Multi-AUV
Control and Adaptive Sampling in Monterey Bay
IEEE Journal of Oceanic Engineering (with E.Fiorelli, P.Bhatta, D.Paley, R.Bachmayer, D.
Fratantoni)
Controlled Lagrangian Systems
with Gyroscopic Forcing and Dissipation
European Journal of Control (with C.A. Woolsey, C.K. Reddy,
A.M. Bloch, D.E. Chang and J.E. Marsden)
Multi-AUV
Control and Adaptive Sampling in Monterey Bay
Proc.
IEEE AUV 2004 (with E.Fiorelli, P.Bhatta, D.Paley, R.Bachmayer, D.
Fratantoni)
Cooperative
Control of Mobile Sensor Networks: Adaptive Gradient Climbing in
a Distributed Environment
IEEE
Transactions on Automatic Control (with P. Ogren and E. Fiorelli)
Collective
Motion: Bistability and Trajectory Tracking
Proc. 43rd
IEEE Conference on Decision and Control (with D. Paley and R.
Sepulchre)
Stabilization
of a Coordinated Network of Rotating Rigid Bodies
Proc. 43rd
IEEE Conference on Decision and Control (with S. Nair)
A
Lyapunov Function for Vehicles with Lift and Drag: Stability of Gliding
Proc. 43rd
IEEE Conference on Decision and Control (with P. Bhatta)
Underwater Gliders: Recent Developments and Future Applications
IEEE
International
Symposium on Underwater Technology, UT'04
(with R.
Bachmayer,
J. Graver, E. Fiorelli, P. Bhatta, D. Paley)
2003
Collective
Motion and Oscillator Synchronization
Proc.
2003 Block Island Workshop on Cooperative Control (with
R.
Sepulchre and D. Paley)
Coordinated
Control Networked Mechanical Systems with Unstable Dynamics
Proc. 42nd
IEEE Conference on Decision and Control (with S. Nair and L.
Moreau)
Adaptive
Sampling Using Feedback Control of an Autonomous Underwater Glider Fleet
Proc. 13th
International Symposium on Unmanned Untethered Submersible Technology,
(with E.
Fiorelli,
P. Bhatta and I. Shulman).
Underwater
Glider Model Parameter Identification
Proc. 13th
International Symposium on Unmanned Untethered Submersible Technology,
(with J.G.
Graver,
R. Bachmayer and D.M. Fratantoni).
Obstacle
Avoidance in Formation
Proc. of
the IEEE Int. Conf. on Robotics and Automation (with P. Ogren)
Coordinated
Gradient Descent: A Case Study of Lagrangian Dynamics with Projected
Gradient
Information
Proc. IFAC
Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control
(with L. Moreau
and R. Bachmayer)
Singular
Trajectories in Multi-Input Time-Optimal Problems: Application to
Controlled Mechanical Systems
Journal of
Dynamical and Control Systems (with M. Chyba and E.D. Sontag)
2002
Formations
with a Mission: Stable Coordination of Vehicle Group Maneuvers
Proc.
Symposium
on Mathematical Theory of Networks and Systems
(with P. Ogren
and E. Fiorelli).
Stabilizing
Underwater Vehicle Motion Using Internal Rotors
Automatica,
(with C.A. Woolsey).
The
Equivalence of Controlled Lagrangian and Controlled Hamiltonian Systems
ESAIM:
Control,
Optimisation, and Calculus of Variations
(with
D.E. Chang, A.M. Bloch, J.E. Marsden and C.A. Woolsey)
Computer
Simulations of Global Networks of Stratospheric Satellites
6th
Symposium
on Integrated Observing Systems,
(with Heun,
Schlaifer, Aaron, Nock, Pankine, Belburno and Bhatta)
Moving
Mass Control for Underwater Vehicles
Proc.
American
Control Conference, (with C.A. Woolsey).
A
Provably Convergent Dynamic Window Approach to Navigation
Proc. IFAC
World Congress (with P. Ogren)
Vehicle
Networks for Gradient Descent in a Sampled Environment
Proc. 41st IEEE
Conference on Decision and Control (with R. Bachmayer)
Stabilization
and Coordination of Underwater Gliders
Proc. 41st
IEEE Conference on Decision and Control (with P. Bhatta)
A
Normal Form for Energy Shaping: Application to the Furuta Pendulum
Proc. 41st IEEE
Conference on Decision and Control (with S. Nair)
A
Tractable Convergent Dynamic Window Approach to Obstacle Avoidance
IEEE/RSJ
International
Conference on Intelligent Robots and Systems (with P. Ogren)
2001
Controlled
Lagrangians and the Stabilization of Euler-Poincare Mechanical Systems
International
Journal on Robust and Nonlinear Control, (with A.M. Bloch and J.E.
Marsden).
Controlled
Lagrangians and the Stabilization of Mechanical Systems II:
Potential
Shaping
IEEE
Transactions
on Automatic Control, (with A.M. Bloch, D.E. Chang and J.E.
Marsden).
Model-Based
Feedback Control of Autonomous Underwater Gliders
IEEE Journal
of Oceanic Engineering, (with J. Graver).
Physical
Dissipation and the Method of Controlled Lagrangians
Proc. of
the European Control Conference, (with C.A. Woolsey, A.M. Bloch and
J.E. Marsden).
Optimality
for Underwater Vehicles
Proc. of
the 40th IEEE Conference on Decision and Control, (with M. Chyba
and
E.D. Sontag).
Virtual
Leaders, Artificial Potentials and Coordinated Control of Groups
Proc. of
the 40th IEEE Conference on Decision and Control, (with E.
Fiorelli).
Orientation
Control of Multiple Underwater Vehicles with Symmetry-Breaking
Potentials
Proc. of
the 40th IEEE Conference on Decision and Control, (with T.R Smith
and
H. Hanssmann).
Dissipation
and Controlled Euler-Poincare Systems
Proceedings
of the 40th IEEE Conference on Decision and Control, (with C.A.
Woolsey,
A.M. Bloch and J.E. Marsden).
Experimental
Test-bed for Multi-Vehicle Control, Navigation and Communication
Proc. 12th
International Symposium on Unmanned Untethered Submersible Technology,
(with R. Bachmayer).
Underwater
Glider Dynamics and Control
Proc. 12th
International Symposium on Unmanned Untethered Submersible Technology,
(with J.Graver).
2000
Controlled
Lagrangians and the Stabilization of Mechanical Systems I: The First
Matching
Theorem
IEEE
Transactions
on Automatic Control, (with A.M. Bloch and J.E. Marsden).
Controllability
and Motion Algorithms for Underactuated Lagrangian Systems on Lie Groups
IEEE
Transactions
on Automatic Control, (with F. Bullo and A.D. Lewis).
Potential and
Kinetic Shaping for Control of Underactuated Mechanical Systems''
Proc. of
the American Control Conference, (with A.M Bloch, D.E. Chang and
J.E.
Marsden).
Matching and
Stabilization of Low-dimensional Nonholonomic Systems
Proc. of
the 39th IEEE Conference on Decision and Control, (with D.V.
Zenkov,
A.M. Bloch and J.E. Marsden)
Asymptotic
Stabilization
of Euler-Poincare Mechanical Systems
Proc. of
the IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear
Control,
(with Bloch, Chang, Marsden, Woolsey)
Time-Optimal
Control for Underwater Vehicles
Proc. of
the IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear
Control,
(with M. Chyba and E.D. Sontag).
Modification
to Hamiltonian Structure to Stabilize an Underwater Vehicle
Proc. of
the IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear
Control,
(with
C.A. Woolsey).
Matching and
Stabilization of the Unicycle with Rider
Proc. of
the IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear
Control,
(with Zenkov, Bloch and Marsden).
1999
Global
Asymptotic Stabilization of an Underwater Vehicle Using Internal Rotors
Proc. of
the 38th IEEE Conference on Decision and Control, (with C.A.
Woolsey).
Fin
Failure Compensation
for an Unmanned Underwater Vehicle
Proc. of the 11th Int. Symp. on Unmanned Untethered Submersible
Technology, 1999 (with A. S.-F. Cheng).
Underwater
Vehicle
Stabilization by Internal Rotors
American Control Conference, 1999 (with C.A. Woolsey).
Stabilization
of the Pendulum on a Rotor Arm by the Method of Controlled Lagrangians
Proc. of the IEEE Int. Conf. on Robotics and Automation, 1999
(with A.M. Bloch and J.E. Marsden).
1998
Dynamics
of the
Kirchhoff Equations I: Coincident Centers of Gravity and Buoyancy
Physica D, 1998 (with P. Holmes and J. Jenkins).
Matching
and Stabilization
by the Method of Controlled Lagrangians
Proc. of the 37th IEEE Conference on Decision and Control,
1998
(with A.M. Bloch and J.E. Marsden).
Mechanics
and
Nonlinear Control: Making Underwater Vehicles Ride and Glide
IFAC Nonlinear Control Design Symposium (NOLCOS), 1998.
Motion
Primitives for Stabilization and Control of Underactuated Vehicles
IFAC Nonlinear Control Design Symposium (NOLCOS), 1998 (with
F. Bullo).
Internal
Actuation
for Intelligent Underwater Vehicle Control
Tenth Yale Workshop on Adaptive and Learning Systems, 1998
(with
C.A. Woolsey).
Design and
Analysis
of an Underwater Vehicle for Controlled Gliding
Conference on Information Sciences and Systems, 1998 (with J.
Graver, J. Liu and C.A. Woolsey).
1997
Stability
of a
Bottom-Heavy Underwater Vehicle
Automatica, March 1997.
Stabilization
of
Underwater Vehicle Dynamics with Symmetry-Breaking Potentials
Systems and Control Letters, October 1997.
Stability
and
Drift of Underwater Vehicle Dynamics: Mechanical Systems with Rigid
Motion
Symmetry
Physica D, June 1997 (with J.E. Marsden).
Stabilization
of
Mechanical Systems Using Controlled Lagrangians
Proc. of the 36th IEEE Conference on Decision and Control,
1997
(with A.M. Bloch and J.E. Marsden).
Motion
Control
for Underactuated Mechanical Systems on Lie Groups
Proc. European Control Conference, July 1997 (with F. Bullo).
1996
Stabilization
of
Steady Motions of an Underwater Vehicle
Proc. of the 35th IEEE Conference on Decision and Control,
1996.
Geometric
Methods
for Robust Stabilization of Autonomous Underwater Vehicles
Proc. of the 1996 Symposium on Autonomous Underwater Vehicle
Technology.
1995
Motion
Control
of Drift-Free, Left-Invariant Systems on Lie Groups
IEEE Transactions on Automatic Control, September 1995 (with
P.S. Krishnaprasad).
Control
Synthesis
and Adaptation for an Underactuated Autonomous Underwater Vehicle
IEEE Journal of Oceanic Engineering, July 1995.
Periodic
Forcing,
Dynamics and Control of Underactuated Spacecraft & Underwater
Vehicles
Proc. of the 34th IEEE Conference on Decision and Control,
1995.
Compensating
for
Actuator Failures: Dynamics & Control of Underactuated Underwater
Vehicles
Proc. of the 9th Int. Symp. on Unmanned Untethered Submersible
Technology,
September 1995.
1994
Averaging
and Motion Control of Systems on Lie Groups
PhD Thesis, University of Maryland
Control of
Switched
Electrical Networks Using Averaging on Lie Groups
Proc. of the 33rd IEEE Conference on Decision and Control,
1994
(with P.S. Krishnaprasad).
Motion
Control
of an Autonomous Underwater Vehicle with an Adaptive Feature
Proc. of the 1994 Symposium on AUV Technology (with P.S.
Krishnaprasad).
High-Order
Averaging on Lie Groups and Control of an Autonomous Underwater Vehicle
Proc. of the 1994 American Control Conference, (with P.S.
Krishnaprasad).
1993 and earlier
Averaging
for Attitude
Control and Motion Planning
Proc. of the 34th IEEE Conference on Decision and Control,
1993
(with P.S. Krishnaprasad).
Adaptive
Friction
Compensation for Bi-Directional, Low-Velocity Position Tracking
Proc. of the 33th IEEE Conference on Decision and Control,
1992
(with P.S. Krishnaprasad).
Using
MATLAB to
Analyze and Design Control Systems
Addison-Wesley*Benjamin/Cummings Publishing, 1st edition 1992, 2nd
edition 1995, (with W.S. Levine).