@article {134,
	title = {Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems},
	journal = {Control Systems Technology, IEEE Transactions on},
	volume = {21},
	year = {2013},
	month = {Nov},
	pages = {2391-2399},
	abstract = {<p>This brief presents a reactive reference conditioning algorithm for robot collision avoidance based on geometric invariance and sliding-mode (SM) ideas. First, constraints are defined in terms of the measurements given by the robot{\textquoteright}s sensors in order to guarantee that collisions will not occur. Then, a supervisory loop ensures the fulfillment of the constraints modifying the reference trajectory as much as necessary by means of a discontinuous control law. The proposed algorithm activates only when the constraints are about to be violated and, thus, in contrast to conventional SM approaches, there exists no reaching mode to the limit surface of the constraints (sliding surface). The validity and effectiveness of the proposed approach is substantiated by simulation and experimental results using a mobile robot equipped with infrared sensors.</p>
},
	keywords = {Collision avoidance, constraint limit surface, constraint violation, discontinuous control law, geometric invariance, infrared detectors, infrared sensors, mobile robot, mobile robots, Motion planning, reaching mode, reactive reference conditioning algorithm, reactive sliding-mode algorithm for collision avoidance in robotic systems, reference conditioning, reference trajectory, robot collision avoidance, Robot sensing systems, robot sensors, Sliding mode control, sliding surface, sliding-mode (SM) control, supervisory loop, trajectory control, variable structure systems},
	issn = {1063-6536},
	doi = {10.1109/TCST.2012.2231866},
	author = {Gracia, Luis and Garelli, Fabricio and Sala, Antonio}
}
@conference {101,
	title = {Experimental results on smooth path tracking with application to pipe surveying on inexpensive AUV},
	booktitle = {Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on},
	year = {2008},
	month = {Sept},
	abstract = {<p>This paper details the development aspects of a low cost AUV autonomous, designed for autonomous pipline inspections, describing: hardware, software and control aspects. The article details three of the mains stages of the project, that have been already achieved: (a) the simulation results of Lyapunov based path planning of torpedo shaped AUV on pipe searching; (b) the construction details of dual torpedo AUV for pipeline inspection and (c) the experimental results when using the prototype in path following using the line of sight (LOS) algorithm.</p>
},
	keywords = {autonomous pipline inspections, Equations, industrial robots, inspection, line of sight algorithm, Lyapunov based path planning, Lyapunov methods, Mathematical model, mobile robots, Navigation, path following, Path planning, pipe searching, pipe surveying, Pipelines, pipes, remotely operated vehicles, smooth path tracking, torpedo shaped AUV, Trajectory, Vehicles},
	doi = {10.1109/IROS.2008.4650966},
	url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=4650966},
	author = {Calvo, Oscar and Rozenfeld, Alejandro and Souza, A. and Valenciaga, Fernando and Puleston, Pablo F. and Acosta, Gerardo}
}
