André Scolari Conceição

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This paper describes a novel approach in formation control for mobile robots in the active target tracking problem. A nonlinear model predictive formation controller (NMPFC) for target perception was implemented to converge a group of mobile robots toward a desired target. The teammust also maintain a desired formation following a target while it is moving,(More)
This paper presents a nonlinear model based predictive controller (NMPC) for trajectory tracking of a mobile robot. Methods of numerical optimization to perform real time nonlinear minimization of the cost function are used. The cost function penalizes the robot position error, the robot orientation angle error and the control effort. Experimental results(More)
This paper presents a nonlinear model-based predictive controller (NMPC) for trajectory tracking of a four-wheeled omnidirectional mobile robot. Methods of numerical optimization to perform real-time nonlinear minimization of the cost function are used. The cost function penalizes the robot’s position error, the robot’s orientation angle error, and the(More)
This paper presents a nonlinear modeling approach of an omnidirectional mobile robot to predict the robot behavior in a model-based predictive controller (MPC). Parameters related to dynamic equations of the robot and restriction of the robot's motors are considered in the modeling. Simulation results and real results of navigation are provided to(More)
Maximizing the performance of cooperative perception of a tracked target by a team of mobile robots while maintaining the team's formation is the core problem addressed in this work. We propose a solution by integrating the controller and the estimator modules in a formation control loop. The controller module is a distributed non-linear model predictive(More)
In this paper, we propose an algorithm that combine the restriction on motor’s velocities and the kinematic model of Omni-Directional mobile robots to improve the trajectory’s following. The algorithm verifies the reference velocities of the robot and redefine them if necessary, in order to prevent possible saturation on motor’s velocities. Simulation(More)
This paper presents a set of novel modifications that can be applied to any grid-based path planning algorithm from the A* family used in mobile robotics. Five modifications are presented regarding the way the robot sees an obstacle and its target to plan the robot’s path. The modifications make it possible for the robot to get to the target faster than(More)
Dynamic modelling of mobile robots is very important to design of controllers, mainly when the robots need to travel at higher velocity and perform heavy works. For example, in (Liu et al., 2003) and (Watanabe, 1998), control strategies for omnidirectional robots using the dynamic model are discussed. However, non-linearities, like motor dynamic constraints(More)
The target searching problem is a situation where a formation of multi-robot systems is set to search for a target and converge towards it when it is found. This problem lies in the fact that the target is initially absent and the formation must search for it in the environment. During the target search, false targets may appear dragging the formation(More)