{"id":76,"date":"2017-09-10T05:46:36","date_gmt":"2017-09-10T05:46:36","guid":{"rendered":"https:\/\/ryma.cinvestav.mx\/garechav\/?page_id=76"},"modified":"2017-09-11T15:36:06","modified_gmt":"2017-09-11T15:36:06","slug":"publicaciones","status":"publish","type":"page","link":"https:\/\/ryma.cinvestav.mx\/garechav\/publicaciones\/","title":{"rendered":"Publicaciones"},"content":{"rendered":"

[et_pb_section bb_built=\u00bb1″ fullwidth=\u00bbon\u00bb specialty=\u00bboff\u00bb background_image=\u00bbhttps:\/\/ryma.cinvestav.mx\/garechav\/wp-content\/uploads\/sites\/9\/2017\/09\/IMAGEN-CAMPA\u00d1A1.jpg\u00bb _builder_version=\u00bb3.0.72″ background_color_gradient_start=\u00bbrgba(0,0,0,0.56)\u00bb background_color_gradient_end=\u00bb#ffffff\u00bb background_color_gradient_direction=\u00bb122deg\u00bb background_color_gradient_direction_radial=\u00bbleft\u00bb background_color_gradient_start_position=\u00bb9%\u00bb locked=\u00bbon\u00bb global_module=\u00bb98″][et_pb_fullwidth_header admin_label=\u00bbNombre del Investigador\u00bb global_parent=\u00bb98″ title=\u00bbDR. GUSTAVO ARECHAVALETA\u00bb subhead=\u00bbProfesor Investigador\u00bb background_layout=\u00bbdark\u00bb text_orientation=\u00bbleft\u00bb header_fullscreen=\u00bboff\u00bb header_scroll_down=\u00bboff\u00bb content_orientation=\u00bbcenter\u00bb image_orientation=\u00bbcenter\u00bb title_font=\u00bb|on|||\u00bb subhead_font=\u00bb|on|||\u00bb custom_button_one=\u00bboff\u00bb button_one_letter_spacing=\u00bb0″ button_one_icon_placement=\u00bbright\u00bb button_one_letter_spacing_hover=\u00bb0″ custom_button_two=\u00bboff\u00bb button_two_letter_spacing=\u00bb0″ button_two_icon_placement=\u00bbright\u00bb button_two_letter_spacing_hover=\u00bb0″ subhead_font_size=\u00bb20px\u00bb _builder_version=\u00bb3.0.72″ background_overlay_color=\u00bbrgba(0,0,0,0.3)\u00bb parent_locked=\u00bbon\u00bb \/][et_pb_fullwidth_menu global_parent=\u00bb98″ menu_id=\u00bb6″ background_layout=\u00bblight\u00bb text_orientation=\u00bbleft\u00bb submenu_direction=\u00bbdownwards\u00bb fullwidth_menu=\u00bboff\u00bb active_link_color=\u00bbrgba(131,0,233,0.81)\u00bb menu_font=\u00bb|on|||\u00bb _builder_version=\u00bb3.0.72″ background_color_gradient_start=\u00bb#009f93″ background_color_gradient_end=\u00bbrgba(0,0,0,0.27)\u00bb background_color_gradient_start_position=\u00bb20%\u00bb background_color=\u00bb#d3d3d3″ parent_locked=\u00bbon\u00bb \/][\/et_pb_section][et_pb_section bb_built=\u00bb1″ _builder_version=\u00bb3.0.72″ custom_css_main_element=\u00bbbox-shadow: inset 0px 3px 2px rgba(50, 50, 50, 0.75);\u00bb locked=\u00bboff\u00bb][et_pb_row parent_locked=\u00bboff\u00bb background_position=\u00bbtop_left\u00bb background_repeat=\u00bbrepeat\u00bb background_size=\u00bbinitial\u00bb][et_pb_column type=\u00bb4_4″][et_pb_text _builder_version=\u00bb3.0.72″ background_layout=\u00bblight\u00bb text_orientation=\u00bbleft\u00bb border_style=\u00bbsolid\u00bb parent_locked=\u00bboff\u00bb]<\/p>\n

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PUBLICACIONES<\/strong><\/h2><\/div><\/div>\n

Para ver las publicaciones de todo Rob\u00f3tica y Manufactura Avanzada, ver:\u00a0 Publicaciones RYMA<\/a><\/strong><\/p>\n

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2017<\/h3>

Art\u00edculos de revista<\/h3>

Arechavaleta, Gustavo; Morales-Diaz, America B.; Perez-Villeda, Hector Manuel; Castelan, Mario<\/p>

Hierarchical Task-Based Control of Multirobot Systems With Terminal Attractors<\/a> Art\u00edculo de revista<\/span> <\/p>

En: <\/span>IEEE Transactions on Control Systems Technology, <\/span>vol. 25, <\/span>no 1, <\/span>pp. 334 - 341, <\/span>2017<\/span>, ISSN: 1063-6536<\/span>.<\/p>

Resumen<\/a><\/span> | Enlaces<\/a><\/span> | BibTeX<\/a><\/span><\/p>

@article{7454708,
\r\ntitle = {Hierarchical Task-Based Control of Multirobot Systems With Terminal Attractors},
\r\nauthor = {Arechavaleta, Gustavo and Morales-Diaz, America B. and Perez-Villeda, Hector Manuel and Castelan, Mario },
\r\nurl = {http:\/\/ieeexplore.ieee.org\/abstract\/document\/7454708\/},
\r\ndoi = {10.1109\/TCST.2016.2549279},
\r\nissn = {1063-6536},
\r\nyear  = {2017},
\r\ndate = {2017-01-01},
\r\njournal = {IEEE Transactions on Control Systems Technology},
\r\nvolume = {25},
\r\nnumber = {1},
\r\npages = {334 - 341},
\r\nabstract = {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 tasks, a strict hierarchy is imposed on them. We present a novel scheme that copes with two main difficulties shared in standard task-based controllers: 1) to impose a desired time convergence of tasks and 2) to avoid discontinuous task transitions occurred when a task is inserted or removed in the hierarchical structure. As a result, continuous input references are generated for the low-level control of the group. The validation is achieved in simulation and by performing an experiment with wheeled mobile robots.},
\r\nkeywords = {},
\r\npubstate = {published},
\r\ntppubtype = {article}
\r\n}
\r\n<\/pre><\/div>
Cerrar<\/a><\/p><\/div>
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 tasks, a strict hierarchy is imposed on them. We present a novel scheme that copes with two main difficulties shared in standard task-based controllers: 1) to impose a desired time convergence of tasks and 2) to avoid discontinuous task transitions occurred when a task is inserted or removed in the hierarchical structure. As a result, continuous input references are generated for the low-level control of the group. The validation is achieved in simulation and by performing an experiment with wheeled mobile robots.<\/div>
Cerrar<\/a><\/p><\/div>