My name is Héctor G. de Marina and I am a currently a Postdoc at the École Nationale de l’Aviation Civile (ENAC) in Toulouse. One of my tasks is to design control algorithms for drones and other stuff for the opensource autopilot Paparazzi. I wrote my PhD thesis in Distributed Formation Control For Autonomous Robots. If you are interested in what is this all about but explain me like I am five, you can check the reportage done by my University.
Why Dobratech? Well, I wanted to have a blog at the same time I wanted to post some tutorials since I like teaching. Ah, why the name you mean? During one trip in Croatia we learned that “enjoy your meal” is said “Dobar tek!”, and from there, Dobra means “good” in Polish, so… there we go, Dobratech :D.
[J8] Q. Yang, M. Cao, HG de Marina, H. Fang. Distributed formation tracking using local coordinate systems. Submitted to Systems & Control letters, 2017.
[J7] Z. Sun, HG de Marina, G. S. Seyboth, B. D. O. Anderson, C. Yu. Circular formation control of multiple unicycle-type agents with non-identical constant speeds. Submitted to IEEE Transactions on Control Systems Technology, 2017.
[J6] Z. Sun, HG de Marina, B. D. O. Anderson, M. Cao. Quantization effects on stabilization control of rigid formations. Submitted to Systems & Control Letters, 2017.
[J5] HG de Marina, B Jayawardhana, M Cao. Taming mismatches in inter-agent distances for the formation-motion control of second-order agents. Automatic Control, IEEE Transactions on. Accepted. 2017.
[J4] HG de Marina, B Jayawardhana, M Cao. Distributed Rotational and Translational Maneuvering of Rigid Formations and Their Applications. Robotics, IEEE Transactions on 32 (3), 684 – 696. 2016.
[J3] HG de Marina, M Cao, B Jayawardhana. Controlling Rigid Formations of Mobile Agents Under Inconsistent Measurements. Robotics, IEEE Transactions on 31 (1), 31-39. 2015.
[J2] HG de Marina, F Espinosa, C Santos. Adaptive UAV attitude estimation employing unscented kalman filter, FOAM and low-cost MEMS sensors. Sensors 12 (7), 9566-9585. 2012.
[J1] HG de Marina, FJ Pereda, JM Giron-Sierra, F Espinosa. UAV attitude estimation using unscented Kalman filter and TRIAD. Industrial Electronics, IEEE Transactions on 59 (11), 4465-4474. 2012.
[C20] Rafael Bailon-Ruiz, Christophe Reymann, Simon Lacroix, Gautier Hattenberger, HG de Marina, Fayçal Lamraoui. System simulation of a fleet of drones to probe cumulus clouds. 2017 International Conference on Unmanned Aircraft Systems.
[C19] HG de Marina, Z Sun, M Bronz, G Hattenberger. Circular formation control of fixed-wing UAVs with constant speeds. Submitted to the International Conference on Intelligent Robots and Systems (IROS) 2017.
[C18] HG de Marina, J Siemonsma, B Jayawardhana, M Cao. Design and implementation of formation control algorithms for fully distributed multi-robot systems. Submitted to the International Conference on Intelligent Robots and Systems (IROS) 2017.
[C17] M Bronz, HG de Marina, G Hattenberger In-Flight Thrust Measurement using On-Board Force Sensor. AIAA Atmospheric Flight Mechanics Conference 2017.
[C16] Yuri Kapitanyuk, HG de Marina, Anton V. Proskurnikov, Ming Cao. Guiding Vector Field Algorithm for a Moving Path Following Problem. Accepted in the 20th World Congress of the International Federation of Automatic Control (IFAC) 2017.
[C15] HG de Marina, B Jayawardhana, M Cao. Distributed algorithm for controlling scale-free polygonal formations. Accepted in the 20th World Congress of the International Federation of Automatic Control (IFAC) 2017.
[C14] HG de Marina, Z. Sun, M. Cao, and B. D. O. Anderson. Controlling a triangular flexible formation of autonomous agents. Accepted in the 20th World Congress of the International Federation of Automatic Control (IFAC) 2017.
[C13] HG de Marina, YA Kapitanyuk, M Bronz, G Hattenberger, M Cao. Guidance algorithm for smooth trajectory tracking of a fixed wing UAV flying in wind flows. In proceedings IEEE International Conference on Robotics and Automation (ICRA) 2017.
[C12] HG de Marina, B Jayawardhana, M Cao. Disitrubted scaling control for rigid formations. In proceedings IEEE 55th Conference on Decision and Control (CDC) 5140 – 5145. 2016.
[C11] HG de Marina, B Jayawardhana, M Cao. On the Role and Compensation of Distance Mismatches in Rigid Formation Control for Second-Order Agents. IFAC-PapersOnLine 49 (18), 398-403 (NOLCOS) 2016.
[C10] Z. Sun, HG de Marina, B. D. O. Anderson, and M. Cao. Quantization effects in rigid formation control. 6th Australian Control Conference (AUCC’16), Newcastle, Australia, 2016.
[C9] H Liu, HG de Marina, M Cao. Controlling triangular formations of autonomous agents in finite time using coarse measurements. IEEE International Conference on Robotics and Automation (ICRA), 3601-3606. 2014.
[C8] HG de Marina, M Cao, B Jayawardhana. Controlling Formation of Autonomous Agents with Distance Disagreements. Estimation and Control of Networked Systems (NECSYS) 4 (1), 411-416. 2013.
[C7] A Marcos, HG De Marina, V Mantini, C Roux, S Bennani. Optimization-based worst-case analysis of a launcher during the atmospheric ascent phase. AIAA Guidance, Navigation, and Control Conference and Exhibit. 2013.
[C6] HG de Marina, A Marcos, R Haya. Angle of Attack and True Airspeed failure sensor detection and recovery based on Unscented Kalman Filters for the ALPHA vehicle. Fault Detection, Supervision and Safety of Technical Processes 8 (1), 1197-1202. 2012.
[C5] FJ Pereda, HG de Marina, JM Giron-Sierra, J Jimenez. Towards automatic oil spill confinement with autonomous marine surface vehicles. OCEANS IEEE-Spain. 2011.
[C4] JM Giron-Sierra, F Pereda, HG de Marina, S Cifuentes. Developing an Autonomous Surface Ship for Sea Demining: First Steps. IFAC Proceedings Volumes 43 (20), 91-96. 2010.
[C3] HG de Marina, FJ Pereda, JM Girón-Sierra. Path planning combined with fuzzy control for autonomous ships. IEEE International Conference on Computational Intelligence for Measurement Systems and Applications. 2010.
[C2] FJ Pereda, HG de Marina, JF Jiménez, JM Giron-Sierra. Sea demining with autonomous marine surface vehicles. IEEE Safety Security and Rescue Robotics. 2010.
[C1] FJ Pereda, HG de Marina, JF Jiménez, JM Giron-Sierra. A development project of autonomous marine surface vehicles for sea demining. 11th International Conference on Control Automation Robotics&Vision. 2010.