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Communication Fault-tolerant Networked Control System for Coordination of Heterogeneous Robots

Grant number: 17/05668-0
Support Opportunities:Scholarships in Brazil - Doctorate
Effective date (Start): July 01, 2017
Effective date (End): September 30, 2021
Field of knowledge:Engineering - Electrical Engineering
Acordo de Cooperação: Coordination of Improvement of Higher Education Personnel (CAPES)
Principal Investigator:Marco Henrique Terra
Grantee:João Roberto Soares Benevides
Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil


In this Ph.D. project, we propose the implementation and development of a communication fault-tolerant networked control system for coordinating heterogeneous robots. More specifically, mobile wheeled robots and quadcopters. In order to fulfill this, two approaches for networked systems will be combined: the first technique addresses the package drop problem and is going to be handled by a designed filter for linear systems subject to Makovian jumps. The second approach is a switched state feedback controller to deal with latency issues. The validation will take place in the Laboratory of Intelligent Systems (LASI) of the University of São Paulo in São Carlos. Four Vicon cameras estimate position and attitude of the systems. This project is strongly connected to other FAPESP projects. Additionally, it is worth mentioning that LASI already owns the Vicon cameras as well as the necessary robots. Furthermore, LASI members have been working actively on robust filtering and dynamical control of systems subject to Markovian jumps with special interest on robotics applications. (AU)

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Scientific publications
(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)
BENEVIDES, JOAO R. S.; INOUE, ROBERTO S.; PAIVA, MARLON A. D.; TERRA, MARCO H.; OKAMURA, AM; AMATO, N; ASFOUR, T; CHOI, YJ; CHONG, NY; DING, H; et al. ROS-Based Robust and Recursive Optimal Control of Commercial Quadrotors. 2019 IEEE 15TH INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE), v. N/A, p. 6-pg., . (17/05668-0, 14/50851-0)
BENEVIDES, JOAO R. S.; PAIVA, MARLON A. D.; SIMPLICIO, PAULO V. G.; INOUE, ROBERTO S.; TERRA, MARCO H.. isturbance Observer-Based Robust Control of a Quadrotor Subject to Parametric Uncertainties and Wind Disturbanc. IEEE ACCESS, v. 10, p. 7554-7565, . (18/13848-1, 17/05668-0, 14/50851-0)
CALDAS, KENNY A. Q.; BENEVIDES, JOAO R. S.; INOUE, ROBERTO S.; TERRA, MARCO H.; IEEE. Autonomous Robust Navigation System for MAV Based on Monocular Cameras. 2022 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS), v. N/A, p. 7-pg., . (14/50851-0, 18/13848-1, 17/05668-0)

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