Journal Publications

[J23] Funnel Control for Uncertain Nonlinear Systems via Zeroing Control Barrier Functionss
Christos K. Verginis
Under review

[J22] A Distributed, Event-triggered, Adaptive Controller for Cooperative Manipulation with Rolling Contacts
Wenceslao Shaw Cortez, Christos K. Verginis, and Dimos V. Dimarogonas
Under review

[J21] Joint Learning of Reward Machines and Policies in Environments with Partially Known Semantics
Christos Verginis, Cevahir Koprulu, Sandeep Chinchali, and Ufuk Topcu
Under review

[J20] Planning and Control of Multi-Robot-Object Systems under Temporal Logic Tasks and Uncertain Dynamics
Christos Verginis, Yiannis Kantaros, and Dimos V. Dimarogonas
Under review

[J19] Non-Parametric Neuro-Adaptive Formation Control
Christos K. Verginis, Zhe Xu, and Ufuk Topcu
Under review

[J18] Non-Parametric Neuro-Adaptive Control
Christos K. Verginis, Zhe Xu, and Ufuk Topcu
Under review

[J17] Safety-Constrained Learning and Control using Scarce Data and Reciprocal Barriers
Christos K. Verginis, Franck Djeumou, and Ufuk Topcu
Under Review

[J16] On Minimizing Total Discounted Cost in MDPsSubject to Reachability Constraints
Yagiz Savas, Christos K. Verginis, Michael Hibbard, and Ufuk Topcu
Conditionally accepted in IEEE Transactions on Automatic Control, 2021

[J15] Control of Cooperative Manipulator-Endowed Systems under High-Level Tasks and Uncertain Dynamics
Christos K. Verginis and Dimos V. Dimarogonas
To appear in Annual Reviews in Control, 2022

[J14] KDF: Kinodynamic Motion Planning via Geometric Sampling-based Algorithms and Funnel Control
Christos K. Verginis, Dimos V. Dimarogonas, and Lydia E. Kavraki
To appear in IEEE Transactions on Robotics, 2022

[J13] Cooperative Object Manipulation under Signal Temporal Logic Tasks and Uncertain Dynamics
Mayank Sewlia, Christos K. Verginis, and Dimos V. Dimarogonas
Robotics and Automation Letters, 2022

[J12] Robust Trajectory Tracking Control for Uncertain 3-DOF Helicopters with Prescribed Performance
Christos K. Verginis, Charalampos P. Bechlioulis, and Argiris Soldatos
IEEE/ASME Transactions on Mechatronics, 2022

[J11] Cooperative Manipulation via Internal Force Regulation: A Rigidity Theory Perspective
Christos K. Verginis, Dan Zelazo, and Dimos V. Dimarogonas
IEEE Transactions on Control of Network Systems, 2022

[J10] Efficient Cooperation of Heterogeneous Robotic Agents: A Decentralized Framework
Michalis Logothetis, George C. Karras, Konstantinos Alevizos, Christos K. Verginis, Pedro Roque, Konstantinos Roditakis, Alexandros Makris, Sergio Garcı́a, Philipp Schillinger, Alessandro Di Fava, Patrizio Pelliccione, Antonis Argyros, Kostas J. Kyriakopoulos, Dimos V. Dimarogonas
IEEE Robotics and Automation Magazine, 2021

[J9] Adaptive Robot Navigation with Collision Avoidance Subject to 2nd-order Uncertain Dynamics
Christos K. Verginis and Dimos V. Dimarogonas
Automatica, 2021

[J8] A Robust Nonlinear MPC Framework for Control of Underwater Vehicle Manipulator Systems under High-Level Tasks
Alexandros Nikou, Christos K. Verginis, Shahab Heshmati-alamdari, and Dimos V. Dimarogonas
IET Control Theory and Applications, 2020

[J7] Asymptotic Tracking of Second-Order Nonsmooth Feedback Stabilizable Unknown Systems with Prescribed Transient Response
Christos K. Verginis and Dimos V. Dimarogonas
IEEE Transactions on Automatic Control, 2020

[J6] Closed-Form Barrier Functions for Multi-Agent Ellipsoidal Systems With Uncertain Lagrangian Dynamics
Christos K. Verginis and Dimos V. Dimarogonas
IEEE Control Systems Letters, 2019

[J5] Robust Formation Control in SE(3) for Tree-Graph Structures with Prescribed Transient and Steady State Performance
Christos K. Verginis, Alexandros Nikou, and Dimos V. Dimarogonas
Automatica, 2019

[J4] Robust Cooperative Manipulation without Force/Torque Measurements: Control Design and Experiments
Christos K. Verginis, Matteo Mastellaro, and Dimos V. Dimarogonas
IEEE Transactions on Control Systems Technology, 2019

[J3] Timed Abstractions for Distributed Cooperative Manipulation
Christos K. Verginis and Dimos V. Dimarogonas
Autonomous Robots, 2018

[J2] Robust Distributed Control Protocols for Large Vehicular Platoons With Prescribed Transient and Steady-State Performance
Christos K. Verginis, Charalambos P. Bechlioulis, Dimos V. Dimarogonas and Kostas J. Kyriakopoulos
IEEE Transactions on Control Systems Technology, 2018

[J1] RMAP:A Rectangular Cuboid Approximation Framework for 3D Environment Mapping
Sheraz Khan, Athanasios Dometios, Christos K. Verginis, Costas Tzafestas, Dirk Wollher and Martin Buss
Autonomous Robots, 2014

Conference Publications

[C33] Cooperative Sampling-Based Motion Planning under Signal Temporal Logic Specifications
Mayank Swelia, Christos K. Verginis, and Dimos V. Dimarogonas
Under review

[C32] Consensus-based Normalizing-Flow Control: A Case Study in Learning Dual-Arm Coordination
Hang Yin, Christos K. Verginis, and Danica Kragic
To appear in the IEEERSJ International Conference on Intelligent Robots and Systems, 2022/

[C31] Robust Trajectory Tracking for Underactuated Quadrotors with Prescribed Performance
Dzenan Lapandic, Christos K. Verginis, Dimos V. Dimarogonas, and Bo Wahlberg
To appear in the IEEE Conference on Decision and Control, 2022

[C30] An Aperiodic Prescribed Performance Control Scheme for Uncertain Nonlinear Systems
Alexandros Nikou, Christos K. Verginis, and Shahab Heshmati-Alamdari
Mediterranean Conference on Control and Automation, 2022

[C29] Non-Parametric Neuro-Adaptive Coordination of Multi-Agent Systems
Christos K. Verginis, Zhe Xu, and Ufuk Topcu
International Conference on Autonomous Agents and Multiagent Systems, 2022

[C28] Deceptive Decision-Making under Uncertainty
Yagiz Savas, Christos K. Verginis, and Ufuk Topcu
AAAI Conference on Artificial Intelligence, 2022

[C27] Verifiable and Compositional Reinforcement Learning Systems
Cyrus Neary, Christos K. Verginis, Murat Cubuktepe, and Ufuk Topcu
International Conference on Automated Planning and Scheduling, 2022

[C26] Learning-Based, Safety-Constrained Control from Scarce Data via Reciprocal Barriers
Christos K. Verginis, Franck Djeumou, and Ufuk Topcu
IEEE Conference on Decision and Control, 2021

[C25] Assured Learning-Based Optimal Control subject to Timed Temporal Logic Constraints
Filippos Fotiadis, Christos K. Verginis, Kyriakos G. Vamvoudakis, and Ufuk Topcu
IEEE Conference on Decision and Control, 2021

[C24] Safe, Passive Control for Mechanical Systems with Application toPhysical Human-Robot Interactions
Wenceslao Shaw Cortez, Christos K. Verginis, and Dimos V. Dimarogonas
IEEE Conference on Robotics and Automation, 2021

[C23] Decentralized Nonlinear MPC for Robust Cooperative Manipulation by Heterogeneous Aerial-Ground Robots
Nicola Lissandrini, Christos. K. Verginis, Pedro Roque, Angelo Cenedese, and Dimos V. Dimarogonas
IEEE International Conference on Intelligent Robots and Systems, 2020

[C22] Augmenting Control Policies with Motion Planning for Robust and Safe Multi-robot Navigation
Tianyang Pan, Christos K. Verginis, Andrew M. Wells, Lydia E. Kavraki, and Dimos V. Dimarogonas
IEEE International Conference on Intelligent Robots and Systems, 2020

[C21] Sampling-based Motion Planning for Uncertain High-dimensional Systems via Adaptive Control
Christos K. Verginis, Dimos V. Dimarogonas, and Lydia E. Kavraki
Workshop on the Algorithmic Foundations on Robotics, 2020

[C20] Adaptive Cooperative Manipulation with Rolling Contacts
Christos K. Verginis, Wenceslao Shaw Cortez, and Dimos V. Dimarogonas
American Control Conference, 2020

[C19] Energy-Optimal Cooperative Manipulation via Provable Internal-Force Regulation
Christos K. Verginis and Dimos V. Dimarogonas
IEEE Conference on Robotics and Automation, 2020

[C18] Asymptotic Stability of Uncertain Lagrangian Systems with Prescribed Transient Response
Christos K. Verginis and Dimos V. Dimarogonas
IEEE Conference on Decision and Control, 2019

[C17] Adaptive Leader-Follower Coordination of Lagrangian Multi-Agent Systems under Transient Constraints
Christos K. Verginis and Dimos V. Dimarogonas
IEEE Conference on Decision and Control, 2019

[C16] Reconfigurable Motion Planning and Control in Obstacle Cluttered Environments under Timed Temporal Tasks
Christos K. Verginis, Constantinos Vrohidis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos, and Dimos V. Dimarogonas
IEEE International Conference of Robotics and Automation, 2019

[C15] Motion and Action Planning for Multi-Agent-Object Systems under Temporal Logic Formulas
Christos K. Verginis and Dimos V. Dimarogonas
BOSCH AI Conference, 2018

[C14] Communication-based Decentralized Cooperative Object Transportation Using Nonlinear Model Predictive Control
Christos K. Verginis, Alexandros Nikou, and Dimos V. Dimarogonas
European Control Conference, 2018

[C13] Asymptotic and Finite-Time Almost Global Attitude Tracking: Representations Free Approach
Jieqiang Wei, Christos K. Verginis, Junfeng Wu, Dimos V. Dimarogonas, Henrik Sandberg, and Karl H. Johansson
European Control Conference, 2018

[C12] Prescribed Performance Control for Signal Temporal Logic Specifications
Lars Lindemann, Christos K. Verginis, and Dimos V. Dimarogonas
IEEE Conference on Decision and Control, 2017

[C11] Decentralized Abstractions and Timed Constrained Planning of a General Class of Coupled Multi-Agent Systems
Alexandros Nikou, Shahab Heshmati-alamdari, Christos K. Verginis, and Dimos V. Dimarogonas
IEEE Conference on Decision and Control, 2017

[C10] Position and Orientation Based Formation Control of Multiple Rigid Bodies with Collision Avoidance and Connectivity Maintenance
Christos K. Verginis, Alexandros Nikou, and Dimos V. Dimarogonas
IEEE Conference on Decision and Control, 2017

[C9] Robust Decentralized Abstractions for Multiple Mobile Manipulators
Christos K. Verginis, and Dimos V. Dimarogonas
IEEE Conference on Decision and Control, 2017

[C8] A Nonlinear Model Predictive Control Scheme for Cooperative Manipulation with Singularity and Collision Avoidance
Alexandros Nikou, Christos K. Verginis, and Dimos V. Dimarogonas
Mediterranean Conference on Control and Automation, 2017

[C7] Multi-Agent Motion Planning and Object Transportation under High Level Goals
Christos K. Verginis and Dimos V. Dimarogonas
World Congress of the International Federation of Automatic Control, 2017

[C6] Robust Quaternion-based Cooperative Manipulation without Force/Torque Information
Christos K. Verginis, Matteo Mastellaro, and Dimos V. Dimarogonas
World Congress of the International Federation of Automatic Control, 2017

[C5] Robust Distance-Based Formation Control of Multiple Rigid Bodies with Orientation Alignment
Alexandros Nikou, Christos K. Verginis, and Dimos V. Dimarogonas
World Congress of the International Federation of Automatic Control, 2017

[C4] Distributed Cooperative Manipulation under Timed Temporal Specifications
Christos K. Verginis and Dimos V. Dimarogonas
American Control Conference, 2017

[C3] Decentralized Motion Planning with Collision Avoidance For a Team of UAVs under High Level Goals
Christos K. Verginis, Ziwei Xu, and Dimos V. Dimarogonas
IEEE International Conference on Robotics and Automation, 2017

[C2] Decentralized 2-D Control of Vehicular Platoons under Limited Visual Feedback
Christos K. Verginis, Charalambos P. Bechlioulis, Dimos V. Dimarogonas, and Kostas J. Kyriakopoulos
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

[C1] Cooperative Manipulation Exploiting only Implicit Communication
Anastasios Tsiamis, Christos K. Verginis, Charalambos P. Bechlioulis, and Kostas J. Kyriakopoulos
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Theses

[T4] Planning and Control of Uncertain Cooperative Mobile Manipulator-Endowed Systems under Temporal Logic Tasks
Christos K. Verginis and Dimos V. Dimarogonas
PhD Thesis, KTH Royal Institute of Technology, Stockholm, 2020

[T3] Planning and Control of Cooperative Multi-Agent Manipulator-Endowed Systems
Christos K. Verginis and Dimos V. Dimarogonas
Licentiate Thesis, KTH Royal Institute of Technology, Stockholm, 2018

[T2] Distributed Control Protocols for Vehicular Platoons
Christos Verginis and Kostas J. Kyriakopoulos
MSc Thesis, National Technical University of Athens (NTUA), Athens, 2015

[T1] 3D Plane Registration Using Uncertainties
Christos Verginis, Costas Tzafestas, and Martin Buss
MEng Thesis, Technical University of Munich (TUM) and National Technical University of Athens (NTUA), Athens, 2013