103 citations · 131 across the 18 of their papers we have counts for
4 papers · 1 filter
Three Dimensional Moving Path Following Control for Robotic Vehicles with Minimum Positive Forward Speed
R. Praveen Jain, Joao Borges de Sousa, A. Pedro Aguiar
This paper addresses the problem of steering a robotic vehicle along a geometric path specified with respect to a reference frame moving in three dimensions, termed the Moving Path…
Control Barrier Function based Quadratic Programs Introduce Undesirable Asymptotically Stable Equilibria
Matheus F. Reis, A. Pedro Aguiar, Paulo Tabuada
Control Lyapunov functions (CLFs) and control barrier functions (CBFs) have been used to develop provably safe controllers by means of quadratic programs (QPs), guaranteeing safety…
An optimization-based cooperative path-following framework for multiple robotic vehicles
Andrea Alessandretti, A. Pedro Aguiar
This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off betwee…
A Structured Systems Approach for Optimal Actuator-Sensor Placement in Linear Time-Invariant Systems
Sergio Pequito, Soummya Kar, A. Pedro Aguiar
In this paper we address the actuator/sensor allocation problem for linear time invariant (LTI) systems. Given the structure of an autonomous linear dynamical system, the goal is t…