Gilberto Silva-Ortigoza

About

Gilberto Silva-Ortigoza is a prominent robotics researcher whose work centers on wheeled mobile robots (WMRs), trajectory tracking control, and hierarchical control system design. Over more than two decades, he has made sustained contributions to both the theoretical foundations and practical implementation of mobile robot control, earning over 200 citations across his publications. His most influential work, a comprehensive 2012 review of wheeled mobile robots (78 citations), established an essential reference for the robotics community by systematically mapping key design considerations in the field. Silva-Ortigoza is particularly recognized for developing hierarchical control architectures that holistically integrate a robot's mechanical structure, DC motor actuators, and power electronics — an approach that distinguishes his research from conventional methods that treat these subsystems in isolation. His 2017 experimental implementation of this three-level controller (31 citations) and related work on PWM and sigma-delta modulation (26 citations) demonstrated the real-world viability of this philosophy. More recently, he has extended these frameworks to obstacle avoidance and renewable-energy-powered mobile robots, reflecting a commitment to practical, sustainable robotics. His use of differential flatness and input-output linearization techniques, alongside low-cost embedded hardware platforms, underscores his dedication to making advanced control strategies experimentally accessible and reproducible for the broader research community.

Research Focus

Key Achievements

Top Papers

1. 1
   Wheeled Mobile Robots: A review

   78 citations · 2012
2. 2
   Trajectory Tracking in a Mobile Robot without Using Velocity Measurements for Control of Wheels

   36 citations · 2008
3. 3
   Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

   31 citations · 2017
4. 4
   Assessment of an Average Tracking Controller that Considers all the Subsystems Involved in a WMR: Implementation via PWM or Sigma-Delta Modulation

   26 citations · 2016
5. 5
   Construction of a WMR for Trajectory Tracking Control: Experimental Results

   18 citations · 2013
6. 6
   Three-Tiered Controller for Obstacle Avoidance in a PV Panel-Powered Wheeled Mobile Robot: Considering Actuators and Power Electronics Stages

   9 citations · 2024
7. 7
   An Embedded Hardware for Implementation of a Tracking Control in WMRs

   6 citations · 2018
8. 8
   Hierarchical controller for obstacle avoidance task in WMRs considering actuators and power electronics subsystems: When artificial potential fields approach is used

   4 citations · 2024
9. 9
   Una panorámica de los robots móviles

   4 citations · 2007
10. 10
    Modelado y control de un robot móvil tipo newt en la tarea de seguimiento de trayectoria

    3 citations · 2010

Key Collaborators

Contact & Links