Control and coordination of robotic systems

Problems of both single and multiple robotic systems have been tackled from the perspective of constrained control, among them:

  • Path following speed auto-regulation in terms of joint constraints.

  • Robust and dynamic robot workspace delimitation.

  • Redundancy resolution and trap avoidance schemes.

  • Reactive collision avoidance.

  • Multiple robots task priority and coordination policies.

  • Coordination of multi-agent systems (AUV’s).

 

 

 

 

 

 


Publications

Theses

Rosendo JL.  2019.  Robust techniques of automatic control for mobile robotic systems. PhD

Journal Articles

Rosendo JL, Monnet D, Clement B, Garelli F, Ninin J.  2018.  Control of an Autonomous Underwater Vehicle subject to robustness constraints. IFAC-PapersOnLine. 51:322-327.
Rosendo JL, Clement B, Garelli F.  2018.  Experimental validation of constraint mitigation algorithm in underwater robot depth control. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering.
Rosendo JL, Clement B, Garelli F.  2016.  Sliding mode reference conditioning for path following applied to an AUV. IFAC-PapersOnLine. 49:8-13.
Gracia L, Sala A, Garelli F.  2014.  Robot coordination using task-priority and sliding-mode techniques. Robotics and Computer-Integrated Manufacturing. 30:74-89.
Valenciaga F.  2014.  A Second Order Sliding Mode Path Following Control for Autonomous Surface Vessels. Asian Journal of Control. 16:1515–1521.
Gracia L, Garelli F, Sala A.  2013.  Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems. Control Systems Technology, IEEE Transactions on. 21:2391-2399.
Gracia L, Garelli F, Sala A.  2013.  Integrated sliding-mode algorithms in robot tracking applications. Robotics and Computer-Integrated Manufacturing. 29:53-62.
Vignoni A, Garelli F, Picó J.  2013.  Systems coordination: using geometric set invariance and sliding modes ideas. Revista Iberoamericana de Automática e Informática Industrial RIAI. 10:390-401.
Gracia L, Sala A, Garelli F.  2012.  A path conditioning method with trap avoidance. Robotics and Autonomous Systems. 60:862-873.
Gracia L, Sala A, Garelli F.  2012.  A supervisory loop approach to fulfill workspace constraints in redundant robots. Robotics and Autonomous Systems. 60:1-15.
Garelli F, Gracia L, Sala A, Albertos P.  2011.  Sliding mode speed auto-regulation technique for robotic tracking. Robotics and Autonomous Systems. 59:519-529.