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Journal Articles

A Distributed Layered Planning and Control Algorithm for Teams of Quadrupedal Robots: An Obstacle-Aware Nonlinear MPC Approach

Accepted Manuscript
Basit Muhammad Imran, Randall T Fawcett, Jeeseop Kim, Alexander Leonessa, Kaveh Akbari Hamed
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control.
Paper No: DS-24-1028
https://doi.org/10.1115/1.4066632
Published Online: September 28, 2024
View Article titled, A Distributed Layered Planning and Control Algorithm for Teams of Quadrupedal Robots: An Obstacle-Aware Nonlinear MPC Approach
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Topics: Control algorithms, Robots, Teams, Collisions (Physics), Control equipment, Engineering simulation, Simulation, Delays, Navigation, Pendulums
Journal Articles

Trajectory Planning and Tracking Using Decoupled CBF-QPs for Safe Navigation of Quadrotors

Sufyan Hafeez Khan, Azad Ghaffari
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2025, 147(2): 021002.
Paper No: DS-24-1030
https://doi.org/10.1115/1.4065647
Published Online: August 29, 2024
View Article titled, Trajectory Planning and Tracking Using Decoupled CBF-QPs for Safe Navigation of Quadrotors
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Topics: Algorithms, Navigation, Quadratic programming, Safety, Trajectories (Physics), Uncertainty
Journal Articles

Efficient and Consistent Two Key-Frame Visual-Inertial Navigation Using Matrix Lie Groups

Ravindu G. Thalagala, Oscar De Silva, George K. I. Mann, Raymond G. Gosine
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2023, 145(1): 011001.
Paper No: DS-21-1348
https://doi.org/10.1115/1.4055771
Published Online: October 22, 2022
View Article titled, Efficient and Consistent Two Key-Frame Visual-Inertial Navigation Using Matrix Lie Groups
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Topics: Algorithms, Errors, Filters, Navigation, Design, Kalman filters
Journal Articles

A Deployment Approach Toward Time-Energy Efficient Robust Performance for Interceptors

Arunava Banerjee, Abdelaziz Salah Saidi, Abdullah A. Algethami, Mashuq un Nabi
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. October 2022, 144(10): 101002.
Paper No: DS-21-1020
https://doi.org/10.1115/1.4055022
Published Online: August 3, 2022
View Article titled, A Deployment Approach Toward Time-Energy Efficient Robust Performance for Interceptors
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Topics: Algorithms, Control equipment, Design, Dynamics (Mechanics), Errors, Missiles, Robust control, Stability, Uncertainty, Sliding mode control
Journal Articles

A Two-Stage Local Positioning Method With Misalignment Calibration for Robotic Structural Monitoring of Buildings

Rong Wang, Zhi Xiong, Yulu Luke Chen, Preetham Manjunatha, Sami F. Masri
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. June 2019, 141(6): 061014.
Paper No: DS-17-1379
https://doi.org/10.1115/1.4042882
Published Online: March 27, 2019
View Article titled, A Two-Stage Local Positioning Method With Misalignment Calibration for Robotic Structural Monitoring of Buildings
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Topics: Calibration, Errors, Robots, Structural health monitoring, Algorithms, Navigation, Simulation, Structures
Journal Articles

A Low-Cost Motion Capture System for Small-Scale Wave Energy Device Tank Testing

Francesco Paparella, Satja Sivcev, Daniel Toal, John V. Ringwood
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2019, 141(3): 031008.
Paper No: DS-18-1064
https://doi.org/10.1115/1.4041608
Published Online: November 8, 2018
View Article titled, A Low-Cost Motion Capture System for Small-Scale Wave Energy Device Tank Testing
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Topics: Accelerometers, Errors, Navigation, Sensors, Testing, Ultrasonic transducers, Ultrasound, Wave energy, Waves, Rotation
Journal Articles

Appearance-Based Localization of Mobile Robots Using Group LASSO Regression

Huan N. Do, Jongeun Choi, Chae Young Lim, Tapabrata Maiti
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2018, 140(9): 091016.
Paper No: DS-17-1297
https://doi.org/10.1115/1.4039286
Published Online: April 30, 2018
View Article titled, Appearance-Based Localization of Mobile Robots Using Group LASSO Regression
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Topics: Filters, Kalman filters, Kinematics, Mobile robots, Particulate matter, Robots, Shrinkage (Materials), Vehicles, Filtration, Trajectories (Physics)
Journal Articles

Interactive Multiple Model Filter for Tracking a Pursuer With Proportional Navigation Guidance Law

Runle Du, Xinguang Zou, Di Zhou, Jiaqi Liu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. August 2018, 140(8): 081003.
Paper No: DS-17-1049
https://doi.org/10.1115/1.4039156
Published Online: March 7, 2018
View Article titled, Interactive Multiple Model Filter for Tracking a Pursuer With Proportional Navigation Guidance Law
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Topics: Filters, Navigation, Filtration, Probability, Design, Simulation, Errors
Journal Articles

Redundant MEMS-Based Inertial Navigation Using Nonlinear Observers

Robert. H. Rogne, Torleiv. H. Bryne, Thor. I. Fossen, Tor. A. Johansen
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2018, 140(7): 071001.
Paper No: DS-17-1023
https://doi.org/10.1115/1.4038647
Published Online: January 9, 2018
View Article titled, Redundant MEMS-Based Inertial Navigation Using Nonlinear Observers
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Topics: Flaw detection, Microelectromechanical systems, Navigation, Parity (Physics), Sensors, Accelerometers, Vessels, Algorithms
Journal Articles

Development of Proportional–Integral–Derivative and Fuzzy Control Strategies for Navigation in Agricultural Environments

Stephanie Bonadies, Neal Smith, Nathan Niewoehner, Andrew S. Lee, Alan M. Lefcourt, S. Andrew Gadsden
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. June 2018, 140(6): 061007.
Paper No: DS-16-1473
https://doi.org/10.1115/1.4038504
Published Online: December 22, 2017
View Article titled, Development of Proportional–Integral–Derivative and Fuzzy Control Strategies for Navigation in Agricultural Environments
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Topics: Control equipment, Errors, Fuzzy logic, Image processing, Navigation, Robots, Fuzzy control, Vehicles, Testing
Journal Articles

Global Positioning System Denied Navigation of Autonomous Parafoil Systems Using Beacon Measurements From a Single Location

Martin R. Cacan, Mark Costello, Edward Scheuermann
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. April 2018, 140(4): 041004.
Paper No: DS-16-1547
https://doi.org/10.1115/1.4037654
Published Online: November 10, 2017
View Article titled, Global Positioning System Denied Navigation of Autonomous Parafoil Systems Using Beacon Measurements From a Single Location
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Topics: Algorithms, Feedback, Flight, Navigation, Simulation, Vehicles, Wind, Testing
Journal Articles

An Efficient Approach of Time-Optimal Trajectory Generation for the Fully Autonomous Navigation of the Quadrotor

Wei Dong, Ye Ding, Jie Huang, Xiangyang Zhu, Han Ding
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. June 2017, 139(6): 061012.
Paper No: DS-16-1245
https://doi.org/10.1115/1.4035453
Published Online: April 13, 2017
View Article titled, An Efficient Approach of Time-Optimal Trajectory Generation for the Fully Autonomous Navigation of the Quadrotor
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Topics: Trajectories (Physics), Navigation, Control equipment, Interpolation
Journal Articles

A Distributed Navigation Strategy for Mobile Sensor Networks With the Probabilistic Wireless Links

Aqeel Madhag, Jongeun Choi
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2017, 139(3): 031004.
Paper No: DS-15-1370
https://doi.org/10.1115/1.4035008
Published Online: January 10, 2017
View Article titled, A Distributed Navigation Strategy for Mobile Sensor Networks With the Probabilistic Wireless Links
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Topics: Disks, Navigation, Sensor networks, Errors, Simulation results, Noise (Sound)
Journal Articles

Decentralized Rendezvous of Nonholonomic Robots With Sensing and Connectivity Constraints

Zhen Kan, Justin R. Klotz, John M. Shea, Emily A. Doucette, Warren E. Dixon
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. February 2017, 139(2): 024501.
Paper No: DS-15-1542
https://doi.org/10.1115/1.4034745
Published Online: November 9, 2016
View Article titled, Decentralized Rendezvous of Nonholonomic Robots With Sensing and Connectivity Constraints
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Topics: Collisions (Physics), Navigation, Robots, Control equipment
Journal Articles

Nonlinear Observer for Tightly Integrated Inertial Navigation Aided by Pseudo-Range Measurements

Tor A. Johansen, Jakob M. Hansen, Thor I. Fossen
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2017, 139(1): 011007.
Paper No: DS-15-1088
https://doi.org/10.1115/1.4034496
Published Online: October 17, 2016
View Article titled, Nonlinear Observer for Tightly Integrated Inertial Navigation Aided by Pseudo-Range Measurements
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Topics: Errors, Navigation, Algebra, Stability, Vehicles, Sensors
Journal Articles

Robot Path Planning in Uncertain Environments: A Language-Measure-Theoretic Approach

Devesh K. Jha, Yue Li, Thomas A. Wettergren, Asok Ray
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. March 2015, 137(3): 034501.
Paper No: DS-14-1028
https://doi.org/10.1115/1.4027876
Published Online: October 21, 2014
View Article titled, Robot Path Planning in Uncertain Environments: A Language-Measure-Theoretic Approach
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Topics: Algorithms, Path planning, Robots, Probability, Simulation, Uncertainty, Navigation
Journal Articles

Collision and Obstacle Avoidance in Unmanned Aerial Systems Using Morphing Potential Field Navigation and Nonlinear Model Predictive Control

Thomas J. Stastny, Gonzalo A. Garcia, Shawn S. Keshmiri
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. January 2015, 137(1): 014503.
Paper No: DS-13-1282
https://doi.org/10.1115/1.4028034
Published Online: August 28, 2014
View Article titled, Collision and Obstacle Avoidance in Unmanned Aerial Systems Using Morphing Potential Field Navigation and Nonlinear Model Predictive Control
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Topics: Aircraft, Algorithms, Cities, Collisions (Physics), Navigation, Predictive control, Simulation, Trajectories (Physics), Vehicles
Journal Articles

On the Observability of Loosely Coupled Global Positioning System/Inertial Navigation System Integrations With Five Degree of Freedom and Four Degree of Freedom Inertial Measurement Units

Jonathan G. Ryan, David M. Bevly
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2014, 136(2): 021023.
Paper No: DS-12-1064
https://doi.org/10.1115/1.4025985
Published Online: January 16, 2014
View Article titled, On the Observability of Loosely Coupled Global Positioning System/Inertial Navigation System Integrations With Five Degree of Freedom and Four Degree of Freedom Inertial Measurement Units
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Topics: Accelerometers, Algorithms, Degrees of freedom, Errors, Filters, Measurement units and standards, Navigation, Sensors, Vehicles, Yaw
Journal Articles

Adaptive Redundant Inertial Measurement Unit/Global Positioning System Integration Filter Structure for Fault Tolerant Navigation

Seong Yun Cho, Hyung Keun Lee, Chan Gook Park
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2014, 136(2): 021009.
Paper No: DS-12-1275
https://doi.org/10.1115/1.4025753
Published Online: December 9, 2013
View Article titled, Adaptive Redundant Inertial Measurement Unit/Global Positioning System Integration Filter Structure for Fault Tolerant Navigation
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Topics: Filters, Sensors, Errors, Navigation
Journal Articles

Flocking of Multi-Agent Systems Using a Unified Optimal Control Approach

Jianan Wang, Ming Xin
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2013, 135(6): 061005.
Paper No: DS-11-1338
https://doi.org/10.1115/1.4024903
Published Online: August 23, 2013
View Article titled, Flocking of Multi-Agent Systems Using a Unified Optimal Control Approach
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Topics: Cohesion, Collisions (Physics), Navigation, Optimal control, Trajectories (Physics), Multi-agent systems