Koopman operator theory has served as the basis to extract dynamics for nonlinear system
modeling and control across settings, including non-holonomic mobile robot control. There …

In dynamic flow fields such as winds and ocean currents an agent can navigate by going
with the flow, only using minimal propulsion to nudge itself into beneficial flows. This …

Autonomous underwater gliders frequently execute extensive missions with high levels of
uncertainty due to limitations of sensing, control and oceanic forecasting. Glider path …

Truly collaborative scientific field data collection between human scientists and autonomous
robot systems requires a shared understanding of the search objectives and tradeoffs faced …

Navigation safety is critical for many autonomous systems such as self-driving vehicles in an
urban environment. It requires an explicit consideration of boundary constraints that …

We present a flow-based control strategy that enables resource-constrained marine robots
to patrol gyre-like flow environments on an orbital trajectory with a periodicity in a given …

A predictive guidance obstacle avoidance algorithm (PGOA) in unknown environments is
proposed for autonomous underwater vehicle (AUV) that must adapt to multiple complex …

Discharge of mine tailings significantly impacts the ecological status of the sea. Methods to
efficiently monitor the extent of dispersion is essential to protect sensitive areas. By …

Modular self-assembling systems typically assume that modules are present to assemble.
But in sparsely observed ocean environments modules of an aquatic modular robotic system …

An ensemble-based approach is developed to conduct optimal path planning in unsteady
ocean currents under uncertainty. We focus our attention on two-dimensional steady and …