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This paper summarizes the adoption of new technologies in the Archaeological Museum of Thessaloniki, Greece. RFID technology has been adopted. RFID tags have been attached to the artifacts. This allows for several interactions, including tracking and automated registering of movements of exhibits, personnel and visitors inside the museum, location-dependent guided tours and more. Furthermore, a prototype RFID-enabled social robot has been designed and constructed. The robot includes several possibilities of interaction with the environment and the visitors, allowing for the development of different applications. In this context, the robot plays treasure-games with younger visitors, benefiting from oral, touch and RF interactions. It also joins conversations with the visitors around the exhibits, exploiting artificial intelligence, giving information on the exhibits., {"references":["CultureId – Project. Link: https://cultureid.web.auth.gr/ (accessed October 14, 2022).","Use of RFID in the Met Museum, New York. Link: https://www.rfidjournal.com/nycs-metropolitan-museum-of-art-adopts-rfid (accessed April 5, 2023).","National Taiwan Museum of Fine Art Adopts Active-Passive RFID Solution. Link: http://fareastsun.com/News/news-0004.html (accessed April 5, 2023).","RFID in the National Gallery of Singapore. Link: https://www.nationalgallery.sg/magazine/how-do-we-tag-and-track-artworks (accessed April 5, 2023).","Karimi, R., Nanopoulos, A., Schmidt-Thieme, L. (2012). RFID-Enhanced Museum for Interactive Experience. In: Grana, C., Cucchiara, R. (eds) Multimedia for Cultural Heritage. MM4CH 2011. Communications in Computer and Information Science, vol 247. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-27978-2_17.","RFID Tags Enhance Museum Experiences and Back-End Support. Link: https://biztechmagazine.com/article/2019/10/rfid-tags-enhance-museum-experiences-and-back-end-support (accessed April 5, 2023).","Hellou, M., Lim, J., Gasteiger, N. et al. Technical Methods for Social Robots in Museum Settings: An Overview of the Literature. Int J of Soc Robotics 14, 1767–1786 (2022). https://doi.org/10.1007/s12369-022-00904-y.","Robot in the Smithsonian's Hirshhorn Museum. Link: https://www.washingtonpost.com/lifestyle/kidspost/a-day-in-the-life-of-pepper-the-robot/2018/10/15/5f589df2-c8af-11e8-9b1c-a90f1daae309_story.html (accessed April 5, 2023).","Let a Robot Be Your Museum Tour Guide. Link: https://www.nytimes.com/2017/03/14/arts/design/museums-experiment-with-robots-as-guides.html (accessed April 5, 2023).","Maria Dermenoudi, Dimitris Karolidis, Aggeliki Moneda, Vasiliki Drakaki, Antonis G. Dimitriou, \"The Use of RFID Technology for the Collection Management in the Archaeological Museum of Thessaloniki\", 6th International Conference on Smart and Sustainable Technologies, 08-11 September 2021, Split, Croatia.","Anastasios Tzitzis, Aristidis Raptopoulos Chatzistefanou, Spyros Megalou, Stavroula Siachalou, Traianos Yioultsis and Antonis G Dimitriou, \"Device-free Human Tracking Exploiting Phase Disturbances and Particle Filters\", 16th Annual International Conference on RFID, IEEE RFID 2022, 17 May- 19 May 2022, Las Vegas, Nevada, USA.","Spyros Megalou, Aristidis Raptopoulos Chatzistefanou, Anastasios Tzitzis, Traianos Yioultsis and Antonis G Dimitriou, \"Passive UHF-RFID Hyperbolic Positioning of Moving Tags by Exploiting Neural Networks\", in IEEE Journal of Radio Frequency Identification, doi: 10.1109/JRFID.2022.3158730.","Anastasios Tzitzis, Aggeliki Moneda, Traianos Yioultsis and Antonis G. Dimitriou, \"Phase-based Device-free Tracking exploiting a Cylindrical Human model and Kalman Smoothing,\" 2022 7th International Conference on Smart and Sustainable Technologies (SpliTech), June 2022, Split, Croatia.","Spyros Megalou, Aristidis Raptopoulos Chatzistefanou, Anastasios Tzitzis, Andreana Malama, Traianos Yioultsis, Antonis G. Dimitriou, \"Hyperbolic Positioning and Tracking of Moving UHF-RFID Tags by Exploiting Neural Networks\", 16th European Conference on Antennas and Propagation, 27 March- 01 April 2022, Madrid, Spain.","Robot – demo. Link: https://www.youtube.com/watch?v=h4HmPYuXliQ (accessed October 14, 2022).","Alexandros Filotheou, Anastasios Tzitzis, Emmanouil Tsardoulias, Antonis Dimitriou, Andreas Symeonidis, George Sergiadis, Loukas Petrou, \"Passive Global Localisation of Mobile Robot via 2D Fourier-Mellin Invariant Matching,\" Journal of Intelligent and Robotic Systems, vol. 104:26, January 2022, https://doi.org/10.1007/s10846-021-01535-7.","Alexandros Filotheou, Georgios D. Sergiadis, Antonis G. Dimitriou, \"FSM: Correspondenceless scan-matching of panoramic 2D range scans,\" IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), October 2022, Kyoto, Japan.","Anastasios Tzitzis, Andreana Malama, Vasiliki Drakaki, Aggelos Bletsas, Traianos Yioultsis and Antonis G. Dimitriou, \"Real-Time, Robot-Based, 3D Localization of RFID Tags, by Transforming Phase Measurements to a Linear Optimization Problem\", IEEE Journal of Radio Frequency Identification, doi: 10.1109/JRFID.2021.3103393.","Sofia Pliasa, Anna Maria Velentza, Antonis G. Dimitriou, Nikos Fachantidis, \"Interaction of a Social Robot with Visitors inside a Museum through RFID Technology\", 6th International Conference on Smart and Sustainable Technologies, 08-11 September 2021, Split, Croatia.","Aristidis Raptopoulos Chatzistefanou, Anastasios Tzitzis, Spyros Megalou, George Sergiadis and Antonis G. Dimitriou, \"Target Localization by Mobile Handheld UHF RFID Reader and IMU,\" in IEEE Journal of Radio Frequency Identification, doi: 10.1109/JRFID.2022.3147539.","Aristidis Raptopoulos Chatzistefanou, Spyros Megalou, Stavroula Siachalou, Vasiliki Drakaki, George D. Sergiadis, Antonis G. Dimitriou, \"Target Localization by Mobile Handheld UHF RFID Reader\", 16th European Conference on Antennas and Propagation, 27 March- 01 April 2022, Madrid, Spain.","Aristidis Raptopoulos Chatzistefanou, George Sergiadis, Antonis G. Dimitriou, \"Tag Localization by Handheld UHF RFID Reader with Optical and RFID Landmarks,\" in IEEE Journal of Radio Frequency Identification, doi: 10.1109/JRFID.2023.3238822.","Aristidis Raptopoulos Chatzistefanou and Antonis G. Dimitriou, \"Tag Localization by Handheld UHF RFID Reader and Optical Markers,\" 2022 IEEE International Conference on RFID Technology and Applications (RFID-TA) - IEEE RFID TA 2022, September 2022, Cagliari, Italy.","George Mylonopoulos, Aristidis Raptopoulos Chatzistefanou, Alexandros Filotheou, Anastasios Tzitzis, Stavroula Siachalou, Antonis G. Dimitriou, \"Localization, Tracking and Following a Moving Target by an RFID Equipped Robot,\" 2021 IEEE International Conference on RFID Technology and Applications (RFID-TA) - IEEE RFID-TA 2021, 6-8 October 2021, Delhi, India."]}

In this work, a robust decentralized model predictive control regime for a team of cooperating robot systems is designed. Their assumed dynamics are in continuous time and non-linear. The problem involves agents whose dynamics are independent of one-another, and its solution couples their constraints as a means of capturing the cooperative behaviour required. Analytical proofs are given to show that, under the proposed control regime: (a) Subject to initial feasibility, the optimization solved at each step by each agent will always be feasible, irrespective of whether or not disturbances affect the agents. In the former case, recursive feasibility is established through successive restriction of each agent's constraints during the periodic solution to its respective optimization problem. (b) Each (sub)system can be stabilized to a desired configuration, either asymptotically when uncertainty is absent, or within a neighbourhood of it, when uncertainty is present, thus attenuating the affecting disturbance. In this context, disturbances are assumed to be additive and bounded. Simulations verify the efficacy of the proposed method over a range of different operating environments. I detta arbete, en robust decentraliserad modell prediktiv kontroll regime förett lag av samverkande robotsystem är utformade. Deras antagnat dynamikär i kontinuerlig tid och olinjär. Problemet involverar agenter vars dynamik äroberoende av varandra, och sina lösning kopplar sina begränsningar som ettmedel för att fånga det kooperativa beteendet som krävs. Analytiska bevis gesför att visa att, enligt det föreslagna kontrollsystemet: (a) med förbehåll förförsta genomförbarhet, kommer optimeringen som löses vid varje steg av varjeagent alltid vara möjligt, oavsett huruvida störningar påverkar agenserna ellerinte. I det förre fallet är rekursiv genomförbarhet etablerad genom successivabegränsningar av varje agents inskränkning under den periodiska lösningentill dess respektive optimeringsproblem. (b) Varje (sub) system kan stabiliserastill en önskad konfiguration, antingen asymptotiskt när osäkerhet saknas,eller inom en närhet av det, när osäkerhet är närvarande, således dämparpåverkanstörning. I detta sammanhang antas störningar vara additiv och avgränsas.Simuleringar verifierar effekten av den föreslagna metoden över ettintervall av olika driftsmiljöer.