A Distributed Luenberger Observer for Linear State Feedback Systems with Quantized and Rate-limited Communications

Rego, FFC; Pu, Y; Alessandretti, A; Aguiar, AP; Pascoal, AM; Jones, CN   IEEE Transactions on Automatic Control ID Authenticus: P-00T-1VRDOI: 10.1109/tac.2020.3027658 Abstract: This paper addresses the problem of simultaneous distributed state estimation and control of linear systems with linear state feedback, subjected to process and measurement noise, under the constraints of quantized and rate-limited network data transmission. In […]

An Optimization-Based Cooperative Path-Following Framework for Multiple Robotic Vehicles

Alessandretti, A.; Aguiar, A. IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS ID Authenticus: P-00R-YQC DOI: 10.1109/tcns.2019.2953459 Abstract: This article addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient tradeoff between coordination and path-following errors. To this end, we formulate a more general multi-agent framework where each agent is […]

Finite-dimensional Control of Linear Discrete-time Fractional-order Systems

Alessandretti, A; Pequito, S; Pappas, GJ; Aguiar, AP.  AUTOMATICA ID Authenticus: P-00R-QFV DOI: 10.1016/j.automatica.2019.108512 Abstract: This paper addresses the design of finite-dimensional feedback control laws for linear discrete-time fractional-order systems with additive state disturbance. A set of sufficient conditions are provided to guarantee convergence of the state trajectories to an ultimate bound around the origin with size increasing […]

Multi-agent Detection and Labelling of Activity Patterns

Ana Portêlo; António Pedro Aguiar; João M. Lemos.  Signal Image and Video Processing ID Authenticus: P-00R-VQW DOI: 10.1007/s11760-020-01659-7 Abstract: We address the problem of automatic detection and labelling of far-field activity patterns from target trajectories using vector field abstractions that are estimated by multiple communicating agents in a Kalman filter (KF) framework. We propose a novel 2D application […]

Constrained Hopping Traversability Analysis on Non-Uniform Polygonal Chains

Upadhyay, S. Aguiar, AP  IEEE ACCESS ID Authenticus: P-00R-S8Y DOI: 10.1109/access.2020.2975114 Abstract (EN): We analyze the existence of constrained ballistic hopping paths on a nonuniform polygonal chain. This analysis has practical significance in constrained path planning applications for jumping robots where robot dynamic constraints, uneven surface structure, and non-uniform surface properties are considered. We derive closed-form conditions to […]

A DFIG-based Wind Turbine Operation under Balanced and Unbalanced Grid Voltage Conditions

Aguiar, Boukili, Y; Aguiar, AP; Carvalho, A  21st IFAC World CongressBerlin, Germany, 11–17 July 2020 Proceedings of the IFAC World Congress 2020 DOI: /10.1016/j.ifacol.2020.12.1977 Abstract: This paper presents a case study of a Doubly Fed Induction Generator (DFIG) wind turbine in operation subject to balanced and unbalanced grid voltage conditions. Three scenarios are addressed: balanced […]

B-spline Surfaces for Range-Based Environment Mapping

Rodrigues, RT ; Tsiogkas, N; Aguiar, AP; Pascoal, AM IROS 2020, Las Vegas, NV, USA, October 24, 2020 – January 24, 2021 ID Authenticus: P-00T-GV7 DOI: 10.1109/iros45743.2020.9341768 Abstract: In this paper, we propose a mapping technique that builds a continuous representation of the environment from range data. The strategy presented here encodes the probability of points in space […]

Distributed MPC control of a Water Delivery Canal based on D-ADMM

João P. Belfo; João M. Lemos ; António Pedro Aguiar 2020 28th Mediterranean Conference on Control and Automation (MED) ID Authenticus: P-00S-RJT DOI: 10.1109/med48518.2020.9182929 Abstract: This article describes the design of distributed Model Predictive Control (MPC) strategies based on a linear model of a water delivery canal, composed of three pools, each ending with a gate. The distributed […]

Active Depth Estimation: Stability Analysis and its Applications

Rômulo T. Rodrigues; Pedro Miraldo; Dimos V. Dimarogonas; António Pedro Aguiar ICRA 2020, Paris, France, May 31 – August 31, 2020 ID Authenticus: P-00R-YQE DOI: 10.1109/icra40945.2020.9196670 Abstract: Recovering the 3D structure of the surrounding environment is an essential task in any vision-controlled Structure-from-Motion (SfM) scheme. This paper focuses on the theoretical properties of the SfM, known as the […]

On The use of a Maximum Correntropy Criterion in Kalman Filtering Based Strategies for Robot Localization and Mapping

Reis, MF; Moayyed, H; Aguiar, AP 14th APCA International Conference on Automatic Control and Soft Computing, CONTROLO 2020 1 July 2020 through 3 July 2020 ID Authenticus: P-00S-RP9 DOI: 10.1007/978-3-030-58653-9_53 Abstract:One of the applications of the Kalman filter in the field of robotics is to solve the problem of Simultaneous Localization and Mapping (SLAM). The main drawback […]