Werther Alexandre de Oliveira Serralheiro
Universidade Federal de Santa Catarina, Instituto Federal de Educação, Ciência e Tecnologia de Santa Catarina
Papers
3
Total Citations
29
H-Index
3
About
Werther Alexandre de Oliveira Serralheiro is a robotics researcher whose work centers on the optimal control and trajectory planning of wheeled mobile robots (WMRs). His primary contributions lie in developing sophisticated motion control schemes that balance time and energy efficiency—a critical challenge for autonomous systems operating under real-world constraints. In his most cited work, "Self-Tuning Time-Energy Optimization for the Trajectory Planning of a Wheeled Mobile Robot" (2018, 19 citations), Serralheiro introduced a self-tuning approach that dynamically adjusts trajectory parameters to minimize both travel time and energy consumption, offering a practical solution for resource-limited robots. He further advanced the field with a motion control scheme that integrates input-output feedback linearization with PID control (2019, 7 citations), addressing the inherent underactuation of WMRs while accounting for kinematic, dynamic, and DC motor nonlinearities. His earlier work on time-energy optimal trajectory planning over fixed paths (2017) laid the groundwork for these innovations. With a focused research portfolio that bridges theoretical optimization and applied control, Serralheiro’s work is particularly valuable for students and engineers seeking to enhance the autonomy and efficiency of mobile robots in logistics, exploration, and service applications.
Research Focus
Key Achievements
Top Papers
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