Papers
6
Total Citations
61
H-Index
4
About
Esteban Restrepo is a rising leader in the control of multi-robot systems, specializing in the complex coordination of nonholonomic mobile robots. His research masterfully addresses three critical challenges in networked robotics: time-varying communication delays, the absence of velocity measurements, and stringent sensing constraints like limited range and field-of-view. Restrepo’s most impactful work, "Global Consensus-Based Formation Control of Nonholonomic Mobile Robots With Time-Varying Delays and Without Velocity Measurements" (35 citations), provides a pioneering solution for torque-controlled robots to achieve formation consensus under realistic, imperfect conditions. He further advances the field with novel output-feedback control strategies for rendezvous problems and a smooth time-varying PID controller that robustly handles matched disturbances. His recent contributions extend to passivity-preserving, energy-aware designs for open multi-robot systems and distributed control under directed topologies. By integrating physics-based models with output-feedback consensus, Restrepo is building the theoretical foundation for scalable, resilient autonomous vehicle networks, making his work essential for researchers in cooperative robotics and nonlinear control.
Research Focus
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