Rodolfo Orjuela

My research focuses on proposing new hierarchical control architectures for over- and under-actuated linear and non-linear mechatronic systems using advanced control strategies (hierarchical architectures, control allocation, collaborative control, coordination, LPV control, MPC, etc.). My research covers both methodological and applied aspects. Its primary area of application is the control of connected autonomous vehicles (extending to small off-road vehicles, mobile robots and drones), with a focus on Industry 4.0 through the control of mechatronic systems.

My research focuses on two main areas:

1. Autonomous ground vehicles. This area focuses on the design of hierarchical navigation architectures (lateral, longitudinal and lateral stabilisation control), global chassis control and trajectory generation for connected autonomous vehicles in conventional driving situations (on-road) and non-conventional situations (on unstructured terrain, critical situations).
2. Heterogeneous autonomous robots. This area aims to propose control algorithms (centralised, distributed, etc.) for formation guidance, coordination and collaboration among a fleet of heterogeneous autonomous robots (ground-based mobile robots, drones, etc.) operating in a dynamic navigation environment that is constrained and shared with other users.