7 accepted papers
This work investigates the use of multiple Autonomous Surface Vehicles (ASVs) as Communication/Navigation Aids (CNAs) to enhance the navigation and state estimation of an Autonomous Underwater Vehicle (AUV). Our approach builds on recent advancements in low-cost sensors and platforms, which enable n
The task of deploying a large number of autonomous vehicles is challenging, risky and often overlooked in the literature. These vehicles are typically deployed from a single location, and their underactuated nature, close proximity, and susceptibility to external disturbances make it difficult to ac
C-Ray is an amphibious robot that is capable of swimming in water and crawling on land using its undulating fins, enabling operations in a wide range of environments. The robot can be modeled as a hybrid dynamical system whose dynamics and propulsion change when the robot transitions between water a
This paper reports a new hierarchical architecture for modeling autonomous multi-robot systems (MRSs): a nonlinear dynamical opinion process is used to model high-level group choice, and multi-objective behavior optimization is used to model individual decisions. Using previously reported theoretica…
Deploying autonomous systems in safety critical settings necessitates methods to verify their safety properties. This is challenging because real-world systems may be subject to disturbances that affect their performance, but are unknown a priori. This work develops a safety-verification strategy wh…
This letter reports an investigation into the problem of rapid identification of a channel that crosses a body of water using one or more unmanned surface vehicles (USVs). A new algorithm called Proposal Based Adaptive Channel Search (PBACS) is presented as a potential solution that improves upon cu
In this paper we report an experimental evaluation of three popular methods for online system identification of unmanned surface vehicles (USVs) which were implemented as an ensemble: certifiably stable shallow recurrent neural network (RNN), adaptive identification (AID), and recursive least square…