Browsing Institute's contributions by Author "Aguiar, A.P."
Now showing items 1-5 of 5
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A packet loss compliant logic-based communication alogoritham for cooperative path following control
Rego, F.; Aguiar, A.P.; Pascoal, A.M. (International Federation of Automatic Control, 2013)We introduce an event driven communication logic for decentralized control of a network of robotic vehicles (agents). The strategy proposed is robust to packet losses and drives the vehicles to predefined paths while holding ... -
A Path-Following Controller for Marine Vehicles Using a Two-Scale Inner-Outer Loop Approach
Maurya, P.; Morishita, H.M.; Pascoal, A.; Aguiar, A.P. (MDPI, 2022)This article addresses the problem of path following of marine vehicles along straight lines in the presence of currents by resorting to an inner-outer control loop strategy, with due account for the presence of currents. ... -
Four-quadrant propeller modeling: A low-order harmonic approximation
Haeusler, A.J.; Saccon, A.; Hauser, J.; Pascoal, A.M.; Aguiar, A.P. (International Federation of Automatic Control, 2013)We propose a four-quadrant propeller model suitable for energy-efficient motion planning of autonomous marine vehicles. The model can be used to capturethe main features of experimental thrust and torque curves by using a ... -
Observability analysis of 2D single-beacon navigation in the presence of constant currents for two classes of maneuvers
Crasta, N.; Bayat, M.; Aguiar, A.P.; Pascoal, A.M. (International Federation of Automatic Control, 2013)We analyze the observability properties of an underwater vehicle (moving in 2D) performing single beacon navigation for two specic classes of maneuvers, whereby the vehicle measures its distance to a xed transponder located ... -
Range-based underwater vehicle localization in the presence of unknown ocean currents: Theory and experiments
Bayat, M.; Crasta, N.; Aguiar, A.P.; Pascoal, A.M. (IEEE, 2016)This paper addresses the problem of range-based autonomous underwater vehicle (AUV) localization in the presence of unknown ocean currents. In the setup adopted, the AUV is equipped with an attitude and heading reference ...