Robust Forward Invariant Sets (RFISs)

This work deals with computing approximations of the smallest robust forward invariant sets (RFISs) for nonlinear systems affected by bounded additive disturbances. An approach based on detecting Li-ion battery terminal voltage collapse is proposed to detect that a computed approximation of an RFIS may be about to cease to be invariant. (see more)

 

Glider Computed Tomography (Glider CT)

The underwater glider is a robust ocean sensor platform, which has found applications in the sampling and monitoring of ocean environments for oil field surveys, military operations, and deep-sea and coastal research. Since the sampling and monitoring performance of gliders significantly relies on the navigation performance of gliders, underwater glider navigation is of great interest. (see more)

 

Communication and Control

We analyze how non-ideal communication effects such as temporally and spatially varying delays and channel capacity can influence networked robotic control systems. We use dissipativity-based design tools to ensure that performance goals are met in spite of these communication limitations.

 

Learned Hallway Passing Behavior and UUV Diver Interaction

The goal of learned hallway passing behavior is to provide insight into lifelong learning in human robot interaction. This passing behavior takes place between a robot and a human bystander whenthey approach ‘head-on’ in a hallway. Both robot and bystander must deflect in order to avoid contact. (see more)

 

Analytical Prediction Error in Controlled Lagrangian Particle Tracking

For several decades, autonomous underwater vehicles (AUVs), an instrument platform has been employed in oceanographic research. The small, mobile, and low-cost AUVs allow oceanographers to collect useful environmental data to characterize and model various oceanic environments such as open and coastal seas. However, ocean spatial and temporal variability significantly influence the paths of the vehicles because of their low velocities. Predicting the real trajectory of the vehicles becomes a challenging domain of research. (see more)

 

 

Simultaneous Cooperative Exploration and Networking

Jonghoek Kim has developed strategies for multiple vehicles to explore unknown environments in a cooperative and systematic manner. (see more)

 

Cooperative Exploration

Wencen Wu is developing cooperative exploration strategties for controlling a group of sensoring agents to explore an unknown scalar field. (see more)

 

Middleware Navigation

Justin is working on middleware to control sampling platforms while using their measurements to update an estimate of environmental flow. (see more)

 

Underwater Vehicles

Paul Varnell is working on some of the problems associated with using acoustic communication to transmit control information to underwater vehicles. (see more)

 

Environmental Uncertainty

Klimka is researching the growth of ocean model error and implications for vehicle navigation by theoretical analysis. (see more)

 

GCCS and Rebreather

Dongsik is working on GCCS (Glider Coordinated Control System), and the diagnosis and prognosis of scrubbler faults for underwater rebreather. (see more)

 

Ecomapper

Chuanfeng Wang is working on the environment survey operated by Ecomapper. (see more)