Daniel R Morais, A Pedro Aguiar ICARSC 2022 DOI: 10.1109/ICARSC55462.2022.9784788 Abstract(EN): Over the past few years, autonomous driving vehicles have been growing rapidly due to advances in technology, namely computing power and improvements in sensors and actuators. This paper presents a research work that addresses the autonomous driving problem. More specifically, a Model Predictive Control […]
A Path-Following Controller for Marine Vehicles Using a Two-Scale Inner-Outer Loop Approach
Pramod Maurya, Helio Mitio Morishita, Antonio Pascoal, A. Pedro Aguiar Sensors (MDPI) DOI: 10.3390/s22114293 Abstract(EN): This article addresses the problem of path following of marine vehicles along straight lines in the presence of currents by resorting to an inner-outer control loop strategy, with due account for the presence of currents. The inner-outer loop control structures exhibit […]
Energy-Optimal Motion Planning for Multiple Robotic Vehicles With Collision Avoidance
Hausler, AJ; Saccon, A; Aguiar, AP; Hauser, J; Pascoal, AM IEEE Transactions on Control Systems Technology ID Authenticus: P-00R-YR9 DOI: 10.1109/TCST.2015.2475399 Abstract:We propose a numerical algorithm for multiple-vehicle motion planning that explicitly takes into account the vehicle dynamics, temporal and spatial specifications, and energy-related requirements. As a motivating example, we consider the case where a group of […]
Moving Path Following for Unmanned Aerial Vehicles With Applications to Single and Multiple Target Tracking Problems
Oliveira, T; Aguiar, AP; Encarnacao, P IEEE Transactions on Robotics ID Authenticus: P-00K-VS8 DOI: 10.1109/tro.2016.2593044 Abstract: This paper introduces the moving path following (MPF) problem, in which a vehicle is required to converge to and follow a desired geometric moving path, without a specific temporal specification, thus generalizing the classical path following that only applies to stationary paths. […]
Safe Coordinated Maneuvering of Teams of Multirotor Unmanned Aerial Vehicles: A Cooperative Control Framework For Multivehicle, Time-Critical Missions
Cichella, V; Choe, R; Mehdi, SB; Xargay, E; Hovakimyan, N; Dobrokhodov, V; Kaminer, I; Pascoal, AM; Aguiar, AP IEEE CONTROL SYSTEMS MAGAZINE ID Authenticus: P-00K-SAC DOI: 10.1109/mcs.2016.2558443 Abstract: Multirotor unmanned aerial vehicles (UAVs) have experienced a very fast-paced technological development over the past years. Flight control systems have evolved from simple stability augmentation systems, barely enabling an external […]
Energy-Optimal Motion Planning for Multiple Robotic Vehicles With Collision Avoidance
Hausler, AJ; Saccon, A; Aguiar, AP ; Hauser, J; Pascoal, AM IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY ID Authenticus: P-00G-VTR DOI: 10.1109/tcst.2015.2475399 Abstract: We propose a numerical algorithm for multiple-vehicle motion planning that explicitly takes into account the vehicle dynamics, temporal and spatial specifications, and energy-related requirements. As a motivating example, we consider the case where a group […]
Range-Based Underwater Vehicle Localization in the Presence of Unknown Ocean Currents: Theory and Experiments
Bayat, M; Crasta, N; Aguiar A., P; Pascoal A., M IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY ID Authenticus: P-00G-MT2 DOI: 10.1109/tcst.2015.2420636 Abstract: This paper addresses the problem of range-based autonomous underwater vehicle (AUV) localization in the presence of unknown ocean currents. In the setup adopted, the AUV is equipped with an attitude and heading reference system, a depth […]
Towards 3-D Distributed Odor Source Localization: An Extended Graph-Based Formation Control Algorithm for Plume Tracking
Soares, JM; Marjovi, A; Giezendanner, J; Kodiyan, A; Aguiar, AP; Pascoal, AM; Martinoli, A 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, South Korea, October 9-14, 2016 D Authenticus: P-00M-FXW DOI: 10.1109/iros.2016.7759277 Abstract: The large number of potential applications for robotic odor source localization has motivated the development of a variety of plume tracking […]
An Algorithm for Formation-Based Chemical Plume Tracing Using Robotic Marine Vehicles
Soares, JM ; Aguiar, AP; Pascoal, AM; Martinoli, A OCEANS 2016 MTS/IEEE Monterey, OCE 2016 ID Authenticus: P-00M-PRN DOI: 10.1109/oceans.2016.7761119 Abstract: Robotic chemical plume tracing is a growing area of research, with envisioned real-world applications including pollution tracking, search and rescue, and ecosystem identification. However, following a chemical signal in the water is not an easy task due […]
A Moving Path Following Approach for Trajectory Optimization of UAVs: An application for target tracking of marine vehicles
Rucco, A (Autor) (Outra); Aguiar, AP (Autor) (FEUP); Fernando Lobo Pereira (Autor) (FEUP); João Tasso Sousa 2016 European Control Conference, ECC 2016 ID Authenticus: P-00M-HV9 DOI: 10.1109/ecc.2016.7810468 Abstract: In this paper we propose a novel numerical approach to the design of smooth trajectories for fixed-wing Unmanned Aerial Vehicles (UAVs) with applications to target tracking of marine vehicles. Given […]