78 citations · 159 across the 15 of their papers we have counts for
3 papers · 1 filter
Safe whole-body backstepping control for quadcopter path-following
Arthur H. D. Nunes, Arthur Da C. Vangasse, Guilherme V. Raffo +2
This paper presents a novel whole-body Backstepping control strategy for safe quadcopter path-following. The proposed approach introduces an integrated control scheme that combines…
Safe and robust tube-based path-following for robot navigation
Arthur H. D. Nunes, Vinicius M. Gonçalves, Guilherme V. Raffo +2
In this paper, we propose a new robust navigation framework for path following tasks in robots operating within unknown, cluttered environments. Our approach ensures reactive safet…
Point-to-Cloud NMPC with Smooth Avoidance Constraints
Brener G. Ferreira, Vinicius M. Gonçalves, Marcelo A. Santos +1
This paper proposes a finite-horizon optimal control strategy for set-point tracking using a nonlinear model predictive control framework with integrated avoidance capabilities. Th…