Journal Papers

1. C. A. Toro-Arcila, H. M. Becerra and G. Arechavaleta, "Monocular visual servo control of a quadcopter for crossing windows, doors, and corridors", Asian Journal of Control, pages 1--18, March 2025.  Access

2. E. Chavez-Aparicio, H. M. Becerra and J. B. Hayet, "A novel consensus-based formation control scheme in the image space", IEEE Control Systems Letters, Vol. 8, pages 2769--2774, December 2024.  Preprint

3. E. Martinez, R. Murrieta-Cid, H. M. Becerra and I. Becerra, "Feasible minimum distance feedback-based-navigation for a differential drive robot in an environment with obstacles", Journal of the Franklin Institute, Vol. 361, No. 18, pages 107253, December 2024.  Preprint

4. D L. Ramírez-Parada, H M. Becerra, C. A. Toro-Arcila, G. Arechavaleta, "Vision-based formation control of quadrotors using a bearing-only approach", Robotics, Vol. 13, No. 8, pages 115, July 2024. Access

5. N. F. González-Yances, A. B. Morales-Díaz and H. M. Becerra, "Time-varying formation tracking for second order multi-agent systems: An experimental approach for wheeled robots", Machines, Vol. 8, No. 11, pages 1--22, August 2023. Access

6. E. Martinez, R. Murrieta-Cid and H. M. Becerra, "An automaton and super-twisting sliding-mode control for wall following", Journal of Control Engineering and Applied Informatics, Vol. 25, No. 2, pages 3--12, June 2023. Access

7. C. A. Toro-Arcila, H. M. Becerra and G. Arechavaleta, "Visual path following with obstacle avoidance for quadcopters in indoor environments", Control Engineering Practice, Vol. 135, pages 105493, June 2023.  Preprint

8. S. Vargas, H. M. Becerra and J. B. Hayet, "MPC-based distributed formation control of multiple quadcopters with obstacle avoidance and connectivity maintenance", Control Engineering Practice, Vol. 121, pages 105054, April 2022.  Preprint

9. J. B. Martinez, H. M. Becerra and D. Gomez-Gutierrez, "Formation tracking control and obstacle avoidance of unicycle-type robots guaranteeing continuous velocities", Sensors, Vol. 21, No. 13, pages 4374, June 2021. Access

10. M. A. Trujillo, H. M. Becerra, D. Gomez-Gutierrez, J. Ruiz Leon and A. Ramirez Treviño, "Hierarchical task-based formation control and collision avoidance of UAVs in finite time", European Journal of Control, Vol. 60, pages 48--64, July 2021.  Preprint

11. V. Macias, I. Becerra, E. Martinez, R. Murrieta-Cid and H. M. Becerra, "Single landmark feedback based time optimal navigation for a differential drive robot", Journal of the Franklin Institute, Vol. 358, No. 9, pages 4761--4792, June 2021.  Preprint

12. R. Aldana-López, D. Gómez-Gutiérrez, M. A. Trujillo, M. Navarro-Gutiérrez, J. Ruiz-León and H. M. Becerra, "A predefined-time first-order exact differentiator based on time-varying gains", Int. Journal of Robust and Nonlinear Control, Vol. 31, No. 11, pages 5510--5522, July 2021.  Preprint

13. J. Obregon-Flores, G. Arechavaleta, H. M. Becerra and A. Morales-Diaz, "Predefined time robust hierarchical inverse dynamics on torque-controlled redundant manipulators", IEEE Transactions on Robotics, Vol. 37, No. 3, pages 962--978, June 2021.  Preprint

14. M. A. Trujillo, R. Aldana-López, D. Gómez-Gutiérrez, M. Defoort, J. Ruiz-León and H. M. Becerra, "Autonomous and non-autonomous fixed-time leader-follower consensus for second-order multi-agent systems", Nonlinear Dynamics, Vol. 102, pages 2669--2686, Nov. 2020.  Preprint

15. J. A. Colunga, H. M. Becerra, C. R. Vázquez and D. Gómez-Gutiérrez, "Robust leader-following consensus of high-order multi-agent systems in prescribed time", IEEE Access, Vol. 8, pages 195170--195183, Oct. 2020. Access

16. N. G. Aldana-Murillo, L. Sandoval, J. B. Hayet, C. Esteves and H. M. Becerra, "Coupling humanoid walking pattern generation and visual constraint feedback for pose-regulation and visual path-following", Robotics and Autonomous Systems, Vol. 128, pages 103497, Jan. 2020.  Preprint

17. E. Martinez, G. Laguna, R. Murrieta-Cid, H. M. Becerra, R. Lopez-Padilla and S. M. LaValle, "A Motion strategy for exploration driven by an automaton activating feedback-based controllers", Autonomous Robots, Vol. 43, pages 1801--1825, Jan. 2019.  Preprint

18. J. A. Colunga, C. R. Vázquez, H. M. Becerra and D. Gómez-Gutierrez, "Predefined-time consensus of nonlinear first-order systems using a time base generator", Mathematical Problems in Engineering, Vol. 2018, No. 1, pages 1--11, Oct. 2018. Access

19. J. Delfín, H. M. Becerra and G. Arechavaleta, "Humanoid navigation using a visual memory with obstacle avoidance", Robotics and Autonomous Systems, Vol. 109, No. 2018, pages 109--124, Nov. 2018. Preprint

20. S. I. Valdéz, S. Botello-Aceves, H. M. Becerra and E. Hernández, "Comparison of a concurrent and a sequential optimization methodologies for serial manipulators using metaheuristics", IEEE Transactions on Industrial Informatics, Vol. 14, No. 7, pages 3155--3165, July 2018. Preprint

21. S. Botello-Aceves, S. I. Valdéz, H. M. Becerra and E. Hernández, "Evaluating concurrent design approaches for a Delta parallel manipulator", Robotica, Vol. 36, No. 5, pages 697--714, May 2018. Preprint

22. H. M. Becerra, J. A. Colunga and J. G. Romero, "Simultaneous convergence of position and orientation of wheeled mobile robots using trajectory planning and robust controllers", International Journal of Advanced Robotic Systems, Vol. 15, No. 1, pages 1--22, Feb. 2018. Access

23. V. Macias, I. Becerra, R. Murrieta-Cid, H. M. Becerra and S. Hutchinson, "Image feedback based optimal control and the value of information in a differential game", Automatica, Vol. 90, No. 1, pages 271--285, April 2018. Preprint

24. H. M. Becerra, C. R. Vázquez, G. Arechavaleta and J. Delfín, "Predefined-time convergence control for high-order integrator systems using time base generators (TBGs)", IEEE Transactions on Control Systems Technology, Vol. 26, No. 5, pages 1866--1873, Sept. 2018.  Preprint

25. N. G. Aldana Murillo, J. B. Hayet and H. M. Becerra, "Comparison of local descriptors for humanoid robots localization using a visual bag of words approach", International Journal of Intelligent Automation and Soft Computing (AutoSoft) , Vol. 24, No. 3, pages 471--481, Sept. 2018. Preprint

26. J. Delfín, H. M. Becerra and G. Arechavaleta,"Visual servo walking control for humanoids with finite-time convergence and smooth robot velocities", International Journal of Control, Vol. 89, No. 7, pages 1342--1358, January 2016. Preprint

27. J. E. Machado, H. M. Becerra and M. Moreno-Rocha, "Modeling and finite-time walking control of a biped robot with feet", Mathematical Problems in Engineering, Vol. 2015, Article ID 963496, 17 pages, October 2015. Access

28. D. Jacobo, U. Ruiz, R. Murrieta-Cid, H. M. Becerra and J. L. Marroquin, "A visual feedback-based time-optimal motion policy for capturing an unpredictable evader", International Journal of Control, Vol. 88, No. 4, pages 663--681, January 2015. Preprint

29. H. M. Becerra, J. B. Hayet and C. Sagüés, "A single visual‐servo controller of mobile robots with super‐twisting control", Robotics and Autonomous Systems, Vol. 62, No. 11, pages 1623--1635, November 2014. Preprint

30. H. M. Becerra, C. Sagüés,Y. Mezouar and J. B. Hayet, “Visual navigation of wheeled mobile robots using direct feedback of a geometric constraint”, Autonomous Robots, Vol. 37, No. 2, pages 137--156, August 2014. Preprint

31. F. Jurado, G. Palacios, F. Flores and H. M. Becerra, “Vision-based trajectory tracking system for an emulated quadrotor UAV”, Asian Journal of Control, Vol. 16, No. 3, pages 729--741, May 2014.  Preprint

32. H. M. Becerra,“Fuzzy visual control for memory-based navigation using the trifocal tensor”, International Journal of Intelligent Automation and Soft Computing (AutoSoft), Vol. 20, No. 2, pages 245--262, April 2014. Preprint

33. H. M. Becerra and C. Sagüés, "Exploiting the trifocal tensor in dynamic pose estimation for visual control", IEEE Transactions on Control Systems Technology, Vol. 21, No. 5, pages 1931--1939, September 2013. Preprint

34. H. M. Becerra, G. López-Nicolás and C. Sagüés, "A sliding mode control law for mobile robots, based on epipolar visual servoing from three views", IEEE Transactions on Robotics, Vol. 27, No. 1, pages 175--183, February 2011. Preprint

35. H. M. Becerra, G. López-Nicolás and C. Sagüés, "Omnidirectional visual control of mobile robots based on the 1D trifocal tensor", Robotics and Autonomous Systems, Vol. 58, No. 6, pages 796--808, June 2010. Preprint

36. E. Sanchez, H. M. Becerra and C. M. Velez, “Combining fuzzy, PID and regulation control for an autonomous mini-helicopter”, Information Sciences, Vol. 177, No. 10, pages 1999--2022, May 2007. Preprint

Books

• H. M. Becerra and C. Sagüés, "Visual Control of Wheeled Mobile Robots: Unifying vision and control in generic approaches", Springer Tracts in Advanced Robotics 103, B. Siciliano and O. Khatib (Eds.), ISBN 978-3-319-05782-8, Springer, 118 pages, May 2014.

Book chapters and book collaborations

1. E. Chavez Aparicio, H. M. Becerra and J.-B. Hayet, "Vision-based formation control using visual servoing and virtual homographies,” Lecture Notes in Computer Science 15715, Proc. of Mexican Conference on Pattern Recognition (MCPR'25), A. P. Lopez-Monroy et al. (Eds.), Springer-Verlag, pages 224--233, 2025. pdf

2. L. A. Pineda, L. E. Sucar, J. Savage, A. Aceves, H. M. Becerra, G. Fuentes, M. A. Morales, H. Ortega, C. Rascón, A. Rodríguez, "Capítulo 4 - Robótica de Servicio,” La Computación en México por especialidades académicas, Academia Mexicana de Computación, pages 127--165, 2017. pdf

3. N. G. Aldana-Murrillo, J.-B. Hayet and H. M. Becerra, "Evaluation of local descriptors for vision-based localization of humanoid robots,” Lecture Notes in Computer Science 9116, Proc. of 7th Mexican Conference on Pattern Recognition (MCPR'15), J. A. Carrasco-Ochoa et al. (Eds.), Springer-Verlag, pages 179--189, 2015. pdf

4. H. M. Becerra, J. B. Hayet and C Sagüés, “Virtual target formulation for singularity-free visual control using the trifocal tensor,” Lecture Notes in Computer Science 7914, Proc. of 5th Mexican Conference on Pattern Recognition (MCPR'13), J. A. Carrasco-Ochoa et al. (Eds.), Springer-Verlag, pages 30--39, 2013. pdf

5. H. M. Becerra and C. Sagüés, "Sliding mode control for visual servoing of mobile robots using a generic camera,” Chapter 12, Sliding Mode Control,  A. Bartoszewicz (Ed.), ISBN 978-953-307-162-6, INTECH, pp. 221--236, April 2011. pdf

6. Collaboration in “Libro Blanco del Control Automático,” Comité Español de Automática, Ministerio de Ciencia e Innovación, Gobierno de España, June, 2010.

Conference Papers

1. E. Chavez-Aparicio, H. M. Becerra and J. B. Hayet, "A novel consensus-based formation control scheme in the image space", American Control Conference (ACC'25), Oral presentation, Denver, CO, July 2025. pdf

2. N. J. Gonzalez, A. B. Morales and H. M. Becerra, "Flexible multi-robot formation tracking: a practical evaluation on DDR’s", 22nd IFAC World Congress (IFAC WC'23), Oral presentation, Yokohama, Japan, July 2023. pdf

3. E. Estrada, H. M. Becerra and C. Segura, "Optimization of walking control of a biped robot using differential evolution", IEEE Latin-American Conference on Computational Intelligence (LA-CCI'18) , pages 1--7, Guadalajara, México, November 2018. pdf

4. G. Arechavaleta, J. Obregón, H. M. Becerra and A. Morales, "Predefined-time convergence in task-based inverse dynamics using time base generators", IFAC Conference on Modelling, Identification and Control of Nonlinear Systems (MICNON’18), pages 443--449, Guadalajara, México, June 2018. pdf

5. M. Trujillo, H. M. Becerra, D. Gómez-Gutiérrez, J. Ruíz-León and A. Ramírez-Treviño, "Priority task-based formation control and obstacle avoidance of holonomic agents with continuous control inputs", IFAC Conference on Modelling, Identification and Control of Nonlinear Systems (MICNON’18), pages 216--222, Guadalajara, México, June 2018. pdf

6. A. Colunga, C. R. Vázquez, H. M. Becerra and D. Gómez-Gutiérrez, "Predefined-time consensus using a time base generator (TBG)", IFAC Conference on Modelling, Identification and Control of Nonlinear Systems (MICNON’18), pages 246--253, Guadalajara, México, June 2018. pdf

7. J. Delfín, H. M. Becerra and G. Arechavaleta, "Humanoid localization and navigation using a visual memory", IEEE/RAS International Conference on Humanoid Robots (ICHR'16), pages 725--731, Cancún, México, November 2016. pdf

8. S. Botello-Aceves, S. I. Valdez and H. M. Becerra, "Concurrent design optimization of the Delta manipulator", IEEE Latin-American Conference on Computational Intelligence (LA-CCI'16) , pages 1--6, Cartagena de Indias, Colombia, November 2016. pdf

9. H. M. Becerra, J. A. Colunga and J. G. Romero, "Robust trajectory tracking controllers for pose-regulation of wheeled mobile robots", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'16), pages 1041--1047, Daejeon, Korea, October 2016. pdf

10. J. Delfín, H. M. Becerra and G. Arechavaleta, "Visual path following using a sequence of target images and smooth robot velocities for humanoid navigation", IEEE/RAS International Conference on Humanoid Robots (ICHR'14), pages 354--359, Madrid, Spain, November 2014. pdf

11. J. E. Machado, H. M. Becerra and M. Moreno, "Control de un robot bípedo de 7 vínculos usando un algoritmo twisting", Congreso Latinoamericano de Control Automático (CLCA'14), pages 892--898, Cancún, México, Octubre de 2014. pdf

12. J. Delfín, G. Arechavaleta and H. M. Becerra, "Locomoción humanoide basada en estrategias de control servo visual", Congreso Latinoamericano de Control Automático (CLCA'14), pages 438--444, Cancún, México, Octubre de 2014. pdf

13. G. Laguna, R. Murrieta-Cid, H. M. Becerra, R. Lopez-Padilla and S. M. LaValle, "Exploration of an unknown environment with a differential drive disc robot", IEEE International Conference on Robotics and Automation (ICRA'14), pages 2527--2533, Hong Kong, China, June 2014.

14. H. M. Becerra and C Sagüés, “Visual control for memory-based navigation using the trifocal tensor,” World Automation Congress 2012 (WAC'12), pages 1--6, Puerto Vallarta, Mexico, June 2012. pdf

15. H. M. Becerra and C. Sagüés, “Dynamic pose-estimation from the epipolar geometry for visual servoing of mobile robots,” IEEE International Conference on Robotics and Automation (ICRA'11), pages 417--422, Shanghai, China, May 2011. pdf

16. H. M. Becerra, J. Courbon, Y. Mezouar and C. Sagüés, “Wheeled mobile robots navigation from a visual memory using wide field of view cameras,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'10), pages 5693--5699, Taipei, Taiwan, October 2010. pdf

17. H. M. Becerra and C. Sagüés, “Pose-estimation-based visual servoing for differential-drive robots using the 1D trifocal tensor,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'09), pages 5942--5947, St. Louis, MO, USA, October 2009. pdf

18. H. M. Becerra and C.Sagüés, “A novel 1D trifocal tensor-based control for differential-drive robots,” IEEE International Conference on Robotics and Automation (ICRA'09), pages 1104--1109, Kobe, Japan, May 2009. pdf

19. H. M. Becerra and C. Sagüés, “A sliding mode control law for epipolar visual servoing of differential-drive robots,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'08), pages 3058--3063, Nice, France, September 2008. pdf

20. E. Sanchez, H. M. Becerra and C.M. Velez, “Combining fuzzy and PID control for an unmanned helicopter,” North American Fuzzy Information Processing Society Annual Conference (NAFIPS'05), pages 235--240, Ann Arbor, MI, USA, June 2005.

Workshops and Seminars

• G. López-Nicolás, H. M. Becerra, M. Aranda, and C. Sagüés, “Visual navigation by means of three view geometry,” Workshop Robot 2011, Sevilla, Spain, November 2011. pdf

• H. M. Becerra, G. López-Nicolás and C. Sagüés, “Weakly-calibrated visual control of mobile robots using the trifocal tensor and central cameras,” Workshop on Visual Control of Mobile Robots (ViCoMoR), in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'11), pages 27--32, San Francisco, CA, Sept. 2011. pdf

Artículos en congresos nacionales y de divulgación

• J. Mercado Velazquez, D. Mercado Ravell, H. M. Becerra, "Decentralized neural control for individual trajectory tracking in lower limb joints of a bipedal robot", Int. Conf. on Electrical Engineering, Computing Science and Automatic Control (CCE) Mexico City, Mexico, pages 1--6, October 2025. pdf

• F. G. Lopez Ruiz, J. C. Rodriguez, H. M. Becerra and J. Ruiz-Leon, "Bearing-only super-twisting control for multi-quadrotor formations", Int. Conf. on Electrical Engineering, Computing Science and Automatic Control (CCE) Mexico City, Mexico, pages 1--6, October 2025. pdf

• H. M. Becerra, M. A. Trujillo, D. Gómez-Gutiérrez y J. Ruiz-León, “Algunos resultados de control distribuido de múltiples robots,” Komputer Sapiens, Sociedad Mexicana de Inteligencia Artificial, Mexico, págs. 68--72, Mayo 2022. pdf

• M. A. Trujillo, D. Gómez-Gutiérrez, M. Defoort, J. Ruiz-León and H. M. Becerra, “Observer-based leader-follower consensus tracking with fixed-time convergence,” Int. Conf. on Electrical Engineering, Computing Science and Automatic Control (CCE), Mexico City, Mexico, pages 1--6, November 2020. pdf

• C. R. Vázquez, R. O. Domínguez y H. M. Becerra, “Maestría en Ingeniería Mecatrónica en línea y profesionalizante,” XIII Congreso Nacional de Ingeniería Electromecánica y de Sistemas (CNIES), IPN-Zacatenco, México, D.F., págs. 1--6, Noviembre de 2012.

• H. M. Becerra, “Avances recientes en el control de robots móviles usando visión artificial,” XII Semana Nacional de Investigación Científica, CUSur, Universidad de Guadalajara, Ciudad Guzmán, Jalisco, Noviembre de 2011.

• E. Sanchez, H. M. Becerra and C.M. Velez, “Combining fuzzy, PID and regulation control for an unmanned helicopter,” International Seminar on Computational Intelligence(ISCI'05), pages 18--31, Mexico City, Mexico, October 2005. 

Thesis

• H. M. Becerra, PhD Thesis, “Unifying vision and control for mobile robots,” Department of Computer Science and Systems Engineering, University of Zaragoza, Spain, April 2011. pdf

• H. M. Becerra, Master Thesis,“Intelligent hybrid control of an autonomous mini-helicopter (in spanish),” Center for Research and Advance Studies, CINVESTAV Guadalajara, Mexico, September 2005. pdf