In this paper we model the controlled Lagrangian particle tracking (CLPT) error for marine vehicles moving in an ocean flow field, with guidance from ocean models. We linearize the error about the nominal modeled ...

We develop a plume tracking algorithm for a swarm of mobile sensing agents in turbulent flow. Inspired by blue crabs, we propose a stochastic model for plume spikes based on the Poisson counting process, which captures the ...

This paper develops a robust controller for autonomous underwater vehicles with bounded time delays, so that the AUVs form and keep a desired formation shape and track a desired trajectory. We use a six-degree-of-free ...

We analyze the robustness of a class of controllers that enable three-dimensional curve tracking of free moving particles. By building a strict Lyapunov function and robustly forwardly invariant sets, we show input-to-state ...

We analyze the effects of communication delays in teleoperation systems using dissipativity theory along with explicit models of the operator and robot. We utilize a simple model of the operator's behavior that describes ...