Presentaciones a Congresos

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Browsing Presentaciones a Congresos by Author "Baquero-Suárez, Mauro"

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    Robust tracking control for non-holonomic wheeled mobile robots in a leader-follower formation with time-gap separation
    (2020-12) Baquero-Suárez, Mauro; Mas, Ignacio; Giribet, Juan I.
    "This work addresses the design and validation of a time-gap synchronized leader-follower formation scheme for wheeled mobile multi-robot systems. This scheme generates reference trajectories for each robot through the estimation via observer of the delayed behavior of its predecessor. A second goal of this paper is the precise and efficient tracking of these references to achieve the desired movement of the chained formation. Therefore, a robust two-stage controller is proposed, where the angular velocity of lateral wheels is regulated in a first stage by a torque controller, with velocity references provided by a tracking controller that commands the robot’s pose in a second stage. The outlined theory is validated through successful results in simulations of multi-body dynamic models, integrating ADAMS and MATLAB."
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    Tree organization method for structuring cluster space-based rover formations with applications to multi-object transportation
    (2020-10) Baquero-Suárez, Mauro; Mas, Ignacio; Giribet, Juan I.
    "In this work, concepts of cluster space approach are extended through a novel formulation, namely Tree Organization Method (TOM), to systematically arrange formations of mobile robots. TOM consists in analyzing the =-robot cluster as an open kinematic chain with multiple branches, where robots remain linked as they move according to this virtual mechanism, by ensuring the specified formation’s geometry during all the navigation time.TOMallows to easily generate synchronized reference trajectories for all robots involved in the formation, and this formulation is applied to the particular case of an arranged 7-robot cluster tasked to transport 3 spheres along a predefined trajectory. This scenario is recreated in a realistic cooperative simulation interfacing MSC ADAMS and MATLAB, where multi-body dynamic modeling, cluster specification under TOM and robust tracking controllers are developed for this multi-robot application."