Design of sequential trajectories with finite-time convergence for autonomous aerial seeding

Authors

DOI:

https://doi.org/10.29105/ingenierias29.101-1002

Keywords:

Finite-time convergence, trajectory design, sequential trajectories, unmanned aerial vehicles, precision agriculture

Abstract

This work presents a method for designing sequential trajectories with finite-time convergence properties, aimed at precision agriculture applications using unmanned aerial vehicles. The proposed approach is based on dynamic trajectories defined along straight-line segments connecting points of interest, where a dynamic modulation parameter guarantees exact arrival at each point within a pre-specified time. By concatenating multiple trajectories with time intervals proportional to the traveled distance, motion patterns suitable for autonomous seeding maneuvers are obtained. The feasibility of the proposed method is validated through numerical simulations using a quadrotor dynamic model and a robust controller previously reported in the literature.

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Author Biographies

Efrain Ibarra Jimenez, Instituto Tecnológico de Durango

He received the B.Sc. degree in Applied Mathematics (UJED, 2004), the M.Sc. degree in Mathematical Sciences with specialization in Dynamical Systems (UNAM, 2010), and the Ph.D. degree in Industrial Physics Engineering (UANL, 2015). He completed postdoctoral appointments at the Université de Technologie de Compiègne (2016) and LAFMIA CNRS–CINVESTAV (2017). He is currently a professor-researcher at TecNM–ITDurango and a member of SNII Level I. His research focuses on nonlinear robust control and UAV systems.

Ricardo Chapa Garcia, Universidad Autónoma de Nuevo León

He received the B.Sc. degree in Mechatronics Engineering from the Universidad Tecnológica Gral. Mariano Escobedo and the Ph.D. degree in Industrial Physics Engineering from the Centro de Investigación en Ciencias Físico-Matemáticas (FCFM-UANL). He holds the SNII Level I distinction awarded by SECITHI and the PRODEP desirable profile recognition.

Romeo de Jesús Selvas Aguilar, Universidad Autónoma de Nuevo León

Dr. Selvas received the B.Sc. degree in Electronics Engineering from ITTG, the M.Sc. degree in Optics from INAOE, and the Ph.D. degree from the Optoelectronic Research Centre at the University of Southampton. He is a member of the Mexican National System of Researchers (SNI Level III) and of the AMC, AMO, SMF, SPIE, and Optica societies, and holds the PRODEP desirable profile recognition.

Octavio Garcia Salazar, Centro de Investigación e Innovación en Ingeniería Aeronáutica

He received the Electronic Engineering degree (2000) and the M.Sc. degree in Electrical Engineering (2003) from ITL. He obtained the Ph.D. degree in Systems Control from the Université de Technologie de Compiègne (2009). He completed a CNRS postdoctoral appointment at LAFMIA–CINVESTAV (2011) and was a visiting researcher at CINVESTAV Monterrey (2012). Since January 2013, he has been a full-time professor at FIME–UANL. He is a member of SNII Level II, and his research focuses on drones, unmanned aerial systems, and flight dynamics

Miguel Rivas Martinez, Secretaría de Marina de México

He is a researcher at the Institute for Research and Technological Development (ININDETEC) of the Mexican Navy Secretariat. He received the M.Sc. degree in Autonomous Aerial and Underwater Navigation Systems from LAFMIA–CINVESTAV (2018) and the Naval Mechanical Engineering degree from the Heroica Escuela Naval Militar (2013).

References

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Portada: Cuadrirrotor, Centro de Investigación e Innovación en Ingeniería Aeronáutica (CIIIA) de la UANL.

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Published

2026-07-28

How to Cite

Ibarra Jimenez, E., Chapa Garcia, R., Selvas Aguilar, R. de J., Garcia Salazar, O., & Rivas Martinez, M. (2026). Design of sequential trajectories with finite-time convergence for autonomous aerial seeding. Revista Ingenierías, 29(101), 76–92. https://doi.org/10.29105/ingenierias29.101-1002

Issue

Vol. 29 No. 101 (2026): Julio-Diciembre

Section

Artículos

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Copyright (c) 2026 Efrain Ibarra Jimenez, Ricardo Chapa Garcia, Romeo de Jesús Selvas Aguilar, Octavio Garcia Salazar, Miguel Rivas Martinez

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This work is licensed under a Creative Commons Attribution 4.0 International License.