4 documents found, page 1 of 1
A novel control architecture based on behavior trees for an omni-directional mo...
Bernardo, Rodrigo; Sousa, João M.C.; Botto, Miguel Ayala; Gonçalves, PauloRobotic systems are increasingly present in dynamic environments. This paper proposes a hierarchical control structure wherein a behavior tree (BT) is used to improve the flexibility and adaptability of an omni-directional mobile robot for point stabilization. Flexibility and adaptability are crucial at each level of the sense–plan–act loop to implement robust and effective robotic solutions in dynamic environm...
Data Based Modeling of a Large Scale Water Delivery System
Fernandes, Marta; Oliveira, Paulo; Vieira, Susana; Mendonça, Luís; Nabais, João Lemos; Botto, Miguel AyalaWater is a vital resource and the growing populations and economies around the globe are pushing its demand worldwide. Therefore, the water conveyance operation should be well managed and improved. This paper proposes the development of reliable models able to predict water levels of a real 24.4 km water delivery channel in real time. This is a difficult task because this is a time-delayed dynamical system dist...
Hierarchical MPC for Multi-Commodity Transportation Networks
Nabais, João Lemos; Negenborn, Rudy R.; Carmona-Benítez, Rafael Bernardo; Mendonça, Luís Filipe; Botto, Miguel AyalaTransportation networks are large scale complex systems spatially distributed whose objective is to deliver commodities at the agreed time and at the agreed location. These networks appear in different domain fields, such as communication, water distribution, traffic, logistics and transportation. A transportation network has at the macroscopic level storage capability (located in the nodes) and transport delay...
A multi-agent architecture for diagnosing simultaneous faults along water canals
Nabais, João Lemos; Mendonça, Luís F.; Botto, Miguel AyalaWater is intensively used in mankind activities, in particular in agriculture. Water is commonly conveyed for agriculture purposes through water canal networks which are large-scale spatially distributed systems crossing extensive regions. In the presence of leaks, unauthorized water withdrawals, water depth sensor faults or gate faults, the quality of service can be severely compromised. A system able to diagn...