Now showing items 1-20 of 25

    • Control of coordinated patterns for ocean sampling 

      Zhang, Fumin; Fratantoni, David M.; Paley, Derek A.; Lund, John M.; Leonard, Naomi Ehrich (Georgia Institute of TechnologyTaylor & Francis, 2007)
      A class of underwater vehicles are modelled as Newtonian particles for navigation and control. We show a general method that controls cooperative Newtonian particles to generate patterns on closed smooth curves. These ...
    • 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 ...
    • Curve Tracking Control for Autonomous Vehicles with Rigidly Mounted Range Sensors 

      Kim, Jonghoek; Zhang, Fumin; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer Verlag, 2009)
      In this paper, we present feedback control laws for an autonomous vehicle with rigidly mounted range sensors to track a desired curve. In particular, we consider a vehicle that has a group of rays around two center ...
    • 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 ...
    • Curvature Based Cooperative Exploration of Three Dimensional Scalar Fields 

      Wu, Wencen; Zhang, Fumin (Georgia Institute of TechnologyAmerican Automatic Control Council, 2010)
      We develop strategies for controlled motion and filtering performed by a mobile sensor network to cooperatively explore an unknown 3D scalar field. In order to estimate the principal directions and principal curvatures ...
    • 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 ...
    • Coordinated control of an underwater glider fleet in an adaptive ocean sampling field experiment in Monterey Bay 

      Leonard, Naomi E.; Paley, David A.; Davis, Russ E.; Fratantoni, David M.; Lekien, Francois; Zhang, Fumin (Georgia Institute of TechnologyJohn Wiley & Sons, 2010)
      A full-scale adaptive ocean sampling network was deployed throughout the month-long 2006 Adaptive Sampling and Prediction (ASAP) field experiment in Monterey Bay, California. One of the central goals of the field experiment ...
    • 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 ...
    • 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 ...
    • 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 ...
    • Experimental Validation of Source Seeking with a Switching Strategy 

      Wu, Wencen; Zhang, Fumin (Georgia Institute of Technology, 2011)
      We design a switching strategy for a group of robots to search for a local minimum of an unknown noisy scalar field. Starting with individual exploration, the robots switch to cooperative exploration only when they are ...
    • 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. ...
    • 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 ...
    • 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 ...
    • Cooperative Exploration of Level Surfaces of Three Dimensional Scalar Fields 

      Wu, W.; Zhang, Fumin (Georgia Institute of Technology, 2011)
    • Diagnosis and Prognosis of Scrubber Faults for Underwater Rebreathers based on Stochastic Event Models 

      Chang, Dongsik; Zhang, Fumin; West, Michael (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-06)
      Imperfect CO₂ removal mechanisms of CO₂ scrubbers often lead to the existence of CO₂ in gas inhaled by a diver from underwater rebreathers. This may cause CO₂ related rebreather faults and subsequently would increase ...
    • 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 ...
    • Bio-inspired Source Seeking with no Explicit Gradient Estimation 

      Wu, Wencen; Couzin, Iain D.; Zhang, Fumin (Georgia Institute of TechnologyInternational Federation of Automatic Control (IFAC), 2012-09)
      Inspired by behaviors of fish groups seeking darker (shaded) regions in environments with complex lighting variations, we develop distributed source-seeking algorithms for a group of sensing agents with no explicit gradient ...
    • An Analytical Model of the CAN Bus for Online Schedulability Test 

      Shi, Zhenwu; Zhang, Fumin (Georgia Institute of Technology, 2012-12-04)
      Controller area network (CAN) is a prioritybased bus that supports real-time communication. Existing schedulability analysis for the CAN bus is peformed at the design stage, by assuming that all message information ...
    • 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 ...