We propose and analyse a model predictive control (MPC) strategy tailored for networks of
underwater agents tasked with maintaining formation while following a shared path and …

In this paper, efficient trajectory planning algorithms and centralized control schemes based
on onboard sensors and embedded controllers are presented for outdoor autonomous …

In this paper, we present a robust, model-predictive control scheme for the general class of
uncertain and constrained discrete-time nonlinear systems subject to noisy measurements …

The problem of having a multi-agent nonholonomic systems achieve a desired mission in a
multi-threat prone environment is addressed in this paper. In such hostile environment, the …

In this paper, formation control of multi-robot systems based on the leader-follower scheme
is studied by taking into account time-varying velocity of the leader as well as the unknown …

Recent advances in MEMS-based sensors, low consumption actuators, as well as affordable
and high performance computing and communication equipment has allowed mobile robots …

Nesta tese propõe-se o projeto e o desenvolvimento de controladores de formação
descentralizados para robôs móveis de diferentes tipos. As soluções baseiam-se na …