Learn More
SUMMARY The paper presents a solution to the problem of steering a group of wheeled robots along given spatial paths, while holding a desired inter-vehicle formation pattern. This problem arises for example when multiple robots are required to search a given area in cooperation. The solution proposed addresses explicitly the dynamics of the cooperating(More)
This paper addresses the problem of steering a group of vehicles along given spatial paths while holding a desired time-varying geometrical formation pattern. The solution to this problem, henceforth referred to as the coordinated path-following (CPF) problem, unfolds in two basic steps. First, a path-following (PF) control law is designed to drive each(More)
A new method is proposed to implement gain-scheduled controllers for nonlinear plants. Given a family of linear feedback controllers designed for lineariza-tions of a nonlinear plant about constant operating points, a nonlinear gain-scheduled controller is derived that preserves the input-output properties of the linear closed loop systems locally, about(More)
The paper addresses the problem of steering a fleet of wheeled robots along a set of given spatial paths, while keeping a desired inter-vehicle formation pattern. This problem arises for example when multiple vehicles are required to scan a given area in cooperation. In a possible mission scenario, one of the vehicles acts a leader and follows a path(More)
  • J Hespanha, O Yakimenko, I Kaminer, A Pascoal
  • 2001
* This paper describes an application of recently developed results on linear parametrically varying systems (LPVs) with brief instabilities reported in [3] to the problem of designing a nonlinear vision/inertial navigation filter for an aircraft approaching an aircraft carrier is included. The results developed provide the proper framework to deal with(More)
  • Jo˜ao M Hespanha, Oleg A Yakimenko, Ant´onio M Pascoal, Yakimenko, I Kaminer, A Pascoal
  • 2001
This paper addresses the problem of nonlinear filter design to estimate the relative position and velocity of an unmanned air vehicle (UAV) with respect to a point on a ship using infrared (IR) vision, inertial, and air data sensors. Sufficient conditions are derived for the existence of a particular type of complementary filters with guaranteed stability(More)
This paper addresses the problem of designing guidance, control and navigation systems for autonomous underwater vehicles (AUVs). Its contribution is twofold: i) it introduces a new methodology for the integrated design of guidance and control, and ii) it describes a novel approach to the analysis and design of multi-rate complementary filters for(More)