Vinicius M. Gonçalves — accepted AI-conference papers

2021

Collision-free vector field guidance and MPC for a fixed-wing UAV

Leonardo A. A. Pereira, Arthur H. D. Nunes, Adriano M. C. Rezende, Vinicius M. Gonçalves, Guilherme V. Raffo, Luciano C. A. Pimenta

ICRA 2021poster

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…

Cited by 15 Source ↗Scholar ↗

2020

Robust quadcopter control with artificial vector fields

Adriano M. C. Rezende, Vinicius M. Gonçalves, Arthur H. D. Nunes, Luciano C. A. Pimenta

ICRA 2020poster

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…

Cited by 24 Source ↗Scholar ↗

2018

Robust Fixed-Wing UAV Guidance with Circulating Artificial Vector Fields

Adriano M.C. Rezende, Vinicius M. Gonçalves, Guilherme V. Raffo, Luciano C.A. Pimenta

IROS 2018poster

This paper presents a guidance vector field strategy to control a fixed-wing UAV (unmanned aerial vehicle)subject to uncertainty in order to converge to and circulate a closed curve in ℝ3. The control system is designed based on a reference model of the airplane with constrained input controls. The…

Cited by 38 Source ↗Scholar ↗