Papers by Guillermo Fernandez-anaya
2020 IEEE 63rd International Midwest Symposium on Circuits and Systems (MWSCAS), 2020
When a group of mobile robots is deployed in a workspace in order to enable a sensor network to c... more When a group of mobile robots is deployed in a workspace in order to enable a sensor network to cover an area, they must maintain a proximity where its wireless communication remain connected. This paper studies the coverage control based on the heading angles and the measurement of the power level of the Received Signal Strength Indication (RSSI) of the wireless devices mounted over the robots. The main objective is to maintain a desired power level and relative angles avoiding global coordinates. The problem is defined as a generalization of the leader-follower scheme, adding the e ects of the antenna lobe. The gain parameters are modified to prioritize the convergence of the power or the angles using numerical simulations. Finally, the approach is simulated using two omnidirectional wheeled mobile robots.
IFAC-PapersOnLine, 2018
This work presents a control strategy for a leader-follower formation distance-based model of two... more This work presents a control strategy for a leader-follower formation distance-based model of two single order kinematic model of robots. It uses feedback linearization techniques to derive the control action on the follower robot to maintain a desired distance and orientation with respect to the leader robot. Besides, it is shown that a suitable selection of the desired parameters make the formation behave as a rigid body. The control strategy is applied in a laboratory environment with two omnidirectional robots to show its performance.
2019 IEEE 62nd International Midwest Symposium on Circuits and Systems (MWSCAS)
This paper presents a leader-follower motion coordination strategy of an omnidirectional robot wi... more This paper presents a leader-follower motion coordination strategy of an omnidirectional robot with mecanum wheels and a differential-drive robot. The follower robot is formed with respect to the leader robot using a local vision system to measure its relative distance and heading angle. Given that the sensing range of the camera is bounded, the leader robot, which has better motion capabilities, follows a desired trajectory in the plane, while converging to the follower’s angle using a consensus approach. The performance of the control strategy is evaluated in an experimental setup composed by two industrial-focused robots and a motion capture system.
Physica A: Statistical Mechanics and its Applications, 2004
IFAC-PapersOnLine, 2016
This paper extends the distance-based formation control for the case of holonomic robots moving i... more This paper extends the distance-based formation control for the case of holonomic robots moving in 3D space. The approach is addressed for agents modeled as double-integrators with any undirected communication graphs. The control strategy uses a combined distance-based attractive-repulsive potentials to ensure convergence to the formation pattern avoiding possible inter-robot collisions. In order to avoid unwanted formation patterns that verify the distance constraints, each robot control law includes a volume condition which provides information about the unique desired position of each robot in the formation pattern. The proposed algorithm is tested by numerical simulations and extended to the case of quadcopters UAV's by an input-output linearization showing good behavior.
Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)
An algorithm is presented to obtain a system which could observe n plants simultaneously, based o... more An algorithm is presented to obtain a system which could observe n plants simultaneously, based on evolutionary strategies. We present a technique preserve an observer and its plants. We also give robust observability results, under nonlinear perturbations in the plant parameters, which are induced by substitutions of SPR functions in a given plant.
International Journal of Bio-Inspired Computation, 2013
2016 IEEE Conference on Control Applications (CCA), 2016
This paper proposes a planar formation control scheme for a group of mobile robots modeled as sin... more This paper proposes a planar formation control scheme for a group of mobile robots modeled as single or double integrators. The approach is based on the design of distance-based potential functions with inter-robot collision avoidance using the information about the distance with respect to other robots in polar coordinates. The result applies to an arbitrary undirected communication topology. The formation scheme becomes a decentralized control setup in robots equipped with local sensors of distance and orientation. The control approach can be extended to the case of kinematic and dynamical models of nonholonomic robots applying an appropriated input-output linearization. It enables the possibility to combine heterogeneous robots as shown by numerical simulations using the projection in the 2D plane of multi-rotor Unmanned Aerial Vehicles (UAV's), unicycle-type and omnidirectional wheeled mobile robots. Also, an experiment with these real wheeled mobile robots is presented.
Journal of Intelligent & Robotic Systems
Ulam We present a nonlinear model that allows exploration of the relationship between energy rela... more Ulam We present a nonlinear model that allows exploration of the relationship between energy relaxation, thermal conductivity and the excess of low-frequency vibrational modes (LFVMs) that are present in glasses. The model is a chain of the Fermi-Pasta-Ulam (FPU) type, with nonlinear second neighbour springs added at random. We show that the time for relaxation is increased as LFVMs are removed, while the thermal conductivity diminishes. These results are important in order to understand the role of the cooling speed and thermal conductivity during glass transition. Also, the model provides evidence for the fundamental importance of LFVMs in the FPU problem.
2018 XX Congreso Mexicano de Robótica (COMRob), 2018
Inspired on the focus of multi-agent systems used in groups of robots, this paper describes a nov... more Inspired on the focus of multi-agent systems used in groups of robots, this paper describes a novel modeling methodology for urban traffic networks based on the interconnections of simple generic differential equations about distinct streets and intersections. These nonlinear fluid equations represent features like vehicular density, average vehicle velocities, occupation capacities and the interconnections between adjacent street segments and intersections. In order to enable more realistic traffic light actions, individual petri nets are defined for each the intersections, enabling or disabling the flow of vehicles. Therefore, the main contribution is the definition of a hybrid modular scheme of continuous differential equations with discrete-event systems. A numerical simulation of a simple intersection using Matlab shows the performance of the approach and its scalability to more complex traffic networks.
2021 IEEE International Midwest Symposium on Circuits and Systems (MWSCAS), 2021
A dynamical model of the quadcopter UAV is obtained considering the frictional effects in the pos... more A dynamical model of the quadcopter UAV is obtained considering the frictional effects in the positional and rotational coordinates. Then, a two-level control strategy is designed using an input-output Linearization in combination with PID controllers. The inner loop stabilizes the pitch, roll and yaw angles, whilst the outer-loop control is related to the position control, avoiding local Linearization. A PID control gain selection is analyzed to harmonize both control loops. The performance of the control approach is shown by numerical simulations.
Energy Reports, 2021
Abstract New regulations allow peer-to-peer energy trading worldwide, empowering users while reco... more Abstract New regulations allow peer-to-peer energy trading worldwide, empowering users while recognizing the prosumer as a critical stakeholder. In recent years, microgrids have surfaced as a distributed and embedded energy production alternative. This literature review analyses agent-based model systems with distinct approaches that model, control, and supervise microgrids, establishing a viewpoint for the transition to renewable energy, which engulfs energy security, and technology adoption. Procurement of microgrids utilizing energy transactions between end-users and implementing agent-based models has derived a better understanding of local and micro-energy markets. This literature review explores community microgrids deployment’s social dynamics and technical performance from a micro point of view. Finally, we present a roadmap for long and short-term use of agent-based models to access energy security via local energy markets, energy storage systems and community-based microgrids in rural areas. The results of this comprehensive review give way to further research questions on the use of agent-based models to improve the adoption of energy storage systems, the use of technologies to accelerate the creation of local energy markets, and the successful deployment of community-based microgrids.
2020 IEEE 63rd International Midwest Symposium on Circuits and Systems (MWSCAS), 2020
When a group of mobile robots is deployed in a workspace in order to enable a sensor network to c... more When a group of mobile robots is deployed in a workspace in order to enable a sensor network to cover an area, they must maintain a proximity where its wireless communication remain connected. This paper studies the coverage control based on the heading angles and the measurement of the power level of the Received Signal Strength Indication (RSSI) of the wireless devices mounted over the robots. The main objective is to maintain a desired power level and relative angles avoiding global coordinates. The problem is defined as a generalization of the leader-follower scheme, adding the e ects of the antenna lobe. The gain parameters are modified to prioritize the convergence of the power or the angles using numerical simulations. Finally, the approach is simulated using two omnidirectional wheeled mobile robots.
Revista Mexicana de Fisica
Because of the exponential characteristic of silicon diodes, exact solutions cannot be establishe... more Because of the exponential characteristic of silicon diodes, exact solutions cannot be established when operating point and transient analysis are computed. To overcome that problem, the present work proposes a perturbation method which allows obtaining approximated analytic expressions of diode-based circuits. Simulation results show that numerical solutions obtained by using the proposed method are similar to those reported in literature, with the advantage of not requiring a user-selected arbitrary expansion point. Additionally, the method does not use the Lambert function W, reducing the proposed solution complexity, which makes it suitable for engineering applications.
42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)
In this paper structural stability of n-D systems, positive real systems and strict positive real... more In this paper structural stability of n-D systems, positive real systems and strict positive real systems are preserved, using a new class of functions called Sn functions. Moreover, a closure property under composition of functions in several variables for Sn functions, is proven. Based in that fact, we present results on preservation of structural stabilization and simultaneous structural stabilization.
Journal of the Franklin Institute, 2002
Basic properties of a new class of strictly positive real (SPR) functions are stated. Four proble... more Basic properties of a new class of strictly positive real (SPR) functions are stated. Four problems are studied. The first deals with SPR preservation of transfer functions, obtained under the composition of polynomials with SPR0 functions. The second deals with Hurwitz stability preservation of the numerator of transfer functions, obtained under the composition of polynomials with SPR0 functions. The third deals with making a Hurwitz closed-loop plant, an SPR0 function by substituting s by SPR0 functions. The four deals with the synthesis of simultaneous SPR feedback plants. For the new class of SPR0 functions, a characterization is presented. For the first and second problems, sufficient conditions are presented using the new class of SPR0 functions. For the third and four problems, two examples are presented, the first being for simultaneous SPR closed-loop systems via constant controllers. The second is for simultaneous stabilization via universal feedback adaptive control.
Advanced Robotics, 2016
Formation control analyses the convergence of a group of mobile agents to predefined geometric pa... more Formation control analyses the convergence of a group of mobile agents to predefined geometric patterns. In traditional approaches, it is assumed that each agent knows the exact position of certain members of the group with respect to a reference frame and the associated control laws are designed according to inter-robot relative positions. Designing a more decentralized scheme, this paper proposes a formation scheme, using Lyapunov techniques, considering that the local controllers of the agents can be equipped with distance and orientation sensors. The main result of the paper applies to certain distance-based potential functions with inter-robot collision avoidance and an arbitrary undirected formation graph. Also, the control law includes an integral-type control that eliminates the effects of the dead-zone of actuators in order to avoid the standard techniques of normalization. The control approach is analyzed for omnidirectional robots with numerical simulations and extended for unicycle-type robots with real-time experiments. Graphical Abstract
IEEE Conference Proceedings, 2019
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Papers by Guillermo Fernandez-anaya