30 citations · 30 across the 9 of their papers we have counts for
11 papers
Shifted Interaction Functions: A Unified Framework for Imperfect Actuation and Sensing in Consensus Networks
Yang Xu, Enric Morella Violeta, Hector Garcia de Marina
Practical networked robotic systems rarely implement ideal consensus interactions exactly, since local actuation constraints, sensing biases, and heterogeneous interaction maps may…
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…
Finite-Time Curvature-Constrained Vector Field for Saturation-Free Motion Planning of Nonholonomic Robots
Zhouru Xiao, Sha Luo, Yang Lu +5
Accurately steering a robot to a target configuration is fundamental in engineering, yet remains challenging for nonholonomic mobile robots. Vector fields (VFs) provide a natural f…
The distance-based formation controller design for multi-agent systems in port-Hamiltonian form
Jingyi Zhao, Yongxin Wu, Héctor García de Marina +2
Based on the practical scenario where collisions in formation control may lead to agent damage, this paper investigates the integrated problem of distance-based formation control a…
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…
Directional Mollification for Knot-Preserving Smoothing of Polygonal Chains with Explicit Curvature Bounds
Alfredo González-Calvin, Juan F. Jiménez, Héctor García de Marina
We introduce the \textit{directional mollification} operator, which acts on polygonal chains to produce curve approximants that are arbitrarily close to the original c…
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…
Neuromorphic Perception and Navigation for Mobile Robots: A Review
A. Novo, F. Lobon, H. G. De Marina +2
With the fast and unstoppable evolution of robotics and artificial intelligence, effective autonomous navigation in real-world scenarios has become one of the most pressing challen…
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…
Taming mismatches in inter-agent distances for the formation-motion control of second-order agents
Hector Garcia de Marina, Bayu Jayawardhana, Ming Cao
This paper presents the analysis on the influence of distance mismatches on the standard gradient-based rigid formation control for second-order agents. It is shown that, similar t…