Now showing items 13-25 of 25

    • Geometric Formation Control for Autonomous Underwater Vehicles 

      Yang, Huizhen; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-05)
      This paper presents a novel approach based on Jacobi shape theory and geometric reduction for formation control of autonomous underwater vehicles (AUVs). We consider a three degree-of-freedom (DOF) dynamic model for ...
    • Input-to-State Stability for Curve Tracking Control: A Constructive Approach 

      Malisoff, Michael; Mazenc, Frédéric; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011)
      We analyze an important class of feedback controllers for curve tracking problems for robotics. Earlier experimental work suggested the robust performance of the control laws under perturbations. In this note, we use ...
    • Intruder Capturing Game on a Topological Map Assisted by Information Networks 

      Kim, Jonghoek; Maxon, Sean; Egerstedt, Magnus B.; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-12)
      Intruder capturing games on a topological map of a workspace with obstacles are investigated. Assuming that a searcher can access the position of any intruder utilizing information networks, we provide theoretical upper ...
    • A Lower Bound for Controlled Lagrangian Particle Tracking Error 

      Szwaykowska, Klementyna; Zhang, Fumin (Georgia Institute of Technology, 2010-12)
      Autonomous underwater vehicles are flexible mobile platforms for ocean sampling and surveillance missions. However, navigation of these vehicles in unstructured, highly variable ocean environments poses a significant ...
    • A provably complete exploration strategy by constructing Voronoi diagrams 

      Kim, Jonghoek; Zhang, Fumin; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer Verlag, 2010)
      We present novel exploration algorithms and a control law that enables the construction of Voronoi diagrams over unknown areas using a single vehicle equipped with range sensors. The control law uses range measurements ...
    • Robust Control of Horizontal Formation Dynamics for Autonomous Underwater Vehicles 

      Yang, H.; Zhang, Fumin (Georgia Institute of Technology, 2011)
      This paper presents a novel robust controller design for formation control of autonomous underwater vehicles (AUVs). We consider a nonlinear three-degree-of-freedom dynamic model for the horizontal motion of each AUV. By ...
    • Robust Geometric Formation Control of Multiple Autonomous 

      Yang, Huizhen; Wang, Chuanfeng; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-06)
      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 ...
    • Robustness of a Class of Three-Dimensional Curve Tracking Control Laws Under Time Delays and Polygonal State Constraints 

      Malisoff, Michael; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-06)
      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 ...
    • Simultaneous Cooperative Exploration and Networking Based on Voronoi Diagrams 

      Kim, Jonghoek; Zhang, Fumin; Egerstedt, Magnus B. (Georgia Institute of TechnologyInternational Federation of Automatic Control, 2009)
      We develop a strategy that enables multiple intelligent vehicles to cooperatively explore complex territories. Every vehicle deploys communication devices and expands an information network while constructing a topological ...
    • Steady three dimensional gliding motion of an underwater glider 

      Zhang, Shaowei; Yu, Jiancheng; Zhang, Aiqun; Zhang, Fumin (Georgia Institute of Technology, 2011)
      Underwater Gliders have found broad applications in ocean sampling. In this paper, the nonlinear dynamic model of the glider developed by the Shenyang Institute of Automation, Chinese Academy of Sciences, is established. ...
    • A Switching Strategy for Robust Cooperative Exploration 

      Wu, Wencen; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-12)
      This paper develops a switching strategy for networked mobile sensing agents to automatically decide when to perform individual exploration and when to perform cooperative exploration of an unknown scalar field corrupted by ...
    • Task Scheduling for Control Oriented Requirements for Cyber-Physical Systems 

      Zhang, Fumin; Szwaykowska, Klementyna; Wolf, Wayne; Mooney, Vincent (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-12)
      The wide applications of cyber-physical systems (CPS) call for effective design strategies that optimize the performance of both computing units and physical plants. We study the task scheduling problem for a class of ...
    • Trend and Bounds for Error Growth in Controlled Lagrangian Particle Tracking 

      Szwaykowska, Klementyna; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-12-18)
      This paper establishes the method of controlled Lagrangian particle tracking (CLPT) to analyse the offsets between physical positions of marine robots in the ocean and simulated positions of controlled particles in an ...