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Ponencia
Synchronization on a limit cycle of multi-agent systems governed by discrete-time switched affine dynamics
(Elsevier, 2021)
This paper addresses the problem of synchronizing a group of interacting discrete-time switched affine systems with centralized control laws. A first time-dependent control law is obtained directly, and then, two other ...
Ponencia
Winged Aerial Robot: Modular Design Approach
(IEEE, 2021)
This paper presents the design, modelling, control, and experimental validation of a novel flapping wing aerial robot built with servo actuators that could be applied in search, rescue, and assistance to injured people. ...
Ponencia
Experimental Investigation of Soft-Landing of Quadrotors via Induced Wind Modeling Approach
(Institute of Electrical and Electronics Engineers Inc., 2021)
This paper presents an experimental study of the softlanding problem in quadrotors using the induced wind modeling approach. The landing phase has been typically one of the critical phases in drone flight. Landing ...
Ponencia
Chance-constrained MPC for voronoi-based multi-agent system deployment
(Elsevier B.V., 2020)
This paper proposes a new chance-constrained model predictive control (CCMPC) algorithm with state estimation applied to the two-dimensional deployment of a multi-vehicle system where each agent is subject to process noise ...
Ponencia
An LMI-based approach for semivalues constraints in coalitional feedback control
(Elsevier, 2020)
In coalitional approaches, communication links are dynamically enabled/disabled by the control scheme to reduce the cooperation burden without compromising the system performance. This problem setup can be interpreted as ...
Ponencia
Analysis of Forces Involved in the Perching Maneuver of Flapping-Wing Aerial Systems and Development of an Ultra-Lightweight Perching System
(Institute of Electrical and Electronics Engineers Inc., 2021)
Trying to optimize the design of aerial robotics systems, this work presents an optimized low-weight landing system for flapping-wing aerial robots. The design, based on the use of low-sized neodymium magnets, intends ...
Ponencia
A New ℓ-step Neighbourhood Distributed Moving Horizon Estimator
(IEEE, 2021-12)
This paper focuses on Distributed State Estimation over a peer-to-peer sensor network composed by possible low-computational sensors. We propose a new ℓ-step Neighbourhood Distributed Moving Horizon Estimation technique ...
Ponencia
Computationally efficient stochastic MPC: A probabilistic scaling approach
(Institute of Electrical and Electronics Engineers. IEEE, 2020-09)
In recent years, the increasing interest in Stochastic model predictive control (SMPC) schemes has highlighted the limitation arising from their inherent computational demand, which has restricted their applicability to ...
Ponencia
Design, Integration and Testing of Compliant Gripper for the Installation of Helical Bird Diverters on Power Lines
(Institute of Electrical and Electronics Engineers Inc., 2021)
The installation and removal of bird diverters from power lines is conducted nowadays by human operators working from manned helicopters or from the power line itself, which entails a certain risk and cost that can be ...
Ponencia
Prototipo de catéter robótico con sensor háptico basado en visión
(Universidade da Coruña, Servizo de Publicacións, 2021)
El desarrollo de robots como asistentes de procedimientos quirúrgicos mínimamente invasivos está recibiendo un gran interés en los últimos años, fundamentalmente por ofrecer más precisión, flexibilidad y control respecto ...