3 papers
eess.SY2026
Safe whole-body backstepping control for quadcopter path-following
Arthur H. D. Nunes, Arthur Da C. Vangasse, Guilherme V. Raffo +2
This paper presents a novel whole-body Backstepping control strategy for safe quadcopter path-following. The proposed approach introduces an integrated control scheme that combines…
eess.SY2026
Safe and robust tube-based path-following for robot navigation
Arthur H. D. Nunes, Vinicius M. Gonçalves, Guilherme V. Raffo +2
In this paper, we propose a new robust navigation framework for path following tasks in robots operating within unknown, cluttered environments. Our approach ensures reactive safet…
cs.RO2026
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…