├── 1_modeling ├── pics │ ├── Experimento1-1.png │ ├── Experimento1-2.png │ ├── Experimento2.png │ ├── RodaCaster.png │ └── SistemaCoordenadas.png ├── report.pdf ├── scripts │ ├── Exp1.m │ ├── Exp2.m │ ├── drawRobot.m │ ├── remApi.m │ ├── remoteApi.dll │ ├── remoteApiProto.m │ ├── scene1.ttt │ └── scene2.ttt └── summary.pdf ├── 2_control_law ├── Relatorio.pdf ├── pics │ ├── DiagramaControlador.png │ ├── P-Exp1-1.png │ ├── P-Exp1-2.png │ ├── P-Exp2.png │ ├── PD-Estabilidade.png │ ├── PD-Exp1-1.png │ ├── PD-Exp1-2.png │ ├── PD-Exp2.png │ ├── PD-Exp3.png │ └── PD-Exp4.png └── scripts │ ├── PD_Controller.m │ ├── P_Controller.m │ ├── drawRobot.m │ ├── remApi.m │ ├── remoteApi.dll │ ├── remoteApiProto.m │ └── scene.ttt ├── 3_error_estimation ├── pics │ ├── alfabeth │ │ ├── appcr1ActvFcn.png │ │ ├── appcr1Best.png │ │ ├── appcr1Data.png │ │ ├── appcr1Layers.png │ │ ├── appcr1Neurons.png │ │ └── appcr1TrainFcn.png │ ├── methods │ │ ├── methodA.png │ │ ├── methodB.png │ │ └── methodC.png │ ├── references │ │ ├── A.png │ │ ├── ANoisy.png │ │ ├── referencePlane.png │ │ ├── sensorSchematic.png │ │ ├── trainPlataform.png │ │ └── vehicleDiagram.png │ └── sensor │ │ ├── appcr1ActvFcn.png │ │ ├── appcr1Data.png │ │ ├── appcr1Layers.png │ │ ├── appcr1Neurons.png │ │ └── appcr1TrainFcn.png ├── report.pdf └── scripts │ ├── 1 - alphabet │ ├── appcr1ActvFcn.m │ ├── appcr1Data.m │ ├── appcr1Layers.m │ ├── appcr1Neurons.m │ ├── appcr1Raw.m │ ├── appcr1TrainFcn.m │ ├── cmocean.m │ ├── linspecer.m │ ├── plotchar.m │ └── prprobWithNumbers.m │ └── 2 - sensor │ ├── appcr1ActvFcn.m │ ├── appcr1Data.m │ ├── appcr1Layers.m │ ├── appcr1Neurons.m │ ├── appcr1TrainFcn.m │ ├── cenaTreinamento.m │ ├── cenaTreinamento.ttt │ ├── cmocean.m │ ├── comparisonMethods.m │ ├── data.mat │ ├── dataVal.mat │ ├── linspecer.m │ ├── mylualib.lua │ ├── remApi.m │ ├── remoteApi.dll │ └── remoteApiProto.m ├── 4_tuning_genetic ├── pics │ ├── DiscretePID │ │ ├── discretePID-backwardEulerApproximation.png │ │ ├── discretePID-fowardEulerApproximation.png.png │ │ └── discretePID-tustinApproximation.png │ ├── Newton-Raphson │ │ ├── NewtonRaphson-zeroAtPi.png │ │ └── NewtonRaphson-zeroAtZero.png │ └── PIDTuning │ │ ├── IAE.png │ │ ├── IAEnewOrigin.png │ │ ├── ISE.png │ │ ├── ISEnewOrigin.png │ │ ├── ITAE.png │ │ ├── ITAEnewOrigin.png │ │ ├── ITSE.png │ │ ├── ITSEnewOrigin.png │ │ └── all.png ├── report.pdf └── scripts │ ├── 1 - Newton-Raphson │ ├── cmocean.m │ ├── linspecer.m │ └── speedyGA.m │ ├── 2 - PID Tuning │ ├── cmocean.m │ ├── data │ │ ├── IAE.mat │ │ ├── IAEnewOrigin.mat │ │ ├── ISE.mat │ │ ├── ISEnewOrigin.mat │ │ ├── ITAE.mat │ │ ├── ITAEnewOrigin.mat │ │ ├── ITSE.mat │ │ └── ITSEnewOrigin.mat │ ├── gainsTuned.txt │ ├── generatePlot.m │ ├── linspecer.m │ └── speedyGA.m │ └── 3 - Discrete PID │ ├── BackwardEuler │ ├── ControleUnicicloBackwardEuler.ttt │ ├── captureData.m │ ├── cmocean.m │ ├── data │ │ ├── IAE.mat │ │ ├── ISE.mat │ │ ├── ITAE.mat │ │ └── ITSE.mat │ ├── generatePlot.m │ ├── linspecer.m │ ├── remApi.m │ ├── remoteApi.dll │ ├── remoteApiProto.m │ └── symbolicBackwardEuler.mlx │ ├── FowardEuler │ ├── ControleUnicicloFowardEuler.ttt │ ├── captureData.m │ ├── cmocean.m │ ├── data │ │ ├── IAE.mat │ │ ├── ISE.mat │ │ ├── ITAE.mat │ │ └── ITSE.mat │ ├── generatePlot.m │ ├── linspecer.m │ ├── remApi.m │ ├── remoteApi.dll │ ├── remoteApiProto.m │ └── symbolicFowardEuler.mlx │ └── Tustin │ ├── ControleUnicicloTustin.ttt │ ├── captureData.m │ ├── cmocean.m │ ├── data │ ├── IAE.mat │ ├── ISE.mat │ ├── ITAE.mat │ └── ITSE.mat │ ├── generatePlot.m │ ├── linspecer.m │ ├── remApi.m │ ├── remoteApi.dll │ ├── remoteApiProto.m │ └── symbolicTustin.mlx ├── 5_fuzzy_control ├── pics │ ├── Braitenberg │ │ ├── Membership Functions │ │ │ ├── angularVelocity.png │ │ │ └── lightIntensity.png │ │ ├── P3DX.png │ │ ├── Surfaces │ │ │ ├── agression.png │ │ │ ├── curious.png │ │ │ ├── fear.png │ │ │ └── love.png │ │ └── Trajectories │ │ │ ├── agression.png │ │ │ ├── curious.png │ │ │ ├── fear.png │ │ │ └── love.png │ └── Fuzzy │ │ ├── Membership Functions │ │ ├── goalDistance.png │ │ ├── linearVelocity.png │ │ ├── obstacleDistance.png │ │ ├── sideObstacleDistance.png │ │ ├── steeringAngle.png │ │ └── turningAngle.png │ │ ├── Surfaces │ │ ├── deadlock1.png │ │ ├── deadlock2.png │ │ ├── goalSeeking1.png │ │ ├── goalSeeking2.png │ │ ├── obstacleAvoidance1.png │ │ ├── obstacleAvoidance2.png │ │ ├── tracking1.png │ │ └── tracking2.png │ │ └── Trajectories │ │ ├── deadlock.png │ │ ├── goalSeeking.png │ │ ├── maze.png │ │ ├── obstacleDetection.png │ │ └── tracking.png ├── report.pdf └── scripts │ ├── 1 - Fuzzy │ ├── circle.m │ ├── cmocean.m │ ├── deadlock.m │ ├── deadlock.ttt │ ├── drawRobot.m │ ├── fuzzyControllerCmdLine.m │ ├── goalSeeking.m │ ├── goalSeeking.ttt │ ├── linspecer.m │ ├── maze.m │ ├── maze.ttt │ ├── maze_sensors1and8.mat │ ├── maze_sensors2and7.mat │ ├── obstacleAvoidance.m │ ├── obstacleAvoidance.ttt │ ├── remApi.m │ ├── remoteApi.dll │ ├── remoteApiProto.m │ ├── tracking.m │ └── tracking.ttt │ └── 2 - Braitenberg vehicles │ ├── Braitenberg.ttt │ ├── agression.m │ ├── cmocean.m │ ├── curious.m │ ├── drawRobot.m │ ├── fear.m │ ├── fuzzyControllerCmdLine.asv │ ├── fuzzyControllerCmdLine.m │ ├── linspecer.m │ ├── love.asv │ ├── love.m │ ├── remApi.m │ ├── remoteApi.dll │ └── remoteApiProto.m ├── 6_tuning_expert ├── pics │ ├── exp1.png │ ├── exp2.png │ ├── exp3.png │ └── exp4.png ├── report.pdf └── scripts │ ├── cmocean.m │ ├── expertSystem.slx │ ├── expertSystem.slxc │ ├── linspecer.m │ ├── myExpert.m │ ├── myStop.m │ └── slprj │ └── accel │ └── expertSystem │ ├── amsi_serial.mat │ ├── expertSystem_top_vm.bc │ └── tmwinternal │ └── simulink_cache.xml ├── 7_EFK ├── pics │ ├── Exp1 │ │ ├── error.png │ │ └── result.png │ ├── Exp2 │ │ ├── error.png │ │ └── result.png │ ├── Exp3 │ │ ├── error.png │ │ ├── result.png │ │ └── simulation.png │ ├── Jetto et al │ │ ├── 1.png │ │ └── 2.png │ └── scenes │ │ ├── cena1.png │ │ └── cena2.png ├── report.pdf 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