Pedro Batista
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View article: Distributed Design of Ultra Large-Scale Control Systems: Progress, Challenges, and Prospects
Distributed Design of Ultra Large-Scale Control Systems: Progress, Challenges, and Prospects Open
The transition from large centralized complex control systems to distributed configurations that rely on a network of a very large number of interconnected simpler subsystems is ongoing and inevitable in many applications. It is attributed…
View article: Feedback–feedforward signal control with exogenous demand estimation in congested urban road networks
Feedback–feedforward signal control with exogenous demand estimation in congested urban road networks Open
To cope with uncertain traffic patterns and traffic models, traffic-responsive signal control strategies in the literature are designed to be robust to these uncertainties. These robust strategies still require sensing infrastructure to im…
View article: On gamma rays as predictors of UHECR flux in AGNs
On gamma rays as predictors of UHECR flux in AGNs Open
Active galactic nuclei (AGN) are among the main candidates for ultra-high-energy cosmic ray (UHECR) sources. However, while some theoretical and phenomenological works favor AGNs as the main sources, recent works have shown that using the …
View article: Saturated Trajectory Tracking Controller in the Body-Frame for Quadrotors
Saturated Trajectory Tracking Controller in the Body-Frame for Quadrotors Open
This paper introduces a quadrotor trajectory tracking controller comprising a steady-state optimal position controller with a normed input saturation and modular integrative action coupled with a backstepping attitude controller. First, th…
View article: Feedback-feedforward Signal Control with Exogenous Demand Estimation in Congested Urban Road Networks
Feedback-feedforward Signal Control with Exogenous Demand Estimation in Congested Urban Road Networks Open
To cope with uncertain traffic patterns and traffic models, traffic-responsive signal control strategies in the literature are designed to be robust to these uncertainties. These robust strategies still require sensing infrastructure to im…
View article: Distributed decentralized receding horizon control for very large-scale networks with application to satellite mega-constellations
Distributed decentralized receding horizon control for very large-scale networks with application to satellite mega-constellations Open
The implementation feasibility of control algorithms over very large-scale networks calls for hard constraints regarding communication, computational, and memory requirements. In this paper, the decentralized receding horizon control probl…
View article: Distributed decentralized EKF for very large-scale networks with application to satellite mega-constellations navigation
Distributed decentralized EKF for very large-scale networks with application to satellite mega-constellations navigation Open
The design of a decentralized and distributed filtering solution for large-scale networks of interconnected systems is addressed considering (i) generic nonlinear dynamics and (ii) generic coupled nonlinear outputs in a generic, possibly t…
View article: Comment on egusphere-2022-1526
Comment on egusphere-2022-1526 Open
Abstract. Soil erosion features and ideal tillage practices are not very clear at the crop seedling stage in Chinese Mollisols. Simulated rainfall experiments were conducted at the rainfall intensities of 50 and 100 mm h-1 to investigate t…
View article: Third-order consensus for robust distributed formation control of double integrator vehicles
Third-order consensus for robust distributed formation control of double integrator vehicles Open
This paper presents the development of a robust distributed and cooperative control algorithm for formation tracking by teams of vehicles modeled as double integrators, and exemplifies its use through the application to multirotor vehicles…
View article: Cooperative decentralized navigation algorithms based on bearing measurements for arbitrary measurement topologies
Cooperative decentralized navigation algorithms based on bearing measurements for arbitrary measurement topologies Open
This work presents and compares several cooperative navigation solutions for formations of autonomous underwater vehicles, equipped with depth sensors and capable of taking bearing measurements to their neighbors under a certain measuremen…
View article: Distributed decentralized receding horizon control for very large-scale networks with application to satellite mega-constellations
Distributed decentralized receding horizon control for very large-scale networks with application to satellite mega-constellations Open
The implementation feasibility of control algorithms over very large-scale networks calls for hard constraints regarding communication, computational, and memory requirements. In this paper, the decentralized receding horizon control probl…
View article: Simultaneous beam selection and users scheduling evaluation in a virtual world with reinforcement learning
Simultaneous beam selection and users scheduling evaluation in a virtual world with reinforcement learning Open
The fifth generation of mobile networks evolved to serve applications with distinct requirements, which results in a high management complexity due to simultaneous real-time tasks. In the physical layer, code words that allow proper data e…
View article: Reproducible low-cost flexible quadruple-tank process experimental setup for control educators, practitioners, and researchers
Reproducible low-cost flexible quadruple-tank process experimental setup for control educators, practitioners, and researchers Open
The major hurdle in accessing laboratory experimentation is the cost of acquiring experimental scientific equipment, which is unbearable for many institutions. This paper aims to provide the community of control educators, practitioners, a…
View article: Attitude Uncertainty Analysis of a Three-Vehicle Constrained Formation
Attitude Uncertainty Analysis of a Three-Vehicle Constrained Formation Open
The uncertainty analysis of attitude estimates enables the comparison between different methods, and, thus, it is important for practical applications. This work studies the uncertainty for the attitude determination of a three-vehicle con…
View article: Design and analysis of attitude observers based on the Lagrange-d’Alembert principle applied to constrained three-vehicle formations
Design and analysis of attitude observers based on the Lagrange-d’Alembert principle applied to constrained three-vehicle formations Open
Constrained formations of vehicles are interesting in a variety of space mission scenarios for their potential ability to solve complex problems with relatively simple and specialized individual systems. However, the analysis of such forma…
View article: Comment on hess-2021-457
Comment on hess-2021-457 Open
Soil erosion reduces the sustainability of agricultural sector by loss of productive soil and through negative impacts on surface waters. In Finland, considerable efforts have been made to reduce soil erosion, but the suspended sediment lo…
View article: Marine and Maritime Intelligent Robotics (MIR)
Marine and Maritime Intelligent Robotics (MIR) Open
International audience
View article: Comment on soil-2021-85
Comment on soil-2021-85 Open
Abstract. Climate change, accompanied by intensified extreme weather events, results in changes in intensity, frequency and magnitude of soil erosion. These unclear future developments make adaption and improvement of soil erosion modellin…
View article: Characterization of Degenerate Configurations in Attitude Determination of Three-Vehicle Heterogeneous Formations
Characterization of Degenerate Configurations in Attitude Determination of Three-Vehicle Heterogeneous Formations Open
The existence of multiple solutions to an attitude determination problem impacts the design of estimation schemes, potentially increasing the errors by a significant value. It is therefore essential to identify such cases in any attitude p…
View article: Efficient Algorithm for the Computation of the Solution to a Sparse Matrix Equation in Distributed Control Theory
Efficient Algorithm for the Computation of the Solution to a Sparse Matrix Equation in Distributed Control Theory Open
In this short communication, an algorithm for efficiently solving a sparse matrix equation, which arises frequently in the field of distributed control and estimation theory, is proposed. The efficient algorithm stems from the fact that th…
View article: 5G MIMO Data for Machine Learning: Application to Beam-Selection using\n Deep Learning
5G MIMO Data for Machine Learning: Application to Beam-Selection using\n Deep Learning Open
The increasing complexity of configuring cellular networks suggests that\nmachine learning (ML) can effectively improve 5G technologies. Deep learning\nhas proven successful in ML tasks such as speech processing and computational\nvision, …
View article: Navigation and Source Localization based on Single Pseudo-Ranges with an Unknown Multiplicative Factor
Navigation and Source Localization based on Single Pseudo-Ranges with an Unknown Multiplicative Factor Open
This paper presents a novel estimation solution for the problems of navigation and source localization based on pseudo-range measurements to a single pinger. In particular, the distance measurements are assumed to be corrupted by an unknow…
View article: Cooperative Navigation Based on Bearing and Range Measurements to Different Vehicles
Cooperative Navigation Based on Bearing and Range Measurements to Different Vehicles Open
This paper presents a navigation solution for a vehicle operating in cooperation with two other. The vehicle is assumed to measure bearing to one of the aiding vehicles and range to the other. An observer with globally exponentially stable…
View article: Distributed Formation Control of Double-Integrator Vehicles with Disturbance Rejection
Distributed Formation Control of Double-Integrator Vehicles with Disturbance Rejection Open
This paper presents the development of a robust distributed and cooperative control algorithm for formation tracking by teams of vehicles modeled as double integrators, seeking its application to multirotor vehicles. Consensus-based protoc…
View article: Tenant-Aware Slice Admission Control using Neural Networks-Based Policy\n Agent
Tenant-Aware Slice Admission Control using Neural Networks-Based Policy\n Agent Open
5G networks will provide the platform for deploying large number of\ntenant-associated management, control and end-user applications having\ndifferent resource requirements at the infrastructure level. In this context,\nthe 5G infrastructu…
View article: Relaxed conditions for uniform complete observability and controllability of LTV systems with bounded realizations
Relaxed conditions for uniform complete observability and controllability of LTV systems with bounded realizations Open
Uniform complete observability and controllability are key concepts for the design of state observers and controllers for linear time-varying systems. While the definitions of these properties are simple, it is more often that not very dif…
View article: Design and Experimental Validation of a USBL Underwater Acoustic Positioning System
Design and Experimental Validation of a USBL Underwater Acoustic Positioning System Open
This paper presents the steps for developing a low-cost POrtableNavigation Tool for Underwater Scenarios (PONTUS) to be used as a localization device for subsea targets. PONTUS consists of an integrated ultra-short baseline acoustic positi…