Author

Luciano C. A. Pimenta

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Preprint Aug 2026

Safe whole-body backstepping control for quadcopter path-following

This paper presents a novel whole-body Backstepping control strategy for safe quadcopter path-following. The proposed approach introduces an integrated control scheme that combines a translational guidance controller with a rigid-body attitude controller. To guarantee asymptotic path convergence, the method utilizes a...

Arthur H. D. Nunes, Arthur Da C. Vangasse, G. Raffo et al. · 0 citations

Preprint Aug 2026

Safe and robust tube-based path-following for robot navigation

A new robust navigation framework for path following tasks in robots operating within unknown, cluttered environments that ensures reactive safety through obstacle avoidance and guaranteed convergence to a target path, while simultaneously mitigating the impact of unknown-but-bounded disturbances using a tube-based con...

Arthur H. D. Nunes, V. M. Goncalves, G. Raffo et al. · 1 citation