We consider the cooperative control of a team of robots to estimate the position of a moving
target using onboard sensing. In this setting, robots are required to estimate their positions …

This paper presents the development of a new set of switched velocity controllers of a swarm
of unmanned ground vehicles (UGVs) from multiple Lyapunov functions, which are invoked …

We study the nonlinear observability of a system's states in view of how well they are
observable and what control inputs would improve the convergence of their estimates. We …

In the submodular cover problem, we are given a monotone submodular function f: 2 N→
ℝ+, and we want to pick the min-cost set S such that f (S)= f (N). This captures the set cover …

This paper essays a new solution to the landmark navigation problem of planar robots in the
presence of randomly fixed obstacles through a new dynamic updating rule involving the …

We describe a trajectory optimization framework that maximizes observability of one or more
user-chosen states in a nonlinear system. Our framework is based on a novel metric for …

Vision-aided inertial navigation (VAIN) system offers a means to enable high-accuracy
autonomous navigation for planetary landing. The VAIN system provides precise state …

In submodular covering problems, we are given a monotone, nonnegative submodular
function f: 2 N→ R+ and wish to find the min-cost set S⊆ N such that f (S)= f (N). When f is a …

To guarantee navigation accuracy, the robotic applications utilize landmarks. This paper
proposes a novel nonlinear switched system for the fundamental motion planning problem …

We consider the robot localization problem with sparse visual feature selection. The
underlying key property is that contributions of trackable features (landmarks) appear …