference vector fields.
+venue: CDC/ECC
 ---

content/papers/2011/2011-panagou-control_of_underactuated_systems_with_viability_constraints.md

@@ -1,30 +1,32 @@
 ---
+abstract: This paper addresses the control design for a class of nonholonomic systems
+  which are subject to inequality state constraints defining a constrained (viability)
+  set K. Based on concepts from viability theory, the necessary conditions for selecting
+  viable controls for a nonholonomic system are given. Furthermore, a class of nonholonomic
+  control solutions are redesigned by means of switching control, so that system trajectories
+  are viable in K and converge to a goal set G in K. The motion control for an underactuated
+  marine vehicle in a constrained configuration set K is treated as a case study.
+  The set K essentially describes the limited sensing area of a vision-based sensor
+  system, and viable control laws which establish convergence to a goal set G in K
+  are constructed. The efficacy of the methodology is demonstrated through simulation
+  results.
+authors:
+- dimitrapanagou
+- Kostas J. Kyriakopoulos
+bib: "@inproceedings{DBLP:conf/cdc/PanagouK11,\n  author       = {Dimitra Panagou\
+  \ and\n                  Kostas J. Kyriakopoulos},\n  title        = {Control of\
+  \ underactuated systems with viability constraints},\n  booktitle    = {50th {IEEE}\
+  \ Conference on Decision and Control and European Control\n                  Conference,\
+  \ 11th European Control Conference, {CDC/ECC} 2011, Orlando,\n                 \
+  \ FL, USA, December 12-15, 2011},\n  pages        = {5497--5502},\n  publisher \
+  \   = {{IEEE}},\n  year         = {2011},\n  url          = {https://doi.org/10.1109/CDC.2011.6160925},\n\
+  \  doi          = {10.1109/CDC.2011.6160925},\n  timestamp    = {Wed, 24 Feb 2021\
+  \ 08:49:08 +0100},\n  biburl       = {https://dblp.org/rec/conf/cdc/PanagouK11.bib},\n\
+  \  bibsource    = {dblp computer science bibliography, https://dblp.org}\n}"
+date: 2011-01-01
 key: conf/cdc/PanagouK11
 layout: papers
-title: "Control of underactuated systems with viability constraints."
-date: 2011-01-01
-venue: "CDC/ECC"
-authors:
-  - dimitrapanagou
-  - Kostas J. Kyriakopoulos
 link: https://doi.org/10.1109/CDC.2011.6160925
-bib: |-
-  @inproceedings{DBLP:conf/cdc/PanagouK11,
-    author       = {Dimitra Panagou and
-                    Kostas J. Kyriakopoulos},
-    title        = {Control of underactuated systems with viability constraints},
-    booktitle    = {50th {IEEE} Conference on Decision and Control and European Control
-                    Conference, 11th European Control Conference, {CDC/ECC} 2011, Orlando,
-                    FL, USA, December 12-15, 2011},
-    pages        = {5497--5502},
-    publisher    = {{IEEE}},
-    year         = {2011},
-    url          = {https://doi.org/10.1109/CDC.2011.6160925},
-    doi          = {10.1109/CDC.2011.6160925},
-    timestamp    = {Wed, 24 Feb 2021 08:49:08 +0100},
-    biburl       = {https://dblp.org/rec/conf/cdc/PanagouK11.bib},
-    bibsource    = {dblp computer science bibliography, https://dblp.org}
-  }
-
-
+title: Control of underactuated systems with viability constraints.
+venue: CDC/ECC
 ---

content/papers/2011/2011-panagou-switching_control_approach_for_the_robust_practical_stabilization_of_a_unicycle_like_marine_vehicle_under_non_vanishing_perturbations.md

@@ -1,30 +1,32 @@
 ---
+abstract: This paper presents a solution to the robust practical stabilization of
+  a unicycle-like marine vehicle, under non-vanishing current-induced perturbations.
+  A hysteresis-based switching control strategy is proposed, rendering the system
+  globally practically stable to a set G around the origin. The control scheme consists
+  of three control laws; the first one is active out of G and drives the system trajectories
+  into G, based on a dipole-like vector field. The other two control laws are active
+  in G and alternately regulate the position and the orientation of the vehicle. The
+  system is shown to be robust, in the sense that the vehicle enters and remains into
+  G even if only a maximum bound of the perturbation is known. The efficacy of the
+  solution is demonstrated through simulation results.
+authors:
+- dimitrapanagou
+- Kostas J. Kyriakopoulos
+bib: "@inproceedings{DBLP:conf/icra/PanagouK11,\n  author       = {Dimitra Panagou\
+  \ and\n                  Kostas J. Kyriakopoulos},\n  title        = {Switching\
+  \ control approach for the robust practical stabilization\n                  of\
+  \ a unicycle-like marine vehicle under non-vanishing perturbations},\n  booktitle\
+  \    = {{IEEE} International Conference on Robotics and Automation, {ICRA}\n   \
+  \               2011, Shanghai, China, 9-13 May 2011},\n  pages        = {1525--1530},\n\
+  \  publisher    = {{IEEE}},\n  year         = {2011},\n  url          = {https://doi.org/10.1109/ICRA.2011.5979747},\n\
+  \  doi          = {10.1109/ICRA.2011.5979747},\n  timestamp    = {Mon, 06 Nov 2017\
+  \ 12:15:03 +0100},\n  biburl       = {https://dblp.org/rec/conf/icra/PanagouK11.bib},\n\
+  \  bibsource    = {dblp computer science bibliography, https://dblp.org}\n}"
+date: 2011-01-01
 key: conf/icra/PanagouK11
 layout: papers
-title: "Switching control approach for the robust practical stabilization of a unicycle-like marine vehicle under non-vanishing perturbations."
-date: 2011-01-01
-venue: "ICRA"
-authors:
-  - dimitrapanagou
-  - Kostas J. Kyriakopoulos
 link: https://doi.org/10.1109/ICRA.2011.5979747
-bib: |-
-  @inproceedings{DBLP:conf/icra/PanagouK11,
-    author       = {Dimitra Panagou and
-                    Kostas J. Kyriakopoulos},
-    title        = {Switching control approach for the robust practical stabilization
-                    of a unicycle-like marine vehicle under non-vanishing perturbations},
-    booktitle    = {{IEEE} International Conference on Robotics and Automation, {ICRA}
-                    2011, Shanghai, China, 9-13 May 2011},
-    pages        = {1525--1530},
-    publisher    = {{IEEE}},
-    year         = {2011},
-    url          = {https://doi.org/10.1109/ICRA.2011.5979747},
-    doi          = {10.1109/ICRA.2011.5979747},
-    timestamp    = {Mon, 06 Nov 2017 12:15:03 +0100},
-    biburl       = {https://dblp.org/rec/conf/icra/PanagouK11.bib},
-    bibsource    = {dblp computer science bibliography, https://dblp.org}
-  }
-
-
+title: Switching control approach for the robust practical stabilization of a unicycle-like
+  marine vehicle under non-vanishing perturbations.
+venue: ICRA
 ---

content/papers/2012/2012-panagou-maintaining_visibility_for_leader_follower_formations_in_obstacle_environments.md

@@ -1,30 +1,33 @@
 ---
+abstract: This paper addresses the problem of controlling a leader-follower (L - F)
+  formation of two unicycle mobile robots moving under visibility constraints in a
+  known obstacle environment. Visibility constraints are realized as inequality state
+  constraints that determine a visibility set K. Maintaining visibility is translated
+  into controlling the robots so that system trajectories starting in K always remain
+  in K. We provide the conditions under which visibility is maintained, as well as
+  a feedback control scheme that forces F to converge and remain into a set of desired
+  configurations w.r.t. L while maintaining visibility. We also propose a cooperative
+  control scheme for the motion of the formation in a known obstacle environment,
+  so that both collision avoidance and maintaining visibility are ensured. The proposed
+  control schemes are decentralized, in the sense that there is no direct communication
+  between the robots. The efficacy of our algorithms is evaluated through simulations.
+authors:
+- dimitrapanagou
+- Vijay Kumar
+bib: "@inproceedings{DBLP:conf/icra/PanagouK12,\n  author       = {Dimitra Panagou\
+  \ and\n                  Vijay Kumar},\n  title        = {Maintaining visibility\
+  \ for leader-follower formations in obstacle\n                  environments},\n\
+  \  booktitle    = {{IEEE} International Conference on Robotics and Automation, {ICRA}\n\
+  \                  2012, 14-18 May, 2012, St. Paul, Minnesota, {USA}},\n  pages\
+  \        = {1811--1816},\n  publisher    = {{IEEE}},\n  year         = {2012},\n\
+  \  url          = {https://doi.org/10.1109/ICRA.2012.6224893},\n  doi          =\
+  \ {10.1109/ICRA.2012.6224893},\n  timestamp    = {Wed, 16 Oct 2019 14:14:51 +0200},\n\
+  \  biburl       = {https://dblp.org/rec/conf/icra/PanagouK12.bib},\n  bibsource\
+  \    = {dblp computer science bibliography, https://dblp.org}\n}"
+date: 2012-01-01
 key: conf/icra/PanagouK12
 layout: papers
-title: "Maintaining visibility for leader-follower formations in obstacle environments."
-date: 2012-01-01
-venue: "ICRA"
-authors:
-  - dimitrapanagou
-  - Vijay Kumar
 link: https://doi.org/10.1109/ICRA.2012.6224893
-bib: |-
-  @inproceedings{DBLP:conf/icra/PanagouK12,
-    author       = {Dimitra Panagou and
-                    Vijay Kumar},
-    title        = {Maintaining visibility for leader-follower formations in obstacle
-                    environments},
-    booktitle    = {{IEEE} International Conference on Robotics and Automation, {ICRA}
-                    2012, 14-18 May, 2012, St. Paul, Minnesota, {USA}},
-    pages        = {1811--1816},
-    publisher    = {{IEEE}},
-    year         = {2012},
-    url          = {https://doi.org/10.1109/ICRA.2012.6224893},
-    doi          = {10.1109/ICRA.2012.6224893},
-    timestamp    = {Wed, 16 Oct 2019 14:14:51 +0200},
-    biburl       = {https://dblp.org/rec/conf/icra/PanagouK12.bib},
-    bibsource    = {dblp computer science bibliography, https://dblp.org}
-  }
-
-
+title: Maintaining visibility for leader-follower formations in obstacle environments.
+venue: ICRA
 ---