An Unmanned Aircraft System for Maritime Operations: The Sense and Avoid Subsystem with Software-in-the-loop Evaluation

Mário Monteiro Marques; Victor Lobo; R. Batista; J. Oliveira; A. Pedro Aguiar; J. Estrela Silva; J. Borges de Sousa; Maria de Fátima Nunes; Ricardo Adriano Ribeiro; Alexandre Bernardino; Jorge Salvador Marques. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS ID Authenticus: P-00P-07Q DOI: 10.1177/1729881418786338 Abstract: Unmanned air systems are becoming ever more important in modern societies but raise a number […]

Structurally Observable Distributed Networks of Agents Under Cost and Robustness Constraints

Stephen Kruzick ; Sergio Pequito; Soummya Kar; José M. F. Moura; António Pedro Aguiar. IEEE TRANSACTIONS ON SIGNAL AND INFORMATION PROCESSING OVER NETWORKS ID Authenticus: P-00N-YK0 DOI: 10.1109/tsipn.2017.2681208 Abstract: In many problems, agents cooperate locally so that a leader or fusion center can infer the state of every agent from probing the state of only a small number […]

Low-Level Active Visual Navigation: Increasing Robustness of Vision-Based Localization Using Potential Fields

Rômulo T. Rodrigues; Meysam Basiri; António Pedro Aguiar; Pedro Miraldo. IEEE ROBOTICS AND AUTOMATION LETTERS ID Authenticus: P-00N-YJZ DOI: 10.1109/lra.2018.2809628 Abstract: This letter proposes a low-level visual navigation algorithm to improve visual localization of a mobile robot. The algorithm, based on artificial potential fields, associates each feature in the current image frame with an attractive or neutral potential […]

Cooperative Path Following of Robotic Vehicles using an Event-based Control and Communication Strategy

R. Praveen Jain; António Pedro Aguiar; João Borges de Sousa. IEEE ROBOTICS AND AUTOMATION LETTERS ID Authenticus: P-00N-YJY DOI: 10.1109/lra.2018.2808363 Abstract: In this letter, a novel approach to the cooperative path following (CPF) control problem is proposed that aims to reduce the frequency of communication between the robotic vehicles while achieving cooperation. Specifically, a decentralized, event-based cooperative controller […]

Optimal Rendezvous Trajectory for Unmanned Aerial-Ground Vehicles

Alessandro Rucco;; António Pedro Aguiar; Sujit Baliyarasimhuni; João Borges de Sousa, Fernando Lobo Pereira. IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS ID Authenticus: P-00N-9R0 DOI: 10.1109/taes.2017.2767958 Abstract: Fixed-wing unmanned aerial vehicles (UAVs) can be an essential tool for low-cost aerial surveillance and mapping applications in remote regions. There is, however, a key limitation, which is the fact that […]

Model Predictive Cloud-based Control Scheme for Trajectory-Tracking: Effects of Round-trip Time Over-estimates

Andrea Alessandretti (Autor) (Outra); António Pedro Aguiar  2018 13TH APCA INTERNATIONAL CONFERENCE ON CONTROL AND SOFT COMPUTING (CONTROLO)  ID Authenticus: P-00P-YAK DOI: 10.1109/controlo.2018.8516416 Abstract: This paper addresses the design and implementation of a Model Predictive Control (MPC) scheme for trajectory tracking on a robotic vehicle with limited onboard computation power by exploiting an external web-server to solve the […]

Target Tracking using an Autonomous Underwater Vehicle: A Moving Path Following Approach

R. Praveen Jain; António Pedro Aguiar; João Borges de Sousa. AUV 2018 – 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings  ID Authenticus: P-00Q-SCT DOI: 10.1109/auv.2018.8729784 Abstract (EN): This paper demonstrates a possible application of the Moving Path Following (MPF) motion control approach applied to the marine environment. Specifically, the problem of target estimation and tracking using Autonomous Underwater […]

Moving path following control of constrained underactuated vehicles: A nonlinear Model Predictive Control Approach

R. Praveen Jain; Andrea Alessandretti ; António Pedro Aguiar; João Borges de Sousa.  AIAA Information Systems-AIAA Infotech at Aerospace, 2018  ID Authenticus: P-00N-T0N DOI: 10.2514/6.2018-0509 Abstract: This paper addresses the design of a stabilizing continuous time sampled-data Nonlinear Model Predictive Control (NMPC) law to solve the Moving Path Following (MPF) motion control problem for constrained under-actuated robotic vehicles. […]

Cooperative Joint Estimation and Localization using Mobile Multi-agent Systems: A Minimum Energy Estimator Approach

T. Ngoc Ha; António Pedro Aguiar. 2018 EUROPEAN CONTROL CONFERENCE (ECC) ID Authenticus: P-00Q-3EV DOI: 10.23919/ecc.2018.8550053 Abstract: This paper investigates the problem of joint localization and target tracking using mobile multi-agent networks. We consider the challenge situation that each agent only has partially observation of the target system and also needs to estimate its relative location in order […]

An AUV Navigation System Using an Adaptive Error State Kalman Filter Based on Variational Bayesian

Narjes Davari; António Pedro Aguiar; João Borges de Sousa. AUV 2018 – 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings  ID Authenticus: P-00Q-SCS DOI: 10.1109/auv.2018.8729756 Abstract: This paper presents an adaptive Kalman filtering approach that uses a variational Bayesian approximation method for robust navigation for Autonomous Underwater Vehicles. The integrated navigation system is composed of a strapdown inertial navigation […]