5 accepted papers
This letter presents the design of a control strategy for an autonomous buoyancy-driven underwater vehicle, called the Driftcam, tasked with estimating and tracking the pelagic acoustic-scattering layer at depths of up to 700 meters. This reference-tracking control design is an alternative to the on
This paper presents an estimation and control framework to stabilize the parallel motion of a school of robotic fish using sensory feedback. Each robot is modeled as a constant speed, planar, self-propelled particle that produces a flowfield according to a dipole potential flow model. An artificial…
Command and control of an aerial swarm is a complex task. This task increases in difficulty when the flight volume is restricted and the swarm and operator inhabit the same workspace. This work presents a novel method for interacting with and controlling a swarm of quadrotors in a confined space. EM…
A cooperative mapping and target-search algorithm is presented for detecting a single moving ground target in an urban environment that is initially unknown to a team of autonomous quadrotors equipped with noisy, range-limited sensors. The target moves according to a biased random-walk model, and se
Movement in echinoderms is facilitated by the coordinated activity of thousands of individually addressable and reversibly adhesive tube feet. To investigate the potential applicability of these unique biological actuators as a locomotory structure for robotics applications, we describe here the des