Assistant Professor in Intelligent Systems

Division of Signals and Systems

Department of Electrical Engineering

Uppsala University, Uppsala, Sweden

Phone: +46-73 4697533

Publications

Journal publications and preprints

[J29] C. K. Verginis, Barrier Integral Control for Global Asymptotic Stabilization of Uncertain Nonlinear Systems under Smooth Feedback and Transient Constraints, arXiv preprint, arXiv:2409.04767.

[J28] M. Sewlia, C. K. Verginis, and D. V. Dimarogonas, MAPS2: Multi-Robot Anytime Motion Planning under Signal Temporal Logic Specifications, arXiv preprint, arXiv:2309.05632.

[J27] C. K. Verginis, F. Djeumou, and U. Topcu, Safety-Constrained Learning and Control using Scarce Data and Reciprocal Barriers, arXiv preprint, arXiv:2105.06526.

[J26] C. Neary, A. S. Samyal, C. K. Verginis, M. Cubuktepe, and U. Topcu, Verifiable Reinforcement Learning Systems via Compositionality, arXiv preprint, arXiv:2106.05864.

[J25] C. K. Verginis, Z. Xu, and U. Topcu, Non-parametric Neuro-Adaptive Formation Control, IEEE Transactions on Automation Science and Engineering, 2024.

[J24] D. Lapandic, F. Xie, C. K. Verginis, S.-J. Chung, D. V. Dimarogonas, and B. Wahlberg, Meta-Learning Augmented MPC for Disturbance-Aware Motion Planning and Control of Quadrotors, IEEE Control Systems Letters, 2024.

[J23] C. K. Verginis, C. Koprulu, S. Chinchali, and U. Topcu, Joint Learning of Reward Machines and Policies in Environments with Partially Known Semantics, Artificial Intelligence, 2024.

[J22] D. Lapandic, C. K. Verginis, D. V. Dimarogonas, and B. Wahlberg, Kinodynamic Motion Planning via Funnel Control for Underactuated Unmanned Surface Vehicles, IEEE Transactions on Control Systems Technology, 2024.

[J21] D. L. Fernandes, A. L. M. Leopoldino, J. de Santiago, C. K. Verginis, A. A. Ferreira, and J. G. de Oliveira, Distributed control on a multi-agent environment co-simulation for DC bus voltage control, Electric Power Systems Research, 2024.

[J20] F. Tolis, P. S. Trakas, T.-F. Blounas, C. K. Verginis, C. P. Bechlioulis, Learning to Execute Timed-Temporal-Logic Navigation Tasks under Input Constraints in Obstacle-Cluttered Environments, MDPI Robotics, 2024.

[J19] Y. Savas, C. K. Verginis, M. Hibbard, and U. Topcu, On Minimizing Total Discounted Cost in MDPs Subject to Reachability Constraints, IEEE Transactions on Automatic Control, 2024.

[J18] C. K. Verginis, Y. Kantaros, and D. V. Dimarogonas, Planning and Control of Multi-Robot-Object Systems under Temporal Logic Tasks and Uncertain Dynamics, Robotics and Autonomous Systems, 2024.

[J17] W. S. Cortez, C. K. Verginis, and D. V. Dimarogonas, A Distributed, Event-triggered, Adaptive Controller for Cooperative Manipulation with Rolling Contacts, IEEE Transactions on Robotics, 2023.

[J16] C. K. Verginis, Funnel Control for Uncertain Nonlinear Systems via Zeroing Control Barrier Functions, IEEE Control Systems Letters, 2022.

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

[J14] C. K. Verginis, D. V. Dimarogonas, and L. E. Kavraki, KDF: Kinodynamic Motion Planning via Geometric Sampling-based Algorithms and Funnel Control, IEEE Transactions on Robotics, 2022.

[J13] M. Sewlia, C. K. Verginis, and D. V. Dimarogonas, Cooperative Object Manipulation under Signal Temporal Logic Tasks and Uncertain Dynamics, IEEE Robotics and Automation Letters, 2022.

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

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

[J10] M. Logothetis, G. C. Karras, K. Alevizos, C. K. Verginis, P. Roque, K. Roditakis, A. Makris, S. Garcia, P. Schillinger, A. Di Fava, P. Pelliccione, A. Argyros, K. J. Kyriakopoulos, and D. V. Dimarogonas, Efficient Cooperation of Heterogeneous Robotic Agents: A Decentralized Framework, IEEE Robotics and Automation Magazine, 2021.

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

[J8] A. Nikou, C. K. Verginis, and D. V. Dimarogonas, A Robust Nonlinear MPC Framework for Control of Underwater Vehicle Manipulator Systems under High-Level Tasks, IET Control and Applications, 2020.

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

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

[J5] C. K. Verginis, M. Mastellaro, and D. V. Dimarogonas, Robust Cooperative Manipulation Without Force/Torque Measurements: Control Design and Experiments, IEEE Transactions on Control Systems Technology, 2019.

[J4] C. K. Verginis, A. Nikou, and D. V. Dimarogonas, Robust Formation Control in SE(3) for Tree-Graph Structures with Prescribed Transient and Steady State Performance, Automatica, 2019.

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

[J2] C. K. Verginis, C. P. Bechlioulis, D. V. Dimarogonas, and K. J. Kyriakopoulos, Robust Distributed Control Protocols for Large Vehicular Platoons with Prescribed Transient and Steady State Performance, IEEE Transactions on Control Systems Technology, 2018.

[J1] S. Khan, A. Dometios, C. K. Verginis, C. Tzafestas, D. Wohllerr, M. Buss, RMAP: A Rectangular Cuboid Approximation Framework for 3D Environment Mapping, Journal of Autonomous Robots, 2014.

Conference publications

[C43] B. Wullt, C. K. Verginis, P. Mattsson, T. B. Schön, and M. Norrlöf, Robust Kinodynamic Motion Planning using Funnel Control and Learning-based Distance Function, under review, 2025.

[C42] N. Axelsson, C. K. Verginis, Improving Tracking Performance for Uncertain Nonlinear Systems via Integration of Prescribed-Performance and Boundary-Layer Control, to appear at the European Control Conference (ECC), 2025.

[C41] P. S. Trakas, C. K. Verginis, and C. P. Bechlioulis, On Output-feedback Control of Unknown Nonlinear Systems via Prescribed Performance Observers, To appear at the American Control Conference (ACC), 2025.

[C40] C. K. Verginis, Asymptotic Consensus of Multi-Agent Systems with Unknown Nonlinear Dynamics via Smooth Barrier Integral Control, IEEE Conference on Decision and Control (CDC), 2024.

[C39] C. K. Verginis, Asymptotic Stabilization of Uncertain Systems with Prescribed Transient Response via Smooth Barrier Integral Control, IEEE Conference on Decision and Control (CDC), 2024.

[C38] Pan, C. K. Verginis, and L. Kavraki, Robust and Safe Task-Driven Planning and Navigation for Heterogeneous Multi-Robot Teams with Uncertain Dynamics, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.

[C37] M. Sewlia, C. K. Verginis, and D. V. Dimarogonas, Leader-Follower Cooperative Manipulation Under Spatio-Temporal Constraints, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.

[C36] C. K. Verginis, Robust Coordination of Uncertain Multi-Agent Systems Under Transient Constraints and Prescribed Performance, Mediterranean Conference on Control and Automation (MED), 2024.

[C35] C. K. Verginis, Z. Xu, and U. Topcu, Non-Parametric Neuro-Adaptive Control, IEEE European Control Conference (ECC), 2023.

[C34] C. K. Verginis, Asymptotic Consensus of Unknown Nonlinear Multi-Agent Systems with Prescribed Transient Response, IEEE American Control Conference (ACC), 2023.

[C33] M. Swelia, C. K. Verginis, and D. Dimarogonas, Cooperative Sampling-Based Motion Planning under Signal Temporal Logic Specifications, IEEE American Control Conference (ACC), 2023.

[C32] D. Lapandic, C. K. Verginis, D. Dimarogonas, and B. Wahlberg, Robust Trajectory Tracking for Underactuated Quadrotors with Prescribed Performance, IEEE Conference on Decision and Control (CDC), 2022.

[C31] H. Yin, C. K. Verginis, and D. Kragic, Consensus-based Normalizing-Flow Control: A Case Study in Learning Dual-Arm Coordination, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.

[C30] A. Nikou, C. K. Verginis, and S. Heshmati- Alamdari, An Aperiodic Prescribed Performance Control Scheme for Uncertain Nonlinear Systems, IEEE Mediterranean Conference on Control and Automation (MED), 2022.

[C29] C. K. Verginis, Z. Xu, and U. Topcu, Non-Parametric Neuro-Adaptive Coordination of Multi-Agent Systems, International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2022.

[C28] Y. Savas, C. K. Verginis, and U. Topcu, Deceptive Decision-Making under Uncertainty, AAAI Conference on Artificial Intelligence, 2022.

[C27] C. Neary, C. K. Verginis, M. Cubuktepe, and U. Topcu, Verifiable and Compositional Reinforcement Learning Systems, International Conference on Automated Planning and Scheduling (ICAPS), 2022.

[C26] C. K. Verginis, F. Djeumou, and U. Topcu, Learning-Based, Safety-Constrained Control from Scarce Data via Reciprocal Barriers, IEEE Conference on Decision and Control (CDC), 2021.

[C25] F. Fotiadis, C. K. Verginis, K. G. Vamvoudakis, and U. Topcu, Assured Learning-Based Optimal Control subject to Timed Temporal Logic Constraints, IEEE Conference on Decision and Control (CDC), 2021.

[C24] W. S. Cortez, C. K. Verginis, and D. V. Dimarogonas, Safe, Passive Control for Mechanical Systems with Application to Physical Human-Robot Interactions, IEEE International Conference on Robotics and Automation (ICRA), 2021.

[C23] N. Lissandrini, C. K. Verginis, P. Roque, A. Cenedese, and D. V. Dimarogonas, Decentralized Nonlinear MPC for Robust Cooperative Manipulation by Heterogeneous Aerial-Ground Robots, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.

[C22] T. Pan, C. K. Verginis, A. M. Wells, L. E. Kavraki, and D. V. Dimarogonas, Augmenting Control Policies with Motion Planning for Robust and Safe Multi-robot Navigation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.

[C21] C. K. Verginis, D. V. Dimarogonas, and L. E. Kavraki, Sampling-based Motion Planning for Uncertain High-dimensional Systems via Adaptive Control, Workshop on the Algorithmic Foundations of Robotics (WAFR), 2021.

[C20] C. K. Verginis, W. S. Cortez, and D. V. Dimarogonas, Adaptive Cooperative Manipulation with Rolling Contacts, IEEE American Control Conference (ACC), 2020.

[C19] C. K. Verginis and D. V. Dimarogonas, Energy-Optimal Cooperative Manipulation via Provable Internal-Force Regulation, IEEE International Conference on Robotics and Automation (ICRA), 2020.

[C18] C. K. Verginis and D. V. Dimarogonas, Asymptotic Stability of Uncertain Lagrangian Systems with Prescribed Transient Response, IEEE Conference on Decision and Control (CDC), 2019.

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

[C16] C. K. Verginis, C. Vrohidis, C. P. Bechlioulis, K. J. Kyriakopoulos, and D. V. Dimarogonas, Reconfigurable Motion Planning and Control in Obstacle Cluttered Environments under Timed Temporal Tasks, IEEE International Conference on Robotics and Automation (ICRA), 2019.

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

[C14] C. K. Verginis, A. Nikou, and D. V. Dimarogonas, Communication-based Decentralized Cooperative Object Transportation Using Nonlinear Model Predictive Control, IEEE European Control Conference (ECC), 2018.

[C13] J. Wei, C. K. Verginis, J. Wu, D. V. Dimarogonas, H. Sandberg, and K. H. Johansson, Asymptotic and Finite-Time Almost Global Attitude Tracking: Representations Free Approach, IEEE European Control Conference (ECC), 2018.

[C12] L. Lindemann, C. K. Verginis, and D. V. Dimarogonas, Prescribed Performance Control for Signal Temporal Logic Specifications, IEEE Conference on Decision and Control (CDC), 2017.

[C11] A. Nikou, S. Heshmati-Alamdari, C. K. Verginis, and D. V. Dimarogonas, Decentralized Abstractions and Timed Constrained Planning of a General Class of Coupled Multi-Agent Systems, IEEE Conference on Decision and Control (CDC), 2017.

[C10] C. K. Verginis, A. Nikou, and D. V. Dimarogonas, Position and Orientation Based Formation Control of Multiple Rigid Bodies with Collision Avoidance and Connectivity Maintenance, IEEE Conference on Decision and Control (CDC), 2017.

[C9] C. K. Verginis and D. V. Dimarogonas, Robust Decentralized Abstractions for Multiple Mobile Manipulators, IEEE Conference on Decision and Control (CDC), 2017.

[C8] A. Nikou, C. K. Verginis, S. Heshmati-Alamdari, and D. V. Dimarogonas, A Nonlinear Model Predictive Control Scheme for Cooperative Manipulation with Singularity and Collision Avoidance, IEEE Mediterranean Conference on Control and Automation (MED), 2017.

[C7] C. K. Verginis, M. Mastellaro, and D. V. Dimarogonas, Robust Quaternion-based Cooperative Manipulation without Force/Torque Information, IFAC World Congress, 2017.

[C6] C. K. Verginis, and D. V. Dimarogonas, Multi-Agent Motion Planning and Object Transportation under High Level Goals, IFAC World Congress, 2017.

[C5] A. Nikou, C. K. Verginis, and D. V. Dimarogonas, Robust Distance-Based Formation Control of Multiple Rigid Bodies with Orientation Alignment, IFAC World Congress, 2017.

[C4] C. K. Verginis, Ziwei Xu, and D. V. Dimarogonas, Decentralized Motion Planning with Collision Avoidance for a Team of UAVs under High Level Goals, IEEE International Conference on Robotics and Automation (ICRA), 2017.

[C3] C. K. Verginis, and D. V. Dimarogonas, Distributed Cooperative Manipulation under Timed Temporal Specifications, IEEE American Control Conference (ACC), 2017.

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

[C1] A. Tsiamis, C. K. Verginis, Ch. P. Bechlioulis, K. J. Kyriakopoulos, Cooperative Manipulation Exploiting only Implicit Communication, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.

Theses

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

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

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

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

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