uc santa cruz, autonomous systems lab autonomy at the surface robotics in oceanography source:
TRANSCRIPT
![Page 1: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/1.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Autonomy at the surface
Robotics in oceanography
Source: http://www.mbari.org/canon/AOSNdefault.htm
![Page 2: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/2.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Hardware
Hardware Software Theory Applications Future work Research topics
![Page 3: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/3.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Overview
![Page 4: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/4.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Power
6 batteries for 48V rail 1kW solar input Shore charging
![Page 5: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/5.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Actuators
1hp main propeller motor Max speed 4 m/s
Geared stepper on the rudder 200lb of ballast
![Page 6: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/6.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Payload
Fore and aft sensor payload bays ~4ft3 volume Access to air and water
![Page 7: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/7.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Sensors
![Page 8: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/8.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Communications
Xtend radio 1W/64km range 115200baud TX/RX
Source: http://digi.com
![Page 9: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/9.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Software
Hardware Software Theory Applications Future work Research topics
![Page 10: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/10.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Toolchain
Simulink
Custom C
Generated C
Program file
![Page 11: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/11.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Toolchain continued
Rapid code iteration Simulink examples lead directly to code
Minimum coding knowledge requirement
![Page 12: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/12.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Development
From simulation in Simulink
To live code in-the-loop Both with actuators And without
To live code
![Page 13: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/13.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Simulation
PC
![Page 14: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/14.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Indoor HIL
PCController
Board
RudderMotor
GS
PropellerMotor
Optional
![Page 15: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/15.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Outdoor HIL
PCController
Board
GS
![Page 16: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/16.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Live testing
ControllerBoard
GS
![Page 17: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/17.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Onboard Control
GPS position Manual control Waypoint guidance Multiple track runs
![Page 18: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/18.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Control software overview
HIL In
GPS
Sensor Filtering
HIL Out
Stepper Controlle
r
Propeller Controlle
r
State Calculatio
n
Waypoint Guidance
![Page 19: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/19.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Groundstation
Run on a standard laptop
Live display w/ replay
Matlab export Wireless link for
full state display
![Page 20: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/20.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Theory
Hardware Software Theory Applications Future work Research topics
![Page 21: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/21.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Kinematics
4-DOF model Roll Surge Sway Yaw
![Page 22: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/22.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Inverse-bicycle Model
Calculates headingand position deltafrom the Surge and Sway.
L
u
vue
vun
)tan(
)cos()sin(
)sin()cos(
![Page 23: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/23.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Waypoint Control
Manages waypoint tracks Tracks source and destination Termination condition is patrol, loop, or
hold Heading and speed control
Speed control dependent on power Heading main focus
![Page 24: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/24.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
L1 Control
sin21
2
L
Va
cmds
d
![Page 25: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/25.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
L2 Control
Extension of L1
When d > |L2|use Aerosondecontrol law
d
![Page 26: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/26.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
L2+ Control
When d < |L2|
d
![Page 27: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/27.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Applications
Hardware Software Theory Applications Future work Research topics
![Page 28: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/28.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Use-cases
Ideally suited to long-term observation tasks Cheap Small Unmanned Low-maintenance Remotely manageable
![Page 29: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/29.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Oceanography
Source: www.mbari.org
![Page 30: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/30.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Wildlife observation
Source: http://ngm.nationalgeographic.com/wallpaper/img/2008/10/oct08-19-1280.jpg
![Page 31: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/31.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Data collection
Weather monitoring Near-port traffic monitoring Tsunami watch Weather observation Mapping
![Page 32: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/32.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Future work
Hardware Software Theory Applications Future work Research topics
![Page 33: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/33.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Moving forward
Improved kinematics New groundstation Advanced path planning Obstacle avoidance High-level planner Improved sensors
![Page 34: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/34.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Improved kinematics
Based on Fosson 1994 Additional forces
Hydrodynamic (drag, etc.) External Propulsion Control surfaces
urmx
urmz
mur
przrxvrm
N
K
Y
X
r
p
v
u
Imx
Imz
mxmzm
m
G
G
GG
zzG
xxG
GG
)(
00
00
0
000 2
![Page 35: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/35.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
qGroundControl
Source: http://www.qgroundcontrol.org/screenshots
![Page 36: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/36.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Bézier path planning
Source: Reference 4
![Page 37: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/37.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Obstacle avoidance
Source: Reference 3
![Page 38: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/38.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
T-REX high-level planner
Source: Reference 1
![Page 39: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/39.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Improved sensors
Active radar
Wind sensorRadar: Garmin GMR 18 - https://buy.garmin.com/shop/shop.do?cID=151&pID=8050Wind sensor: Maretron WSO100 - http://www.maretron.com/products/wso100.php
![Page 40: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/40.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Research topics
Hardware Software Theory Applications Future work Research topics
![Page 41: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/41.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
Open research topics
Automated oceanography Sensor integration with controller Event detection & response Dynamic sampling
Mixed traffic control Nautical rules Harbor navigation
Multi-vehicle control Aerial/submerged vehicle cooperation
![Page 42: UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB Autonomy at the surface Robotics in oceanography Source:](https://reader030.vdocument.in/reader030/viewer/2022032605/56649e755503460f94b766b9/html5/thumbnails/42.jpg)
UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LABUC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
References
1. K. Rajan, F. Py, C. McGann, J. Ryan, T. O'Reilly, T. Maughan & B. Roman. “Onboard Adaptive Control of AUVs using Automated Planning and Execution”. International Symposium on Unmanned Untethered Submersible Technology (UUST) August 2009. Durham, NH.
2. S. Park, J. Deyst, and J. P. How. “A New Nonlinear Guidance Logic for Trajectory Tracking”. In AIAA Guidance, Navigation, and Control Conference and Exhibit, Providence, RI, August 2004. AIAA-2004-4900.
3. Choi, J., Curry, R., and Elkaim, G., “Obstacle Avoiding Real-Time Trajectory Generation of Omnidirectional Vehicles,” IEEE Conference on Robotics and Automation, ICRA2009, Kobe, Japan, May 12-17, 2009
4. Choi, J., Curry, R., Elkaim, G., “Smooth Path Generation Based on Bezier Curves for Autonomous Vehicles”, World Congress on Engineering and Computer Science, WCECS 2009, San Francisco, CA, Oct. 20-22, 2009.
5. Fossen, T. I. (1994). Guidance and Control of Ocean Vehicles. John Wiley and Sons Ltd. ISBN 0-471-94113-1.
6. M. Niculescu. Lateral Track Control Law for Aerosonde UAV. In 39th AIAA Aerospace Sciences Meeting and Exhibit, Reno, NV, January 2001. A01-16013.