Francisco M. F. R. Gonçalves — accepted AI-conference papers

2025

Feedback Control of a Single-Tail Bioinspired 59-mg Swimmer

Conor K. Trygstad, Cody R. Longwell, Francisco M. F. R. Gonçalves, Elijah K. Blankenship, Néstor Osvaldo Pérez-Arancibia

IROS 2025

We present an evolved steerable version of the single-tail Fish-&-Ribbon–Inspired Small Swimming Harmonic roBot (FRISSHBot), a 59-mg biologically inspired swimmer, which is driven by a new shape-memory alloy (SMA)-based bimorph actuator. The new FRISSHBot is controllable in the two-dimensional (2D)

Cited by 2 Source ↗Scholar ↗

2024

MPS: A New Method for Selecting the Stable Closed-Loop Equilibrium Attitude-Error Quaternion of a UAV During Flight

Francisco M. F. R. Gonçalves, Ryan M. Bena, Konstantin I. Matveev, Néstor O. Pérez-Arancibia

ICRA 2024poster

We present model predictive selection (MPS), a new method for selecting the stable closed-loop (CL) equilibrium attitude-error quaternion (AEQ) of an uncrewed aerial vehicle (UAV) during the execution of high-speed yaw maneuvers. In this approach, we minimize the cost of yawing measured with a perfo…

Cited by 2 Source ↗Scholar ↗

2024

VLEIBot: A New 45-mg Swimming Microrobot Driven by a Bioinspired Anguilliform Propulsor

Elijah K. Blankenship, Conor K. Trygstad, Francisco M. F. R. Gonçalves, Néstor O. Pérez-Arancibia

ICRA 2024poster

This paper presents the VLEIBot* (Very Little Eel-Inspired roBot), a 45-mg/23-mm3 microrobotic swimmer that is propelled by a bioinspired anguilliform propulsor. The propulsor is excited by a single 6-mg high-work-density (HWD) microactuator and undulates periodically due to wave propagation phenome…

Cited by 3 Source ↗Scholar ↗