Spyros Maniatopoulos

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This paper considers the problem of navigating a differentially driven nonholonomic vehicle while maintaining visibility with a (stationary) target by means of Model Predictive Control (MPC). The approach combines the convergence properties of a dipolar vector field within a constrained nonlinear MPC formulation, in which visibility and input saturation(More)
In this work, we take a step towards bridging the gap between the theory of formal synthesis and its application to real-world, complex, robotic systems. In particular, we present an end-to-end approach for the automatic generation of code that implements high-level robot behaviors in a verifiably correct manner, including reaction to the possible failures(More)
Recent advances have enabled the automatic generation of correct-by-construction robot controllers from high-level mission specifications. However, most current approaches operate under the closed-world assumption, i.e., only elements of the world explicitly modeled a priori can be taken into account during execution. In this paper, we tackle the problem of(More)
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