Search Results - "Arechavaleta, Gustavo"

Analytical differentiation of the articulated-body algorithm: a geometric multilinear approach by Paz, Alvaro, Arechavaleta, Gustavo

“…This paper presents a new geometric algorithm to efficiently compute the analytical differentiation of the Articulated-body Algorithm (ABA) with respect to the…”
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Vision-Based Formation Control of Quadrotors Using a Bearing-Only Approach by Ramírez-Parada, David L., Becerra, Héctor M., Toro-Arcila, Carlos A., Arechavaleta, Gustavo

“…In this paper, we present a vision-based leader–follower strategy for formation control of multiple quadrotors. The leaders use a decoupled visual control…”
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Vision based persistent localization of a humanoid robot for locomotion tasks by Martínez, Pablo A., Castelán, Mario, Arechavaleta, Gustavo

“…Typical monocular localization schemes involve a search for matches between reprojected 3D world points and 2D image features in order to estimate the absolute…”
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Online optimization of humanoid walking trajectories for passing through a door by Paz, Alvaro, Arechavaleta, Gustavo

“…In this work we propose an online trajectory planner for humanoid walking. It is based on the observer trajectory planning problem where the moving observer…”
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Predefined-Time Convergence Control for High-Order Integrator Systems Using Time Base Generators by Becerra, Hector M., Vazquez, Carlos R., Arechavaleta, Gustavo, Delfin, Josafat

“…In this brief, we propose a control method for high-order integrator systems that achieves predefined-time convergence, i.e., the system is driven to the…”
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Predefined-Time Robust Hierarchical Inverse Dynamics on Torque-Controlled Redundant Manipulators by Obregon-Flores, Jonathan, Arechavaleta, Gustavo, Becerra, Hector M., Morales-Diaz, America

“…In this article, we propose a robust hierarchical inverse dynamics control scheme for redundant manipulators, which guarantees both predefined-time convergence…”
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Visual path following with obstacle avoidance for quadcopters in indoor environments by Toro-Arcila, Carlos A., Becerra, Héctor M., Arechavaleta, Gustavo

“…In this paper, we propose a hierarchical visual servo control scheme for following visual paths with quadcopters in indoor environments. The control scheme is…”
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Humanoid navigation using a visual memory with obstacle avoidance by Delfin, Josafat, Becerra, Héctor M., Arechavaleta, Gustavo

“…We present a complete humanoid navigation scheme based on a topological map known as visual memory (VM), which is composed by a set of key images acquired…”
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Visual servo walking control for humanoids with finite-time convergence and smooth robot velocities by Delfin, Josafat, Becerra, Hector M., Arechavaleta, Gustavo

“…In this paper, we address the problem of humanoid locomotion guided from information of a monocular camera. The goal of the robot is to reach a desired…”
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Multi-vehicle coordination based on hierarchical quadratic programming by Pérez-Villeda, Héctor M., Arechavaleta, Gustavo, Morales-Díaz, América

“…This paper presents an optimization-based control scheme for generating online multi-vehicle coordination behaviors to accomplish missions in indoor…”
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On the nonholonomic nature of human locomotion by Arechavaleta, Gustavo, Laumond, Jean-Paul, Hicheur, Halim, Berthoz, Alain

“…In the kinematic realm, wheeled robot’s determining characteristic lies in its nonholonomic constraint. Indeed, the wheels of the robot unequivocally force the…”
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Hierarchical Task-Based Control of Multirobot Systems With Terminal Attractors by Arechavaleta, Gustavo, Morales-Diaz, America, Perez-Villeda, Hector M., Castelan, Mario

“…This brief proposes a hierarchical control scheme based on the definition of a set of multirobot task functions. To deal with the inherent conflicts between…”
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An Optimality Principle Governing Human Walking by Arechavaleta, G., Laumond, J.-P., Hicheur, H., Berthoz, A.

“…In this paper, we investigate different possible strategies underlying the formation of human locomotor trajectories in goal-directed walking. Seven subjects…”
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A Passivity-Based Model-Free Force-Motion Control of Underwater Vehicle-Manipulator Systems by Olguin-Diaz, Ernesto, Arechavaleta, Gustavo, Jarquin, Gerardo, Parra-Vega, Vicente

“…A passivity-based model-free control scheme for an underwater fully actuated vehicle-manipulator system (UVMS) in contact tasks is proposed. Orthogonalized…”
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The formation of trajectories during goal-oriented locomotion in humans. I. A stereotyped behaviour by Hicheur, Halim, Pham, Quang-Cuong, Arechavaleta, Gustavo, Laumond, Jean-Paul, Berthoz, Alain

“…Human locomotion was investigated in a goal‐oriented task where subjects had to walk to and through a doorway starting from a fixed position and orientation in…”
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The formation of trajectories during goal-oriented locomotion in humans. II. A maximum smoothness model by Pham, Quang-Cuong, Hicheur, Halim, Arechavaleta, Gustavo, Laumond, Jean-Paul, Berthoz, Alain

“…Despite the theoretically infinite number of possible trajectories a human may take to reach a distant doorway, we observed that locomotor trajectories…”
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A closed-loop approach for tracking a humanoid robot using particle filtering and depth data by Martínez, Pablo Arturo, Lin, Xiao, Castelán, Mario, Casas, Josep, Arechavaleta, Gustavo

“…Humanoid robots introduce instabilities during biped march that complicate the process of estimating their position and orientation along time. Tracking…”
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Practical guide to solve the minimum-effort problem with geometric algorithms and B-Splines by Paz, Alvaro, Arechavaleta, Gustavo

“…This paper focuses on important implementation issues of numerical optimal control that are often overlooked. In particular, transcription methods should be…”
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An Optimality Principle Goveming Human Walking : Biorobotics by ARECHAVALETA, Gustavo, LAUMOND, Jean-Paul, HICHEUR, Halim, BERTHOZ, Alain

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Exploiting sparsity in robot trajectory optimization with direct collocation and geometric algorithms by Cardona-Ortiz, Daniel, Paz, Alvaro, Arechavaleta, Gustavo

“…This paper presents a robot trajectory optimization formulation that builds upon numerical optimal control and Lie group methods. In particular, the inherent…”
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