9 papers
Singularity-Free Guiding Vector Fields on SO(3) with Designer-Specified Progression Behavior
Jesus Bautista, Hector Garcia de Marina
This paper develops a singularity-free guiding vector field (SF-GVF) for path following on the special orthogonal group SO(3). First, we lift the Euclidean SF-GVF construction to S…
Leaderless Collective Motion in Affine Formation Control over the Complex Plane
Jesus Bautista, Enric Morella, Lili Wang +1
We propose a method for the collective maneuvering of affine formations in the plane by modifying the original weights of the Laplacian matrix used to achieve static formations of…
Distributed 3D Source Seeking via SO(3) Geometric Control of Robot Swarms
Jesús Bautista, Héctor García de Marina
This paper presents a geometric control framework on the Lie group SO(3) for 3D source-seeking by robots with first-order attitude dynamics and constant translational speed. By wor…
Distributed Oscillatory Guidance for Formation Flight of Fixed-Wing Drones
Yang Xu, Jesús Bautista, José Hinojosa +1
The autonomous formation flight of fixed-wing drones is hard when the coordination requires the actuation over their speeds since they are critically bounded and aircraft are mostl…
Inverse Kinematics on Guiding Vector Fields for Robot Path Following
Yu Zhou, Jesús Bautista, Weijia Yao +1
Inverse kinematics is a fundamental technique for motion and positioning control in robotics, typically applied to end-effectors. In this paper, we extend the concept of inverse ki…
Fully distributed and resilient source seeking for robot swarms
Jesus Bautista, Antonio Acuaviva, Jose Hinojosa +3
Existing source-seeking algorithms for robot swarms typically require either direct gradient measurements or rigid geometric formations, limiting their flexibility and resilience t…
SO(3) attitude controllers and the alignment of robots with non-constant 3D vector fields
Jesus Bautista, Hector Garcia de Marina
This technical note aims to introduce geometric controllers to roboticists for aligning \emph{3D robots} with non-constant 3D vector fields. This alignment entails the control of t…
Behavioral-based circular formation control for robot swarms
Jesús Bautista, Héctor García de Marina
This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjus…
Resilient source seeking with robot swarms
Antonio Acuaviva, Jesus Bautista, Weijia Yao +2
We present a solution for locating the source, or maximum, of an unknown scalar field using a swarm of mobile robots. Unlike relying on the traditional gradient information, the sw…