Model Predictive Control for Self Driving Cars: A Case Study Using the Simulator CARLA within a ROS Framework

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 […]

Sliding Mode Fault-Tolerant Controller for Overactuated Electric Vehicles with Active Steering

Lopes, A; Rui Esteves Araújo; Aguiar, AP; Maria do Rosário de Pinho IECON Proceedings (Industrial Electronics Conference) ID Authenticus: P-00M-CR2 DOI: 10.1109/iecon.2016.7793205 Abstract: This paper addresses the tracking problem of the state variables of a nonlinear planar dynamic model of an overactuated electric vehicle with four-wheel independent drive (4WID) topology. In order to track the state variables of […]

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 […]

On the Design of Discrete-Time Economic Model Predictive Controllers

Alessandretti, A; Aguiar, AP; Jones, CN 2016 IEEE 55th Conference on Decision and Control, CDC 201 ID Authenticus: P-00M-DYJ DOI: 10.1109/cdc.2016.7798749 Abstract: This paper addresses the design of a suitable terminal set and terminal cost for discrete-time Economic Model Predictive Control schemes with convergence guarantees. Three design methods are proposed. The first two approaches rely on the existence […]

Design of a Distributed Quantized Luenberger Filter for Bounded Noise

Rego, FFC; Pu, Y; Alessandretti, A; Aguiar, AP; Pascoal, AM; Jones, CN 2016 AMERICAN CONTROL CONFERENCE (ACC)  ID Authenticus: P-00M-HJC DOI: 10.1109/acc.2016.7526675 Abstract: This paper addresses the problem of distributed state estimation for linear systems with process and measurement noise, in the case of limited communication data rate, where the data exchanged between agents is quantized. We propose […]

A Convoy Protection Strategy Using the Moving Path Following Method

Oliveira, T (Autor) (Outra); Aguiar, AP (Autor) (FEUP); Encarnacao, P 2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016 ID Authenticus: P-00K-PZ9 DOI: 10.1109/icuas.2016.7502567 Abstract: This paper considers the problem of convoy protection missions using a fixed-wing Unmanned Aerial Vehicle (UAV) in scenarios where the radius of the circular region of interest around the convoy is smaller than […]

Optimal UAV rendezvous on a UGV

Rucco, A; Sujit, PB; Aguiar, AP; Sousa, JB 2016 AIAA Guidance, Navigation, and Control Conference ID Authenticus: P-00K-601 DOI: 10.2514/6.2016-0895 Abstract: An important restriction that arises when fixed-wing Unmanned Aerial Vehicles (UAVs) need to perform several types of persistent missions is the fact that they have limited fuel capacity, which consequently it requires periodic refueling to accomplish the […]

A Graph-Based Formation Algorithm for Odor Plume Tracing

Soares, JM; Aguiar, AP; Pascoal, AM; Martinoli, A 12th International Symposium on Distributed Autonomous Robotic Systems (DARS) ID Authenticus: P-00K-50R DOI: 10.1007/978-4-431-55879-8_18 Abstract: Odor plume tracing is a challenging robotics application, made difficult by the combination of the patchy characteristics of odor distribution and the slow response of the available sensors. This work proposes a graph-based formation control […]