arXiv subjects

Maria Charitidou

Publications and source records attributed to Maria Charitidou.

5 recordsLinked to original sources

arXiv2026

Distance-Based Formation Control with Prescribed Performance for Higher-Order Multi-Agent Systems

We consider distributed distance-based formation control with prescribed transient performance for multi-agent systems modeled by unknown nonlinear dynamics of relative degree greater than one. We introduce a virtual leader whose trajectory is tracked with prescribed transient behavior by a designated subset of agents. The undirected communication graph is either a tree graph or a minimally and infinitesimally rigid graph. In the latter case, we further consider the objective of centroid tracking. In each setting, a distributed and model-free control law is developed, and we establish the satisfaction of the prescribed funnel constraints on the formation and tracking errors, and boundedness of all closed-loop signals. Numerical simulations illustrate the effectiveness of the proposed control laws.

math.OC↗

arXiv2026

An End-to-End Encrypted Control Pipeline for Multi-Agent Coordination via CKKS Homomorphic Encryption

Cloud-based coordination of multi-agent systems requires sharing state with a central server, creating a conflict between coordination and privacy. Fully homomorphic encryption (FHE) resolves this in principle, but its severe arithmetic constraints demand that every stage of the control loop be redesigned from first principles. We present an end-to-end encrypted control pipeline in which sensing, state estimation, state propagation, and consensus control all operate on CKKS-encrypted data using only addition, multiplication, and cyclic rotation. In order to overcome the computational challenges of FHE, we employ steady-state Kalman gains instead of solving for the matrices online and graph Laplacians are applied via the diagonal method at a cost proportional to the number of nonzero cyclic diagonals, accommodating ring, torus, and complete-graph topologies within a unified framework. To quantify the cumulative effect of encryption noise, we use the separation principle to decouple controller and observer error dynamics and derive a periodic bootstrapping bound in which CKKS bootstrapping acts as an impulsive disturbance; the resulting steady-state error ball depends on the bootstrapping precision and the closed-loop spectral radius, providing a direct design equation for the privacy-accuracy tradeoff. The pipeline is validated on a multi-agent formation control scenario, confirming stable closed-loop operation under encryption with bounded tracking error.

eess.SY↗

arXiv2026

A Modular Platooning and Vehicle Coordination Simulator for Research and Education

This work presents a modular, Python-based simulator that simplifies the evaluation of novel vehicle control and coordination algorithms in complex traffic scenarios while keeping the implementation overhead low. It allows researchers to focus primarily on developing the control and coordination strategies themselves, while the simulator manages the setup of complex road networks, vehicle configuration, execution of the simulation and the generation of video visualizations of the results. It is thereby also well-suited to support control education by allowing instructors to create interactive exercises providing students with direct visual feedback. Thanks to its modular architecture, the simulator remains easily customizable and extensible, lowering the barrier for conducting advanced simulation studies in vehicle and traffic control research.

eess.SY↗

arXiv2025

Fault-tolerant Model Predictive Control for Spacecraft

Given the cost and critical functions of satellite constellations, ensuring mission longevity and safe decommissioning is essential for space sustainability. This article presents a Model Predictive Control for spacecraft trajectory and setpoint stabilization under multiple actuation failures. The proposed solution allows us to efficiently control the faulty spacecraft enabling safe navigation towards servicing or collision-free trajectories. The proposed scheme ensures closed-loop asymptotic stability and is shown to be recursively feasible. We demonstrate its efficacy through open-source numerical results and realistic experiments using the ATMOS platform.

cs.RO↗

arXiv2021

Signal Temporal Logic Task Decomposition via Convex Optimization

In this paper we focus on the problem of decomposing a global Signal Temporal Logic formula (STL) assigned to a multi-agent system to local STL tasks when the team of agents is a-priori decomposed to disjoint sub-teams. The predicate functions associated to the local tasks are parameterized as hypercubes depending on the states of the agents in a given sub-team. The parameters of the functions are, then, found as part of the solution of a convex program that aims implicitly at maximizing the volume of the zero level-set of the corresponding predicate function. Two alternative definitions of the local STL tasks are proposed and the satisfaction of the global STL formula is proven when the conjunction of the local STL tasks is satisfied.

eess.SY↗