Vicent Girbes

Learn More
— This paper presents a novel controller for nonlin-ear unconstrained systems, coined as Extended Rauch-Tung-Striebel (ERTS) controller. The controller is derived from a general framework based on the duality between optimal control and estimation established by Todorov. The proposed controller uses Rauch-Tung-Striebel smoother that predicts (filters)(More)
— The main contribution of the paper is to demonstrate the benefits of a new kinematic control method within the Pure-Pursuit framework, based on continuous-curvature paths, against a classic approach to Pure-Pursuit methods commonly used in mobile robotics. The new method can be applied in a generic path following problem and it is based on combinations of(More)
Buses and coaches are massive Passenger Transportation Systems (PTS), because they represent more than half of land PTS in the European Union. Despite that, bus accident figures are lower than other means of transport, but its size and weight increase the severity of accidents in which buses are involved, even at low speed. In urban scenarios, turnings and(More)
—This paper presents non-iterative linearization-based controllers for nonlinear unconstrained systems, coined as Extended Rauch-Tung-Striebel (ERTS) and Unscented Rauch-Tung-Striebel (URTS) controllers, derived from the duality between optimal control and estimation. The proposed controllers use a Rauch-Tung-Striebel forward-backward smoother as an state(More)