Recent Submissions

  • 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 ...
  • 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 ...
  • 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 ...
  • A Bio-inspired Plume Tracking Algorithm for Mobile Sensing Swarms in Turbulent Flow 

    Chang, Dongsik; Wu, Wencen; Webster, Donald R.; Weissburg, Marc J.; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-05)
    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 ...
  • Controlled Lagrangian Particle Tracking Error Under Biased Flow Prediction 

    Szwaykowska, Klementyna; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013)
    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 ...
  • 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 ...
  • Dissipativity-Based Teleoperation with Time-Varying Communication Delays 

    Varnell, Paul; Zhang, Fumin (Georgia Institute of TechnologyInternational Federation of Automatic Control (IFAC), 2013-09)
    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 ...
  • 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 ...
  • 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 ...
  • 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 ...
  • 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)
  • 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 ...
  • 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 ...
  • 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 ...
  • 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 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 ...

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