## Journals:

Bruno Vilhena Adorno, P L Bó and P Fraisse. Kinematic modeling and control for human-robot cooperation considering different interaction roles.

*Robotica*33(2):314–331, 2015. URL, DOI BibTeX@article{AdornoBoFraisse2015, author = "Adorno, Bruno Vilhena and Bó, a. P. L. and Fraisse, P.", title = "Kinematic modeling and control for human-robot cooperation considering different interaction roles", journal = "Robotica", year = 2015, volume = 33, number = 2, pages = "314--331", month = "", abstract = "This paper presents a novel approach for the description of physical human-robot interaction (pHRI) tasks that involve two-arm coordination, and where tasks are described by the relative pose between the human hand and the robot hand. We develop a unified kinematic model that takes into account the human-robot system from a holistic point of view, and we also propose a kinematic control strategy for pHRI that comprises different levels of shared autonomy. Since the kinematic model takes into account the complete human-robot interaction system and the kinematic control law is closed loop at the interaction level, the kinematic constraints of the task are enforced during its execution. Experiments are performed in order to validate the proposed approach, including a particular case where the robot controls the human arm by means of functional electrical stimulation (FES), which may potentially provide useful solutions for the interaction between assistant robots and impaired individuals (e.g., quadriplegics and hemiplegics).", doi = "10.1017/S0263574714000356", issn = "0263-5747", url = "http://www.journals.cambridge.org/abstract{\_}S0263574714000356" }

Amanda G S Ottoni, Ricardo H C Takahashi and Guilherme V Raffo. Stability Constraints for Robust Model Predictive Control.

*Math. Probl. Eng.*2015(1):1–11, 2015. URL, DOI BibTeX@article{OttoniTakahashiRaffo2015, author = "Ottoni, Amanda G. S. and Takahashi, Ricardo H. C. and Raffo, Guilherme V.", title = "Stability Constraints for Robust Model Predictive Control", journal = "Math. Probl. Eng.", year = 2015, volume = 2015, number = 1, pages = "1--11", abstract = "This paper proposes an approach for the robust stabilization of systems controlled by MPC strategies. Uncertain SISO linear systems with box-bounded parametric uncertainties are considered. The proposed approach delivers some constraints on the control inputs which impose sufficient conditions for the convergence of the system output. These stability constraints can be included in the set of constraints dealt with by existing MPC design strategies, in this way leading to the {\textquotedblleft}robustification{\textquotedblright} of the MPC.", doi = "10.1155/2015/870189", issn = "1024-123X", url = "http://www.hindawi.com/journals/mpe/2015/870189/" }

Guilherme V Raffo, Manuel G Ortega and Francisco R Rubio. Robust Nonlinear Control for Path Tracking of a Quad-Rotor Helicopter.

*Asian J. Control*17(1):142–156, 2015. DOI BibTeX@article{RaffoOrtegaRubio2015, author = "Raffo, Guilherme V. and Ortega, Manuel G. and Rubio, Francisco R.", title = "Robust Nonlinear Control for Path Tracking of a Quad-Rotor Helicopter", journal = "Asian J. Control", year = 2015, volume = 17, number = 1, pages = "142--156", month = "", doi = "10.1002/asjc.823", issn = 15618625, keywords = "cable model,differential mode,emi noise,high frequency model,model,permanent magnet synchronous motor,rotor reference frame" }

Gerasimos G Rigatos and Guilherme V Raffo. Input–Output Linearizing Control of the Underactuated Hovercraft Using the Derivative-Free Nonlinear Kalman Filter.

*Unmanned Syst.*03(02):127–142, 2015. DOI BibTeX@article{RigatosRaffo2015, author = "Rigatos, Gerasimos G. and Raffo, Guilherme V.", title = "Input--Output Linearizing Control of the Underactuated Hovercraft Using the Derivative-Free Nonlinear Kalman Filter", journal = "Unmanned Syst.", year = 2015, volume = 03, number = 02, pages = "127--142", month = "", doi = "10.1142/S2301385015500089", issn = "2301-3850", keywords = "atness theory,derivative-free nonlinear kalman fi,di ff erential fl,disturbances estimation,input,lter,nonlinear feedback control,output linearization,trajectory tracking,underactuated hovercraft dynamic model" }

G Rigatos, P Siano and Guilherme V Raffo. Distributed Control of Unmanned Surface Vessels Using the Derivative-free Nonlinear Kalman Filter.

*Intell. Ind. Syst.*1(2):99–126, 2015. URL, DOI BibTeX@article{RigatosSianoRaffo2015, author = "Rigatos, G and Siano, P and Raffo, Guilherme V.", title = "Distributed Control of Unmanned Surface Vessels Using the Derivative-free Nonlinear Kalman Filter", journal = "Intell. Ind. Syst.", year = 2015, volume = 1, number = 2, pages = "99--126", abstract = "Intelligence and autonomy is becoming a prerequisite$\backslash$nfor maritime transportation systems. In this paper$\backslash$na distributed control problem for unmanned surface vessels$\backslash$n(USVs) is formulated as follows: there are N USVs which$\backslash$npursue another vessel (moving target). Each USV can be$\backslash$nequipped with various sensors, such as IMU, cameras and$\backslash$nnon-imaging sensors such as sonar, radar and thermal signature$\backslash$nsensors. At each time instant each USV can obtain$\backslash$nmeasurements of the target's cartesian coordinates. Additionally,$\backslash$neach USV is aware of the target's distance from$\backslash$na reference monitoring station (coastal or satellite monitoring$\backslash$nunits). The objective is to make the USVs converge in a$\backslash$nsynchronized manner towards the target, while avoiding collisions$\backslash$nbetween them and avoiding collisions with obstacles$\backslash$nin their motion plane. A distributed control law is developed$\backslash$nfor the USVs which enables not only convergence of$\backslash$nthe USVs to the goal position, but also makes possible to$\backslash$nmaintain the cohesion of the multi-USV system. Moreover,$\backslash$ndistributed filtering is performed, so as to obtain an estimate$\backslash$nof the target vessel's state vector. This provides the desirable$\backslash$nstate vector to be tracked by each one of the USVs. To this end, a new distributed nonlinear filtering method$\backslash$nof improved accuracy and computation speed is introduced.$\backslash$nThis filtering approach, under the name Derivative-free distributed$\backslash$nnonlinear Kalman filter is based on differential$\backslash$nflatness theory and on an exact linearization of the target$\backslash$nvessel's dynamic/kinematic model. The performance of the$\backslash$nproposed distributed filtering scheme is compared against the$\backslash$nExtended and the Unscented Information filter.", doi = "10.1007/s40903-015-0015-8", issn = "2363-6912", keywords = "Distributed control {\textperiodcentered} Lyapunov stability {\textperiodcentered} Unmanne", publisher = "Springer Singapore", url = {"http://dx.doi.org/10.1007/s40903-015-0015-8} }

Mariana C Bernardes, Bruno V Adorno, Geovany A Borges and Philippe Poignet. 3D Robust Online Motion Planning for Steerable Needles in Dynamic Workspaces Using Duty-Cycled Rotation.

*J. Control. Autom. Electr. Syst.*25(2):216–227, January 2014. DOI BibTeX@article{BernardesAdornoBorgesEtAl2014, author = "Bernardes, Mariana C. and Adorno, Bruno V. and Borges, Geovany A. and Poignet, Philippe", title = "3D Robust Online Motion Planning for Steerable Needles in Dynamic Workspaces Using Duty-Cycled Rotation", journal = "J. Control. Autom. Electr. Syst.", year = 2014, volume = 25, number = 2, pages = "216--227", month = "jan", doi = "10.1007/s40313-013-0104-4", issn = "2195-3880" }

Tales Jesus, Luciano C Pimenta, Leonardo B Tôrres and Eduardo M M Mendes. Consensus for double-integrator dynamics with velocity constraints.

*Int. J. Control. Autom. Syst.*12(5):930–938, 2014. DOI BibTeX@article{JesusPimentaTorresEtAl2014, author = "Jesus, Tales a. and Pimenta, Luciano C. a. and Tôrres, Leonardo a. B. and Mendes, Eduardo M. a. M.", title = "Consensus for double-integrator dynamics with velocity constraints", journal = "Int. J. Control. Autom. Syst.", year = 2014, volume = 12, number = 5, pages = "930--938", doi = "10.1007/s12555-013-0309-0", issn = "1598-6446", keywords = "consensus,multi-agent systems,second-order dynamics,velocity constraints" }

M C Bernardes, B V Adorno, P Poignet and G A Borges. Robot-assisted automatic insertion of steerable needles with closed-loop imaging feedback and intraoperative trajectory replanning.

*Mechatronics*23(6):630–645, 2013. URL, DOI BibTeX@article{BernardesAdornoPoignetEtAl2013, author = "Bernardes, M.C. and Adorno, B.V. and Poignet, P. and Borges, G.A.", title = "Robot-assisted automatic insertion of steerable needles with closed-loop imaging feedback and intraoperative trajectory replanning", journal = "Mechatronics", year = 2013, volume = 23, number = 6, pages = "630--645", month = "", doi = "10.1016/j.mechatronics.2013.06.004", issn = 09574158, keywords = "Needle,Robotics,Steering", publisher = "Elsevier Ltd", url = "http://linkinghub.elsevier.com/retrieve/pii/S0957415813001177" }

Tales Argolo Jesus, Luciano Cunha De Araûjo Pimenta, Leonardo Antônio Borges Tôrres and Eduardo Mazoni Andrade Marçal Mendes. On the coordination of constrained fixed-wing unmanned aerial vehicles.

*J. Control. Autom. Electr. Syst.*24(5):585–600, 2013. DOI BibTeX@article{JesusDeAraujoPimentaTorresEtAl2013, author = "Jesus, Tales Argolo and De Araûjo Pimenta, Luciano Cunha and Tôrres, Leonardo Antônio Borges and Mendes, Eduardo Mazoni Andrade Marçal", title = "On the coordination of constrained fixed-wing unmanned aerial vehicles", journal = "J. Control. Autom. Electr. Syst.", year = 2013, volume = 24, number = 5, pages = "585--600", abstract = "A formal distributed control methodology to coordinate a team of fixed-wing UAVs (Unmanned Aerial Vehicles) in a three-dimensionalworkspace is addressed.The complete task to be accomplished is divided in three stages: (i) eachUAVtracks a circle parallel to the xy plane in a given altitude (different altitudes for differentUAVs); (ii) theUAVs distribute themselves in such away that their projection onto the xy plane are evenly spaced around a circle; (iii) each UAV converges to the same altitude to track the same circle. The main contribution of this work lies in the mathemati- cal proofs of the proposed strategy for a given UAV model. We consider minimum and maximum limits in the forward speed command, maximum limit in the absolute value of the yawrate, maximum limit in the absolute value of the altitude speed, second-order dynamics, and a non-holonomic con- straint. Stability and collision avoidance are guaranteed dur- ing the whole task including the stage transitions and without violating the constraints. Simulation results are given to illus- trate the proposed approach. T.", doi = "10.1007/s40313-013-0062-x", issn = 21953880, keywords = "Coordinated control of multi-agent systems,Distributed coordination,Unmanned aerial vehicles" }

Luciano C a Pimenta, Guilherme Pereira, Mateus M Gonçalves, Nathan Michael, Matthew Turpin and Vijay Kumar. Decentralized controllers for perimeter surveillance with teams of aerial robots.

*Adv. Robot.*27(9):697–709, 2013. DOI BibTeX@article{PimentaPereiraGoncalvesEtAl2013, author = "Pimenta, Luciano C.a. and a.S. Pereira, Guilherme and Gonçalves, Mateus M. and Michael, Nathan and Turpin, Matthew and Kumar, Vijay", title = "Decentralized controllers for perimeter surveillance with teams of aerial robots", journal = "Adv. Robot.", year = 2013, volume = 27, number = 9, pages = "697--709", abstract = "This paper presents a decentralized controller to guide a group of aerial robots to converge to and to move along a simple closed curve specified in a three-dimensional environment. This curve may be considered as a perimeter to be surveilled by the robots. The solution presented in this paper is based on an artificial vector field modulated by a collision avoidance scheme and relies only on local sensing. Proofs of asymptotic stability of the proposed controller are devised for a team of kinematically controlled rotorcrafts. Experimental results with a group of autonomous quadrotors are presented to validate the applicability and performance of the approach.", doi = "10.1080/01691864.2013.778942", isbn = "0169-1864", issn = "0169-1864" }

Luciano C Pimenta, Guilherme S Pereira, Nathan Michael, Renato C Mesquita, Mateus M Bosque, Luiz Chaimowicz and Vijay Kumar. Swarm coordination based on smoothed particle hydrodynamics technique.

*IEEE Trans. Robot.*29(2):383–399, 2013. DOI BibTeX@article{PimentaPereiraMichaelEtAl2013, author = "Pimenta, Luciano C a and Pereira, Guilherme a S and Michael, Nathan and Mesquita, Renato C. and Bosque, Mateus M. and Chaimowicz, Luiz and Kumar, Vijay", title = "Swarm coordination based on smoothed particle hydrodynamics technique", journal = "IEEE Trans. Robot.", year = 2013, volume = 29, number = 2, pages = "383--399", abstract = "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 smoothed-particle hydrodynamics (SPH) technique to devise decentralized controllers that force the robots to behave in a similar manner to fluid particles. Our approach deals with static and dynamic obstacles. Considerations such as finite size and nonholonomic constraints are also addressed. In the absence of obstacles, we prove the stability and convergence of controllers that are based on the SPH method. Computer simulations and actual robot experiments are shown to validate the proposed approach.", doi = "10.1109/TRO.2012.2234294", issn = 15523098, keywords = "Distributed robot systems,motion control,smoothed particle hydrodynamics (SPH),swarm robotics" }

Tito L M Santos, Guilherme V Raffo, Julio E Normey-Rico and Daniel Limon. Dead-time compensation of constrained linear systems with bounded disturbances: output feedback case.

*IET Control Theory Appl.*7(1):52–59, January 2013. DOI BibTeX@article{SantosRaffoNormey-RicoEtAl2013, author = "Santos, Tito L. M. and Raffo, Guilherme V. and Normey-Rico, Julio E. and Limon, Daniel", title = "Dead-time compensation of constrained linear systems with bounded disturbances: output feedback case", journal = "IET Control Theory Appl.", year = 2013, volume = 7, number = 1, pages = "52--59", month = "jan", abstract = "This study presents an analysis about state estimation and dead-time compensation effect over constrained control systems with bounded disturbances and dead-time. It is shown that input-to-state stability and constraint satisfaction can be guaranteed by using an equivalent dead-time free system with measurable states and modified disturbances. This result may be useful to simplify synthesis and analysis of a given constrained control strategy. A linear output feedback control scheme and a tube-based model predictive control strategy are used as motivating examples.", doi = "10.1049/iet-cta.2012.0684", issn = "1751-8644", keywords = "bounded disturbances,compensation,constrained control systems,constraint satisfaction,constraint satisfaction problems,control system synthesis,dead-time compensation,equivalent dead-time free system,feedback,input-to-state stability,linear output feedback control scheme,linear systems,predictive control,stability,state estimation,synthesis simplification,tube-based model predictive control strategy" }

Guilherme V Raffo, Manuel G Ortega and Francisco R Rubio. Path Tracking of a UAV via an Underactuated H-infinity Control Strategy.

*Eur. J. Control*17(2):194–213, January 2011. URL, DOI BibTeX@article{RaffoOrtegaRubio2011, author = "Raffo, Guilherme V. and Ortega, Manuel G and Rubio, Francisco R", title = "Path Tracking of a UAV via an Underactuated H-infinity Control Strategy", journal = "Eur. J. Control", year = 2011, volume = 17, number = 2, pages = "194--213", month = "jan", doi = "10.3166/ejc.17.194-213", issn = 09473580, keywords = "Nonlinear H-infinity control,autonomous aerial vehicle,control,nonlinear h,predictive con-,predictive control,robust control,trol,underactuated mechanical system", publisher = "Elsevier", url = "http://dx.doi.org/10.3166/ejc.17.194-213 http://linkinghub.elsevier.com/retrieve/pii/S0947358011705878" }

Guilherme V Raffo, Manuel G Ortega and Francisco R Rubio. Nonlinear H∞ Controller for the Quad-Rotor Helicopter with Input Coupling Introduction QuadRotor Helicopter Modeling Underactuated Nonlinear H∞ Control Simulation Results Conclusions.

*Syst. Eng.*, pages 1–36, 2011. BibTeX@article{RaffoOrtegaRubio2011a, author = "Raffo, Guilherme V. and Ortega, Manuel G and Rubio, Francisco R", title = "Nonlinear H∞ Controller for the Quad-Rotor Helicopter with Input Coupling Introduction QuadRotor Helicopter Modeling Underactuated Nonlinear H∞ Control Simulation Results Conclusions", journal = "Syst. Eng.", year = 2011, pages = "1--36", keywords = "control,flying robots,guidance navigation and control,nonlinear h,robust control" }

Vinicius Mariano Gonçalves, Carlos Andrey Maia, Guilherme Augusto Silva Pereira and Luciano Cunha De Araûjo Pimenta. Navegação de robôs utilizando curvas implícitas.

*Sba: Controle & Automação Sociedade Brasileira de Automática*21(1):43–57, 2010. DOI BibTeX@article{Goncalves2010, author = "Gonçalves, Vinicius Mariano and Maia, Carlos Andrey and Pereira, Guilherme Augusto Silva and Pimenta, Luciano Cunha De Araûjo", title = "Navegação de robôs utilizando curvas implícitas", journal = "Sba: Controle \& Automação Sociedade Brasileira de Automática", year = 2010, volume = 21, number = 1, pages = "43--57", doi = "10.1590/S0103-17592010000100004", keywords = "implicit functions,mobile robots,navigation" }

Vincius M Goncalves, Luciano C A Pimenta, Carlos A Maia, Bruno C O Dutra and Guilherme A S Pereira. Vector fields for robot navigation along time-varying curves in n-dimensions.

*IEEE Transactions on Robotics*26(4):647–659, 2010. DOI BibTeX@article{Goncalves2010a, author = "Goncalves, Vincius M. and Pimenta, Luciano C A and Maia, Carlos A and Dutra, Bruno C O and Pereira, Guilherme A S", title = "Vector fields for robot navigation along time-varying curves in n-dimensions", journal = "IEEE Transactions on Robotics", year = 2010, volume = 26, number = 4, pages = "647--659", abstract = "This paper presents a methodology for computing artificial vector fields that allows a robot to converge to and circulate around generic curves specified in n-dimensional spaces. These vector fields may be directly applied to solve several robot navigation problems such as border monitoring, surveillance, target tracking and multi-robot pattern generation, with special application to fixed-wing aerial robots, which must keep a positive forward velocity and cannot converge to a single point. Unlike previous solutions found in the literature, the approach is based on fully continuous vector fields and is generalized to time- varying curves defined in n-dimensional spaces. We provide mathematical proofs and present simulation and experimental results that illustrate the applicability of the proposed approach. We also present a methodology for constructing the target curve based on a given set of its samples.", doi = "10.1109/TRO.2010.2053077", keywords = "Limit cycles,mobile robots,motion control,time-varying systems" }

Vincius M Goncalves, Luciano C A Pimenta, Carlos A Maia, Bruno C O Dutra and Guilherme A S Pereira. Vector fields for robot navigation along time-varying curves in n-dimensions.

*IEEE Trans. Robot.*26(4):647–659, 2010. DOI BibTeX@article{GoncalvesPimentaMaiaEtAl2010, author = "Goncalves, Vincius M. and Pimenta, Luciano C A and Maia, Carlos A and Dutra, Bruno C O and Pereira, Guilherme A S", title = "Vector fields for robot navigation along time-varying curves in n-dimensions", journal = "IEEE Trans. Robot.", year = 2010, volume = 26, number = 4, pages = "647--659", abstract = "This paper presents a methodology for computing artificial vector fields that allows a robot to converge to and circulate around generic curves specified in n-dimensional spaces. These vector fields may be directly applied to solve several robot navigation problems such as border monitoring, surveillance, target tracking and multi-robot pattern generation, with special application to fixed-wing aerial robots, which must keep a positive forward velocity and cannot converge to a single point. Unlike previous solutions found in the literature, the approach is based on fully continuous vector fields and is generalized to time- varying curves defined in n-dimensional spaces. We provide mathematical proofs and present simulation and experimental results that illustrate the applicability of the proposed approach. We also present a methodology for constructing the target curve based on a given set of its samples.", doi = "10.1109/TRO.2010.2053077", issn = 15523098, keywords = "Limit cycles,mobile robots,motion control,time-varying systems" }

Guilherme V Raffo, Manuel G Ortega and Francisco R Rubio. An integral predictive/nonlinear H∞ control structure for a quadrotor helicopter.

*Automatica*46(1):29–39, January 2010. URL, DOI BibTeX@article{RaffoOrtegaRubio2010, author = "Raffo, Guilherme V. and Ortega, Manuel G. and Rubio, Francisco R.", title = "An integral predictive/nonlinear H∞ control structure for a quadrotor helicopter", journal = "Automatica", year = 2010, volume = 46, number = 1, pages = "29--39", month = "jan", abstract = "This paper presents an integral predictive and nonlinear robust control strategy to solve the path following problem for a quadrotor helicopter. The dynamic motion equations are obtained by the Lagrange-Euler formalism. The proposed control structure is a hierarchical scheme consisting of a model predictive controller (mpc) to track the reference trajectory together with a nonlinear H??? controller to stabilize the rotational movements. In both controllers the integral of the position error is considered, allowing the achievement of a null steady-state error when sustained disturbances are acting on the system. Simulation results in the presence of aerodynamic disturbances, parametric and structural uncertainties are presented to corroborate the effectiveness and the robustness of the proposed strategy. ?? 2009 Elsevier Ltd. All rights reserved.", doi = "10.1016/j.automatica.2009.10.018", isbn = "0005-1098", issn = 00051098, keywords = "Nonlinear H-infinity control,Predictive control,Robust control,Unmanned aerial vehicle", publisher = "Elsevier Ltd", url = "http://dx.doi.org/10.1016/j.automatica.2009.10.018 http://linkinghub.elsevier.com/retrieve/pii/S0005109809004798" }

G S Pereira, L C Pimenta, R Fonseca, L D Q Correa, R C Mesquita, L Chaimowicz, D S C Almeida and M F M Campos. Robot Navigation in Multi-terrain Outdoor Environments.

*Int. J. Rob. Res.*28(6):685–700, 2009. DOI BibTeX@article{PereiraPimentaFonsecaEtAl2009, author = "Pereira, G. a. S. and Pimenta, L. C. a. and Fonseca, a. R. and Correa, L. D. Q. and Mesquita, R. C. and Chaimowicz, L. and de Almeida, D. S. C. and Campos, M. F. M.", title = "Robot Navigation in Multi-terrain Outdoor Environments", journal = "Int. J. Rob. Res.", year = 2009, volume = 28, number = 6, pages = "685--700", month = "", doi = "10.1177/0278364908097578", issn = "0278-3649", keywords = "contin-,field robotics,robot motion planning" }

Guilherme V Raffo, G K Gomes, J E Normey-Rico, C R Kelber and L B Becker. A Predictive Controller for Autonomous Vehicle Path Tracking.

*IEEE Trans. Intell. Transp. Syst.*10(1):92–102, 2009. URL, DOI BibTeX@article{RaffoGomesNormey-RicoEtAl2009, author = "Raffo, Guilherme V. and Gomes, G.K. and Normey-Rico, J.E. and Kelber, C.R. and Becker, L.B.", title = "A Predictive Controller for Autonomous Vehicle Path Tracking", journal = "IEEE Trans. Intell. Transp. Syst.", year = 2009, volume = 10, number = 1, pages = "92--102", month = "", doi = "10.1109/TITS.2008.2011697", issn = "1524-9050", url = "http://ieeexplore.ieee.org/xpls/abs{\_}all.jsp?arnumber=4768725 http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4768725" }

Guilherme V Raffo, Julio E Normey-Rico, Francisco R Rubio and Christian R Kelber. Cascade Predictive Control of an Autonomous Vehicle.

*Rev. Iberoam. Automática e Informática Ind. RIAI*6(1):63–74, 2009. DOI BibTeX@article{RaffoNormey-RicoRubioEtAl2009, author = "Raffo, Guilherme V. and Normey-Rico, Julio E. and Rubio, Francisco R. and Kelber, Christian R.", title = "Cascade Predictive Control of an Autonomous Vehicle", journal = "Rev. Iberoam. Automática e Informática Ind. RIAI", year = 2009, volume = 6, number = 1, pages = "63--74", doi = "10.1016/S1697-7912(09)70077-9", issn = 16977912 }

Guilherme Vianna Raffo, Manuel G Ortega and Francisco R Rubio. MPC with nonlinear H∞ control for path tracking of a quad-rotor helicopter.

*Proc. IFAC World Congr.*, pages 8564–8569, 2008. URL, DOI BibTeX@article{RaffoOrtegaRubio2008, author = "Raffo, Guilherme Vianna and Ortega, Manuel G and Rubio, Francisco R", title = "MPC with nonlinear H∞ control for path tracking of a quad-rotor helicopter", journal = "Proc. IFAC World Congr.", year = 2008, pages = "8564--8569", 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-infinity controller to stabilize the rotational movements. Simulations results in presence of aerodynamic disturbances and parametric uncertainty are presented to corroborate the effectiveness and the robustness of the proposed strategy.", doi = "10.1002/asjc.823", isbn = 9781123478, issn = 15618625, keywords = "Autonomous vehicle navigation,Motion control,Trajectory tracking and path following,guidance and control", url = "http://www.nt.ntnu.no/users/skoge/prost/proceedings/ifac2008/data/papers/2578.pdf?origin=publication{\_}detail" }

Luciano C Pimenta, Miguel L Mendes, Renato C Mesquita and Guilherme S Pereira. Fluids in electrostatic fields: An analogy for multirobot control.

*IEEE Trans. Magn.*43(4):1765–1768, 2007. DOI BibTeX@article{PimentaMendesMesquitaEtAl2007, author = "Pimenta, Luciano C a and Mendes, Miguel L. and Mesquita, Renato C. and Pereira, Guilherme a S", title = "Fluids in electrostatic fields: An analogy for multirobot control", journal = "IEEE Trans. Magn.", year = 2007, volume = 43, number = 4, pages = "1765--1768", abstract = "This paper addresses the problem of controlling a large group of robots in a 2-D pattern generation task. Different from previous methodologies, our approach can be used in generic static environments, where obstacles may appear. This approach is based on the analogy with the simulation of fluids in electrostatic fields. By means of a weak coupling between the smoothed particle hydrodynamics and the finite element method we derive a scalable solution where decentralized controllers are provided", doi = "10.1109/TMAG.2007.892514", issn = 00189464, keywords = "Electric fields,Hydrodynamics,Mobile robots" }

Luciano C A Pimenta, Alexandre R Fonseca, Guilherme A S Pereira, Renato C Mesquita, Elson J Silva, Walmir M Caminhas and Mario F M Campos. Robot navigation based on electrostatic field computation.

*IEEE Transactions on Magnetics*42(4):1459–1462, 2006. DOI BibTeX@article{PimentaFonsecaPereiraMesquitaSilvaCaminhasCampos:2006, author = "Pimenta, Luciano C A and Fonseca, Alexandre R and Pereira, Guilherme A S and Mesquita, Renato C and Silva, Elson J and Caminhas, Walmir M and Campos, Mario F M", title = "Robot navigation based on electrostatic field computation", journal = "IEEE Transactions on Magnetics", year = 2006, volume = 42, number = 4, pages = "1459--1462", doi = "10.1109/TMAG.2006.870931", keywords = "Finite element methods,Mobile robots,Motion-planning" }