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Sampling-based motion planning algorithms have been continuously developed for more than two decades. Apart from mobile robots, they are also widely used in manipulator motion planning. Hence, these methods play a key role in collaborative…

The task of finding efficient production schedules for parallel machines is a challenge that arises in most industrial manufacturing domains. There is a large potential to minimize production costs through automated scheduling techniques,…

Scheduling problems are a fundamental class of combinatorial optimization problems that underpin operational efficiency in manufacturing, logistics, and service systems. While operations research has traditionally developed solver-centric…

The cost associated with developing flight control forms a significant part of the overall development cost. The increased demand for greater functionality and for extending the domain of applicability of future launchers leads to higher…

Individual machines in flexible production lines explicitly expose capabilities at their interfaces by means of parametric skills. Given such a set of configurable machines, a line integrator is faced with the problem of finding and tuning…

Real-life parallel machine scheduling problems can be characterized by: (i) limited information about the exact task duration at scheduling time, and (ii) an opportunity to reschedule the remaining tasks each time a task processing is…

This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed from…

Given a log and a specification, timed pattern matching aims at exhibiting for which start and end dates a specification holds on that log. For example, "a given action is always followed by another action before a given deadline". This…

This paper studies a kind of minimal time control problems related to the exact synchronization for a controlled linear system of parabolic equations. Each problem depends on two parameters: the bound of controls and the initial state. The…

Dismantling aircrafts reaching their end of life is a complex endeavour that is necessary in terms of sustainability but yields small income margins for air transport companies. An efficient scheduling of the disassembly procedure is thus…

Temporal logic task planning for robotic systems suffers from state explosion when specifications involve large numbers of discrete locations. We provide a novel approach, particularly suited for tasks specifications with universally…

This paper addresses the lack of a general methodology for the controller synthesis of an optical instrument on-board a stratospheric balloon-borne platform, such as a telescope or siderostat, to meet pointing requirements that are becoming…

This study presents autonomous guidance and control strategies for the purpose of reconfiguring close-range multi-satellite formations. The formation under consideration includes $N$ under-actuated deputy satellites and an uncontrolled…

Path following and lateral stability are crucial issues for autonomous vehicles. Moreover, these problems increase in complexity when handling articulated heavy-duty vehicles due to their poor manoeuvrability, large sizes and mass…

This paper proposes a novel approach to address the challenges of deploying complex robotic software in large-scale systems, i.e., Centralized Nonlinear Model Predictive Controllers (CNMPCs) for multi-agent systems. The proposed approach is…

This work presents a framework to synthesize structured gain-scheduled controllers for structured plants whose dynamics change according to time-varying scheduling parameters. Both the system and the controller are assumed to admit…

This paper presents a robust path-planning framework for safe spacecraft autonomy under uncertainty and develops a computationally tractable formulation based on convex programming. We utilize chance-constrained control to formulate the…

This paper proposes an simple but yet effective approach to structured parametric controller design in a linear fractional form. The main contribution consists in using structured $\mathcal{H}_\infty$ oriented optimization tools in an…

In this paper we present a layered approach for multi-agent control problem, decomposed into three stages, each building upon the results of the previous one. First, a high-level plan for a coarse abstraction of the system is computed,…

Parametric Timed Games (PTG) are an extension of the model of Timed Automata. They allow for the verification and synthesis of real-time systems, reactive to their environmeand depending on adjustable parameters. Given a PTG and a…