Panagiotis Rousseas
15 papers 2020–2026
An Actor-Critic Reinforcement Learning Scheme for Reactive 3D Optimal Motion Planning Based on Fluid Dynamics
A Tube-Based Reinforcement Learning Approach for Optimal Motion Planning in Unknown Workspaces
A Continuous Off-Policy Reinforcement Learning Scheme for Optimal Motion Planning in Simply-Connected Workspaces
An Operator-based Approach to STL
Signal Temporal Logic (STL), has recently seen extensive development, owing to its rich expressivenes for autonomous planning and control. Nevertheless, existing verification and control synthesis...
Feasibility-aware Hybrid Control for Motion Planning under Signal Temporal Logics
In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local...
Feasibility Analysis and Constraint Selection in Optimization-Based Controllers
Control synthesis under constraints is at the forefront of research on autonomous systems, in part due to its broad application from low-level control to high-level planning, where computing...
Feasibility Evaluation of Quadratic Programs for Constrained Control
This paper presents a computationally-efficient method for evaluating the feasibility of Quadratic Programs (QPs) for online constrained control. Based on the duality principle, we first show that...
Multirotor Nonlinear Model Predictive Control based on Visual Servoing of Evolving Features
This article presents a Visual Servoing Nonlinear Model Predictive Control (NMPC) scheme for autonomously tracking a moving target using multirotor Unmanned Aerial Vehicles (UAVs). The scheme is...