5 papers
Model Predictive Supervisory Control for Hierarchical and Distributed UAS Traffic Management
Matheus P. Loures, Guilherme V. Raffo, Patrícia N. Pena
This work proposes a hierarchical Model Predictive Supervisory Control (MPSC) framework for multi-agent systems with shared resources. MPSC integrates receding-horizon cost-optimal…
Stochastic Robust Linear W-infinity Control via Dynamic Output Feedback
Daniel Neri Cardoso, Guilherme Vianna Raffo
This paper introduces a robust W-infinity optimal control framework for linear Itô diffusions using a weighted Sobolev-space performance measure. Because the sample paths of Itô di…
Optimal W-infinity Control of Prandtl-Ishlinskii Hysteresis Model via Weak Derivatives
Daniel Neri Cardoso, Petrus Emmanuel Oliveira Gomes Brant Abreu, Guilherme Vianna Raffo
This work proposes a novel robust optimal W-infinity controller for dynamic systems with Prandtl-Ishlinskii hysteresis. By utilizing weighted Sobolev spaces Wm,p,Gamma, the approac…
Model Predictive Planner for UAV Navigation in Non-Convex Air Corridors
Henrique Silva, Marcelo A. Santos, Guilherme V. Raffo
This work presents a motion planning framework for UAV navigation in non-convex urban air corridors. The planner is based on a mixed-integer tracking model predictive control formu…
A cell-decomposition based path planner for 3D navigation in constrained workspaces
João P. L. Morais, Luciano C. A. Pimenta, Marcelo A. Santos +1
This paper proposes a cell decomposition algorithm for binary occupancy grids that ensures mutual complete visibility from each cell to at least one adjacent cell. This decompositi…