Enrique Ferreira

About

Enrique Ferreira is a robotics and control systems researcher whose work spans multi-robot coordination, autonomous vehicle control, and mobile robot stabilization. Over two decades of sustained contribution, he has established himself as a leading voice in formation control theory and nonlinear control design for complex robotic platforms. Ferreira's early work on the Gyrover — a single-wheel gyroscopically stabilized robot developed at Carnegie Mellon University — demonstrated his ability to tackle challenging underactuated systems, earning nearly 50 combined citations across two influential publications. His research then expanded into multi-agent systems, exploring distributed value functions for collaborative robot planning and intelligent traffic coordination. His most recognized contributions center on distance-based formation control, where he developed innovative frameworks using angular information and orientation constraints to guide robot groups into geometric patterns without relying on global reference frames. His 2015 paper on this topic has accumulated 40 citations, while complementary work on adaptive 3D formation control and leader-follower strategies has further solidified the field. His quadcopter trajectory tracking research, applying elegant two-level optimal control architectures, reflects his versatility across aerial and ground robotics. With over 199 cumulative citations, Ferreira's body of work offers students a rigorous yet accessible foundation in decentralized multi-robot control and autonomous systems engineering.

Research Focus

Key Achievements

Top Papers

1. 1
   Distance-based Formation Control Using Angular Information Between Robots

   40 citations · 2015
2. 2
   Trajectory Tracking of a Quadcopter UAV with Optimal Translational Control**The authors acknowledgments the financial support from CONA-CyT and Universidad Iberomaericana, Mexico City.

   34 citations · 2015
3. 3
   Control of the Gyrover: a single-wheel gyroscopically stabilized robot

   28 citations · 2000
4. 4
   Control of the Gyrover. A single-wheel gyroscopically stabilized robot

   20 citations · 2003
5. 5
   Multi-robot formation control using distance and orientation

   19 citations · 2016
6. 6
   Adaptive control of distance-based spatial formations with planar and volume restrictions

   16 citations · 2016
7. 7
   Extension of Leader‐Follower Behaviours for Wheeled Mobile Robots in Multirobot Coordination

   13 citations · 2019
8. 8
   Multi agent collaboration using distributed value functions

   13 citations · 2002
9. 9
   Leader-Follower Power-based Formation Control Applied to Differential-drive Mobile Robots

   8 citations · 2023
10. 10
    Leader-Follower Control Strategy with Rigid Body Behavior

    8 citations · 2018

Key Collaborators

Contact & Links