Persona:
Mañas Álvarez, Francisco José

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0000-0003-2878-3011
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Mañas Álvarez
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Francisco José
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2023 - 20254
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Mostrando 1 - 4 de 4
  • Miniatura
    Publicación
    Development, control and evaluation of a heterogeneous multi-agent robotic platform
    (Universidad Nacional de Educación a Distancia (España). Escuela Internacional de Doctorado. Programa de Doctorado en Ingeniería de Sistemas y Control, 2023) Mañas Álvarez, Francisco José; Guinaldo Losada, María; Dormido Canto, Raquel
  • Miniatura
    Publicación
    Distributed reconfiguration of distance-based formations with virtual surface constraints
    (IEEE, 2024) Guinaldo Losada, María; Sánchez Moreno, José; S. Zaragoza; Mañas Álvarez, Francisco José
    This paper proposes a method to recover from the failure or loss of a subset of agents in a distance-based formation problem, where the system is initially deployed forming a virtual shield embedded in the 3D space. First, a distributed algorithm is proposed to restore the topology, which is a Delaunay triangulation. After that, the nodes execute a distance-based distributed control law that considers adaptive target distances. These values are computed in parallel by the nodes, which try to reach an agreement with some constraints, given by the desired shield shape. The updating policy is based on events. The results are illustrated through simulation examples.
  • Miniatura
    Publicación
    Blockchain-Based Cloud Controllers for Reliable Networked Control Systems
    (Elsevier, 2025-09) Lei, Zhongcheng; Torre Cubillo, Luis de la; Mañas Álvarez, Francisco José; Hu, Wenshan
    Networked control systems are critical in industrial applications but remain vulnerable to controller failures, which can destabilize operations. Blockchain technology offers a decentralized solution to enhance reliability. While blockchain technologies have been mainly used in financial systems (such as cryptocurrencies) so far, they are now being used in an increasing number of applications (such as logistics, power grids, or the Internet of Things) due to their powerful features and advantages. In this article, the use of blockchains is proposed and explored to deploy decentralized and reliable controllers. A blockchain-based controller architecture is presented to provide controllers that are permanently available, open accessible, and open source. Time to transaction finality and cost for transactions are analyzed in different blockchain networks, thus identifying their suitability. Our analysis reveals that blockchain networks can potentially be applied in slow processes with big enough time constants. Moreover, we propose the integration of event-based control to reduce transaction costs, thereby enhancing the viability of blockchain technologies in networked control systems. To demonstrate the practical application and cost efficiency of our approach, we present a case study focusing on a greenhouse climate control system. Results show that feasible blockchain networks—those compatible with sampling period constraints—consistently reduce control costs. For instance, on Fantom blockchain, event-based control achieved a 27.73-fold reduction in average control costs across six system variables over the eight-day operation period.
  • Miniatura
    Publicación
    Distributed multi-UAV shield formation based on virtual surface constraints
    (Elsevier, 2024-03-30) Zaragoza, Salvador ; Guinaldo Losada, María; Sánchez Moreno, José; Mañas Álvarez, Francisco José
    This paper proposes a method for the deployment of a multi-agent system of unmanned aerial vehicles (UAVs) as a shield with potential applications in the protection of infrastructures. The shield shape is modeled as a quadric surface in the 3D space. To design the desired formation (target distances between agents and interconnections), an algorithm is proposed where the input parameters are just the parametrization of the quadric and the number of agents of the system. This algorithm guarantees that the agents are almost uniformly distributed over the virtual surface and that the topology is a Delaunay triangulation. Moreover, a new method is proposed to check if the resulting triangulation meets that condition and is executed locally. Because this topology ensures that the formation is rigid, a distributed control law based on the gradient of a potential function is proposed to acquire the desired shield shape and proofs of stability are provided. Finally, simulation and experimental results illustrate the effectiveness of the proposed approach.