Publications de António Pedro Rodrigues de Aguiar

An Algorithm for Formation-Based Chemical Plume Tracing Using Robotic Marine Vehicles

Alcherio Martinoli, Jorge Miguel Dias Almeida Rodrigues Soares, António Pedro Rodrigues de Aguiar

Robotic chemical plume tracing is a growing area of research, with envisioned real-world applications including pollution tracking, search and rescue, and ecosystem identification. However, following a chemical signal in the water is not an easy task due t ...

IEEE2016

Towards 3-D Distributed Odor Source Localization: An Extended Graph-Based Formation Control Algorithm for Plume Tracking

Alcherio Martinoli, Ali Marjovi, Jorge Miguel Dias Almeida Rodrigues Soares, Jonathan Giezendanner, Anil Augustin Kodiyan, António Pedro Rodrigues de Aguiar

The large number of potential applications for robotic odor source localization has motivated the development of a variety of plume tracking algorithms, the majority of which work in restricted two-dimensional scenarios. In this paper, we introduce a distr ...

IEEE2016

Observability analysis of 3D AUV trimming trajectories in the presence of ocean currents using range and depth measurements

António Pedro Rodrigues de Aguiar

We analyze the observability properties of the kinematic model of an autonomous underwater vehicle (AUV) moving in 3D, under the influence of ocean currents, using range and depth measurements. The results obtained shed light into the types of trajectories ...

Pergamon-Elsevier Science Ltd2015

Optimization Based Control for Target Estimation and Tracking via Highly Observable Trajectories An Application to Motion Control of Autonomous Robotic Vehicles

Colin Neil Jones, Andrea Alessandretti, António Pedro Rodrigues de Aguiar

This paper proposes a Model Predictive Control (MPC) scheme to solve the target estimation and tracking problem. The objective is to derive a feedback law that drives an autonomous robotic vehicle to follow a target vehicle using an on-line estimate of the ...

Springer-Verlag Berlin2015

A Distributed Formation-based Odor Source Localization Algorithm – Design, Implementation, and Wind Tunnel Evaluation

Alcherio Martinoli, Jorge Miguel Dias Almeida Rodrigues Soares, António Pedro Rodrigues de Aguiar

Robotic odor source localization is a promising tool with numerous applications in safety, search and rescue, and environmental science. In this paper, we present an algorithm for odor source localization using multiple cooperating robots equipped with che ...

IEEE2015

Optimization based control for target estimation and tracking via highly observable trajectories

Colin Neil Jones, Andrea Alessandretti, António Pedro Rodrigues de Aguiar

This paper presents a Model Predictive Control (MPC) scheme to solve the target estimation and tracking problem. The objective is to derive a feedback law that drives a follower vehicle to a target vehicle using on-line estimation of the target position an ...

2014

Joint ASV/AUV Range-Based Formation Control: Theory and Experimental Results

Alcherio Martinoli, Jorge Miguel Dias Almeida Rodrigues Soares, António Pedro Rodrigues de Aguiar

The use of groups of autonomous marine vehicles has enormous potential in numerous marine applications, perhaps the most relevant of which is the surveying and exploration of the oceans, still widely unknown and misunderstood. In many mission scenarios req ...

2013

A Model Predictive Control Scheme with Additional Performance Index for Transient Behavior

Colin Neil Jones, Andrea Alessandretti, António Pedro Rodrigues de Aguiar

This paper presents a Model Predictive Control (MPC) scheme for nonlinear continuous time systems where an extra performance index, which is not a measure of the distance to the set point, is introduced to influence the transient behavior of the controlled ...

2013