Juan Marcos Toibero

• Dr
• Professor (Assistant) at National University of San Juan

This study proposes a comprehensive framework for the identification of nonlinear dynamics in Unmanned Aerial Vehicles (UAVs), integrating data-driven methodologies with theoretical modeling approaches. Two principal techniques are employed: Proportional-Derivative (PD)-based control input approximation and Sparse Identification of Nonlinear Dynami...

This work presents the design and implementation of a data-driven Nonlinear Model Predictive Control (NMPC) framework for an Unmanned Aerial Vehicle (UAV) equipped with a 3-DOF robotic arm. Real-world datawas collected using the Matrice 100 platform and Dynamixel MX-28AR actuators to identify a high-dimensional linear model via Dynamic Mode Decompo...

This document presents the simulation results of a new inverse kinematics-based controller for trajectory tracking applied to a mobile robot, specifically a car-like robot. The control law design addresses the limitations of steering rotation and the limited speed of the robot. It also takes into account that the reference point is located at an ar...

In this study, we propose a novel method that integrates Nonlinear Model Predictive Contour Control (NMPCC) with an Exponentially Stabilizing Control Lyapunov Function (ES-CLF) and Exponential Higher-Order Control Barrier Functions to achieve stable path-following and obstacle avoidance in UAV systems. This framework enables unmanned aerial vehicle...

This paper presents a comprehensive approach to nonlinear dynamics identification for UAVs using a combination of data-driven techniques and theoretical modeling. Two key methodologies are explored: Proportional-Derivative (PD) approximation and Sparse Identification of Nonlinear Dynamics (SINDy). The UAV dynamics are first modeled using the Euler-...

This article proposes an enhancement to estimate unmodeled dynamics within the simplified dynamic model of a quadcopter by integrating three key methodologies: Nonlinear Model Predictive Control (NMPC), a Momentum Observer Dynamics (MOD), and an adaptive control law. Termed as Adaptive NMPC with MOD, this integrated approach leverages NMPC, impleme...

Transport, rescue, search, surveillance, and disaster relief tasks are some applications that can be developed with unmanned aerial vehicles (UAVs), where accurate trajectory tracking is a crucial property to operate in a cluttered environment or under uncertainties. However, this is challenging due to high nonlinear dynamics, system constraints, a...

This article addresses an unified solution to the trajectory tracking and path following problems for differential drive mobile robots (DDMR) considering a point of interest (PoI) with variable location relative to the vehicle. The mobile robot is modeled with an extended kinematic model avoiding typical singularities of this kind of vehicles, and...

This work presents a novel stable controller for the person-following task that includes social considerations for a differential drive mobile robot equipped with an RGB-D camera and a laser range finder as main sensors. The proposed controller adapts its behavior based on the knowledge of both: a modified personal space distribution and human user...

En este documento se presenta los resultados de simulación del diseño de un controlador cinemático para seguimiento de trayectoria aplicado a un robot móvil tipo auto. Dentro del diseño de la ley de control se considera las limitaciones de giro en el volante y la limitada velocidad del robot. Además de ello se considera el punto de interés en una p...

In the inspection and data collection of large areas as crop fields, where an aerial vehicle should follow an objects line accurately, autonomous flight is a desirable feature with unmanned aerial vehicles (UAVs). To attain this objective, three visual servo controllers are proposed, one of them is position based and the other two are image based u...

In this chapter, a unified passivity-based visual servoing control structure considering a vision system mounted on the robot is presented. This controller is suitable to be applied for robotic arms, mobile robots, as well as mobile manipulators. The proposed control law makes the robot able to perform a moving target tracking in its workspace. Tak...

This article proposes a SLAM version with continuous probabilistic mapping (CP-SALM), i.e., an algorithm of simultaneous localization and mapping that avoids the use of grids, and thus, it does not require a discretized environment. A Markov Random Field (MRF) is considered to model this SLAM version with high spatial resolution maps. The mapping m...

This paper models the complex simultaneous localization and mapping (SLAM) problem through a very flexible Markov random field and then solves it by using the iterated conditional modes algorithm. Markovian models allow to incorporate: any motion model; any observation model regardless of the type of sensor being chosen; prior information of the ma...

This paper presents a new dynamic obstacle avoidance strategy based on time-variation of a potential field, with multiple control objectives. The strategy uses the null space of a Jacobian matrix to achieve the different control objectives in a non-conflicting way while using either a flexible or a rigid formation to avoid static and mobile obstacl...

Nowadays, the energetic cost of flying in electric-powered UAVs is one of the key challenges. The continuous evolution of electrical energy storage sources is overcome by the great amount of energy required by the propulsion system. Therefore, the on-board energy is a crucial factor that needs to be further analyzed. In this work, different control...

This paper presents a control strategy for human–robot interaction with physical contact, recognizing the human intention to control the movement of a non-holonomic mobile robot. The human intention is modeled by mechanical impedance, sensing the human-desired force intensity and the human-desired force direction to guide the robot through unstruct...

A complete characterization of the behavior in human-robot interactions (HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic rela...

Sharing the workspace or interacting directly with people in a social way is currently a key challenge in the design of mobile robot applications. An interesting field of study is related with the so-called hidden dimension, which relates the sense of security that a human feels when interacting with another one. Therefore, the researchers have bee...

This paper proposes a novel path following controller for Car-Like robots. This controller incorporates the saturation of the vehicle steering angle by considering of a Null-Space design. This way, the controller has a double objective: the primary task is to avoid the saturation of the steering angle by considering an appropriate Gaussian function...

A complete characterization of the behavior in human-robot interactions (HRI) includes both: the behavior dynamics and the control laws that characterizes how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic relat...

In human-robot interaction, the incorporation of social rules results to be crucial to guarantee the comfort of the human. It must be obtained by means of improving the legibility of the robot motions, because developing soft and smooth motion does not guarantee entirely a social acceptable motion. Hence, in this paper a novel fuzzy logic approach...

A complete characterization of the behavior in human-robot interactions (HRI) include both: the behavioral dynamic and the control laws that characterizes the way as the behavior is regulated with the perception data. In this way, when a pedestrian follows another one, it uses a mental kinematic control that allows to keep a relative distance and o...

In the last decades, research efforts related to Unmanned Aerial Vehicles (UAV) have grown substantially in terms of control stabilization and navigation strategies. However, the energy available on board is finite and this is a limiting factor that prevents engineers from coming up with the best aerial solution in many situations. In this paper th...

In human-robot interaction, the incorporation of social rules results to be crucial to guarantee the comfort of the human. This should be attained by means of improving the legibility of the robot motions, because developing soft and smooth motion only, does not guarantee a social acceptable motion. Hence, in this paper a novel fuzzy logic approach...

Una completa caracterización del comportamiento de interacción humano-robot (IHR) incluye dos aspectos: la dinámica de comportamiento, y las leyes de control que caracterizan cómo el comportamiento es regulado con la información de la percepción. De esta manera, este trabajo propone un control coordinado líder-seguidor que permite incorporar compor...

Este trabajo presenta el diseño novedoso de un controlador para el seguimiento de caminos de un robot tipo car-like que incorpora la saturación de los actuadores: el ángulo de giro y la velocidad lineal. El diseño se basa en parte en la técnica de espacio nulo cumpliendo un doble objetivo: por un lado una función de potencial repele la selección de...

A complete characterization of the behavior in human-robot interaction (HRI) includes both: the behavior dynamic and the control laws that characterize as the behavior is regulated with the perception information. In this way, the present work proposes a leader-follower coordinated control that allows to include special dynamic behaviors between hu...

In the present days a percentage increase of the population with disability issues is observed. Not only are motor disabilities, sensory and cognitive too. One reason is the growth of the elderly population. There are mechanical devices for their assistance, the most used is the cane. This paper intends to apply technologies in the area of robotics...

This paper addresses the problem of visual dynamic control based on passivity to solve the target tracking problem of mobile manipulators with eyes-in-hand configuration in the 3D-workspace. The redundancy of the system is used for obstacles avoidance and singular configuration prevention through the system’s manipulability control. The design of t...

En este trabajo se presenta una estrategia de control para la interacción bilateral entre múltiples robots y un humano mediante contacto físico reconociendo la intención del humano para el control de movimiento del grupo de robots no-holonómicos. La intención del humano se modela mediante impedancia mecánica, sensando la fuerza y orientación desead...

This paper presents a switched control strategy to interpret and design a human-robot bilateral interaction when a human follows a non-holonomic mobile robot at a desired distance while the robot is already following a known path. Furthermore, it proposes and experimentally validates a model that mathematically describes the human behavior when per...

Este trabajo presenta el diseño novedoso de un controlador para el seguimiento de caminos de un robot tipo carlike que incorpora la saturación del ángulo de giro. Se incluye el correspondiente análisis de estabilidad del controlador y su verificación en simulación para distintas condiciones. Adicionalmente se reporta el diseño de una variante del c...

In this paper it is presented a control strategy for bilateral human-robot interaction with contact, recognizing human intent to control movement of a non-holonomic mobile robot. The human intention is modeled by mechanical impedance, sensing the force and direction desired by the human to guide the robot through unstructured environments. Robot dy...

This paper presents a switched control strategy to interpret and design a human-robot bilateral interaction when a human follows a non-holonomic mobile robot at a desired distance while the robot is already following a known path. Furthermore, it proposes and experimentally validates a model that mathematically describes the human behavior when per...

In this paper an image-based dynamic visual feedback control for mobile manipulators is presented to solve the target tracking problem in the 3D workspace. The design of the whole controller is based on two cascaded subsystems: a minimum norm visual kinematic controller which complies with the 3D target tracking objective, and an adaptive controlle...

This paper presents an image-based dynamic visual servoing to make a mobile robot able to track a moving object on the workspace by using a calibrated on board vision system. The stability of the proposed system is proved based on its passivity properties. A robustness analysis and an L2-gain performance analysis are also presented. Experimental re...

This paper presents a unified motion controller for mobile manipulators which not only solves the problems of point stabilization and trajectory tracking but also the path following problem. The control problem is solved based on the kinematic model of the robot. Then, a dynamic compensation is considered based on a dynamic model with inputs being...

This work presents a new adaptive dynamic control to solve the path following problem for the unicycle-like mobile robot. First, it is proposed a dynamic modeling of a unicycle-like mobile robot where it is considered that its mass center is not located at the center the wheels' axle. Then, the design of the control algorithm is presented. This con...

This paper presents both the design and the implementation of a bilateral teleoperation system for a mobile manipulator, allowing a human operator to perform complex tasks in remote environments. Two teleoperation operation modes are proposed: the locomotion mode (mobile manipulator) and the manipulation mode (robotic arm). The human operator can s...

This paper presents a stable switching control strategy for the parking problem of non-holonomic mobile robots. First, it is proposed a positioning-orientation switching controller for the parking problem. With this strategy robot backwards motions are avoided and the robot heading is always in the direction of the goal point facilitating the obsta...

In this work, a comparative study between an Ultra Wide-Band (UWB) localization system and a Simultaneous Localization and Mapping (SLAM) algorithm is presented. Due to its high bandwidth and short pulses length, UWB potentially allows great accuracy in range measurements based on Time of Arrival (TOA) estimation. SLAM algorithms recursively estima...

Este trabajo presenta un algoritmo de control basado en seguimiento de líderes para la navegación autónoma de un equipo de robots móviles no holonómicos manteniendo una formación deseada. Los errores de control se definen en términos de las posiciones instantáneas de cada robot y de su posición deseada dentro de la formación, relativa al robot líde...

This paper presents a novel control algorithm for the autonomous navigation of a non-holonomic robot team while preserving a specified formation. The control errors are defined in terms of the actual position of each robot and its desired position in the formation, relative to the leader robot of the team. The stability and robustness analysis for...

This paper presents an uncertainty maps construction method of an environment by a mobile robot when executing a SLAM (Simultaneous Localization and Mapping) algorithm. The SLAM algorithm is implemented on a Extended Kalman Filter (EKF) and extracts corners (convex and concave) and lines (associated with walls) from the surrounding environment. A n...

This work has shown the implementation of three scan modes of a robot manipulator workspace governed by a Human Machine Interface. The first scan approach was a sequential one with no consideration of preferences of the user/patient of the HMI. The other two scan approaches were based on the probability information attached to every cell at the rob...

In this Chapter it has been presented a switched countour-following controller, which allows a wheeled mobile robot to follow discontinuous walls` contours. This controller has been developed by considering a standard (stable) wall-following controller and aggregating two complementary (also stable) controllers. One risponsible for avoid collisions...

This paper proposes a model to characterize the Dissolved Oxygen Dynamics (DO) for the Bacillus thuringiensis (Bt) δ-endotoxins production process. The objective of this work is to include this dynamics into a phenomenological model of the process in order to facilitate the biomass estimation from the knowledge of oxygen consumption; and for contro...

This paper presents the use of a hybrid collaborative stereo vision system (3D-distributed visual sensing using different kinds of vision cameras) for the autonomous navigation of a wheeled robot team. It is proposed a triangulation-based method for the 3D-posture computation of an unknown object by considering the collaborative hybrid stereo visio...

This paper proposes a robustness analysis for a dissolved oxygen controller based on Lyapunov theory. The control strategy is designed for the Bacillus thuringiensis δ-endotoxins produc- tion process. First, the control strategy is presented and second, it is considered with a biomass estimator in closed loop and it is shown a robustness analysis f...

This paper presents a novel image-based controller for the visual servoing of mobile robots navigating in corridors. Two strategies based on perspective line detection are considered: an image-based approach and a position-based approach. Both are fully described including stability analysis and experimental results on real robots, discussing limit...

This paper presents a continuous wall-following controller for wheeled mobile robots based on odometry and distance information. The reference for this controller is the desired distance from the robot to the wall and allows the robot to follow straight wall contour as well as smoothly varying wall contours by including the curvature of the wall in...

In this chapter it has been addressed the problem of the autonomous navigation for a group of non-holonomic mobile robots. In a first stage we considered the classic leader-based formation control problem. In spite of the stability property of this controller, we have detected large transitory errors in some circumstances, being these errors unacce...

This paper presents a switching controller for positioning a unicycle-like mobile robot at a desired point with final orientation avoiding obstacles in completely unknown environments. To this aim two complementary algorithms are included: the first decides whether to avoid an obstacle around its right or left side, and the second is intended to de...

This paper presents a hybrid formation controller approach for non-holonomic mobile robots. This approach is based on the stable switching between a leader-following formation controller and an orientation controller. The switching attempts to maintain low values of formation errors during specific leader movements that otherwise will produce a sig...

This paper presents a novel control algorithm and visual measurement for the autonomous navigation of a non-holonomic robot team while preserving a specified formation. The control errors are defined relative to the leader robot of the team in terms of the actual position of each robot and its desired position in the formation. The stability analys...

In this paper a switching controller for mobile robots is presented that allows the contour-following of objects the size of which is at least comparable to that of the robot. The controller uses the information from distance sensors and is based on a wall-following controller described in the paper. The stability of the overall switching system is...

This paper presents a hybrid stereo vision system composed by a catadioptric vision system and a conventional perspective projection camera for mobile robotics applications. The main contributions of this paper are the proposition of a 3D position sensing method and a sensitivity analysis for the catadioptric vision system. The sensing method is de...