6 accepted papers
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…
This paper addresses the long-standing open problem of observability of mass and inertia plant parameters in the adaptive identification (AID) of second-order nonlinear models of 6 degree-of-freedom rigid-body dynamical systems subject to externally applied forces and moments. Although stable method…
This paper reports a method and preliminary evaluation of a novel null-space least-squares parameter identification method for a fully nonlinear second -order 6-degree-of-freedom (DOF) dynamic process model of an underactuated underwater vehicle (UV) for which both the model parameters and the contr…