Structurally Quotient Fixed Modes

Ramos, G; Aguiar, AP; Pequito, S Systems and Control Letters ID Authenticus: P-00T-SM4 DOI: 10.1016/j.sysconle.2021.104914 Abstract (EN): We provide a necessary and sufficient graph-theoretical characterization of quotient fixes modes occurring in parametric decentralized control systems. Specifically, we introduce the notion of structurally quotient fixed modes (SQFMs) that generically captures the quotient fixed modes and only depends on the […]

Three Dimensional Moving Path Following Control for Robotic Vehicles with Minimum Positive Forward Speed

Jain, RP; de Sousa, JB; Aguiar, AP IEEE CONTROL SYSTEMS LETTERS ID Authenticus: P-00T-QWY DOI: 10.1109/lcsys.2021.3050270 Abstract: This paper addresses the problem of steering a robotic vehicle along a geometric path specified with respect to a reference frame moving in three dimensions, termed the Moving Path Following (MPF) motion control problem. The MPF problem is solved for a […]

Real-Time Outlier Detection Applied to a Doppler Velocity Log Sensor Based on Hybrid Autoencoder and Recurrent Neural Network

Davari, N; Aguiar, AP IEEE JOURNAL OF OCEANIC ENGINEERING ID Authenticus: P-00T-QWZ DOI: 10.1109/joe.2021.3057909 Abstract: This article presents a real-time outlier detection deep-learning (OD-DL)-based method using a hybridized artificial neural network (ANN) approach. We propose an unsupervised ANN scheme that runs in parallel, a denoising autoencoder (DAE) and a recurrent neural network (RNN). The DAE aims to reconstruct […]

An Unmanned Aircraft System for Maritime Operations: The Automatic Detection Subsystem

Marques, MM; Lobo, V; Aguiar, AP; Silva, JE; de Sousa, JB; Nunes, MF; Ribeiro, RA; Bernardino, A; Cruz, G; Marques, JS MARINE TECHNOLOGY SOCIETY JOURNAL ID Authenticus: P-00T-NJN DOI: 10.4031/mtsj.55.1.4 Abstract: This paper addresses the development of an integrated system to support maritime situation awareness based on unmanned aerial vehicles (UAVs), empha-sizing the role of the automatic detection […]

Distributed Inverse Optimal Control for Discrete-Time Nonlinear Multi-Agent Systems

Belfo, JP; Aguiar, AP; Lemos, JM IEEE CONTROL SYSTEMS LETTERS ID Authenticus: P-00T-QPA DOI: 10.1109/lcsys.2021.3050093 Abstract (EN): This paper describes a robust distributed inverse optimal control framework for a multi-agent discrete-time nonlinear system, where the dynamics of each agent is directly affected by terms that depend on the state and input of the neighborhood agents and other disturbance […]

Online Range-Based SLAM Using B-Spline Surfaces

Rômulo T. Rodrigues; Nikolaos Tsiogkas; António Pascoal; António Pedro Aguiar IEEE ROBOTICS AND AUTOMATION LETTERS ID Authenticus: P-00T-K30 DOI: 10.1109/lra.2021.3060672 Abstract: Range-based SLAM is a well-established technique for estimating the pose of a mobile robot operating in an unknown environment. Current state-of-the-art solutions use occupancy-grid maps to represent the world. While fast and accurate, their performance is limited […]

Deep Learning-Assisted Short-Term Load Forecasting Forsustainable Management of Energy in Microgrid

Arash Moradzadeh; Hamed Moayyed; Sahar Zakeri; Behnam Mohammadi-Ivatloo; António Pedro Aguiar MDPI Inventions ID Authenticus: P-00T-D3G DOI: 10.3390/inventions6010015 Abstract (EN): Nowadays, supplying demand load and maintaining sustainable energy are important issues that have created many challenges in power systems. In these types of problems, short-term load forecasting has been proposed as one of the management and energy supply […]

Control Barrier Function-Based Quadratic Programs Introduce Undesirable Asymptotically Stable Equilibria

Matheus F. Rei; António Pedro Aguiar; Paulo Tabuada ID Authenticus: P-00R-YQF DOI: 10.1109/lcsys.2020.3004797 Abstract (EN): Control Lyapunov functions (CLFs) and control barrier functions (CBFs) have been used to develop provably safe controllers by means of quadratic programs (QPs), guaranteeing safety in the form of trajectory invariance with respect to a given set. In this letter, we show that […]

A Voronoi-Based Safe Waypoint Generator for Hopping Robots Exploring Large Celestial Bodies

Upadhyay, S; Aguiar, AP AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2021 11 January 2021 through 15 January 2021 ID Authenticus: P-00T-CR4 Abstract: This work considers the generation of a safe waypoint roadmap for hopping robots traversing rugged terrains of large celestial bodies (such as planets and moons) which has disconnected safe regions cluttered […]