Alvaro Javier Prado — accepted AI-conference papers

2021

Distributed Tube-Based Nonlinear MPC for Motion Control of Skid-Steer Robots With Terra-Mechanical Constraints

Alvaro Javier Prado, Miguel Torres-Torriti, Fernando Alfredo Auat

RA-L 2021

Strategies to reduce slippage and disturbing wheel-terrain interactions are essential to improve navigation and motion control of field robots. Thus, this work proposes an integral control architecture based on a distributed tube-based nonlinear Model Predictive Control scheme to regulate tire dynam

Cited by 28 Source ↗Scholar ↗

2016

Probabilistic approaches for self-tuning path tracking controllers using prior knowledge of the terrain

Alvaro Javier Prado, Fernando Auat Cheein, Miguel Torres-Torriti

IROS 2016poster

Nowadays, agricultural and mining industry applications require saving energy in mobile robotic tasks. This critical issue encouraged us to enhance the performance of path tracking controllers during manoeuvring over slippery and rough terrains. In this scenario, we propose probabilistic approaches…

Cited by 6 Source ↗Scholar ↗