6 accepted papers
The ocean is warming and acidifying, increasing the risk of mass mortality events for temperature-sensitive shellfish such as oysters. This motivates the development of long-term monitoring systems. However, human labor is costly and long-duration underwater work is highly hazardous, thus favoring r…
This paper presents a novel cascade nonlinear observer framework for inertial state estimation. It tackles the problem of intermediate state estimation when external localization is unavailable or in the event of a sensor outage. The proposed observer comprises two nonlinear observers based on a rec
Autonomous navigation in the underwater environment is challenging due to limited visibility, dynamic changes, and the lack of a cost-efficient, accurate localization system. We introduce UIVNAV, a novel end-to-end underwater navigation solution designed to navigate robots over Objects of Interest (…
Safety, security, and rescue missions typically occur in environments where unreliable wireless communication impedes cooperative human and robot missions. A low-VHF band antenna array formed through the coordination of ground robots has the potential to transmit and receive signals more reliably at
In this paper, we study integrated estimation and control of soft robots. A significant challenge in deploying closed loop controllers is reliable proprioception via integrated sensing in soft robots. Despite the considerable advances accomplished in fabrication, modelling, and model-based control o…
Recent developments in low-VHF antenna design and parasitic antenna array research show it is possible to form multi-robot antenna arrays. These arrays have the potential to extend communication range in urban and indoor environments. However, existing control formulations are not general enough to