Miguel Aranda

I am currently a post-doctoral researcher at SIGMA Clermont-Université Clermont Auvergne-Institut Pascal (IP) in Clermont-Ferrand, France. I am integrated in the MACCS (Modeling, Autonomy and Control in Complex Systems) team (MACCS). My fields of research are Robotics, Automatic Control and Computer Vision. The topics of research I am primarily interested in are control and coordination of multirobot systems, and robotic manipulation of deformable objects.

I obtained a PhD degree in Systems Engineering and Computer Science from Universidad de Zaragoza, Spain (UZ), in 2015. My doctoral advisor was Gonzalo López-Nicolás.

Address: SIGMA Clermont/Institut Pascal, Campus Universitaire des Cézeaux, 4 Avenue Blaise Pascal, 63178 Aubière Cedex, FRANCE

Email:

Phone: +33 4 7340 7250

Google scholar page

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Publications

Journal articles

G. López-Nicolás, M. Aranda and Y. Mezouar. "Adaptive multirobot formation planning to enclose and track a target with motion and visibility constraints". IEEE Transactions on Robotics, vol. 36(1), 142-156, 2020.

M. Aranda, Y. Mezouar, G. López-Nicolás and C. Sagüés. "Enclosing a moving target with an optimally rotated and scaled multiagent pattern". International Journal of Control, pages 1-11, doi: 10.1080/00207179.2019.1605203, 2019.

A. González, M. Aranda, G. López-Nicolás and C. Sagüés. "Robust stability analysis of formation control in local frames under time-varying delays." Journal of the Franklin Institute, vol. 356(2), 1131-1153, 2019.

M. Aranda, Y. Mezouar, G. López-Nicolás and C. Sagüés. "Scale-free vision-based aerial control of a ground formation with hybrid topology", IEEE Transactions on Control Systems Technology, vol. 27(4), 1703-1711, 2019.

M. Aranda, G. López-Nicolás, C. Sagüés and M. M. Zavlanos, "Distributed formation stabilization using relative position measurements in local coordinates." IEEE Transactions on Automatic Control, vol. 61(12): 3925-3935, 2016. (pdf)

M. Aranda, G. López-Nicolás, C. Sagüés and Y. Mezouar. "Formation control of mobile robots using multiple aerial cameras." IEEE Transactions on Robotics, vol. 31(4): 1064-1071, 2015. (pdf)

M. Aranda, G. López-Nicolás, C. Sagüés and M. M. Zavlanos. "Coordinate-free formation stabilization based on relative position measurements." Automatica, vol. 57: 11-20, 2015. (pdf)

M. Aranda, G. López-Nicolás and C. Sagüés. "Angle-based homing from a reference image set using the 1D trifocal tensor." Autonomous Robots, vol. 34(1-2): 73-91, 2013. (pdf)

M. Aranda, G. López-Nicolás and C. Sagüés. "Sinusoidal input-based visual control for nonholonomic vehicles." Robotica, vol. 31(5): 811-823, 2013. (pdf)

G. López-Nicolás, M. Aranda, Y. Mezouar and C. Sagüés. "Visual control for multi-robot organized rendezvous." IEEE Transactions on Systems, Man and Cybernetics, Part B: Cybernetics, vol. 42(4): 1155-1168, 2012. (pdf)

Books and book chapters

M. Aranda and Y. Mezouar, "Flexible and steady control for cooperative target observation", in "Cooperative Localization and Navigation: Theory, Research and Practice", C. Gao, G. Zhao, H. Fourati (eds.), chapter 22, pages 437-454, CRC Press (Taylor & Francis Group), 2019.

M. Aranda, G. López-Nicolás and C. Sagüés, "Control of multiple robots using vision sensors." In series: Advances in Industrial Control. Springer International Publishing AG, 2017.

G. López-Nicolás, M. Aranda and C. Sagüés. "Multi-robot formations: One homography to rule them all". M. A. Armada et al. (eds.), ROBOT2013: First Iberian Robotics Conference, Advances in Intelligent Systems and Computing 252, Springer International Publishing Switzerland, 2014. (pdf)

Conference papers

M. Aranda, J. A. Corrales and Y. Mezouar, "Deformation-based shape control with a multirobot system." IEEE International Conference on Robotics and Automation, pages 2174-2180, 2019.

M. Aranda and Y. Mezouar. "Multirobot target enclosing with freely selected observation distances." European Control Conference, pages 1405-1410, 2018. (pdf)

G. López-Nicolás, M. Aranda and Y. Mezouar. "Formation of differential-drive vehicles with field-of-view constraints for enclosing a moving target." IEEE International Conference on Robotics and Automation, pages 261-266, 2017. (pdf)

A. González, M. Aranda, G. López-Nicolás and C. Sagüés, "Time delay compensation based on Smith Predictor in multiagent formation control." 20th IFAC World Congress. In IFAC-PapersOnLine, vol. 50(1): 11645-11651, 2017. (pdf)

M. Aranda, R. Aragüés, G. López-Nicolás and C. Sagüés, "Connectivity-preserving formation stabilization of unicycles in local coordinates using minimum spanning tree." American Control Conference, pages 1968-1974, 2016. (pdf)

M. Aranda, G. López-Nicolás, C. Sagüés and M. M. Zavlanos. "Three-dimensional multirobot formation control for target enclosing." IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 357-362, 2014. (pdf)

M. Aranda, G. López-Nicolás and C. Sagüés. "Controlling multiple robots through multiple 1D homographies." IEEE Intl. Conf. on Systems, Man and Cybernetics, pages 589-594, 2013. (pdf)

M. Aranda, Y. Mezouar, G. López-Nicolás and C. Sagüés. "Partially distributed multirobot control with multiple cameras." American Control Conference, pages 6323-6329, 2013. (pdf)

M. Aranda, G. López-Nicolás and C. Sagüés. "Planar motion estimation from 1D homographies." Intl. Conf. on Control, Automation, Robotics & Vision, pages 329-334, 2012. (pdf)

M. Aranda, G. López-Nicolás and C. Sagüés. "Omnidirectional visual homing using the 1D trifocal tensor." IEEE Intl. Conference on Robotics and Automation, pages 2444-2450, 2010. (pdf)

Workshop papers

G. López-Nicolás, H. M. Becerra, M. Aranda and C. Sagüés. "Visual navigation by means of three view geometry." Proceedings of the Robot 2011 Workshop, pages 17-24, 2011. (pdf)

M. Aranda, G. López-Nicolás, Y. Mezouar and C. Sagüés. "One homography to control multiple robots." Proceedings of the Workshop: Visual Control of Mobile Robots (ViCoMoR), held with IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, pages 7-12, 2011. (pdf)