1 citations · 2 across the 12 of their papers we have counts for
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Safety-Critical Control for Quadrotor UAVs via Decentralized Navigation Functions
Omayra Yago Nieto, Alexandre Anahory Simoes, Leonardo Colombo
We study safety-critical control for teams of quadrotor UAVs driven by decentralized navigation functions under learned model uncertainty. These functions generate fully actuated t…
Robust Geometric Control of Catenary Robots under Unstructured Force Uncertainties
Alexandre Anahory Simoes, Leonardo Colombo
This paper considers the robust control of a catenary robot composed of two quadrotors connected by an inextensible cable. The system is modeled on \(SE(3)\), with the cable treate…
Stable Walking for Bipedal Locomotion under Foot-Slip via Virtual Nonholonomic Constraints
Leonardo Colombo, Álvaro Rodríguez Abella, Alexandre Anahory Simoes +1
Foot slip is a major source of instability in bipedal locomotion on low-friction or uncertain terrain. Standard control approaches typically assume no-slip contact and therefore de…
Virtual Constraint for a Quadrotor UAV Enforcing a Body-Axis Pointing Direction
Alexandre Anahory Simoes, Leonardo Colombo, Juan Giribet +1
We propose a geometric control framework on for quadrotors that enforces pointing-driven missions without completing a full attitude reference. The mission is encoded throu…
Learning-based decentralized control with collision avoidance for multi-agent systems
Omayra Yago Nieto, Alexandre Anahory Simoes, Juan I. Giribet +1
In this paper, we present a learning-based tracking controller based on Gaussian processes (GP) for collision avoidance of multi-agent systems where the agents evolve in the specia…
Geometric Stabilization of Virtual Nonlinear Nonholonomic Constraints
Efstratios Stratoglou, Alexandre Anahory Simoes, Anthony Bloch +1
In this paper, we address the problem of stabilizing a system around a desired manifold determined by virtual nonlinear nonholonomic constraints. Virtual constraints are relationsh…