Papers
18
Total Citations
239
H-Index
8
About
P. Castillo is a prolific robotics and control systems researcher whose work spans unmanned aerial vehicles (UAVs), underwater robotics, and advanced control theory. Best known for pioneering contributions to quadrotor control, Castillo has made lasting impacts through the development of fractional sliding mode controllers for attitude stabilization — a landmark 2016 study that garnered 64 citations and addressed the critical challenge of robustness against aerodynamic disturbances and uncertainties. Equally significant is his innovative application of dual quaternion mathematics to aerial manipulator modeling and control, with two complementary works accumulating over 65 citations combined, establishing a rigorous mathematical framework for complex UAV-arm systems. Castillo's research extends to multi-robot coordination, having demonstrated bounded-input formation control for mini rotorcraft fleets, and to underwater vehicles, where adaptive nonlinear algorithms tackle unpredictable aquatic disturbances. More recently, he has explored human-robot interaction through immersive virtual reality interfaces designed to reduce pilot cognitive load, and predictive collision-avoidance strategies for aerial navigation. Spanning over two decades — from early visual servoing architectures in 2002 to reactive control schemes in 2023 — his body of work reflects a sustained commitment to making autonomous robots more robust, versatile, and accessible across real-world environments.
Research Focus
Key Achievements
Top Papers
- 1
- 2Dual Quaternion Modeling and Control of a Quad-rotor Aerial Manipulator48 citations · 2017
- 3Mini Rotorcraft Flight Formation Control Using Bounded Inputs38 citations · 2011
- 4Quadrotor aerial manipulator based on dual quaternions17 citations · 2016
- 5
- 6Trajectory Tracking for a Group of Mini Rotorcraft Flying in Formation9 citations · 2011
- 7
- 8A visual servoing architecture for controlling electromechanical systems9 citations · 2002
- 9
- 10