4 citations · 14 across the 13 of their papers we have counts for
14 papers
An Adaptive Fixed-Time Line-of-Sight Guidance Scheme for 3D Path Following of Underwater Vehicles: Theory and Experiment
Hanzhi Yang, Jalil Chavez-Galaviz, Nina Mahmoudian
Reliable path tracking is crucial for autonomous underwater vehicles (AUVs) operating in dynamic and uncertain marine environments. However, traditional line-of-sight (LOS) guidanc…
Fixed-time control with prescribed performance for path following of underwater gliders
Hanzhi Yang, Nina Mahmoudian
Underwater gliders are increasingly deployed in challenging missions - such as hurricane-season observations and long-endurance environmental monitoring - where strong currents and…
Deployable Vision-driven UAV River Navigation via Human-in-the-loop Preference Alignment
Zihan Wang, Jianwen Li, Li-Fan Wu +1
Rivers are critical corridors for environmental monitoring and disaster response, where Unmanned Aerial Vehicles (UAVs) guided by vision-driven policies can provide fast, low-cost…
Vision-driven River Following of UAV via Safe Reinforcement Learning using Semantic Dynamics Model
Zihan Wang, Nina Mahmoudian
Vision-driven autonomous river following by Unmanned Aerial Vehicles is critical for applications such as rescue, surveillance, and environmental monitoring, particularly in dense…
Vision-driven UAV River Following: Benchmarking with Safe Reinforcement Learning
Zihan Wang, Nina Mahmoudian
In this study, we conduct a comprehensive benchmark of the Safe Reinforcement Learning (Safe RL) algorithms for the task of vision-driven river following of Unmanned Aerial Vehicle…
C3D: Cascade Control with Change Point Detection and Deep Koopman Learning for Autonomous Surface Vehicles
Jianwen Li, Hyunsang Park, Wenjian Hao +10
In this paper, we discuss the development and deployment of a robust autonomous system capable of performing various tasks in the maritime domain under unknown dynamic conditions.…
Effective Underwater Glider Path Planning in Dynamic 3D Environments Using Multi-Point Potential Fields
Hanzhi Yang, Nina Mahmoudian
Underwater gliders (UGs) have emerged as highly effective unmanned vehicles for ocean exploration. However, their operation in dynamic and complex underwater environments necessita…
Gliding in extreme waters: Dynamic Modeling and Nonlinear Control of an Agile Underwater Glider
Hanzhi Yang, Nina Mahmoudian
This paper describes the modeling of a custom-made underwater glider capable of flexible maneuvers in constrained areas and proposes a control system. Due to the lack of external a…
Synergistic Reinforcement and Imitation Learning for Vision-driven Autonomous Flight of UAV Along River
Zihan Wang, Jianwen Li, Nina Mahmoudian
Vision-driven autonomous flight and obstacle avoidance of Unmanned Aerial Vehicles (UAVs) along complex riverine environments for tasks like rescue and surveillance requires a robu…
An Efficient Detection and Control System for Underwater Docking using Machine Learning and Realistic Simulation: A Comprehensive Approach
Jalil Chavez-Galaviz, Jianwen Li, Matthew Bergman +2
Underwater docking is critical to enable the persistent operation of Autonomous Underwater Vehicles (AUVs). For this, the AUV must be capable of detecting and localizing the dockin…
ASV Station Keeping under Wind Disturbances using Neural Network Simulation Error Minimization Model Predictive Control
Jalil Chavez-Galaviz, Jianwen Li, Ajinkya Chaudhary +1
Station keeping is an essential maneuver for Autonomous Surface Vehicles (ASVs), mainly when used in confined spaces, to carry out surveys that require the ASV to keep its position…
Neural Network-PSO-based Velocity Control Algorithm for Landing UAVs on a Boat
Li-Fan Wu, Zihan Wang, Mo Rastgaar +1
Precise landing of Unmanned Aerial Vehicles (UAVs) onto moving platforms like Autonomous Surface Vehicles (ASVs) is both important and challenging, especially in GPS-denied environ…
Enhancing Safety of Students with Mobile Air Filtration during School Reopening from COVID-19
Haoguang Yang, Mythra V. Balakuntala, Abigayle E. Moser +7
The paper discusses how robots enable occupant-safe continuous protection for students when schools reopen. Conventionally, fixed air filters are not used as a key pandemic prevent…
Stereo Vision for Unmanned Aerial VehicleDetection, Tracking, and Motion Control
Maria N. Brunet, Guilherme Aramizo Ribeiro, Nina Mahmoudian +1
An innovative method of detecting Unmanned Aerial Vehicles (UAVs) is presented. The goal of this study is to develop a robust setup for an autonomous multi-rotor hunter UAV, capabl…