Guilherme V. Raffo

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This paper presents a model predictive controller (MPC) structure for solving the path-tracking problem of terrestrial autonomous vehicles. To achieve the desired performance during high-speed driving, the controller architecture considers both the kinematic and the dynamic control in a cascade structure. Our study contains a comparative study between two(More)
The IEEE RAS Ontologies for Robotics and Automation Working Group is dedicated to developing a methodology for knowledge representation and reasoning in robotics and automation. As part of this working group, the Autonomous Robots sub-group is tasked with developing ontology modules for autonomous robots. This paper describes the work in progress on the(More)
This paper presents a nonlinear robust control strategy to solve the path tracking problem for a quadrotor unmanned aerial vehicle. The helicopter motion equations is obtained by the LagrangeEuler formalism. The control structure is performed through a nonlinear H∞ controller to stabilize the rotational movements and a control law based on backstepping(More)
Abstract: This paper presents a predictive and nonlinear robust control strategy to solve the path tracking problem for a quadrotor helicopter. The dynamic motion equations are obtained by the Lagrange-Euler formalism. The control structure is performed through a model-based predictive controller (MPC) to track the reference trajectory and a nonlinear H∞(More)
Abstract: This paper presents a nonlinear H∞ control law for underactuated mechanical systems with input coupling. Apart from the controlled degrees of freedom (DOF), the proposed controller considers the dynamics of the remaining DOF in the cost variable, which allows to stabilize them. The underactuated mechanical system is normalized to obtain a diagonal(More)
This paper describes a low cost wireless communication infrastructure designed for a short-range Unmanned Aerial Vehicle (UAV). It aims at providing a communication link between the UAV and a base station and also additional links that may allow collecting data from a remote Wireless Sensor Network (WSN). The challenge here is using the same hardware to(More)
This paper describes RBESP, a dual stack protocol designed as part of the communication infrastructure of a short-range Unmanned Aerial Vehicle (UAV). It aims at providing a reliable communication between the UAV and its base station and a best effort communication between the UAV and a WSN. RBESP targets two distinct communication requirements using the(More)