Trajectory Tracking of a WMR Using a Neuro-Adaptive MRAC Control With Dynamic Uncertainties.

Eduardo O. Freire Eduardo Oliveira Freire Federal University of Sergipe, Department of Electrical Engineering, Departament of Physics, Brazil Federal University of Espírito Santo, Department of Electrical Engineering, Brazil https://orcid.org/0000-0002-0357-8655 https://ieeexplore.ieee.org/author/37700870000

Jorge Uliarte Eduardo Oliveira Freire Fernando Ulloa Vázquez Federico Camargo Humberto Secchi Ricardo O. Carelli Francisco G. Rossomando Trajectory Tracking of a WMR Using a Neuro-Adaptive MRAC Control With Dynamic Uncertainties. 2026 37871-37884 14 IEEE Access https://doi.org/10.1109/ACCESS.2026.3670760 db/journals/access/access14.html#UliarteFVCSCR26 streams/journals/access

E. Zavalla Humberto Secchi Eduardo O. Freire Francisco G. Rossomando A study on human behavior patterns in social navigation. ICAR 2025 702-707 conf/icar/2025 https://doi.org/10.1109/ICAR65334.2025.11338650 db/conf/icar/icar2025.html#ZavallaSFR25 streams/conf/icar

David Oliveira Santos Lucas Molina José Gilmar Nunes de Carvalho Filho Elyson Adan Nunes Carvalho Eduardo O. Freire Modifications of Fully Resampled PSO in the Inverse Kinematics of Robot Manipulators. 1923-1928 2024 February 9 IEEE Robotics Autom. Lett. 2 https://doi.org/10.1109/LRA.2024.3349927 db/journals/ral/ral9.html#SantosMFCF24

David Oliveira Santos Jugurta Montalvão Charles A. C. Araujo Ulisses D. E. S. Lebre Tarso V. Ferreira Eduardo O. Freire Performance Assessment of Object Detection Models Trained with Synthetic Data: A Case Study on Electrical Equipment Detection. 4219 2024 July 24 Sensors 13 https://doi.org/10.3390/s24134219 db/journals/sensors/sensors24.html#SantosMALFF24 streams/journals/sensors

Phillipe Cardoso Santos Raimundo C. S. Freire Elyson Adan Nunes Carvalho Lucas Molina Eduardo Oliveira Freire Matheus C. Santos Anthony Weir Petar Trslic Edin Omerdic Gerard Dooly Daniel Toal Fully Automatic Visual Servoing Control for Underwater Vehicle Manipulator Systems Based on a Heuristic Inverse Kinematics. 42 2023 March 107 J. Intell. Robotic Syst. 3 https://doi.org/10.1007/s10846-023-01827-0 db/journals/jirs/jirs107.html#SantosFCMFSWTODT23

Daniel Augusto Santos Franco Elyson Adan Nunes Carvalho José Gilmar Nunes de Carvalho Filho Lucas Molina Eduardo Oliveira Freire Worst-Case Pursuit-Evasion using random walk for multiply connected environment. 194-199 2023 LARS/SBR/WRE https://doi.org/10.1109/LARS/SBR/WRE59448.2023.10332994 conf/larc/2023 db/conf/larc/lars2023.html#FrancoCFMF23 Thauanne Santana Fonseca Valença Elyson Adan Nunes Carvalho Eduardo Oliveira Freire Lucas Molina José Gilmar Nunes de Carvalho Filho Specification of Robots for the Treatment of Autistic Children. 672-677 2023 LARS/SBR/WRE https://doi.org/10.1109/LARS/SBR/WRE59448.2023.10333018 conf/larc/2023 db/conf/larc/lars2023.html#ValencaCFMF23

Stephanie Kamarry Alves De Sousa Raimundo Carlos Silvério Freire Elyson Adan Nunes Carvalho Lucas Molina Phillipe Cardoso Santos Eduardo Oliveira Freire Two-Layers Workspace: A New Approach to Cooperative Object Transportation With Obstacle Avoidance for Multi-Robot System. 6929-6939 2022 10 IEEE Access https://doi.org/10.1109/ACCESS.2022.3140857 db/journals/access/access10.html#SousaFCMSF22

Clebeson Canuto Eduardo Oliveira Freire Lucas Molina Elyson Adan Nunes Carvalho Sidney N. Givigi Intuitiveness Level: Frustration-Based Methodology for Human-Robot Interaction Gesture Elicitation. 17145-17154 2022 10 IEEE Access https://doi.org/10.1109/ACCESS.2022.3146838 db/journals/access/access10.html#CanutoFMCG22

Matheus C. Santos Lucas Molina Elyson Adan Nunes Carvalho Eduardo Oliveira Freire José Gilmar Nunes de Carvalho Filho Phillipe Cardoso Santos FABRIK-R: An Extension Developed Based on FABRIK for Robotics Manipulators. 53423-53435 2021 9 IEEE Access https://doi.org/10.1109/ACCESS.2021.3070693 db/journals/access/access9.html#SantosMCFFS21

Matheus C. Santos Lucas Molina Elyson Adan Nunes Carvalho Eduardo Oliveira Freire José Gilmar Nunes de Carvalho Filho Phillipe Cardoso Santos MB-RRT: An Inverse Kinematics Solver of Reduced Dimension. 148558-148573 2021 9 IEEE Access https://doi.org/10.1109/ACCESS.2021.3123645 db/journals/access/access9.html#SantosMCFFS21a

Phillipe Cardoso Santos Raimundo Carlos Silvério Freire Elyson Adan Nunes Carvalho Lucas Molina Eduardo Oliveira Freire M-FABRIK: A New Inverse Kinematics Approach to Mobile Manipulator Robots Based on FABRIK. 208836-208849 2020 8 IEEE Access https://doi.org/10.1109/ACCESS.2020.3038424 db/journals/access/access8.html#SantosFCMF20

Jefferson Silveira Sidney N. Givigi Eduardo Oliveira Freire Lucas Molina Elyson Carvalho Aggressive Motion Planning for a Quadrotor System with Slung Load Based on RRT. 1-7 2020 SysCon https://doi.org/10.1109/SysCon47679.2020.9275664 conf/syscon/2020 db/conf/syscon/syscon2020.html#SilveiraGFMC20

José Gilmar Nunes de Carvalho Filho Elyson Adan Nunes Carvalho Lucas Molina Eduardo Oliveira Freire The Impact of Parametric Uncertainties on Mobile Robots Velocities and Pose Estimation. 69070-69086 2019 7 IEEE Access https://doi.org/10.1109/ACCESS.2019.2919335 https://www.wikidata.org/entity/Q127820854 db/journals/access/access7.html#FilhoCMF19

Francisco G. Rossomando Carlos Soria Eduardo Oliveira Freire Ricardo O. Carelli Sliding mode Neuro-adaptive controller designed in discrete Time for Mobile robots. 2018 46 Mechatron. Syst. Control. 2 https://doi.org/10.2316/Journal.201.2018.2.201-2792 https://www.wikidata.org/entity/Q130024444 db/journals/cis/cis46.html#RossomandoSFC18

Raphael Cardoso de Oliveira Jesus Lucas Molina Eduardo Oliveira Freire Elyson Adan Nunes Carvalho Solving Inverse Kinematics of Planar Manipulators with Robustness to Singularities by Reverse Operating Neural Networks. 153-157 2018 LARS/SBR/WRE https://doi.org/10.1109/LARS/SBR/WRE.2018.00036 conf/larc/2018 db/conf/larc/lars2018.html#JesusMFC18 Alana de Santana Correia Eduardo Oliveira Freire Stephanie Kamarry Elyson Adan Nunes Carvalho Lucas Molina The Polarized RRT-Edge Approach. 271-276 2018 LARS/SBR/WRE https://doi.org/10.1109/LARS/SBR/WRE.2018.00057 conf/larc/2018 db/conf/larc/lars2018.html#CorreiaFKCM18 Jefferson de Lima Silveira Junior Raphael Cardoso de Oliveira Jesus Lucas Molina Elyson Adan Nunes Carvalho Eduardo Oliveira Freire FRPSO: Inverse Kinematics Using Fully Resampled Particle Swarm Optimization. 402-407 2018 LARS/SBR/WRE https://doi.org/10.1109/LARS/SBR/WRE.2018.00078 conf/larc/2018 db/conf/larc/lars2018.html#JuniorJMCF18 Raphael Cardoso de Oliveira Jesus Eduardo Oliveira Freire Lucas Molina Elyson Adan Nunes Carvalho Neural Networks with Physical Meaning: Representation of Kinematic Equations from Robot Arms Using a Neural Network Topology. 408-412 2018 LARS/SBR/WRE https://doi.org/10.1109/LARS/SBR/WRE.2018.00079 conf/larc/2018 db/conf/larc/lars2018.html#JesusFMC18 Weslley Alves Farias Eduardo Oliveira Freire Sidney Nascimento Givigi Elyson Adan Nunes Carvalho Lucas Molina Comparison between fuzzy and neural controllers to cross the reality gap in evolutionary robotics. 1-8 2018 SysCon https://doi.org/10.1109/SYSCON.2018.8369535 conf/syscon/2018 db/conf/syscon/syscon2018.html#FariasFGCM18

Lívia Gregorin Sidney N. Givigi Eduardo Oliveira Freire Elyson Carvalho Lucas Molina Heuristics for the Multi-Robot Worst-Case Pursuit-Evasion Problem. 17552-17566 2017 5 IEEE Access https://doi.org/10.1109/ACCESS.2017.2739641 db/journals/access/access5.html#GregorinGFCM17

Alana de Santana Correia Stephanie Kamarry Lucas Molina Elyson Adan Nunes Carvalho Eduardo Oliveira Freire RRT-Edge: A compact approach for path planning of mobile robots. 1-6 2017 LARS/SBR https://doi.org/10.1109/SBR-LARS-R.2017.8215282 conf/larc/2017 db/conf/larc/lars-sbr2017.html#CorreiaKMCF17 Lívia Gregorin Eduardo Oliveira Freire Elyson Carvalho Lucas Molina Sidney Givigi Evolutionary robotics applied to the multi-robot worst-case pursuit-evasion problem. 1-7 2016 UEMCON https://doi.org/10.1109/UEMCON.2016.7777836 conf/uemcom/2016 db/conf/uemcom/uemcom2016.html#GregorinFCMG16

Jugurta Montalvão Eduardo O. Freire Murilo A. Bezerra Jr. Rodolfo Garcia Contributions to empirical analysis of keystroke dynamics in passwords. 80-86 2015 52 Pattern Recognit. Lett. https://doi.org/10.1016/j.patrec.2014.09.016 db/journals/prl/prl52.html#MontalvaoFBG15

Jefferson de Lima Silveira Junior Eduardo O. Freire Lucas Molina Elyson Adan Nunes Carvalho A Simple Visual Odometry Approach Based on Point Clouds. 204-209 2015 LARS/SBR https://doi.org/10.1109/LARS-SBR.2015.39 conf/larc/2015 db/conf/larc/lars2015.html#JuniorFMC15 Stephanie Kamarry Lucas Molina Elyson Adan Nunes Carvalho Eduardo Oliveira Freire Compact RRT: A New Approach for Guided Sampling Applied to Environment Representation and Path Planning in Mobile Robotics. 259-264 2015 LARS/SBR https://doi.org/10.1109/LARS-SBR.2015.40 conf/larc/2015 db/conf/larc/lars2015.html#KamarryMCF15

Ricardo A. C. Rabelo Hendrik T. Macedo Eduardo O. Freire Rodrigo M. Oliveira Automatic code generation of SIMUROSOT game strategies: an approach based on finite state machines. 1-8 2013 38 ACM SIGSOFT Softw. Eng. Notes 2 https://doi.org/10.1145/2439976.2439983 db/journals/sigsoft/sigsoft38.html#RabeloMFO13

Davi de Oliveira Caldas Eduardo Oliveira Freire A geometrical path planning heuristic inspired by elastic networks and C-Space Traversal approaches for mobile robots in unknown environments. 1-6 2013 ICAR https://doi.org/10.1109/ICAR.2013.6766468 conf/icar/2013 db/conf/icar/icar2013.html#CaldasF13 Nara Strappa Facchinetti Doria Eduardo Oliveira Freire João Carlos Basilio An algorithm inspired by the deterministic annealing approach to avoid local minima in artificial potential fields. 1-6 2013 ICAR https://doi.org/10.1109/ICAR.2013.6766480 conf/icar/2013 db/conf/icar/icar2013.html#DoriaFB13 Phillipe Cardoso Santos Lucas Molina Eduardo O. Freire Elyson Adan Nunes Carvalho A Methodology to Designing Strategies for Robot Soccer Based on Discrete Event Systems Formalism. 143-149 2012 LARS/SBR https://doi.org/10.1109/SBR-LARS.2012.30 conf/larc/2012 db/conf/larc/lars2012.html#SantosMFC12

Jugurta R. Montalvão Filho Eduardo O. Freire Murilo A. Bezerra Jr. Clustering with multilayer perceptrons and self-organized (Hebbian) learning. 501-511 2007 18 J. Intell. Fuzzy Syst. 5 http://content.iospress.com/articles/journal-of-intelligent-and-fuzzy-systems/ifs00365 db/journals/jifs/jifs18.html#FilhoFB07

Jugurta R. Montalvão Filho Eduardo O. Freire On the equalization of keystroke timing histograms. 1440-1446 2006 27 Pattern Recognit. Lett. 13 https://doi.org/10.1016/j.patrec.2006.01.010 db/journals/prl/prl27.html#FilhoF06

Eduardo O. Freire Teodiano Freire Bastos-Filho Mário Sarcinelli Filho Ricardo O. Carelli A new mobile robot control approach via fusion of control signals. 419-429 2004 34 IEEE Trans. Syst. Man Cybern. Part B 1 https://doi.org/10.1109/TSMCB.2003.817034 https://www.wikidata.org/entity/Q51615585 db/journals/tsmc/tsmcb34.html#FreireFFC04

Ricardo O. Carelli Eduardo Oliveira Freire Corridor navigation and wall-following stable control for sonar-based mobile robots. 235-247 2003 45 Robotics Auton. Syst. 3-4 https://doi.org/10.1016/j.robot.2003.09.005 db/journals/ras/ras45.html#CarelliF03

Eduardo Oliveira Freire Teodiano Freire Bastos-Filho Mário Sarcinelli Filho Ricardo O. Carelli A control architecture for mobile robots using fusion of the output of distinct controllers. 142-147 2002 ISIC https://doi.org/10.1109/ISIC.2002.1157753 conf/IEEEisic/2002 db/conf/IEEEisic/isic2002.html#0001FFC02 Eduardo Oliveira Freire Ricardo O. Carelli Vicente A. Mut Carlos Miguel Soria Teodiano Freire Bastos-Filho Mário Sarcinelli Filho Mobile robot navigation based on the fusion of control signals from different controllers. 1828-1833 2001 ECC https://doi.org/10.23919/ECC.2001.7076187 conf/eucc/2001 db/conf/eucc/eucc2001.html#FreireCMSFF01 Charles A. C. Araujo João Carlos Basilio Teodiano Freire Bastos-Filho Murilo A. Bezerra Jr. Davi de Oliveira Caldas Federico Camargo Ricardo O. Carelli Elyson CarvalhoElyson Adan Nunes Carvalho Alana de Santana Correia Gerard Dooly Nara Strappa Facchinetti Doria Weslley Alves Farias Tarso V. Ferreira José Gilmar Nunes de Carvalho Filho Jugurta R. Montalvão FilhoJugurta Montalvão Mário Sarcinelli Filho Daniel Augusto Santos Franco Raimundo Carlos Silvério FreireRaimundo C. S. Freire Rodolfo Garcia Sidney GivigiSidney N. GivigiSidney Nascimento Givigi Lívia Gregorin Raphael Cardoso de Oliveira Jesus Jefferson de Lima Silveira Junior Stephanie Kamarry Ulisses D. E. S. Lebre Hendrik T. Macedo Lucas Molina Vicente A. Mut Rodrigo M. Oliveira Edin Omerdic Ricardo A. C. Rabelo Francisco G. Rossomando Clebeson Canuto dos SantosClebeson Canuto David Oliveira Santos Matheus C. Santos Phillipe Cardoso Santos Humberto Secchi Jefferson Silveira Carlos Miguel SoriaCarlos Soria Stephanie Kamarry Alves De Sousa Daniel J. F. ToalDaniel Toal Petar Trslic Jorge Uliarte Thauanne Santana Fonseca Valença Fernando Ulloa Vázquez Anthony Weir E. Zavalla