Now showing items 1-20 of 25

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