100 citations · 178 across the 31 of their papers we have counts for
33 papers
Flatness-Based Geometric Path Following via Guiding Vector Fields
J. P. van Gool, H. G. de Marina, B. Jayawardhana +1
Path following requires an agent to converge to and traverse a geometric path without a prescribed timing law. Guiding vector fields (GVFs) address this directly, but as guidance l…
Resilient source seeking with robot swarms
Antonio Acuaviva, Jesus Bautista, Weijia Yao +2
We present a solution for locating the source, or maximum, of an unknown scalar field using a swarm of mobile robots. Unlike relying on the traditional gradient information, the sw…
Guiding vector fields for the distributed motion coordination of mobile robots
Weijia Yao, Hector Garcia de Marina, Zhiyong Sun +1
We propose coordinating guiding vector fields to achieve two tasks simultaneously with a team of robots: first, the guidance and navigation of multiple robots to possibly different…
Energy-Aware Planning-Scheduling for Autonomous Aerial Robots
Adam Seewald, Héctor García de Marina, Henrik Skov Midtiby +1
In this paper, we present an online planning-scheduling approach for battery-powered autonomous aerial robots. The approach consists of simultaneously planning a coverage path and…
Distributed formation control for manipulator end-effectors
Haiwen Wu, Bayu Jayawardhana, Hector Garcia de Marina +1
We present three classes of distributed formation controllers for achieving and maintaining the 2D/3D formation shape of manipulator end-effectors to cope with different scenarios…
Guiding vector fields in Paparazzi autopilot
Hector Garcia de Marina, Murat Bronz, Gautier Hattenberger
This article is a technical report on the two different guidance systems based on vector fields that can be found in Paparazzi, a free sw/hw autopilot. Guiding vector fields allow…
Distributed coordinated path following using guiding vector fields
Weijia Yao, Hector Garcia de Marina, Zhiyong Sun +1
It is essential in many applications to impose a scalable coordinated motion control on a large group of mobile robots, which is efficient in tasks requiring repetitive execution,…
Leaderless collective motions in affine formation control
Hector Garcia de Marina, Juan Jimenez Castellanos, Weijia Yao
This paper proposes a novel distributed technique to induce collective motions in affine formation control. Instead of the traditional leader-follower strategy, we propose modifyin…
Distributed formation control of manipulators' end-effector with internal model-based disturbance rejection
Haiwen Wu, Bayu Jayawardhana, Hector Garcia de Marina +1
This paper addresses the problem of end-effector formation control for manipulators that are subjected to external disturbances: input disturbance torques and disturbance forces at…
Securing Isosceles Triangular Formations under Heterogeneous Sensing and Mixed Constraints
Nelson P. K. Chan, Bayu Jayawardhana, Hector Garcia de Marina
This paper focuses on securing a triangular shape (up to translation) for a team of three mobile robots that uses heterogeneous sensing mechanism. Based on the available local info…
Singularity-free Guiding Vector Field for Robot Navigation
Weijia Yao, Hector Garcia de Marina, Bohuan Lin +1
Most of the existing path-following navigation algorithms cannot guarantee global convergence to desired paths or enable following self-intersected desired paths due to the existen…
Stability Analysis of Gradient-Based Distributed Formation Control with Heterogeneous Sensing Mechanism: Two and Three Robot Case
Nelson P. K. Chan, Bayu Jayawardhana, Hector Garcia de Marina
This paper focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses heterogeneous sensing mechanism. Depending on the convenience and r…
Forced Variational Integrators for the Formation Control of Multi-Agent Systems
Leonardo Colombo, Hector Garcia de Marina
Formation control of autonomous agents can be seen as a physical system of individuals interacting with local potentials, and whose evolution can be described by a Lagrangian funct…
Forced variational integrator for distance-based shape control with flocking behavior of multi-agent systems
Leonardo Colombo, Patricio Moreno, Mengbin Ye +2
A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to ad…
Distributed formation maneuver control by manipulating the complex Laplacian
Hector Garcia de Marina
This paper proposes a novel maneuvering technique for the complex-Laplacian-based formation control. We show how to modify the original weights that build the Laplacian such that a…
Maneuvering and robustness issues in undirected displacement-consensus-based formation control
Hector Garcia de Marina
In this paper, we first propose a novel maneuvering technique compatible with displacement-consensus-based formation controllers. We show that the formation can be translated with…
Angle-Constrained Formation Control for Circular Mobile Robots
Nelson P. K. Chan, Bayu Jayawardhana, Hector Garcia de Marina
In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to ha…
Vector Field Guided Path Following Control: Singularity Elimination and Global Convergence
Weijia Yao, Hector Garcia de Marina, Ming Cao
Vector field guided path following (VF-PF) algorithms are fundamental in robot navigation tasks, but may not deliver the desirable performance when robots encounter singular points…
On the observability of relative positions in left-invariant multi-agent control systems and its application to formation control
Leonardo Colombo, Hector Garcia de Marina, María Barbero Liñán +1
We consider the localization problem between agents while they run a formation control algorithm. These algorithms typically demand from the agents the information about their rela…
Flexible collaborative transportation by a team of rotorcraft
Hector Garcia de Marina, Ewoud Smeur
We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based o…
Collaborative target-tracking control using multiple autonomous fixed-wing UAVs with constant speeds
Zhiyong Sun, Hector Garcia de Marina, Brian D. O. Anderson +1
This paper considers a collaborative tracking control problem using a group of fixed-wing unmanned aerial vehicles (UAVs) with constant and non-identical speeds. The dynamics of fi…
Multi-robot motion-formation distributed control with sensor self-calibration: experimental validation
Hector Garcia de Marina, Johan Siemonsma, Bayu Jayawardhana +1
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to…
On the stability and applications of distance-based flexible formations
Hector Garcia de Marina, Zhiyong Sun, Shaoshuai Mou
This paper investigates the stability of distance-based \textit{flexible} undirected formations in the plane. Without rigidity, there exists a set of connected shapes for given dis…
Quantization effects and convergence properties of rigid formation control systems with quantized distance measurements
Zhiyong Sun, Hector Garcia de Marina, Brian D. O. Anderson +1
In this paper, we discuss quantization effects in rigid formation control systems when target formations are described by inter-agent distances. Because of practical sensing and me…