Selective Strong Structural Minimum-cost Resilient Co-design for Regular Descriptor Linear Systems

Popli, N; Pequito, S; Kar, S; Aguiar, AP; Ilic, M AUTOMATICA ID Authenticus: P-00Q-P0F DOI: 10.1016/j.automatica.2019.05.036 Abstract: One of the steps in the proof of Theorem 1 in Popli, Pequito, Kar, Aguiar, and Ili¿ (2019) invokes a result from Pequito, Popli, Kar, Ili, and Aguiar (2013) that asserts that a system is selective strong structurally controllable if and […]

Distributed State Estimation for Discrete-time Linear Time Invariant Systems: A survey

Rego, FFC; Pascoal, AM; Aguiar, AP; Jones, CN.  ANNUAL REVIEWS IN CONTROL ID Authenticus: P-00R-2AN DOI: 10.1016/j.arcontrol.2019.08.003 Abstract: Motivated by the increasing availability and quality of miniaturized sensors, computers, and wireless communication devices arid given their enormous potential, the use of wireless sensor networks (WSN) has become widespread. Because in many applications of WSNs one is required to […]

Robust Cooperative Moving Path Following Control for Marine Robotic Vehicles

Reis, MF (Autor) (Outra); Jain, RP (Autor) (Outra); Aguiar, AP (Autor) (FEUP); João Tasso Sousa (Autor) (FEUP)  Front. Robotics and AI ID Authenticus: P-00R-YQN DOI: 10.3389/frobt.2019.00121 Abstract: This paper presents results on recent developments pertaining to the coordinated motion control of a fleet of marine robotic vehicles. Specifically, we address the Cooperative Moving Path Following (CMPF) motion control […]

Robust Moving Path Following Control for Robotic Vehicles: Theory and Experiments

Matheus F. Reis; R. Praveen Jain; A. Pedro Aguiar; João Borges de Sousa IEEE ROBOTICS AND AUTOMATION LETTERS ID Authenticus: P-00Q-TNC DOI: 10.1109/lra.2019.2925733 Abstract : This letter addresses the moving path following (MPF) motion control problem that consists of steering a robotic vehicle along a specified geometric path expressed with respect to a moving target frame. External disturbances […]

Selective Strong Structural Minimum-cost Resilient Co-design for Regular Descriptor Linear Systems

Nipum Popli; Sérgio Pequito; Soummya Kar; António Pedro Aguiar; Marija Ilic  AUTOMATICA ID Authenticus: P-00Q-4RV DOI: 10.1016/j.automatica.2018.12.032 Abstract: This paper addresses the problem of minimum-cost resilient actuation-sensing-communication co-design for regular descriptor systems ensuring selective (i.e., under uncertain zero, non-zero and possible zero parameters) strong structural system’s properties. Towards this goal, we extend the strong structural systems’ theory to […]

Local Trajectory Generation for Hopping Robots Exploring Celestial Bodies

Upadhyay, S; Aguiar, AP.  AIAA Scitech 2019 Forum ID Authenticus: P-00Q-VEP DOI: 10.2514/6.2019-1913 Abstract: We consider the problem of generating maximum height constrained trajectories with minimum launching speed for hopping robots exploring celestial bodies. The hopping robot should satisfy a maximum height constraint to ensure a damage-free landing and a minimum launching speed to minimize propulsion energy expenditure […]

A Framework for Depth Estimation and Relative Localization of Ground Robots using Computer Vision

Rômulo T. Rodrigues; Pedro Miraldo; Dimos V. Dimarogonas; António Pedro Aguiar. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, Macau, SAR, China, November 3-8, 2019 ID Authenticus: P-00R-VZD DOI: 10.1109/iros40897.2019.8968459 Abstract: The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination […]

Modelling, Control and Performance Evaluation of an AC/DC Microgrid

Yassine Boukili ; António Pedro Aguiar; Adriano Carvalho. IECON 2019 – 45th Annual Conference of the IEEE Industrial Electronics Society  ID Authenticus: P-00R-YP7 DOI: 10.1109/iecon.2019.8926944 Abstract: This work considers an AC/DC microgrid that is composed by an integrated PV/wind microgrid, a storage system (battery), DC and AC loads, and between the two buses there is a bidirectional static […]