• 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 ...
    • 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 ...
    • 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. ...
    • 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 ...