Renato C. Mesquita

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We address the problem of covering an environment with robots equipped with sensors. The robots are heterogeneous in that the sensor footprints are different. Our work uses the location optimization framework in [1], [2], with three significant extensions. First, we consider robots with different sensor footprints, allowing, for example, aerial and ground(More)
We address the problem of simultaneously covering an environment and tracking intruders (SCAT). The problem is translated to the task of covering environments with time-varying density functions under the locational optimization framework. This allows for coupling the basic subtasks: task assignment, coverage, and tracking. A decentralized controller with(More)
We address the problem of pattern generation in obstacle-filled environments by a swarm of mobile robots. Decentralized controllers are devised by using the Smoothed Particle Hydrodynamics (SPH) method. The swarm is modelled as an incompressible fluid subjected to external forces. Actual robot issues such as finite size and nonholonomic constraints are also(More)
This paper presents a methodology for motion planning in outdoor environments that takes into account specific characteristics of the terrain. Instead of decomposing the robot configuration space into “free” and “occupied”, we consider the existence of several regions with different navigation costs. Costs are determined experimentally by navigating the(More)
This paper addresses the problem of efficiently computing robot navigation functions. Navigation functions are potential functions free of spurious local minima that present an exact solution to the robot motion planning and control problem. Although some methodologies were found in the literature, none of them are easy to implement and generalize for(More)
This note presents a new approach to robust -stability analysis of linear time-invariant systems with polytope-bounded uncertainty. The proposed approach combines sufficient conditions for robust -stability in terms of feasibility problems with linear matrix inequalities (LMI) constraints and a new polytope partition technique. If the initial polytope does(More)
The focus of this study is on the design of feedback control laws for swarms of robots that are based on models from fluid dynamics. We apply an incompressible fluid model to solve a pattern generation task. Possible applications of an efficient solution to this task are surveillance and the cordoning off of hazardous areas. More specifically, we use the(More)
This article presents a simple efficient algorithm for the subdivision of a <i>d</i>-dimensional simplex in <i>k</i><sup><i>d</i></sup> simplices, where <i>k</i> is any positive integer number. The algorithm is an extension of Freudenthal's subdivision method. The proposed algorithm deals with the more general case of <i>k</i><sup><i>d</i></sup>(More)
Several recent works have combined discrete and continuous motion planning methods for robot navigation and control. The basic idea of some of these works is to plan a path, by determining a sequence of neighboring discrete regions of the configuration space, and to assign a vector field that drives the robots through these regions. This paper addresses the(More)