5 accepted papers
In this work, we propose a novel artificial vector field for robot navigation in n-dimensional path-following tasks, designed to ensure safety and convergence with a smoothed control law. Unlike previous methods based on discontinuous Euclidean distance functions, our approach uses a smooth Euclidea
This work addresses the problem of radially segregating heterogeneous robotic swarms. Such swarms are those composed of different groups of robots. Unlike other works on segregation in the literature, we propose a controller for Dubins-like robots, motivated by autonomous aerial, wheeled, and underw
In this work, we present an Integrated Guidance and Controller (IGC) scheme to drive quadcopters in path-following tasks with obstacle avoidance and constant uncertainty rejection. This scheme is based on the combination of a time-varying artificial vector field and Backstepping with integral action…
The present work focuses on the development of an efficient path controller to guide a fixed-wing UAV (Unmanned Aerial Vehicle) to follow a closed curve and avoid unknown dynamic obstacles. Our strategy is composed of two layers: a top level layer responsible for guidance and a lower level layer res…
This article presents a path tracking control strategy for a quadcopter to follow a time varying curve. The control is based on artificial vector fields. The construction of the field is based on a well known technique in the literature. Next, control laws are developed to impose the behavior of the…