12 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 paper introduces a motion planning approach for navigating in a dynamic environment. The path is represented using a Non-Uniform Rational B-Spline (NURBS) to ensure smoothness, curvature continuity, and proper orientation by adjusting its parameters. A Differential Evolution algorithm optimizes
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…
This paper proposes a task planning and motion control framework that generates task plans for a linear temporal logic specification (LTL), which are then executed using a task-space constrained motion controller and a local task planner that overcomes local minima. We propose a new encoding for tas…
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…
This paper proposes a decentralized control strategy to reach segregation in heterogeneous robot swarms distributed in curves. The approach is based on a formation control algorithm applied to each robot and a heuristics to compute the distance between the groups, i.e. the distance from the beginnin…
In this work, multiple robots circulate around the boundary of a desired region in order to create a virtual fence. The aim of the this fence is to avoid internal or external agents crossing through the delimited area. In this paper, we propose a distributed technique that allows a team of robots to…
In this paper, we propose a motion planning method to escort a set of agents from one place to a goal in an environment with obstacles. The agents are distributed in a finite area, with a time-varying perimeter, in which we put multiple robots to patrol around it with a desired velocity. Our proposa
This paper proposes a new approach for a group of robots carrying out a collaborative task to adapt on-line to actuation performance variations among the robots. We consider the problem of multi-robot coverage, where a group of robots has to spread out to cover the environment. We suppose that some…
This paper addresses the problem of segregation of groups of heterogeneous units in robot swarms. We propose a controller that can drive robots in a way that each group composed of robots of a similar type will form clusters while maintaining segregation from other groups. The approach is based on a…