Joana Fonseca

KTH Royal Institute of Technology | KTH · Automatic Control Lab (AC)

In this paper we consider the problem of tracking a mobile target using adaptive estimation while circumnavigating it with a system of Unmanned Surface Vehicles (USVs). The mobile target considered is an irregular dynamic shape approximated by a circle with moving centre and varying radius. The USV system is composed of n USVs of which one is equip...

In this paper we consider the problem of tracking a mobile target using adaptive estimation while circumnavigating it with a system of Unmanned Surface Vehicles (USVs). The mobile target considered is an irregular dynamic shape approximated by a circle with moving centre and varying radius. The USV system is composed of n USVs of which one is equip...

Harmful algal blooms occur frequently and deteriorate water quality. A reliable method is proposed in this paper to track algal blooms using a set of autonomous surface robots. A satellite image indicates the existence and initial location of the algal bloom for the deployment of the robot system. The algal bloom area is approximated by a circle wi...

The problem of multi-agent formation control for target tracking is considered in this paper. The target is an irregular dynamic shape approximated by a circle with moving centre and varying radius. It is assumed that there are n agents and one of them is capable of measuring both the distance to the boundary of the target and to its centre. All th...