22 citations · 35 across the 13 of their papers we have counts for
13 papers
Finite Time Lyapunov Exponent Analysis of Model Predictive Control and Reinforcement Learning
Kartik Krishna, Steven L. Brunton, Zhuoyuan Song
Finite-time Lyapunov exponents (FTLEs) provide a powerful approach to compute time-varying analogs of invariant manifolds in unsteady fluid flow fields. These manifolds are useful…
A Multi-size Kernel based Adaptive Convolutional Neural Network for Bearing Fault Diagnosis
Guangwei Yu, Gang Li, Xingtong Si +1
Bearing fault identification and analysis is an important research area in the field of machinery fault diagnosis. Aiming at the common faults of rolling bearings, we propose a dat…
Swarm Modelling with Dynamic Mode Decomposition
Emma Hansen, Steven L. Brunton, Zhuoyuan Song
Modelling biological or engineering swarms is challenging due to the inherently high dimension of the system, despite the often low-dimensional emergent dynamics. Most existing swa…
Resilient Time-Varying Formation Tracking for Mobile Robot Networks under Deception Attacks on Positioning
Yen-Chen Liu, Kai-Yuan Liu, Zhuoyuan Song
This paper investigates the resilient control, analysis, recovery, and operation of mobile robot networks in time-varying formation tracking under deception attacks on global posit…
Koopman Operator Theory for Nonlinear Dynamic Modeling using Dynamic Mode Decomposition
Gregory Snyder, Zhuoyuan Song
The Koopman operator is a linear operator that describes the evolution of scalar observables (i.e., measurement functions of the states) in an infinitedimensional Hilbert space. Th…
Path Planning for Optimal Coverage of Areas with Nonuniform Importance
Gregory Snyder, Sachin Shriwastav, Dylan Morrison-Fogel +1
Coverage of an inaccessible or challenging region with potential health and safety hazards, such as in a volcanic region, is difficult yet crucial from scientific and meteorologica…
Dynamic Compressed Sensing of Unsteady Flows with a Mobile Robot
Sachin Shriwastav, Gregory Snyder, Zhuoyuan Song
Large-scale environmental sensing with a finite number of mobile sensors is a challenging task that requires a lot of resources and time. This is especially true when features in t…
Co-design Optimization for Underwater Vehicle Docking Systems
Jonathan Wallen, Maddyson Jeske, Zhuoyuan Song
The design of autonomous underwater vehicles (AUVs) and their docking stations has been a popular research topic for several decades. Although many AUV and dock designs have been p…
Finite-Horizon, Energy-Optimal Trajectories in Unsteady Flows
Kartik Krishna, Zhuoyuan Song, Steven L. Brunton
Intelligent mobile sensors, such as uninhabited aerial or underwater vehicles, are becoming prevalent in environmental sensing and monitoring applications. These active sensing pla…
Heterogeneous Fixed-wing Aerial Vehicles for Resilient Coverage of an Area
Sachin Shriwastav, Zhuoyuan Song
This paper presents a distributed approach to provide persistent coverage of an arbitrarily shaped area using heterogeneous coverage of fixed-wing unmanned aerial vehicles (UAVs),…
Coordinated Coverage and Fault Tolerance using Fixed-Wing Unmanned Aerial Vehicles
Sachin Shriwastav, Zhuoyuan Song
This paper presents an approach for deploying and maintaining a fleet of homogeneous fixed-wing unmanned aerial vehicles (UAVs) for all-time coverage of an area. Two approaches for…
Concurrent Flow-Based Localization and Mapping in Time-Invariant Flow Fields
Zhuoyuan Song, Kamran Mohseni
We present the concept of concurrent flow-based localization and mapping (FLAM) for autonomous field robots navigating within background flows. Different from the classical simulta…
Long-Term Inertial Navigation Aided by Dynamics of Flow Field Features
Zhuoyuan Song, Kamran Mohseni
A current-aided inertial navigation framework is proposed for small autonomous underwater vehicles in long-duration operations (> 1 hour), where neither frequent surfacing nor cons…