Publications

Peer reviewed national conference papers:

Fernando Silvano Gonçalves, Richard Alfonso, Andrade Alfaro, Vinícius David Woyakewicz, Patrick José Pereira, Leandro Buss Becker and Guilherme Vianna Raffo. VANT autônomo capaz de comunicar com uma rede de sensores sem fio. In X Congresso Brasileiro de AgroInformática. 2015, 1–11. BibTeX

@inproceedings{GoncalvesAlfonsoAlfaroEtAl2015,
	author = "Gonçalves, Fernando Silvano and Alfonso, Richard and Alfaro, Andrade and Woyakewicz, Vinícius David and Pereira, Patrick José and Becker, Leandro Buss and Raffo, Guilherme Vianna",
	title = "VANT autônomo capaz de comunicar com uma rede de sensores sem fio",
	booktitle = "X Congresso Brasileiro de AgroInformática",
	year = 2015,
	pages = "1--11",
	journal = "X Congresso Brasileiro de AgroInformática"
}

Ana Christine Oliveira and Bruno Vilhena Adorno. Balance Control of a Humanoid Robot Based on the Cooperative Dual Task-Space Framework. In XII Simpósio Bras. Automação Intel.. 2015, 485 – 490. URL BibTeX

@inproceedings{Oliveira2015,
	author = "Oliveira, Ana Christine and Adorno, Bruno Vilhena",
	title = "Balance Control of a Humanoid Robot Based on the Cooperative Dual Task-Space Framework",
	booktitle = "XII Simpósio Bras. Automação Intel.",
	year = 2015,
	pages = "485 -- 490",
	abstract = "--- This paper presents a technique for the modeling and balance control of humanoid robots based on dual quaternion algebra and the Cooperative Dual Task-Space Framework. A strategy for controlling the Center of Mass (CoM) position that takes into account the system's stability constraints is presented and validated in a realistic simulation. The results show that the presented control strategy is able to track a desired 3D trajectory for the CoM while ensuring the robot's balance, and may potentially be extended to perform bipedal locomotion. Keywords--- Humanoid robots, Center of Mass (CoM), CoM control, Dual quaternion, Cooperative Dual Task-Space (CDTS). Resumo--- Este artigo apresenta uma t{\'{e}}cnica de modelagem e controle de equil{\'{i}}brio de rob{\^{o}}s human{\'{o}}ides baseada na {\'{a}}lgebra de quat{\'{e}}rnios duais e no Espa{\c{c}}o de Coopera{\c{c}}{\~{a}}o Dual. Uma estrat{\'{e}}gia para controlar a posi{\c{c}}{\~{a}}o do Centro de Massa (CM), que leva em considera{\c{c}}{\~{a}}o as restri{\c{c}}{\~{o}}es de estabilidade do sistema, {\'{e}} apresentada e validada em um ambiente de simula{\c{c}}{\~{a}}o real{\'{i}}stico. Os resultados obtidos mostram que esta estrat{\'{e}}gia de controle {\'{e}} capaz de realizar o rastreamento de uma trajet{\'{o}}ria 3D desejada para o CM, enquanto garante o equil{\'{i}}brio do rob{\^{o}}, e pode, potencialmente, ser estendida para a locomo{\c{c}}{\~{a}}o de rob{\^{o}}s b{\'{i}}pedes. Palavras-chave--- Rob{\^{o}}s human{\'{o}}ides, Centro de Massa, Controle do Centro de Massa, Quat{\'{e}}rnios duais, Espa{\c{c}}o de Coopera{\c{c}}{\~{a}}o Dual.",
	keywords = "center of mass,com,com control,cooperative dual,dual quaternion,humanoid robots",
	url = "http://swge.inf.br/SBAI2015/anais/139.pdf"
}

Ernesto Pablo Lana, Bruno Vilhena Adorno and Carlos Andrey Maia. Descrição Geométrica, Cinemática e de Esforços para Tarefas de Manipulação Usando Quatérnios Duais. In Congr. Bras. Automática. 2014, 965–972. BibTeX

@inproceedings{Lana2014,
	author = "Lana, Ernesto Pablo and Adorno, Bruno Vilhena and Maia, Carlos Andrey",
	title = "Descrição Geométrica, Cinemática e de Esforços para Tarefas de Manipulação Usando Quatérnios Duais",
	booktitle = "Congr. Bras. Automática",
	year = 2014,
	pages = "965--972",
	address = "Belo Horizonte",
	keywords = "dual quaternions,manipulation tasks,tff,twists,wrenches"
}

Ramon G Durães, Gustavo L Vieira, Patrícia N Pena and Bruno V Adorno. Teoria de Controle Supervisório e Controle Dirigido Ótimo: Solução de um Problema de Sequenciamento. In Congr. Bras. Automática. 2014, 1608–1615. BibTeX

@inproceedings{Duraes2014,
	author = "Durães, Ramon G and Vieira, Gustavo L and Pena, Patrícia N and Adorno, Bruno V",
	title = "Teoria de Controle Supervisório e Controle Dirigido Ótimo: Solução de um Problema de Sequenciamento",
	booktitle = "Congr. Bras. Automática",
	year = 2014,
	pages = "1608--1615",
	address = "Belo Horizonte",
	keywords = "discrete event systems,optimal directed control,sequencing,supervisory control theory"
}

Fredy Rolando Salazar-Sangucho and Bruno Vilhena Adorno. Modelagem e Controle de Corpo Completo Usando Quatérniosrnios Duais para um Manipulador Móvel. In Congr. Bras. Automática. 2014, 1544–1551. BibTeX

@inproceedings{Salazar-Sangucho2014,
	author = "Salazar-Sangucho, Fredy Rolando and Adorno, Bruno Vilhena",
	title = "Modelagem e Controle de Corpo Completo Usando Quatérniosrnios Duais para um Manipulador Móvel",
	booktitle = "Congr. Bras. Automática",
	year = 2014,
	pages = "1544--1551",
	address = "Belo Horizonte"
}

Igor Pizetta, Alexandre S Brandao and Mario Sarcinelli-filho. Anais do XX Congresso Brasileiro de Automática Belo Horizonte, MG, 20 a 24 de Setembro de 2014. In An. do XX Congr. Bras. Automática. 2014, 1466–1473. BibTeX

@inproceedings{PizettaBrandaoSarcinelli-filho2014,
	author = "Pizetta, Igor and Brandao, Alexandre S. and Sarcinelli-filho, Mario",
	title = "Anais do XX Congresso Brasileiro de Automática Belo Horizonte, MG, 20 a 24 de Setembro de 2014",
	booktitle = "An. do XX Congr. Bras. Automática",
	year = 2014,
	pages = "1466--1473",
	abstract = "Nowadays, Petri net and this extensions has been used for modeling and verification of complex systems, used as a sound description language. Algorithms derived from this modeling framework can facilitate the analysis and verification of properties. Methods of verification based in invariants are among the most computacionally efficient and allow the verification of other important properties. This work proposes the use of invariants for the verification of desirable properties for an automatic system in the early design phase. Therefore invariants are used to validate requirements assuming they are elicited using UML Diagrams and modeled also in Petri Nets. Keywords---",
	journal = "An. do XX Congr. Bras. Autom{\'{a}}tica",
	keywords = "completa para desenvolvimento de,e proposta uma plataforma,ground station,hardware-in-loop,neste trabalho,resumo,simulation,tecnologias aplicadas,uav"
}

Ernesto Pablo Lana, Bruno Vilhena Adorno and Carlos Julio Tierra-Criollo. Assistance Task Using a Manipulator Robot and User Kinematics Feedback. In An. do Simpósio Bras. Automação Intel.. 2013, 1–6. BibTeX

@inproceedings{LanaAdornoTierra-Criollo2013a,
	author = "Lana, Ernesto Pablo and Adorno, Bruno Vilhena and Tierra-Criollo, Carlos Julio",
	title = "Assistance Task Using a Manipulator Robot and User Kinematics Feedback",
	booktitle = "An. do Simpósio Bras. Automação Intel.",
	year = 2013,
	pages = "1--6",
	address = "Fortaleza",
	keywords = "assistance task,dual quaternion algebra,human-robot interaction,jacobian-based control,task-priority control"
}

Murilo Marques Marinho and Bruno Vilhena Adorno. Design Of Singularity-robust and Task-priority Kinematic Controllers in the Unit Dual Quaternion Space. In An. do Simpósio Bras. Automação Intel.. 2013, 1–6. BibTeX

@inproceedings{MarinhoAdorno2013,
	author = "Marinho, Murilo Marques and Adorno, Bruno Vilhena",
	title = "Design Of Singularity-robust and Task-priority Kinematic Controllers in the Unit Dual Quaternion Space",
	booktitle = "An. do Simpósio Bras. Automação Intel.",
	year = 2013,
	pages = "1--6",
	address = "Fortaleza",
	keywords = "dual quaternions,kinematic control,openrave,robotic manipulator,ros"
}

C SOUZA, GV RAFFO and EB CASTELAN. ESTRATÉGIAS DE CONTROLE BASEADO EM PASSIVIDADE PARA SISTEMAS MECÂNICOS SUBATUADOS-UMA APLICAÇÃO AO HELICÓPTERO QUADRIRROTOR. In XI SBAI - Simpósio Brasileiro de Automação Inteligente (Sbai). 2013. URL BibTeX

@inproceedings{SOUZARAFFOCASTELAN2013,
	author = "SOUZA, C and RAFFO, GV and CASTELAN, EB",
	title = "ESTRATÉGIAS DE CONTROLE BASEADO EM PASSIVIDADE PARA SISTEMAS MECÂNICOS SUBATUADOS-UMA APLICAÇÃO AO HELICÓPTERO QUADRIRROTOR",
	booktitle = "XI SBAI - Simpósio Brasileiro de Automação Inteligente",
	year = 2013,
	number = "Sbai",
	journal = "XI SBAI - Simpósio Brasileiro de Automação Inteligente",
	keywords = "constraint equations,dois controladores s{\~{a}}o formulados,e resultados de simula{\c{c}}{\~{a}}o,este trabalho apresenta uma,gera{\c{c}}{\~{a}}o de contro-,ladores de um helic{\'{o}}ptero,metodologia de controle ida-pbc,o,para sistemas sub-atuados para,passivity based control,pch,quadrirrotor,resumo,s{\~{a}}o usados para ilustrar,underactuated mechanical systems",
	url = "http://www.sba.org.br/SBAI/pdfs/6039.pdf"
}

Bruno Vilhena Adorno. Manipulaçãoo Cooperativa Descentralizada Usando o Espaço Dual de Cooperação. In XIX Congr. Bras. Automática. 2012, 1436–1443. BibTeX

@inproceedings{Adorno2012,
	author = "Adorno, Bruno Vilhena",
	title = "Manipulaçãoo Cooperativa Descentralizada Usando o Espaço Dual de Cooperação",
	booktitle = "XIX Congr. Bras. Automática",
	year = 2012,
	pages = "1436--1443",
	address = "Campina Grande",
	publisher = "Sociedade Brasileira de Autom{\'{a}}tica",
	keywords = "cooperative dual task-space,cooperative systems,dual quaternion,este artigo prop,kinematic control,ma-,multiarm manipulation,nipulator robots,resumo"
}

Vinicius Mariano Gonçalves, Carlos Andrey Maia, Guilherme Augusto Silva Pereira and Luciano Cunha De Araûjo Pimenta. Navegação de robôs utilizando curvas implícitas. In Sba Control. Automação Soc. Bras. Autom. 21(1). 2010, 43–57. DOI BibTeX

@inproceedings{GoncalvesMaiaPereiraEtAl2010,
	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",
	booktitle = "Sba Control. Automação Soc. Bras. Autom.",
	year = 2010,
	volume = 21,
	number = 1,
	pages = "43--57",
	doi = "10.1590/S0103-17592010000100004",
	issn = "0103-1759",
	journal = "Sba Control. Automa{\c{c}}{\~{a}}o Soc. Bras. Autom.",
	keywords = "implicit functions,mobile robots,navigation"
}

Bruno Vilhena Adorno and Geovany Araûjo Borges. Planejamento de caminho usando BI-ARW melhorado e mapa de rotas. In Simpósio Bras. Automação Intel.. 2007, 1–6. BibTeX

@inproceedings{AdornoBorges2007,
	author = "Adorno, Bruno Vilhena and Borges, Geovany Araûjo",
	title = "Planejamento de caminho usando BI-ARW melhorado e mapa de rotas",
	booktitle = "Simpósio Bras. Automação Intel.",
	year = 2007,
	pages = "1--6",
	address = "Florian{\'{o}}polis"
}

Bruno Vilhena Adorno and Geovany Araûjo Borges. Um método de planejamento de trajetória para robôs móveis através de passeios aleatórios adaptativos e mapa de rotas. In XVI Congr. Bras. Automática. 2006, 1–6. BibTeX

@inproceedings{AdornoBorges2006,
	author = "Adorno, Bruno Vilhena and Borges, Geovany Araûjo",
	title = "Um método de planejamento de trajetória para robôs móveis através de passeios aleatórios adaptativos e mapa de rotas",
	booktitle = "XVI Congr. Bras. Automática",
	year = 2006,
	pages = "1--6"
}

Bruno Vilhena Adorno, Carla Silva Rocha Aguiar and Geovany Araûjo Borges. Planejamento de trajetória para o robô OMNI utilizando o algoritmo mapa de rotas probabilístico. In VII Simpósio Bras. Automação Intel. / II IEEE Latin-American Robot. Symp.. 2005, 1–8. BibTeX

@inproceedings{AdornoAguiarBorges2005,
	author = "Adorno, Bruno Vilhena and Aguiar, Carla Silva Rocha and Borges, Geovany Araûjo",
	title = "Planejamento de trajetória para o robô OMNI utilizando o algoritmo mapa de rotas probabilístico",
	booktitle = "VII Simpósio Bras. Automação Intel. / II IEEE Latin-American Robot. Symp.",
	year = 2005,
	pages = "1--8"
}

Peer reviewed international conference papers:

Marcelino M Almeida and Guilherme V Raffo. Nonlinear Balance Control of an Inverted Pendulum on a Tilt-rotor UAV∗∗The authors would like to thank the Brazilian research agencies CAPES, CNPq and FAPEMIG for their financial contribution for the accomplishment of this work.. In IFAC-PapersOnLine 48(9). 2015, 168–173. URL, DOI BibTeX

@inproceedings{AlmeidaRaffo2015a,
	author = "de Almeida, Marcelino M. and Raffo, Guilherme V.",
	title = "Nonlinear Balance Control of an Inverted Pendulum on a Tilt-rotor UAV∗∗The authors would like to thank the Brazilian research agencies CAPES, CNPq and FAPEMIG for their financial contribution for the accomplishment of this work.",
	booktitle = "IFAC-PapersOnLine",
	year = 2015,
	volume = 48,
	number = 9,
	pages = "168--173",
	publisher = "Elsevier B.V.",
	abstract = "This paper proposes a cascade nonlinear control strategy to solve the problem of balancing an inverted pendulum using a Tilt-rotor Unmanned Aerial Vehicle while tracking a desired position reference. For the present study, the aim is to maintain both the aircraft and the pendulum stable throughout the whole trajectory, even in the presence of parametric uncertainties and measurement errors. The system is modeled via Euler-Lagrange formulation considering both the dynamics of the Tilt-rotor UAV and the pendulum. As for the nonlinear control design, a three-level cascade strategy is proposed. Each level of the cascade system executes a control law designed through the method of input-output feedback linearization. Simulation results are carried out to corroborate the proposed control strategy.",
	doi = "10.1016/j.ifacol.2015.08.078",
	issn = 24058963,
	journal = "IFAC-PapersOnLine",
	keywords = "Feedback Linearization,Inverted Pendulum,Nonlinear Control,Tilt-rotor UAV,Trajectory Tracking",
	url = "http://www.sciencedirect.com/science/article/pii/S2405896315009453"
}

Ramon A Garcia, Guilherme V Raffo, Manuel G Ortega and Francisco R Rubio. Guaranteed Quadrotor Position Estimation Based on GPS Refreshing Measurements∗∗The authors would like to thank the MCeI for funding this work through projects DPI2010-19154 and DPI2012-37580-C02-02, as well as FAPEMIG and Programa Institucional de Auxílio à Pesquisa de Doutores Recém Contratados of the PRPq/UFMG.. In IFAC-PapersOnLine 48(9). 2015, 67–72. URL, DOI BibTeX

@inproceedings{GarciaRaffoOrtegaEtAl2015,
	author = "Garcia, Ramon A. and Raffo, Guilherme V. and Ortega, Manuel G. and Rubio, Francisco R.",
	title = "Guaranteed Quadrotor Position Estimation Based on GPS Refreshing Measurements∗∗The authors would like to thank the MCeI for funding this work through projects DPI2010-19154 and DPI2012-37580-C02-02, as well as FAPEMIG and Programa Institucional de Auxílio à Pesquisa de Doutores Recém Contratados of the PRPq/UFMG.",
	booktitle = "IFAC-PapersOnLine",
	year = 2015,
	volume = 48,
	number = 9,
	pages = "67--72",
	doi = "10.1016/j.ifacol.2015.08.061",
	issn = 24058963,
	journal = "IFAC-PapersOnLine",
	url = "http://linkinghub.elsevier.com/retrieve/pii/S2405896315009283"
}

Guilherme V Raffo, Manuel G Ortega, Vicente Madero and Francisco R Rubio. Two-wheeled self-balanced pendulum workspace improvement via underactuated robust nonlinear control. In Control Eng. Pract. 44. 2015, 231–242. DOI BibTeX

@inproceedings{RaffoOrtegaMaderoEtAl2015,
	author = "Raffo, Guilherme V. and Ortega, Manuel G. and Madero, Vicente and Rubio, Francisco R.",
	title = "Two-wheeled self-balanced pendulum workspace improvement via underactuated robust nonlinear control",
	booktitle = "Control Eng. Pract.",
	year = 2015,
	volume = 44,
	pages = "231--242",
	publisher = "Elsevier",
	abstract = "A nonlinear H??? controller is designed and applied for two-wheeled self-balanced vehicles, which are underactuated mechanical systems with input coupling. The main objective is, in the presence of exogenous disturbances, to ensure that the inclination angle of the pendulum (controlled DOF) is led to the upper vertical position, while the angular velocity of the wheels (the time-derivative of the remaining DOF) can be set in a desired reference value. Thus, the angular position of the wheels (remaining DOF) is driven to steady state, i.e., it is maintained stabilized (static equilibrium) (????=0rad/s), or at least its velocity (mechanical equilibrium) (????=const.rad/s). The proposed controller considers the whole dynamics of the system into its structure, ensuring that the overall system is closed-loop stable. Furthermore, an improvement of the nonlinear H??? control tuning method for mechanical systems is developed. Experimental results are carried out with a real two-wheeled vehicle in the presence of external disturbances, unmodeled dynamics and from extreme initial conditions.",
	doi = "10.1016/j.conengprac.2015.07.009",
	issn = 09670661,
	journal = "Control Eng. Pract.",
	keywords = "Input coupling,Nonlinear control,Robust control,Two-wheeled vehicles,Underactuated mechanical systems"
}

J P Bodanese and De G M Ara. Wireless Communication Infrastructure for a Short-Range Unmanned Aerial Vehicle. In 2014 28th Int. Conf. Adv. Inf. Netw. Appl. Work.. 2014, 492–497. DOI BibTeX

@inproceedings{BodaneseAra2014,
	author = "Bodanese, J P and Ara, G M De",
	title = "Wireless Communication Infrastructure for a Short-Range Unmanned Aerial Vehicle",
	booktitle = "2014 28th Int. Conf. Adv. Inf. Netw. Appl. Work.",
	year = 2014,
	pages = "492--497",
	doi = "10.1109/WAINA.2014.154",
	isbn = "978-1-4799-2653-4",
	journal = "2014 28th Int. Conf. Adv. Inf. Netw. Appl. Work.",
	keywords = "15,4,802,communication archi-,parcels of communication,result into several isolated,should not,tecture,the resulting communication clusters,therefore,unmanned aerial vehicles,wireless sensor networks"
}

Souza Cristian, Guilherme V Raffo and E B Castelan. Passivity Based Control of a Quadrotor UAV. In Boje Edward (ed.). 19th IFAC World Congr.. 2014, 3196–3201. URL, DOI BibTeX

@inproceedings{CristianRaffoCastelan2014,
	author = "Cristian, Souza and Raffo, Guilherme V. and Castelan, E. B.",
	title = "Passivity Based Control of a Quadrotor UAV",
	booktitle = "19th IFAC World Congr.",
	year = 2014,
	editor = "Edward, Boje",
	pages = "3196--3201",
	month = "",
	abstract = "This work presents an IDA-PBC control methodology for a quadrotor helicopter to perform path tracking. The control law is designed considering the trajectory tracking formulation for underactuated systems. The goal is to regulate the controlled degrees of freedom (DOF), the translational position, x, y and z, and the yaw angle, $\psi$, and stabilize the remaining DOF, the roll and pitch angles, $\phi$ and $\theta$, respectively, using only one control loop. This formulation leads to a set of partial differential equations constraints due to the underactuation degree of the system. The IDA-PBC controller performance is corroborated through simulation results, being compared with a backstepping controller. Keywords:",
	doi = "10.3182/20140824-6-ZA-1003.02335",
	keywords = "passivity based control,port-controlled hamiltonian,quadrotor helicopter,underactuated mechanical systems",
	url = "http://www.ifac-papersonline.net/Detailed/66235.html"
}

L F C Figueredo, B V Adorno, J Y Ishihara and G a Borges. Switching Strategy for Flexible Task Execution using the Cooperative Dual Task-Space Framework. In 2014 IEEE/RSJ Int. Conf. Intell. Robot. Syst.. 2014, 1703–1709. URL, DOI BibTeX

@inproceedings{FigueredoAdornoIshiharaEtAl2014,
	author = "Figueredo, L.F.C. and Adorno, B.V. and Ishihara, J.Y. and Borges, G.a.",
	title = "Switching Strategy for Flexible Task Execution using the Cooperative Dual Task-Space Framework",
	booktitle = "2014 IEEE/RSJ Int. Conf. Intell. Robot. Syst.",
	year = 2014,
	pages = "1703--1709",
	address = "Chicago",
	publisher = "IEEE",
	doi = "10.1109/IROS.2014.6942784",
	isbn = 9781479969333,
	url = "http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6942784"
}

F S Goncalves, L B Becker and Guilherme V Raffo. Analyzing the use of anytime algorithms on an unmanned aerial vehicle. In Brazilian Symp. Comput. Syst. Eng. SBESC. 2014, 171–172. DOI BibTeX

@inproceedings{GoncalvesBeckerRaffo2014,
	author = "Goncalves, F. S. and Becker, L. B. and Raffo, Guilherme V.",
	title = "Analyzing the use of anytime algorithms on an unmanned aerial vehicle",
	booktitle = "Brazilian Symp. Comput. Syst. Eng. SBESC",
	year = 2014,
	pages = "171--172",
	doi = "10.1109/SBESC.2013.42",
	isbn = 9781479938902,
	issn = 23247894,
	journal = "Brazilian Symp. Comput. Syst. Eng. SBESC",
	keywords = "Anytime algorithms,Real-time scheduling,Unknown execution time"
}

Gerasimos Rigatos and Guilherme V Raffo. Nonlinear control of the underactuated hovercraft using the Derivative-free nonlinear Kalman filter. In Computational Intelligence (UKCI), 2014 14th UK Workshop on. 2014, 0–6. DOI BibTeX

@inproceedings{RigatosRaffo2014,
	author = "Rigatos, Gerasimos and Raffo, Guilherme V.",
	title = "Nonlinear control of the underactuated hovercraft using the Derivative-free nonlinear Kalman filter",
	booktitle = "Computational Intelligence (UKCI), 2014 14th UK Workshop on",
	year = 2014,
	pages = "0--6",
	doi = "10.1109/UKCI.2014.6930154",
	isbn = 9781479955381,
	journal = "Computational Intelligence (UKCI), 2014 14th UK Workshop on"
}

Donadel Rodrigo, Guilherme V Raffo and Leandro Buss Becker. Modeling and Control of a Tiltrotor UAV for Path Tracking. In Boje Edward (ed.). IFAC Proc. Vol. 19. August 2014, 3839–3844. URL, DOI BibTeX

@inproceedings{RodrigoRaffoBecker2014,
	author = "Rodrigo, Donadel and Raffo, Guilherme V. and Becker, Leandro Buss",
	title = "Modeling and Control of a Tiltrotor {UAV} for Path Tracking",
	booktitle = "IFAC Proc. Vol.",
	year = 2014,
	editor = "Edward, Boje",
	volume = 19,
	pages = "3839--3844",
	month = "aug",
	doi = "10.3182/20140824-6-ZA-1003.01735",
	isbn = 9783902823625,
	issn = 14746670,
	keywords = "Dynamic modeling,Path tracking,Robust control,Tiltrotor UAV",
	url = "http://www.ifac-papersonline.net/Detailed/66441.html"
}

Tito L M Santos, Guilherme V Raffo, Daniel Limon and Julio E Normey-Rico. On the prediction error of dead-time compensation control for constrained nonlinear systems. In Control Conference (ECC), 2014 European. 2014, 784–789. URL, DOI BibTeX

@inproceedings{SantosRaffoLimonEtAl2014,
	author = "Santos, Tito L. M. and Raffo, Guilherme V. and Limon, Daniel and Normey-Rico, Julio E.",
	title = "On the prediction error of dead-time compensation control for constrained nonlinear systems",
	booktitle = "Control Conference (ECC), 2014 European",
	year = 2014,
	pages = "784--789",
	abstract = "This paper presents a dead-time compensation strategy to control constrained nonlinear systems with single-input delay by using a dead-time free model. Prediction error and disturbance effects are analyzed in order to guarantee input-to-state stability (ISS) and robust constraint satisfaction in the presence of bounded disturbances. It is shown robust constraint satisfaction and ISS are ensured by imposing tighter constraints and a modified ISS condition to the dead-time free model. These modified specifications are derived in terms of a K function description in order to reduce Lipschitz constant conservatism. A numerical comparison based on the CSTR reactor model is presented to illustrate the advantage of the proposed approach.",
	doi = "10.1109/ECC.2014.6862317",
	isbn = "978-3-9524269-1-3",
	journal = "Control Conference (ECC), 2014 European",
	url = "http://www.scopus.com/inward/record.url?eid=2-s2.0-84911461274{\&}partnerID=tZOtx3y1"
}

L F C Figueredo, B V Adorno, J Y Ishihara and G A Borges. Robust kinematic control of manipulator robots using dual quaternion representation. In Proc. - IEEE Int. Conf. Robot. Autom.. 2013, 1949–1955. URL, DOI BibTeX

@inproceedings{FigueredoAdornoIshiharaEtAl2013,
	author = "Figueredo, L. F C and Adorno, B. V. and Ishihara, J. Y. and Borges, G. A.",
	title = "Robust kinematic control of manipulator robots using dual quaternion representation",
	booktitle = "Proc. - IEEE Int. Conf. Robot. Autom.",
	year = 2013,
	pages = "1949--1955",
	address = "Karlsruhe",
	publisher = "IEEE",
	abstract = "This paper addresses the H$\infty$ robust control problem for robot manipulators using unit dual quaternion representation, which allows an utter description of the end-effector transformation without decoupling rotational and translational dynamics. We propose three different H$\infty$ control criteria that ensure asymptotic convergence, whereas reducing the influence of disturbances upon the system stability. Also, with a new metric of dual quaternion error in SE(3) we prove independence from robot coordinate changes. Simulation results highlight the importance and effectiveness of the proposed approach in terms of performance, robustness, and energy efficiency.",
	doi = "10.1109/ICRA.2013.6630836",
	isbn = 9781467356411,
	issn = 10504729,
	url = "http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6630836"
}

F S Gonçalves, J P Bodanese, R Donadel, Guilherme V Raffo, J E Normey-Rico and L B Becker. Small scale UAV with birotor configuration. In 2013 Int. Conf. Unmanned Aircr. Syst. ICUAS 2013 - Conf. Proc.. 2013, 761–768. DOI BibTeX

@inproceedings{GoncalvesBodaneseDonadelEtAl2013,
	author = "Gonçalves, F. S. and Bodanese, J. P. and Donadel, R. and Raffo, Guilherme V. and Normey-Rico, J. E. and Becker, L. B.",
	title = "Small scale {UAV} with birotor configuration",
	booktitle = "2013 Int. Conf. Unmanned Aircr. Syst. ICUAS 2013 - Conf. Proc.",
	year = 2013,
	pages = "761--768",
	abstract = "In this paper we present a project aimed for the designing of a small scale Unmanned Aerial Vehicle (UAV) with Tiltrotor configuration (that uses two rotating rotors). The proposed UAV is build from scratch, based on Commercial Off-The-Shelf (COTS) components. The related development ranges from designing the control algorithms to the wireless communication infrastructure. Our aim is to create an open source project that can be used as reference for future UAV design in industry and academia. The current paper describes the adopted design methodology, the mathematical and computational models created to represent the UAV, the physical components that constitute the UAV, and the results obtained so far. View full abstract{\&}{\#}187;",
	doi = "10.1109/ICUAS.2013.6564758",
	isbn = 9781479908172,
	journal = "2013 Int. Conf. Unmanned Aircr. Syst. ICUAS 2013 - Conf. Proc.",
	keywords = "Control Architectures,Micro- and Mini- UAS,Open Project,Simulation"
}

Ernesto Pablo Lana, Bruno Vilhena Adorno and Carlos Julio Tierra-Criollo. An ERD/ERS analysis of the relation between human arm and robot manipulator movements. In ISSNIP Biosignals Biorobotics Conf. BRC. 2013, 1–7. URL, DOI BibTeX

@inproceedings{LanaAdornoTierra-Criollo2013,
	author = "Lana, Ernesto Pablo and Adorno, Bruno Vilhena and Tierra-Criollo, Carlos Julio",
	title = "An ERD/ERS analysis of the relation between human arm and robot manipulator movements",
	booktitle = "ISSNIP Biosignals Biorobotics Conf. BRC",
	year = 2013,
	pages = "1--7",
	month = "",
	publisher = "IEEE",
	abstract = "This work aims to analyze the relation between the movement of an anthropomorphic robotic manipulator with the brain cortex response elicited in healthy subjects for three experimental conditions. The experiment was divided in three parts: in the first one, the subject only observes the movement of the robotic manipulator; in the second part, the subject follows the robot movement with his right arm; finally, in the third part, the subject imagines the execution of the corresponding movement synchronized with the robot movement. Event related (de)synchronization in each of the recorded electroencephalogram channels was analyzed. Event related desynchronization was present in alpha and beta bands in various areas of the cortex, including occipital, parietal, central and prefrontal areas. The results provided some physiological insights into human-robot interaction for future developments in brain-machine interfaces.",
	doi = "10.1109/BRC.2013.6487461",
	isbn = 9781467330244,
	issn = 23267771,
	keywords = "ERD/ERS brain-machine interface,assistive technologies,human-robot interaction,neurorobotics",
	url = "http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6487461"
}

Mariana Costa Bernardes, Bruno Vilhena Adorno, Philippe Poignet and Geovany Araûjo Borges. Semi-automatic needle steering system with robotic manipulator. In Proc. - IEEE Int. Conf. Robot. Autom.. 2012, 1595–1600. URL, DOI BibTeX

@inproceedings{BernardesAdornoPoignetEtAl2012,
	author = "Bernardes, Mariana Costa and Adorno, Bruno Vilhena and Poignet, Philippe and Borges, Geovany Araûjo",
	title = "Semi-automatic needle steering system with robotic manipulator",
	booktitle = "Proc. - IEEE Int. Conf. Robot. Autom.",
	year = 2012,
	pages = "1595--1600",
	address = "Minnesota",
	publisher = "IEEE",
	abstract = "This paper presents a semi-automatic system for robot-assisted 2D needle steering that uses duty-cycling to perform insertions with arcs of adjustable curvature radius. It combines image feedback manually provided by an operator with an adaptive path planning strategy to compensate for system uncertainties and changes in the workspace during the procedure. Experimental results are presented to validate the proposed platform.",
	doi = "10.1109/ICRA.2012.6225185",
	isbn = 9781467314039,
	issn = 10504729,
	url = "http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6225185"
}

Liam Paull, Gaetan Severac, Guilherme V Raffo, Julian Mauricio Angel, Harold Boley, Phillip J Durst, Wendell Gray, Maki Habib, Bao Nguyen, Veera S Ragavan, Sajad Saeedi G., Ricardo Sanz, Mae Seto, Aleksandar Stefanovski, Michael Trentini and Howard Li. Towards an ontology for autonomous robots. In IEEE Int. Conf. Intell. Robot. Syst.. 2012, 1359–1364. DOI BibTeX

@inproceedings{PaullSeveracRaffoEtAl2012,
	author = "Paull, Liam and Severac, Gaetan and Raffo, Guilherme V. and Angel, Julian Mauricio and Boley, Harold and Durst, Phillip J. and Gray, Wendell and Habib, Maki and Nguyen, Bao and Ragavan, S. Veera and {Saeedi G.}, Sajad and Sanz, Ricardo and Seto, Mae and Stefanovski, Aleksandar and Trentini, Michael and Li, Howard",
	title = "Towards an ontology for autonomous robots",
	booktitle = "IEEE Int. Conf. Intell. Robot. Syst.",
	year = 2012,
	pages = "1359--1364",
	abstract = "The IEEE RAS Ontologies for Robotics and Au- tomation Working Group is dedicated to developing a method- ology for knowledge representation and reasoning in robotics and automation. As part of this working group, the Autonomous Robots sub-group is tasked with developing ontology modules for autonomous robots. This paper describes the work in progress on the development of ontologies for autonomous systems. For autonomous systems, the focus is on the cooperation, coordination, and communication of multiple unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), and autonomous underwater vehicles (AUVs). The ontologies serve as a framework for working out concepts of employment with multiple vehicles for a variety of operational scenarios with emphasis on collaborative and cooperative missions. I.",
	doi = "10.1109/IROS.2012.6386119",
	isbn = 9781467317375,
	issn = 21530858,
	journal = "IEEE Int. Conf. Intell. Robot. Syst."
}

Bruno Vilhena Adorno, Antônio Padilha Lanari Bó and Philippe Fraisse. Interactive manipulation between a human and a humanoid: When robots control human arm motion. In 2011 IEEE/RSJ Int. Conf. Intell. Robot. Syst.. 2011, 4658–4663. URL, DOI BibTeX

@inproceedings{AdornoBoFraisse2011,
	author = "Adorno, Bruno Vilhena and Bó, Antônio Padilha Lanari and Fraisse, Philippe",
	title = "Interactive manipulation between a human and a humanoid: When robots control human arm motion",
	booktitle = "2011 IEEE/RSJ Int. Conf. Intell. Robot. Syst.",
	year = 2011,
	pages = "4658--4663",
	publisher = "IEEE",
	doi = "10.1109/IROS.2011.6094869",
	isbn = "978-1-61284-456-5",
	url = "http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6094869"
}

Bruno Vilhena Adorno, Antônio Padilha Lanari Bó, Philippe Fraisse and Philippe Poignet. Towards a cooperative framework for interactive manipulation involving a human and a humanoid. In Proc. - IEEE Int. Conf. Robot. Autom.. 2011, 3777–3783. URL, DOI BibTeX

@inproceedings{AdornoBoFraisseEtAl2011,
	author = "Adorno, Bruno Vilhena and Bó, Antônio Padilha Lanari and Fraisse, Philippe and Poignet, Philippe",
	title = "Towards a cooperative framework for interactive manipulation involving a human and a humanoid",
	booktitle = "Proc. - IEEE Int. Conf. Robot. Autom.",
	year = 2011,
	pages = "3777--3783",
	month = "",
	publisher = "IEEE",
	abstract = "In this paper we propose a novel approach for interactive manipulation involving a human and a humanoid. The interaction is represented by means of the relative configuration between the human's and the robot's hands. Based on this principle and a set of mathematical tools also proposed in the paper, a large set of tasks can be represented intuitively. We also introduce the concept of simultaneous handling using mirrored movements, where the human controls the robot and simultaneously interacts with it by means of a common manipulated object. Illustrative experiments are performed to validate the proposed techniques.",
	doi = "10.1109/ICRA.2011.5979787",
	isbn = 9781612843865,
	issn = 10504729,
	url = "http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5979787"
}

Mariana C Bernardes, Bruno V Adorno, Philippe Poignet, Nabil Zemiti and Geovany A Borges. Adaptive path planning for steerable needles using duty-cycling. In 2011 IEEE/RSJ Int. Conf. Intell. Robot. Syst.. 2011, 2545–2550. URL, DOI BibTeX

@inproceedings{BernardesAdornoPoignetEtAl2011,
	author = "Bernardes, Mariana C and Adorno, Bruno V and Poignet, Philippe and Zemiti, Nabil and Borges, Geovany A",
	title = "Adaptive path planning for steerable needles using duty-cycling",
	booktitle = "2011 IEEE/RSJ Int. Conf. Intell. Robot. Syst.",
	year = 2011,
	pages = "2545--2550",
	publisher = "IEEE",
	doi = "10.1109/IROS.2011.6094594",
	isbn = "978-1-61284-456-5",
	url = "http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6094594"
}

Mariana Costa Bernardes, Bruno Vilhena Adorno, Nabil Zemiti, Philippe Poignet and Geovany Araûjo Borges. Path planning for steerable needles using duty-cycling. In CARS 2011 Comput. Assist. Radiol. Surg.. 2011, S293–S294. DOI BibTeX

@inproceedings{BernardesAdornoZemitiEtAl2011,
	author = "Bernardes, Mariana Costa and Adorno, Bruno Vilhena and Zemiti, Nabil and Poignet, Philippe and Borges, Geovany Araûjo",
	title = "Path planning for steerable needles using duty-cycling",
	booktitle = "CARS 2011 Comput. Assist. Radiol. Surg.",
	year = 2011,
	pages = "S293--S294",
	address = "Berlin",
	publisher = "Springer",
	doi = "10.1007/s11548-011-0614-0"
}

Bruno Vilhena Adorno, Philippe Fraisse and Sebastien Druon. Dual position control strategies using the cooperative dual task-space framework. In 2010 IEEE/RSJ Int. Conf. Intell. Robot. Syst.. 2010, 3955–3960. DOI BibTeX

@inproceedings{AdornoFraisseDruon2010,
	author = "Adorno, Bruno Vilhena and Fraisse, Philippe and Druon, Sebastien",
	title = "Dual position control strategies using the cooperative dual task-space framework",
	booktitle = "2010 IEEE/RSJ Int. Conf. Intell. Robot. Syst.",
	year = 2010,
	pages = "3955--3960",
	address = "Taipei",
	month = "",
	publisher = "IEEE",
	doi = "10.1109/IROS.2010.5650218",
	isbn = "978-1-4244-6674-0"
}

Hoang-Lan Pham, Veronique Perdereau, Bruno Vilhena Adorno and Philippe Fraisse. Position and orientation control of robot manipulators using dual quaternion feedback. In 2010 IEEE/RSJ Int. Conf. Intell. Robot. Syst.. October 2010, 658–663. DOI BibTeX

@inproceedings{PhamPerdereauAdornoEtAl2010,
	author = "Pham, Hoang-Lan and Perdereau, Veronique and Adorno, Bruno Vilhena and Fraisse, Philippe",
	title = "Position and orientation control of robot manipulators using dual quaternion feedback",
	booktitle = "2010 IEEE/RSJ Int. Conf. Intell. Robot. Syst.",
	year = 2010,
	pages = "658--663",
	address = "Taipei",
	month = "oct",
	publisher = "IEEE",
	doi = "10.1109/IROS.2010.5651097",
	isbn = "978-1-4244-6674-0"
}

Guilherme V Raffo, V Madero and M G Ortega. An application of the underactuated nonlinear H∞ controller to two-wheeled self-balanced vehicles. In Proc. 15th IEEE Int. Conf. Emerg. Technol. Fact. Autom. ETFA 2010. 2010, 1–6. URL, DOI BibTeX

@inproceedings{RaffoMaderoOrtega2010,
	author = "Raffo, Guilherme V. and Madero, V and Ortega, M G",
	title = "An application of the underactuated nonlinear H∞ controller to two-wheeled self-balanced vehicles",
	booktitle = "Proc. 15{th} IEEE Int. Conf. Emerg. Technol. Fact. Autom. ETFA 2010",
	year = 2010,
	pages = "1--6",
	month = "",
	publisher = "IEEE",
	doi = "10.1109/ETFA.2010.5641024",
	isbn = 9781424468508,
	url = "http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5641024"
}

Bruno Vilhena Adorno and Geovany Araûjo Borges. iARW: An incremental path planner algorithm based on adaptive random walks. In 2009 IEEE/RSJ Int. Conf. Intell. Robot. Syst.. October 2009, 988–993. DOI BibTeX

@inproceedings{AdornoBorges2009,
	author = "Adorno, Bruno Vilhena and Borges, Geovany Araûjo",
	title = "iARW: An incremental path planner algorithm based on adaptive random walks",
	booktitle = "2009 IEEE/RSJ Int. Conf. Intell. Robot. Syst.",
	year = 2009,
	pages = "988--993",
	address = "St. Louis, USA",
	month = "oct",
	doi = "10.1109/IROS.2009.5354533"
}

Guilherme V Raffo, Manuel G Ortega and Francisco R Rubio. An underactuated H∞ control strategy for a quadrotor helicopter. In Control Conference (ECC), 2009 European. 2009, 3845–3850. BibTeX

@inproceedings{RaffoOrtegaRubio2009,
	author = "Raffo, Guilherme V. and Ortega, Manuel G and Rubio, Francisco R",
	title = "An underactuated H∞ control strategy for a quadrotor helicopter",
	booktitle = "Control Conference (ECC), 2009 European",
	year = 2009,
	pages = "3845--3850",
	isbn = 9789633113691,
	journal = "Control Conference (ECC), 2009 European"
}

Guilherme V Raffo, Manuel G Ortega and Francisco R Rubio. Backstepping/nonlinear H∞ control for path tracking of a quadrotor unmanned aerial vehicle. In 2008 Am. Control Conf.. 2008, 3356–3361. URL, DOI BibTeX

@inproceedings{RaffoOrtegaRubio2008a,
	author = "Raffo, Guilherme V. and Ortega, Manuel G and Rubio, Francisco R",
	title = "Backstepping/nonlinear H∞ control for path tracking of a quadrotor unmanned aerial vehicle",
	booktitle = "2008 Am. Control Conf.",
	year = 2008,
	pages = "3356--3361",
	abstract = "This paper presents a nonlinear robust control strategy to solve the path tracking problem for a quadrotor unmanned aerial vehicle. The helicopter motion equations is obtained by the Lagrange- Euler formalism. The control structure is performed through a nonlinear Hinfin controller to stabilize the rotational movements and a control law based on backstepping approach to track the reference trajectory. Finally, simulations results in presence of aerodynamic moments disturbances and parametric uncertainty is carried out to corroborate the effectiveness and the robustness of the strategy proposed.",
	doi = "10.1109/ACC.2008.4587010",
	isbn = "978-1-4244-2078-0",
	issn = "0743-1619",
	url = "http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4587010"
}

Guilherme V Raffo, Manuel G Ortega and Francisco R Rubio. Nonlinear H∞ control applied to the Personal Pendulum Car. In Control Conference (ECC), 2007 European. 2007, 2065–2070. BibTeX

@inproceedings{RaffoOrtegaRubio2007,
	author = "Raffo, Guilherme V. and Ortega, Manuel G and Rubio, Francisco R",
	title = "Nonlinear H∞ control applied to the Personal Pendulum Car",
	booktitle = "Control Conference (ECC), 2007 European",
	year = 2007,
	pages = "2065--2070",
	isbn = 9789608902855,
	journal = "Control Conference (ECC), 2007 European"
}

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. In IEEE Trans. Magn. 42(4). 2006, 1459–1462. DOI BibTeX

@inproceedings{PimentaFonsecaPereiraEtAl2006,
	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",
	booktitle = "IEEE Trans. Magn.",
	year = 2006,
	volume = 42,
	number = 4,
	pages = "1459--1462",
	month = "",
	doi = "10.1109/TMAG.2006.870931",
	issn = 00189464,
	keywords = "Finite element methods,Mobile robots,Motion-planning"
}

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