5 papers
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 GarcÃa 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…
Fully distributed and resilient source seeking for robot swarms
Jesus Bautista, Jesús Bautista, Antonio Acuaviva +7
Existing source-seeking algorithms for robot swarms typically require either direct gradient measurements or rigid geometric formations, limiting their flexibility and resilience t…
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…