publications

publications by categories in reversed chronological order. generated by jekyll-scholar.

2026

  1. GainOpt.gif
    Optimizing unmanned surface vehicle control: A data-enabled learning approach
    Xiaocong Li, Alejandro Gonzalez-Garcia, and Herman Castañeda
    Control Engineering Practice, 2026
    DOI Video
  2. ICRA26.gif
    Fast Motion Planning for Non-Holonomic Mobile Robots via a Rectangular Corridor Representation of Structured Environments
    Alejandro Gonzalez-Garcia, Sebastiaan Wyns, Sonia De Santis, and 2 more authors
    arXiv preprint arXiv:2602.09714, 2026
    Accepted to IEEE ICRA 2026
    HTML Video
  3. MagLevADMM-CBF.gif
    Multi-Agent Motion Planning on Industrial Magnetic Levitation Platforms: A Hybrid ADMM-HOCBF approach
    Bavo Tistaert, Stan Servaes, Alejandro Gonzalez-Garcia, and 4 more authors
    2026
    Accepted to ECC 2026
    Video

2025

  1. Smooth controls AGV.gif
    Smooth Control Strategies for Path-Following on Computationally Constrained Mobile Robots with Discontinuous Localization
    Yannick Claes, Lucas Tielens, Sonia De Santis, and 3 more authors
    In 2025 European Control Conference (ECC), 2025
    DOI Video
  2. Safe Motion Planning for ASVs in Narrow Environments.gif
    Safe Motion Planning and Control Using Predictive and Adaptive Barrier Methods for Autonomous Surface Vessels
    Alejandro Gonzalez-Garcia, Wei Xiao, Wei Wang, and 5 more authors
    In 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
    DOI Video
  3. Self-Reconfigurable Boats.gif
    Self-Reconfiguring Modular Robotic Boats
    Wei Wang, Niklas Hagemann, Alejandro Gonzalez-Garcia, and 2 more authors
    Preprint, 2025
    HTML Video

2024

  1. Safe Robust Control ASVs.gif
    Robust Model Predictive Control with Control Barrier Functions for Autonomous Surface Vessels
    Wei Wang, Wei Xiao, Alejandro Gonzalez-Garcia, and 3 more authors
    In 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
    DOI Video
  2. Unmanned surface vehicle robust tracking control using an adaptive super-twisting controller
    Alejandro Gonzalez-Garcia, Herman Castañeda, and Jesús De León-Morales
    Control Engineering Practice, 2024
    DOI
  3. Adaptive sliding mode control with nonlinear MPC-based obstacle avoidance using LiDAR for an autonomous surface vehicle under disturbances
    Ivana Collado-Gonzalez, Alejandro Gonzalez-Garcia, Rodolfo Cuan-Urquizo, and 3 more authors
    Ocean Engineering, 2024
    DOI

2023

  1. Novel adaptive law for super-twisting controller: USV tracking control under disturbances
    Enrique Alvaro-Mendoza, Alejandro Gonzalez-Garcia, Herman Castañeda, and 1 more author
    Isa Transactions, 2023
    DOI
  2. DRLICRA23.gif
    Deep Reinforcement Learning Based Tracking Control of an Autonomous Surface Vessel in Natural Waters
    Wei Wang, Xiaojing Cao, Alejandro Gonzalez-Garcia, and 5 more authors
    In 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
    DOI Video

2022

  1. usv.png
    Adaptive integral terminal super-twisting with finite-time convergence for an unmanned surface vehicle under disturbances
    Alejandro Gonzalez-Garcia and Herman Castañeda
    International Journal of Robust and Nonlinear Control, 2022
    DOI Video
  2. sigma_circle.png
    Finite-time control for an Unmanned Surface Vehicle based on adaptive sliding mode strategy
    Jonathan Rodriguez, Herman Castañeda, Alejandro Gonzalez-Garcia, and 1 more author
    Ocean Engineering, 2022
    DOI Video
  3. COLAV.gif
    Path-following and LiDAR-based obstacle avoidance via NMPC for an autonomous surface vehicle
    Alejandro Gonzalez-Garcia, Ivana Collado-Gonzalez, Rodolfo Cuan-Urquizo, and 3 more authors
    Ocean Engineering, 2022
    DOI Video
  4. RobustUUV.gif
    Adaptive Non-Singular Terminal Sliding Mode Tracking Control of an UUV Against Disturbances
    V Sebastian Martinez-Perez, Andres E Sanchez-Calvo, Alejandro Gonzalez-Garcia, and 1 more author
    IFAC-PapersOnLine, 2022
    DOI Video
  5. Adaptive Integral Terminal Sliding Mode Guidance and Control for a UUV Under Perturbations
    Andres E Sanchez-Calvo, V Sebastian Martinez-Perez, Alejandro Gonzalez-Garcia, and 1 more author
    In 2022 Congreso Nacional de Control Automático, 2022

2021

  1. joe2021.gif
    Guidance and Control Based on Adaptive Sliding Mode Strategy for a USV Subject to Uncertainties
    Alejandro Gonzalez-Garcia and Herman Castañeda
    IEEE Journal of Oceanic Engineering, 2021
    DOI Video
  2. NN.png
    Adaptive dynamic programming and deep reinforcement learning for the control of an unmanned surface vehicle: Experimental results
    Alejandro Gonzalez-Garcia, David Barragan-Alcantar, Ivana Collado-Gonzalez, and 1 more author
    Control Engineering Practice, 2021
    DOI
  3. UAV_USV.jpg
    Robust Visual Tracking Control Based on Adaptive Sliding Mode Strategy: Quadrotor UAV-Catamaran USV Heterogeneous System
    Alejandro Gonzalez-Garcia, Armando Miranda-Moya, and Herman Castañeda
    In 2021 International Conference on Unmanned Aircraft Systems (ICUAS), 2021
    DOI
  4. Adaptive Integral Terminal Sliding Mode Control for an Unmanned Surface Vehicle Against External Disturbances
    Alejandro Gonzalez-Garcia and Herman Castañeda
    IFAC-PapersOnLine, 2021
    DOI
  5. A Real-Time NMPC Guidance Law and Robust Control for an Autonomous Surface Vehicle
    Ivana Collado-Gonzalez, Alejandro Gonzalez-Garcia, Carlos Sotelo, and 2 more authors
    IFAC-PapersOnLine, 2021
    DOI

2020

  1. USV Path-Following Control Based On Deep Reinforcement Learning and Adaptive Control
    A Gonzalez-Garcia, H Castañeda, and L Garrido
    In Global Oceans 2020: Singapore – U.S. Gulf Coast, 2020
    DOI