Paulo Leica

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In this paper it is presented a control strategy for bilateral human-robot interaction with contact, recognizing human intent to control movement of a non-holonomic mobile robot. The human intention is modeled by mechanical impedance, sensing the force and direction desired by the human to guide the robot through unstructured environments. Robot dynamics(More)
This paper proposes a new algorithm for controlling a formation of multiple autonomous aerial vehicles based on multiple control objectives. The strategy includes using the null space of a Jacobian matrix to achieve the different control objectives in a non-conflicting way. The mission is split into two elementary tasks, with suitable command references(More)
This paper presents a switched control strategy to interpret and design a human-robot bilateral interaction when a human follows a non-holonomic mobile robot at a desired distance while the robot is already following a known path. Furthermore, it proposes and experimentally validates a model that mathematically describes the human behavior when performing(More)
A coordinated group of robots can execute certain tasks, e.g. surveillance of large areas (Hougen et al., 2000), search and rescue (Jennings et al., 1997), and large objectstransportation (Stouten and De Graaf, 2004), more efficiently than a single specialized robot (Cao et al., 1997). Other tasks are simply not accomplishable by a single mobile robot,(More)
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