Gustavo A. Cardona

Publications

Journal Publications

[5] Cardona, G. A., Kamale, D., & Vasile, C. I. (2025). STL and wSTL control synthesis: A disjunction-centric mixed-integer linear programming approach. Nonlinear Analysis: Hybrid Systems, 56, 101576.

[4] Cardona, G. A., & Vasile, C. I. (2024). Planning for heterogeneous teams of robots with temporal logic, capability, and resource constraints. The International Journal of Robotics Research (IJRR), 43(13), 2089-2111.

[3] D’antonio, D. S., Cardona, G. A., & Saldana, D. (2021). The catenary robot: Design and control of a cable propelled by two quadrotors. IEEE Robotics and Automation Letters, 6(2), 3857-3863.

[2] Cardona, G. A., Ramirez-Rugeles, J., Mojica-Nava, E., & Calderon, J. M. (2021). Visual victim detection and quadrotor-swarm coordination control in search and rescue environment. International Journal of Electrical and Computer Engineering, 11(3), 2079.

[1] Cardona, G. A., & Calderon, J. M. (2019). Robot swarm navigation and victim detection using rendezvous consensus in search and rescue operations. Applied Sciences, 9(8), 1702.

Conference Papers

[26] Cardona, G. A., Vasile, C. I., and Di Cairano, S., Truck Fleet Coordination for Warehouse Trailer Management by Temporal Logic with Energy Constraints. In 2025 American Control Conference (ACC) (pp. 4211-4217). IEEE.

[25] Cardona, G. A., Liang, K., and Vasile, C. I., An Iterative Approach for Heterogeneous Multi-Agent Route Planning with Resource Transportation Uncertainty and Temporal Logic Goals.
In 2025 IEEE International Conference on Robotics and Automation (ICRA). IEEE.

[24] Liang, K., Cardona, G. A., Kamale, D., and Vasile, C. I., Learning Optimal Signal Temporal Logic Decision Trees for Classification: A Max-Flow MILP Formulation. In 2024 IEEE 63rd Conference on Decision and Control (CDC) (pp. 8332-8337). IEEE.

[23] Liang, K., Cardona, G. A., & Vasile, C. I. (2024, May). An Iterative Approach for Heterogeneous Multi-Agent Route Planning with Temporal Logic Goals and Travel Duration Uncertainty. In 2024 IEEE International Conference on Robotics and Automation (ICRA) (pp. 257-263). IEEE.

[22] Cardona, G.a., and Vasile, C.I., Preferences on Partial Satisfaction using Weighted Signal Temporal Logic Specifications, In 2023 European Control Conference (ECC), Bucharest, Romania, 2023, pp. 1-6.

[21] Cardona, G. A., Kamale, D., and Vasile, C. I., Mixed Integer Linear Programming Approach for Control Synthesis with Weighted Signal Temporal Logic, In Proceedings of the 26th ACM International Conference on Hybrid Systems: Computation and Control (HSCC) (pp. 1-12).

[20] Cardona, G. A., Leahy, K., & Vasile, C. I. (2023, May). Temporal Logic Swarm Control with Splitting and Merging. In 2023 IEEE International Conference on Robotics and Automation (ICRA) (pp. 12423-12429). IEEE.

[19] Cardona, G. A., Saldaña, D., & Vasile, C. I. (2022, December). Planning for Modular Aerial Robotic Tools with Temporal Logic Constraints. In 2022 IEEE 61st Conference on Decision and Control (CDC) (pp. 2878-2883). IEEE.

[18] Cardona, G. A., and Vasile, C. I., Partial Satisfaction of Signal Temporal Logic Specifications for Coordination of Multi-Robot Systems, in Algorithmic Foundations of Robotics XV, (Cham), (WAFR) pp. 223–238, Springer International Publishing, 2023

[17] Cardona, G. A., D. S. D'Antonio, R. Fierro and D. Saldaña, Adaptive Control for Cooperative Aerial Transportation Using Catenary Robots, 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), 2021, pp. 1-8.

[16] Cardona, G. A., D’Antonio, D. S., Vasile, C. I., & Saldaña, D. (2021, September). Non-prehensile manipulation of cuboid objects using a catenary robot. In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 5270-5275). IEEE.

[15] Pabon, J. D., Cardona, G. A., Ospina, N. I., Calderon, J., & Mojica-Nava, E. (2021, September). Event-Triggered Control for Weight-Unbalanced Directed Robot Networks. In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 5831-5836). IEEE.

[14] Cardona, G. A., D. Tellez-Castro, J. Calderon and E. Mojica-Nava, "Adaptive Multi-Quadrotor Control for Cooperative Transportation of a Cable-Suspended Load," 2021 European Control Conference (ECC), 2021, pp. 696-701, IEEE.

[13] Paez, D., Romero, J. P., Noriega, B., Cardona, G. A., & Calderon, J. M. (2021). Distributed Particle Swarm Optimization for Multi-Robot System in Search and Rescue Operations. IFAC-PapersOnLine, 54(4), 1-6.

[12] Cardona, G. A., Arevalo-Castiblanco, M., Tellez-Castro, D., Calderon, J., & Mojica-Nava, E. (2021, May). Robust adaptive synchronization of interconnected heterogeneous quadrotors transporting a cable-suspended load. In 2021 IEEE International Conference on Robotics and Automation (ICRA) (pp. 31-37). IEEE.

[11] Arevalo-Castiblanco, M. F., Tellez-Castro, D., Cardona, G. A., & Mojica-Nava, E. (2019, December). An adaptive optimal control modification with input uncertainty for unknown heterogeneous agents synchronization. In 2019 IEEE 58th Conference on Decision and Control (CDC) (pp. 8242-8247). IEEE.

[10] Cardona G. A., D. Yanguas-Rojas, M. F. Arevalo-Castiblanco, and E. Mojica-Nava, "Ant-Based Multi-Robot Exploration in Non-Convex Space without Global-Connectivity Constraints," 2019 18th European Control Conference (ECC), 2019, pp. 2065-2070, IEEE.

[9] Cardona, G. A., Bravo, C., Quesada, W., Ruiz, D., Obeng, M., Wu, X., & Calderon, J. M. (2019, April). Autonomous navigation for exploration of unknown environments and collision avoidance in mobile robots using reinforcement learning. In 2019 SoutheastCon (pp. 1-7). IEEE.

[8] Cardona, G. A., Tellez-Castro, D., & Mojica-Nava, E. (2019). Cooperative transportation of a cable-suspended load by multiple quadrotors. IFAC-PapersOnLine, 52(20), 145-150.

[7] León, J., Cardona, G. A., Jaimes, L. G., Calderón, J. M., & Rodriguez, P. O. (2018, June). Rendezvous Consensus Algorithm Applied to the Location of Possible Victims in Disaster Zones. In International Conference on Artificial Intelligence and Soft Computing (pp. 700-710). Springer, Cham.

[6] Quesada, W. O., Rodriguez, J. I., Murillo, J. C., Cardona, G. A., Yanguas-Rojas, D., Jaimes, L. G., & Calderón, J. M. (2018, June). Leader-follower formation for uav robot swarm based on fuzzy logic theory. In International Conference on Artificial Intelligence and Soft Computing (pp. 740-751). Springer, Cham.

[5] Cardona G. A. et al., Design of an Simplified Artificial Neuron (I&F) Model in FPGA, SoutheastCon 2018, 2018, pp. 1-6, doi: 10.1109/SECON.2018.8479106.

[4] Yanguas-Rojas, D., Cardona, G. A., Ramirez-Rugeles, J., & Mojica-Nava, E. (2017, October). Victims search, identification, and evacuation with heterogeneous robot networks for search and rescue. In 2017 IEEE 3rd Colombian Conference on Automatic Control (CCAC) (pp. 1-6). IEEE.

[3] León, J., Cardona, G.A., Botello, A., Calderón, J.M. (2017). Robot Swarms Theory Applicable to Seek and Rescue Operation. In: Madureira, A., Abraham, A., Gamboa, D., Novais, P. Intelligent Systems Design and Applications. ISDA 2016. Advances in Intelligent Systems and Computing, vol 557. Springer, Cham.

[2] Calderon, J., Cardona, G. A., Llofriu, M., Shamsi, M., Williams, F., Moreno, W., & Weitzenfeld, A. (2016, June). Impact force reduction using variable stiffness with an optimal approach for falling robots. In Robot World Cup (pp. 404-415). Springer, Cham.

[1] Cardona, G. A., W. Moreno, A. Weitzenfeld and J. M. Calderon, "Reduction of impact force in falling robots using variable stiffness," SoutheastCon 2016, 2016, pp. 1-6, doi: 10.1109/SECON.2016.7506716..

Workshop Papers

[2] Cardona, G. A., Leahy, K., Mann, M., and Vasile, C. (2023). A Flexible and Efficient Temporal Logic Tool for Python: PyTeLo. (Presented at ICRA-workshop 2024)

[1] D’Antonio, D. S., Xu, J., Cardona, G. A., and Saldaña, D. Customizable-ModQuad: a Versatile Hardware-Software Platform to Develop Lightweight and Low-cost Aerial Vehicles. (Presented at IROS-workshop 2022)

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