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‎.github/main.workflow

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workflow "Hugo Link Check" {
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resolves = "linkcheck"
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on = "pull_request"
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}
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action "filter-to-pr-open-synced" {
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uses = "actions/bin/filter@master"
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args = "action 'opened|synchronize'"
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}
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action "linkcheck" {
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uses = "marccampbell/hugo-linkcheck-action@v0.1.3"
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needs = "filter-to-pr-open-synced"
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secrets = ["GITHUB_TOKEN"]
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env = {
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HUGO_FINAL_URL = "https://dasc-lab.github.io/"
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HUGO_CONFIG = "./hugo.toml"
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}
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}

‎.github/workflows/hugo.yaml

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# Runs on pushes targeting the default branch
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push:
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branches:
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- production
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- main
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# Allows you to run this workflow manually from the Actions tab
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workflow_dispatch:
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- name: Install Hugo CLI
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run: |
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wget -O ${{ runner.temp }}/hugo.deb https://github.com/gohugoio/hugo/releases/download/v${HUGO_VERSION}/hugo_extended_${HUGO_VERSION}_linux-amd64.deb \
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&& sudo dpkg -i ${{ runner.temp }}/hugo.deb
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- name: Install Dart Sass
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run: sudo snap install dart-sass
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&& sudo dpkg -i ${{ runner.temp }}/hugo.deb
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# dont install dart sass, we arent using it
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# - name: Install Dart Sass
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# run: sudo snap install dart-sass
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- name: Checkout
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uses: actions/checkout@v4
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with:
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hugo \
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--gc \
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--minify \
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--baseURL "${{ steps.pages.outputs.base_url }}/"
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--baseURL "${{ steps.pages.outputs.base_url }}/"
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- name: Index pagefind
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run: npx -y pagefind@v1.2.0 --site "public"
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- name: Upload artifact
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uses: actions/upload-pages-artifact@v3
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with:

‎.gitignore

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# Temporary lock file while building
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/.hugo_build.lock
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# Misc. files to ignore
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*.DS_Store

‎.pre-commit-config.yaml

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# See https://pre-commit.com for more information
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# See https://pre-commit.com/hooks.html for more hooks
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repos:
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- repo: https://github.com/pre-commit/pre-commit-hooks
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rev: v3.2.0
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hooks:
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- id: trailing-whitespace
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- id: end-of-file-fixer
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- id: check-yaml
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- id: check-added-large-files
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- repo: https://github.com/crate-ci/typos
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rev: v1.24.6
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hooks:
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- id: typos

‎Dockerfile

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FROM alpine:3.20
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RUN apk add --no-cache --repository=https://dl-cdn.alpinelinux.org/alpine/edge/community "hugo=~v0.134.2"
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RUN apk add --no-cache vim bash
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WORKDIR /root/src
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CMD ["hugo", "server"]

‎archetypes/default.md

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date = {{ .Date }}
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draft = false
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+++
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‎archetypes/papers.md

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title: "Paper Title"
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# specify the date it was published
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date: 1900-01-01
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# list the authors. if a "/people/id" page exists for the person, it will be linked. If not, the author's name is printed exactly as you typed it.
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# list the authors. if a "/people/id" page exists for the person, it will be linked. If not, the author's name is printed exactly as you typed it.
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authors:
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- dimitrapanagou
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- dimitrapanagou
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# give the main figure location, relative to /static/
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image: /images/default_paper.png
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# specify the conference or journal that it was published in
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venue:
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venue:
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# link to project page (optional)
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projectpage:
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# link to publisher site (optional)
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link:
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link:
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# link to arxiv (optional)
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arxiv:
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arxiv:
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# link to github (optional)
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code:
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code:
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# link to video (optional)
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video:
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video:
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# link to pdf (optional)
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pdf:
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pdf:
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# abstract
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abstract:
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# bib entry (optional). the |- is used to allow for multiline entry.

‎archetypes/people.md

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# give the path relative to static/
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image: "/images/default_profile.webp"
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# start year, used for sorting
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year:
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year:
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# link to personal website (optional)
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link:
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link:
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# email id (optional)
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mail:
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# put mailto: before your email
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# Example: mailto:abc@umich.edu
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mail:
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---

‎content/code/2024-online-adaptive-cbf.md

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---
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layout: code
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title: "Online Adaptive CBFs"
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date: 2024-10-22
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code: https://github.com/tkkim-robot/online_adaptive_cbf
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---

‎content/code/2024-safe-control.md

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---
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layout: code
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title: "Safety-Critical Controllers for Robotic Navigation"
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date: 2024-07-10
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code: https://github.com/tkkim-robot/safe_control
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---

‎content/code/_index.md

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---
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title: Code # force it to not be plural
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---
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Here is some content

‎content/news/2024-perceivability-best-paper.md

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---
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layout: news
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title: "IEEE TCAC Best Student Paper Award"
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date: 2024-07-14
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---
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Our paper ["Sensor-based Planning and Control for Robotic Systems: Introducing Clarity and Perceivability"](/papers/2023-perceivability) has won the IEEE Technical Committee on Aerospace Controls (TCAC) best paper award.

‎content/papers/.gitignore

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venv/

‎content/papers/2009/2009-panagou-a_viability_approach_for_the_stabilization_of_an_underactuated_underwater_vehicle_in_the_presence_of_current_disturbances.md

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---
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abstract: In this paper we present a viability-based formulation for the stabilization
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of an underactuated underwater vehicle under the influence of a known, constant
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current and state constraints. The stabilization problem is described by three problems
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in terms of viability theory. We present a solution to the first problem which addresses
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the safety of the system, i.e. guarantees that there exists a control law such that
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the vehicle always remains into the safe set of state constraints. In order to overcome
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the computational limitations due to the high dimension of the system we develop
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a two-stage approach, based on forward reachability and game theory. The control
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law is thus the safety controller when the system viability is at stake, i.e. close
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to the boundary of the safe set. The viability kernel and the control law are numerically
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computed.
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authors:
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- dimitrapanagou
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- Kostas Margellos
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- Sean Summers
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- John Lygeros
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- Kostas J. Kyriakopoulos
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bib: "@inproceedings{DBLP:conf/cdc/PanagouMSLK09,\n author = {Dimitra Panagou\
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\ and\n Kostas Margellos and\n Sean Summers and\n\
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\ John Lygeros and\n Kostas J. Kyriakopoulos},\n\
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\ title = {A viability approach for the stabilization of an underactuated\
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\ underwater\n vehicle in the presence of current disturbances},\n\
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\ booktitle = {Proceedings of the 48th {IEEE} Conference on Decision and Control,\n\
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\ {CDC} 2009, combined withe the 28th Chinese Control Conference,\
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\ December\n 16-18, 2009, Shanghai, China},\n pages = {8612--8617},\n\
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\ publisher = {{IEEE}},\n year = {2009},\n url = {https://doi.org/10.1109/CDC.2009.5400954},\n\
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\ doi = {10.1109/CDC.2009.5400954},\n timestamp = {Fri, 04 Mar 2022\
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\ 13:27:41 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/PanagouMSLK09.bib},\n\
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\ bibsource = {dblp computer science bibliography, https://dblp.org}\n}"
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date: 2009-01-01
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key: conf/cdc/PanagouMSLK09
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layout: papers
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link: https://doi.org/10.1109/CDC.2009.5400954
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title: A viability approach for the stabilization of an underactuated underwater vehicle
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in the presence of current disturbances.
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venue: CDC
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---

‎content/papers/2010/2010-panagou-dipole_like_fields_for_stabilization_of_systems_with_pfaffian_constraints.md

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---
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abstract: This paper introduces a framework that guides the design of stabilizing
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feedback control laws for systems with Pfaffian constraints. A new class of N-dimensional
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vector fields, the dipole-like vector fields is proposed, inspired by the form of
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the flow lines of the electric point dipole. A general connection between the dipole-like
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field and the Pfaffian constraints of catastatic nonholonomic systems is exploited,
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to establish systematic guidelines on the design of stabilizing control laws. The
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methodology is applied to the stabilization of the unicycle and of the nonholonomic
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double integrator. Based on these guidelines, switching control laws are constructed.
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The efficacy of the methodology is demonstrated through simulation results.
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authors:
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- dimitrapanagou
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- Herbert G. Tanner
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- Kostas J. Kyriakopoulos
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bib: "@inproceedings{DBLP:conf/icra/PanagouTK10,\n author = {Dimitra Panagou\
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\ and\n Herbert G. Tanner and\n Kostas J. Kyriakopoulos},\n\
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\ title = {Dipole-like fields for stabilization of systems with Pfaffian\
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\ constraints},\n booktitle = {{IEEE} International Conference on Robotics and\
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\ Automation, {ICRA}\n 2010, Anchorage, Alaska, USA, 3-7 May 2010},\n\
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\ pages = {4499--4504},\n publisher = {{IEEE}},\n year = {2010},\n\
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\ url = {https://doi.org/10.1109/ROBOT.2010.5509296},\n doi \
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\ = {10.1109/ROBOT.2010.5509296},\n timestamp = {Mon, 06 Nov 2017 12:15:02 +0100},\n\
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\ biburl = {https://dblp.org/rec/conf/icra/PanagouTK10.bib},\n bibsource\
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\ = {dblp computer science bibliography, https://dblp.org}\n}"
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date: 2010-01-01
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key: conf/icra/PanagouTK10
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layout: papers
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link: https://doi.org/10.1109/ROBOT.2010.5509296
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title: Dipole-like fields for stabilization of systems with Pfaffian constraints.
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venue: ICRA
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---

‎content/papers/2011/2011-panagou-control_of_nonholonomic_systems_using_reference_vector_fields.md

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---
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abstract: "This paper presents a control design methodology for n-dimensional nonholonomic\
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\ systems. The main idea is that, given a nonholonomic system subject to \u03BA\
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\ Pfaffian constraints, one can define a smooth, N-dimensional reference vector\
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\ field F, which is nonsingular everywhere except for a submanifold containing the\
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\ origin. The dimension N \u2264 n of F depends on the structure of the constraint\
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\ equations, which induces a foliation of the configuration space. This foliation,\
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\ together with the objective of having the system vector field aligned with F,\
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\ suggests a choice of Lyapunov-like functions V. The proposed approach recasts\
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\ the original nonholonomic control problem into a lower-dimensional output regulation\
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\ problem, which although nontrivial, can more easily be tackled with existing design\
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\ and analysis tools. The methodology applies to a wide class of nonholonomic systems,\
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\ and its efficacy is demonstrated through numerical simulations for the cases of\
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\ the unicycle and the n-dimensional chained systems, for n = 3, 4."
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authors:
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- dimitrapanagou
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- Herbert G. Tanner
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- Kostas J. Kyriakopoulos
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bib: "@inproceedings{DBLP:conf/cdc/PanagouTK11,\n author = {Dimitra Panagou\
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\ and\n Herbert G. Tanner and\n Kostas J. Kyriakopoulos},\n\
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\ title = {Control of nonholonomic systems using reference vector fields},\n\
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\ booktitle = {50th {IEEE} Conference on Decision and Control and European Control\n\
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\ Conference, 11th European Control Conference, {CDC/ECC} 2011,\
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\ Orlando,\n FL, USA, December 12-15, 2011},\n pages =\
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\ {2831--2836},\n publisher = {{IEEE}},\n year = {2011},\n url \
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\ = {https://doi.org/10.1109/CDC.2011.6160922},\n doi = {10.1109/CDC.2011.6160922},\n\
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\ timestamp = {Wed, 24 Feb 2021 08:49:08 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/PanagouTK11.bib},\n\
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\ bibsource = {dblp computer science bibliography, https://dblp.org}\n}"
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date: 2011-01-01
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key: conf/cdc/PanagouTK11
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layout: papers
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link: https://doi.org/10.1109/CDC.2011.6160922
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title: Control of nonholonomic systems using reference vector fields.
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venue: CDC/ECC
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---

‎content/papers/2011/2011-panagou-control_of_underactuated_systems_with_viability_constraints.md

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---
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abstract: This paper addresses the control design for a class of nonholonomic systems
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which are subject to inequality state constraints defining a constrained (viability)
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set K. Based on concepts from viability theory, the necessary conditions for selecting
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viable controls for a nonholonomic system are given. Furthermore, a class of nonholonomic
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control solutions are redesigned by means of switching control, so that system trajectories
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are viable in K and converge to a goal set G in K. The motion control for an underactuated
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marine vehicle in a constrained configuration set K is treated as a case study.
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The set K essentially describes the limited sensing area of a vision-based sensor
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system, and viable control laws which establish convergence to a goal set G in K
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are constructed. The efficacy of the methodology is demonstrated through simulation
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results.
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authors:
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- dimitrapanagou
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- Kostas J. Kyriakopoulos
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bib: "@inproceedings{DBLP:conf/cdc/PanagouK11,\n author = {Dimitra Panagou\
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\ and\n Kostas J. Kyriakopoulos},\n title = {Control of\
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\ underactuated systems with viability constraints},\n booktitle = {50th {IEEE}\
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\ Conference on Decision and Control and European Control\n Conference,\
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\ 11th European Control Conference, {CDC/ECC} 2011, Orlando,\n \
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\ FL, USA, December 12-15, 2011},\n pages = {5497--5502},\n publisher \
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\ = {{IEEE}},\n year = {2011},\n url = {https://doi.org/10.1109/CDC.2011.6160925},\n\
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\ doi = {10.1109/CDC.2011.6160925},\n timestamp = {Wed, 24 Feb 2021\
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\ 08:49:08 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/PanagouK11.bib},\n\
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\ bibsource = {dblp computer science bibliography, https://dblp.org}\n}"
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date: 2011-01-01
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key: conf/cdc/PanagouK11
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layout: papers
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link: https://doi.org/10.1109/CDC.2011.6160925
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title: Control of underactuated systems with viability constraints.
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venue: CDC/ECC
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---

‎content/papers/2011/2011-panagou-switching_control_approach_for_the_robust_practical_stabilization_of_a_unicycle_like_marine_vehicle_under_non_vanishing_perturbations.md

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---
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abstract: This paper presents a solution to the robust practical stabilization of
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a unicycle-like marine vehicle, under non-vanishing current-induced perturbations.
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A hysteresis-based switching control strategy is proposed, rendering the system
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globally practically stable to a set G around the origin. The control scheme consists
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of three control laws; the first one is active out of G and drives the system trajectories
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into G, based on a dipole-like vector field. The other two control laws are active
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in G and alternately regulate the position and the orientation of the vehicle. The
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system is shown to be robust, in the sense that the vehicle enters and remains into
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G even if only a maximum bound of the perturbation is known. The efficacy of the
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solution is demonstrated through simulation results.
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authors:
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- dimitrapanagou
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- Kostas J. Kyriakopoulos
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bib: "@inproceedings{DBLP:conf/icra/PanagouK11,\n author = {Dimitra Panagou\
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\ and\n Kostas J. Kyriakopoulos},\n title = {Switching\
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\ control approach for the robust practical stabilization\n of\
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\ a unicycle-like marine vehicle under non-vanishing perturbations},\n booktitle\
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\ = {{IEEE} International Conference on Robotics and Automation, {ICRA}\n \
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\ 2011, Shanghai, China, 9-13 May 2011},\n pages = {1525--1530},\n\
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\ publisher = {{IEEE}},\n year = {2011},\n url = {https://doi.org/10.1109/ICRA.2011.5979747},\n\
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\ doi = {10.1109/ICRA.2011.5979747},\n timestamp = {Mon, 06 Nov 2017\
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\ 12:15:03 +0100},\n biburl = {https://dblp.org/rec/conf/icra/PanagouK11.bib},\n\
24+
\ bibsource = {dblp computer science bibliography, https://dblp.org}\n}"
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date: 2011-01-01
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key: conf/icra/PanagouK11
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layout: papers
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link: https://doi.org/10.1109/ICRA.2011.5979747
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title: Switching control approach for the robust practical stabilization of a unicycle-like
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marine vehicle under non-vanishing perturbations.
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venue: ICRA
32+
---

‎content/papers/2012/2012-panagou-maintaining_visibility_for_leader_follower_formations_in_obstacle_environments.md

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---
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abstract: This paper addresses the problem of controlling a leader-follower (L - F)
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formation of two unicycle mobile robots moving under visibility constraints in a
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known obstacle environment. Visibility constraints are realized as inequality state
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constraints that determine a visibility set K. Maintaining visibility is translated
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into controlling the robots so that system trajectories starting in K always remain
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in K. We provide the conditions under which visibility is maintained, as well as
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a feedback control scheme that forces F to converge and remain into a set of desired
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configurations w.r.t. L while maintaining visibility. We also propose a cooperative
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control scheme for the motion of the formation in a known obstacle environment,
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so that both collision avoidance and maintaining visibility are ensured. The proposed
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control schemes are decentralized, in the sense that there is no direct communication
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between the robots. The efficacy of our algorithms is evaluated through simulations.
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authors:
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- dimitrapanagou
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- Vijay Kumar
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bib: "@inproceedings{DBLP:conf/icra/PanagouK12,\n author = {Dimitra Panagou\
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\ and\n Vijay Kumar},\n title = {Maintaining visibility\
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\ for leader-follower formations in obstacle\n environments},\n\
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\ booktitle = {{IEEE} International Conference on Robotics and Automation, {ICRA}\n\
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\ 2012, 14-18 May, 2012, St. Paul, Minnesota, {USA}},\n pages\
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\ = {1811--1816},\n publisher = {{IEEE}},\n year = {2012},\n\
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\ url = {https://doi.org/10.1109/ICRA.2012.6224893},\n doi =\
24+
\ {10.1109/ICRA.2012.6224893},\n timestamp = {Wed, 16 Oct 2019 14:14:51 +0200},\n\
25+
\ biburl = {https://dblp.org/rec/conf/icra/PanagouK12.bib},\n bibsource\
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\ = {dblp computer science bibliography, https://dblp.org}\n}"
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date: 2012-01-01
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key: conf/icra/PanagouK12
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layout: papers
30+
link: https://doi.org/10.1109/ICRA.2012.6224893
31+
title: Maintaining visibility for leader-follower formations in obstacle environments.
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venue: ICRA
33+
---

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