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 […]

Second-Order-Optimal Minimum-Energy Filters on Lie Groups

Saccon, A; Trumpf, J; Mahony, R; Aguiar, AP IEEE Transactions on Automatic Control ID Authenticus: P-00M-57F DOI: 10.1109/tac.2015.2506662 Abstract: Systems on Lie groups naturally appear as models for physical systems with full symmetry. We consider the state estimation problem for such systems where both input and output measurements are corrupted by unknown disturbances. We provide an explicit formula […]

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 […]

On convergence and Performance Certification of a Continuous-time Economic Model Predictive Control Scheme with Time-varying Performance Index

Alessandretti, A; Aguiar, AP; Jones, CN AUTOMATICA ID Authenticus: P-00K-93B DOI: 10.1016/j.automatica.2016.01.020 Abstract: This paper addresses the design of convergence and performance certified sampled-data model predictive control (MPC) laws with a time-dependent economic performance index. More precisely, using a dissipativity property of the system, we provide a set of sufficient conditions that guarantee convergence of the closed-loop state […]

Minimum Cost Input/Output Design for Large-scale Linear Structural Systems

Pequito, S; Kar, S; Aguiar, AP AUTOMATICA ID Authenticus: P-00K-92Z DOI: 10.1016/j.automatica.2016.02.005 Abstract: In this paper, we provide optimal solutions to two different (but related) input/output design problems involving large-scale linear dynamical systems, where the cost associated to each directly actuated/measured state variable can take different values, but is independent of the input/output performing the task. Under these […]

A Framework for Structural Input/Output and Control Configuration Selection in Large-Scale Systems

Pequito, S; Kar, S; Aguiar, AP IEEE Transactions on Automatic Control ID Authenticus: P-00K-7VH DOI: 10.1109/tac.2015.2437525 Abstract: This paper addresses problems on the structural design of large-scale control systems. An efficient and unified framework is proposed to select the minimum number of manipulated/measured variables to achieve structural controllability/observability of the system, and to select the minimum number of […]

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 […]

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 […]