Student Work

PhD Dissertation

Master Thesis

Papers 2011

Enric Xargay, Vladimir Dobrokhodov, Isaac Kaminer, Antonio M. Pascoal, Naira Hovakimyan, and Chengyu Cao, “Time-Critical Cooperative Control for Multiple Autonomous Vehicles,” accepted for publication IEEE Control Systems Magazine, 2011

E. Xargay,  I. Kaminer, A. Pascoal,  N. Hovakimyan, V. Dobrokhodov, V. Cichella,  A. Aguiar and R. Ghabcheloo "Time-Critical Cooperative Path Following of Multiple UAVs over Time-Varying Networks,”submitted to AIAA Journal of Guidance, Control and Dynamics

Papers 2010

Papers 2009

Ghabcheloo R., A. Pascoal, P. Aguilar, C. Silvestre, I. Kaminer and J. Hespanha, “Coordinated Path Following in the Presence of Commmunication Losses and Time Delays,” SIAM Journal of Control Optimization, Vol 48, No 1, pp 234-265, 2009.

Horner, D.P., McChesney, N., Kragelund, S., Masek, T., “3D Reconstruction with an AUV Mounted Forward Looking Sonar”, UUST 2009, University of New Hampshire, Durham, NH August 2009. 

D.-J. Lee, K. Y. Kam, I. Kaminer, D. P. Horner, A. Healey, S. P. Kragelund, K. Andersson, K. D. Jones, "Wireless Communication Networks Between Distributed Autonomous Systems Using
Self-Tuning Extremum Control'', in Proceedings of AIAA Unmanned Unlimited Conference, Seattle, Washington, April 6-9 2009.

D.-J. Lee, K. Andersson, I. Kaminer, D. P. Horner, and K. D. Jones, "Hybrid Control of Long Endurance Unmanned Aerial Vehicles for Robust Wireless Sensor Networking", in Proceedings of AIAA Guidance, Navigation, and Control Conference, Chicago, IL, Aug. 10-13 2009.

Papers 2008

Dobrokhodov V.N, Kaminer I.I, Jones K.D., Ghabcheloo R. “Vision-Based Moving Target Tracking Using Mini UAVs,” AIAA Journal of Guidance, Control and Dynamics, July-Aug 2008, pp. 907-917.

Yakimenko, O.A., Horner D.P., and Pratt, D.G., “AUV Rendezvous Trajectories Generation for Underwater Recovery,” Proceedings of the 16th Mediterranean Conference on Control and Automation, Corse, France, June 25-27, 2008. 

Papers 2007

Ghabcheloo R., A. Pascoal, C. Silvestre and I. Kaminer, ''Nonlinear Coordinated Path Following Control of Multiple Wheeled Robots with Bidirectional Communication Constraints,'' International Journal of Adaptive Control and Signal Processing, 21(2-3), pp 133-157, 2007.

Healey, A.J., Horner, D. P., Kragelund, S. P., Wring, B., Monarrez, A., "Collaborative Unmanned Systems for Maritime and Port Security Operations", Invited Presentation, IFAC Conference on Control in Advanced Marine Systems (CAMS), September 20-22nd, Bol, Croatia, 2007

Healey, A. J., Horner, D. P., Kragelund, S. P., Wring, B. D., Monarrez, A., "High Bandwidth Communications for VSWMCM Operations", Office of Naval Research End of Year Report, Sept 30, 2007

Horner, D. P., Kaminer, I. I., Kolsch, M., Kragelund, D.P., Baer, W., Dobrokhodov, V., Jones, K. D., Squire, K. M., Masek, T. D., Monarrez, A., Wring, B. D., " Coordinated Autonomy for Persistent Presence in Harbor and Riverine Environments" Office of Naval Research End of Year Report, Sept 30, 2007

Horner. D.P., Yakikemenko, O. "Recent Developments for an Obstacle Avoidance System for a Small AUV", CAMS 2007 Bol Croatia. 

Papers 2006

Ghabcheloo R., A. Pascoal, C. Silvestre, I. Kaminer, ''Coordinated path following control of multiple wheeled robots using linearization techniques,'' International Journal of Systems Science. Taylor & Francis. Vol. 37, N. 6. May 2006. pp. 399 – 414.

Healey, A. J., Horner, D. P., "Collaborative Vehicles in Future Naval Missions, Obstacle Detection and Avoidance ", Keynote Paper, Proceedings of the IFAC Conference on Modelling and Control of Marine Craft, MCMC, 2006, Lisbon, Portugal, September 20-23, 2006

Healey, A. J., Horner, D. P., "Tactical Decision Aids: High Bandwidth Links Using Autonomous Vehicles ", ONR End of Year Report 2006, September 30, 2006

Healey, A. J., Horner, D. P., "Obstacle Detection and Avoidance Using Blazed Array Forward Look Sonar ", End of Year Report, 2006 ONR, September 30, 2006

Healey, A. J., “Guidance Laws, Obstacle Avoidance , Artificial Potential Functions”, Chapter 3, Advances in Unmanned Marine Vehicles, IEE Control Series 69, Eds. Roberts and Sutton, March, 2006

Kim, H.S., "Asynchronous Unscented Kalman Filter Application for UUV Navigation", Technical Report for the Department of Mechanical and Astronautical Engineering Naval Postgraduate School. 2006.

Papers 2005

Healey, A. J., Horner, D. P., Kragelund, S., "Collaborative Unmanned Vehicles for Maritime Domain Awareness ", Proceedings of the International Workshop on Underwater Robotics, IWUR, 2005, Genoa, Italy, November 9-11, 2005

Healey, A. J., Horner, D. P., Kragelund, S., Wring, B.,"AUVFEST 05 Quick Look Report of NPS Activities", Naval Postgraduate School Center for AUV Research, June 2005

Horner, D. P., Healey, A. J., Kragelund, S.,"AUV Experiments in Obstacle Avoidance"Proceedings of the IEEE Oceans 2005 Conference, September 18-23, 2005

Papers 2004

Healey, A. J., Horner, D. P., "NPS ARIES Forward Look Sonar Integration", Office of Naval Research,Ocean Atmosphere,Space, Annual Reports 2004

"Healey, A. J., Horner, D. P., "Tactical Decision Aids (High Speed Links Using Autonomous Vehicles)",Office of Naval Research,Ocean Atmosphere,Space, Annual Reports 2004

Hespanha J., Yakimenko O., Kaminer I., Pascoal A., “Linear Parametrically Varying Systems with Brief Instabilities: An Application to Integrated Vision / IMU Navigation”, IEEE Transactions on Aerospace and Electronic Systems Technology, July 2004.

Marshall, P.M., Valdez, T, Moellering, R, "Survellance, Target Acquisition Networking, STAN 7, OFDM Networking at Sea" Quick Look Report March, 2004

Marshall, P.M., Valdez, T., "ARIES-TERN Network Connectivity Experiment", Quick Look Report, Naval Postgraduate School, Monterey, CA. June 2004

"2003 Annual Report, Center for AUV Research" NPS Report No NPS-MAE-04-002 March, 2004

Healey, A. J.,"Obstacle Avoidance While Bottom Following for the REMUS Autonomous Underwater Vehicle" Proceedings of the IFAC-IAV 2004 Conference, Lisbon, Portugal, July 5-7, 2004

Horner, D. P., Healey, A. J., "Use of Artificial Potential Fields for UAV Guidance and Optimization of WLAN Communications", Proceedings of the IEEE AUV2004 Conference, Maine, June 2004

Yakimenko O., Dobrokhodov V., Kaminer I., Dellicker, S., “Synthesis of Optimal Control and Flight Testing of Autonomous Circular Parachute,” AIAA Journal of Guidance, Control, and Dynamics, vol.40(1), 2004, pp.29-41.

Papers 2003

Fodrea, Lynn, Healey, A. J.,"Obstacle Avoidance Control for the REMUS Autonomous Underwater Vehicle", Proceedings of the IFAC GCUUV Conference, Swansea, Wales, 2003

Papers 2002

Healey, A. J. ,"Guidance and Control, For Small AUVs Using DGPS and Doppler Aided Inertial Underwater Navigation", Presented at AIAA GNC Conference, Monterey, CA. August, 2002

C. Silvestre, A. Pascoal, and I. Kaminer, "On the Design of Trajectory Tracking Gain-Scheduled Controllers for Autonomous Underwater Vehicles, " International Journal  of Robust and Nonlinear Control, special issue on Gain-Scheduling,  2002, 12:797-839.

Yakimenko, O.A., Kaminer, I.I., Lentz, W.J., and Ghyzel, P.A.“Unmanned Aircraft Navigation for Shipboard Landing using Infrared Vision,” IEEE Transactions on Aerospace and Electronic Systems, October  2002, vol. 38 no. 4, pp. 1181-1200.

Papers 2001

A. J. Healey, A. M. Pascoal, R. Santos , " Shallow Water Hydrothermal Vent Survey In Azores With Cooperating ASV and AUV", Naval Postgraduate School Report, January 2002

Healey, A. J. Marco, D. B., "Command, Control and Navigation: Experimental Results with the NPS ARIES AUV" IEEE Journal of Oceanic Engineering, Special Issue on Autonomous Ocean Sampling Networks, vol.26, n.4, Oct.2001, pp.466-477f

Healey, A. "Application of Formation Control for Multiple Vehicle Robotic Minesweeping" Paper # CDC-INV-3103, Proceedings of the IEEE CDC-2001, Orlando, FL, December 2001

I. I. Kaminer, A. M. Pascoal, W. Kang, O. Yakimenko,`` Integrated Vision/Inertial Navigation Systems Design Using Nonlinear Filtering", January 2001 issue of  IEEE Transactions on Aerospace and Electronics, vol. 37 No.1 pp. 158-172.

Papers 2000

J. S., Riedel " Shallow Water Station-keeping of an Autonomous Underwater Vehicle: The Experimental Results of a Disturbance Compensation Controller Proceedings of IEEE Oceans 2000, Providence, RI, September 2000

Healey, A. J., "Optimal Fault Detection and Resolution During Maneuvering for AUVs", Invited Keynote Presentation at the MCMC Conference, Auberg, Denmark, 2000,

Healey, A. J., Kim,Y., "Control And Random Searching With Multiple Robots", Proceedings IEEE CDC Conference 2000, Sydney Australia, Nov. 2000 paper No INV-2303

Healey, A. J., Marco, D. B., "Current Developments in Underwater Vehicle Control and Navigation: The NPS ARIES AUV". Proceedings of IEEE Oceans 2000, Providence, RI, September 2000

A. M. Pascoal, I. Kaminer, and P. Oliveira, "Design of the Complementary, Time-Varying Filters using Linear Matrix Inequalities,’’ October 2000 issue of IEEE Transactions on Aerospace and Electronics, vol. 36, No. 4, pp. 1099-1114.

Papers 1999

Lalaque, Samuel, " Design of a Power Bus for a New AUV", ", Research Report NPS-ME-99-004, Naval Postgraduate School, Monterey, CA. 93943

Beis, Anthony " A Finite Element Analysis of the NPS Autonomous Underwater Vehicle Intendede to Operate in Deep Waters", Research Report NPS-ME-01-005, Naval Postgraduate School, Monterey, CA. 93943

Dolec, Joel, " A Graphic User Interface (GUI) for Generating NPS AUV Execution Script Files", Research Report NPS-ME-99-005, Naval Postgraduate School, Monterey, CA. 93943

Piton,Gwladys, "Design and Evaluation of a Differential Global Positioning System (DGPS) for the NPS Autonomous Underwater Vehicle", Research Report NPS-ME-99-003, Naval Postgraduate School, Monterey, CA. 93943. DGPS-003 

Bachmann, E.R., Healey, A.J., Knapp, R.G., McGhee, R.B., Roberts, R.L., Whalen, R.H., Yun, X., Zyda, M.J., "Testing and Evaluation of an Integrated GPS/INS System for Small AUV Navigation" IEEE Journal of Oceanic Engineering, Vol. 24, No. 3, July 1999

Healey, A.J., Kim, J., "Multiple Autonomous Vehicle Solutions to Minefield Reconnaissance and Mapping" Proceedings of Australian-American Joint Conference on the Technologies of Mines and Mine Countermeasures, Sydney, Australia, July 12-16, 1999

Alessandri, A., Hawkinson, T., Healey, A.J., Veruggio, G., "Robust Model-Based Fault Diagnosis for Unmanned Underwater Vehicles Using Sliding Mode-Observers" Proceedings of 11th International Symposium on Unmanned Untethered Submersible Technology (UUST'99), August 22-25, 1999

Riedel, J.S., Healey, A.J., Marco, D.B., Beyazay, Bahadir, "Design and Development of Low Cost Variable Buoyancy System for the Soft Grounding of Autonomous Underwater Vehicles" Proceedings of 11th International Symposium on Unmanned Untethered Submersible Technology (UUST'99), August 22-25, 1999

Riedel, J.S., Healey, A.J., "Estimation of Directional Wave Spectra from an Autonomous Underwater Vehicle (AUV)" Proceedings of 11th International Symposium on Unmanned Untethered Submersible Technology (UUST'99), August 22-25, 1999

Healey, A.J., Kim, J., "Modeling and Simulation Methodology for Reconnaissance in VSW Minefields with Multiple Autonomous Vehicles" Proceedings SPIE Conference, Orlando Florida, 1999

E. Hallberg and I. Kaminer, ``On the Development of the Tail-Sizing Criteria for High-Speed Civil Transport,’’ 1999 July-August issue of AIAA Journal of Guidance, Control and Dynamics,, pp. 618-622.

E. Hallberg, I. Kaminer, and A. M. Pascoal, ``Development of the Rapid Flight Testing System for Unmanned Air Vehicles,’’ 1999 February issue of IEEE Control Systems Magazine. pp 55-65.

Papers 1998

Healey, A. J., Kim, J., "AUTO-RECORM - BUGS: Algorithms and Cooperative Behavior for Enhancing UXO Clearance" NPS Research Report, NPS-ME-98-006, Dec. 1998

Healey, A. J., An, E. A., Marco, D. B., " On Line Compensation of Heading Sensor Bias for Low Cost AUV's", Proceedings of the IEEE Workshop on Autonomous Underwater Vehicles, AUV98, IEEE Catalog. Number 98CH36290, ISBN # 0-7803-5190-8, August 20-21, 1998, Cambridge, Mass. pp 35-42

Riedel, J. S., Healey, A. J., "Model Based Predictive Control of AUVs for Station Keeping in a Shallow Water Wave Environment " Proceedings International Advanced Robotics Program IARP 98, University of South Louisiana, February 18, 1998 pp. 77 - 102

Marco, D. B., Healey, A. J., "Surge Motion Parameter Identification for the NPS Phoenix AUV", Proceedings International Advanced Robotics Program IARP 98, University of South Louisiana, February 18, 1998, pp. 197 - 210

Healey, A. J., "Analytical Redundancy and Fuzzy Inference in AUV Fault Detection and Compensation", Proceedings Oceanology 1998, Brighton, March 11-14, 1998 pp.45-50

Yun, McGhee, Healey et. al. "Testing and Evaluation of an Integrated GPS/INS System for Small AUV Navigation ", IEEE Journal of Oceanic Engineering, vol. 24, n. 3, July 1999, pp. 396-404., 1999

Yun, McGhee, Healey et. al. "An integrated GPS/INS Navigation System for Small AUV's Using an Asynchronous Kalman Filter", Proceedings of IEEE AUV 98, Cambridge, Mass. August 20-21, 1998

Marco, D. B., Healey, A. J., " Local Area Navigation Using Sonar Feature Extraction And Model _Based Predictive Control", International Journal of Systems Science, Special Issue: International Advanced Robotics Program, June, Vol.29 No.6, 1998

Brutzman, D, Healey, A. J., Marco, D. B., McGhee, R. B., "The Phoenix Autonomous Underwater Vehicle", AI Based Mobile Robots, Kortenkamp, Bonasso, and Murphy, Eds. MIT/AAAI Press, Cambridge, Mass, 1998

C.Silvestre, A. Pascoal, I. Kaminer, A. J. Healey "Combined Plant / Controller Optimization With Applications To Autonomous Underwater Vehicles (AUVs)", Proceedings IFAC CAMS 98, Fukuoka, Japan, Oct. 1998

C. Silvestre, A. Pascoal, I. Kaminer, A. Healey, "Plant / Controller Optimization with applications to Integrated Surface Sizing and Feedback Controller Design for Autonomous Underwater Vehicles (AUVs)" Proceedings of ACC, 1998

A. J. Healey, E. P. An, D. B. Marco, "On Line Compensation of Heading Sensor Bias for Low Cost AUV Navigation", Proceedings of IEEE AUV'98 ,Cambridge, Mass, August 20-21, 1998

Riedel, J.S., Healey, A.J., "Shallow Water Station Keeping Of AUVS Using Multi-Sensor Fusion For Wave Disturbance Prediction And Compensation"Proceedings of IEEE Oceeans 98, Nice, France, September 28-30, 1998

I. Kaminer, A. M. Pascoal, E. Hallberg, and C. Silvestre, ``Trajectory Tracking for Autonomous Vehicles: An Integrated Approach to Guidance and Control,'' 1998 Jan-Feb issue of AIAA Journal of Guidance, Control and Dynamics, pp. 29-38.

Papers 1997

Healey, A. J., Kim, Y., "Control of Small Robotic Vehicles In Unexploded Ordnance Clearance", IEEE Proceedings, ICRA 97, Alberquerque, New Mexico, 1997

Marco, D. B., Healey, A. J., " Local Area Navigation Using Sonar Feature Extraction And Model _Based Predictive Control", International Journal of Systems Science, Special Issues: International Advanced Robotics Program, 1997

[c]Sur, J., Healey, A. J., "Asynchronous Multi Sensor Fusion for AUV Navigation" Proceedings COSU '97, Singapore, May 12-14, 1997, Vol. 2, pp. 321 - 332

An, P. E., Healey, A. J., Park, J., Smith, S. M., " Asynchronous Data Fusion For AUV Navigation Via Heuristic Fuzzy Filtering Techniques ", Proceedings IEEE, Oceans 97, Halifax, Oct. 1997 IEEE CD-ROM 0-7803-4111-2

Smith, S. M., Healey, A. J., McPhail, S., Russel, R., "Lon Talk as a Standard Protocol For Underwater Sensor Platforms", Proceedings IEEE, Oceans 97, Halifax, Oct. 1997 IEEE CD-ROM 0-7803-4111-2

Chen, X., Marco, D. B., Smith, S. M., An, E. P., Ganesan, K., Healey, A. J.,"6 DOF Nonlinear AUV Simulation Toolbox", Proceedings IEEE, Oceans 97, Halifax, Oct. 1997 IEEE CD-ROM 0-7803-4111-2

[c]Sur, Joono, Healey, A. J., "A Multi Sensor Asynchronous Projection Algorithm Filter(PAF) for AUV Navigation", Proceedings of the 10th Symposium on Unmanned Untethered Submersible Technology, UUST, Durham, New Hampshire, September 7-10, 1997 pp.88 - 100

Riedel, J. S., Healey, A. J., "A Discrete Filter for the Forward Prediction of Sea Wave Effects", Proceedings of the 10th Symposium on Unmanned Untethered Submersible Technology, UUST, Durham, New Hampshire, September 7-10, 1997 pp. 160 - 169

Yun, Bachman, McGHee, Whalen, Roberts, Knapp, Healey, Zyda, "Testing etc." Proceedings of the 10th Symposium on Unmanned Untethered Submersible Technology, UUST, Durham, New Hampshire, September 7-10, 1997 101 - 108

Silvestre, C., Pascoal, A., Healey, A. J., "AUV Control Under Wave Disturbances", Proceedings of the 10th Symposium on Unmanned Untethered Submersible Technology, UUST, Durham, New Hampshire, September 7-10, 1997 pp.228 - 239

I. Kaminer, R. M. Howard, and C. Buttrill, "Development of Closed-Loop Tail-Sizing Criteria for a High Speed Civil Transport'', Journal of Aircraft, Vol. 34, No. 5, September-October 1997.

Papers 1996

Stakes, D., M. Lee, T. Healey, and S. M. Rock, MAPS Robotic Underwater Vehicle--Science Driven Technology--Technology Enabled Science, AAAS Ann. Meeting and Exposition, Baltimore, Proceed. with Abstr., February 1996, p A-160

Healey, A. J., Marco, D. B., McGhee, R.B., Oliveira, P., Pascoal, A. M., Silva, V., Silvestre, C. J., "Implementation of a CORAL/Petri Net Strategic Level on the NPS Phoenix Vehicle", Proceedings of the 6th. International Advanced Robotics Program Workshop on Underwater Robotics, Toulon, France, March 27-29, 1996

Marco, D. B., Healey, A. J., McGhee, R.B., Brutzman, D. P.,"Control Systems Architecture, Navigation, and Communication Research Using the NPS Phoenix Underwater Vehicle" 6th International Advanced Robotics Program Workshop on Underwater Robotics, Toulon, France, March 27-29, 1996

Marco, D. B., Healey, A. J., McGhee, "Autonomous Underwater Vehicles: Hybrid Control of Mission and Motion", Journal of Autonomous Robots 3,169-186 (1996)

Healey, A. J., Marco, R.B., McGhee, R.B., "Autonomous Underwater Vehicle Control Coordination Using a Tri-Level Hybrid Software Architecture", Proceedings of the IEEE Robotics and Automation Conference, Minniapolis, April 1996, pp. 2149 - 2159

Byrnes, R.B., Healey, A.J., McGhee, R.B., Nelson, M.L., and Kwak, S.H., "A Rational Behavior Model Software Architecture for Intelligent Ships: An Approach to Motion and Mission Control", Naval Engineers Journal, American Society of Naval Engineers, March 1996, pp.43-55

Marco, D. B., Healey, A. J., " Local Area Navigation Using Sonar Feature Extraction And Model _Based Predictive Control", Proceedings of the IEEE Symposium on Autonomous Underwater Vehicle Technology, June 3-6, 1996, Monterey, CA. pp. 67-77

Bachmann, E. R., et al., "Evaluation of an Integrated GPS/INS System for Shallow-Water AUV Navigation (SANS)", Proceedings of the IEEE Symposium on Autonomous Underwater Vehicle Technology, Monterey, CA, June, 1996 pp. 268-275

An, P. E., Healey, A. J., Smith, S. M., Dunn, S. E., " New experimenal Results on GPS / INS NAvigation for Ocean Voyager II AUV", Proceedings of the IEEE Symposium on Autonomous Underwater Vehicle Technology, Monterey, CA, June, 1996 pp.249-255

Healey. A. J., Marco, D. B., Olibeira, P. Pascoal, A., Silva, V., Silvestre, C., "Strategic Level Mission Control - An Experiment in CORAL and PROLOG Implementations for Mission Control Specifications",Proceedings of the IEEE Symposium on Autonomous Underwater Vehicle Technology, Monterey, CA, June, 1996 pp.125-134

Healey, A. J. , Marco, D. B., "A Tri-Level Control System for Coordination of Control Modes of AUV's", Proceedings of Noise-Con, 1996, Bellevue, Washington, September 29, 1996. (by invitation)

R. J. Niewhoener and I. Kaminer,``Design of an Autoland Controller for a Carrier Based F-14 Aircraft using  Output Feedback Synthesis'', AIAA Journal of Guidance and Control, vol. 19, no.3, pp. 656-663, May-June 1996.

Fryxell, D.,  Oliveira, P., Pascoal, A., Silvestre, C., and Kaminer, I., ``Navigation, Guidance and Control of AUVs: An Application to the MARIUS Vehicle,'' IFAC Journal of Control Engineering Practice, Vol 4, No 3, pp.401-409, 1996.

R. J. Niewhoener and I. Kaminer, ``On Integrated Aircraft/Controller Design Using Linear Matrix Inequalities'', AIAA Journal of Guidance and Control, vol. 19, no.2, pp. 445-452, March-April 1996.

Papers 1994

Healey, A. J., Marco, D. B., McGhee. R. B., Brutzman, D. P., Cristi, R., Papoulias, F. A., "Tactical / Execution Level Coordination for Hover Control of the NPS AUV II Using Onboard Sonar Servoing", Proceedings of the IEEE 1994 Symposium on Autonomous Underwater Vehicle Technology July 19-20, 1994 Cambridge Mass. pp. 129-138

Healey, A. J., Rock, S. M., Cody, S., Miles, D., Brown, J. P., " Towards an Improved Understanding of Thruster Dynamics for Underwater Vehicles" Proceedings of the IEEE 1994 Symposium on Autonomous Underwater Vehicle Technology July 19-20, 1994 Cambridge Mass. pp. 340-352

Healey, A. J., Pratt, S. M., McGhee, R. B., "BUGS: Basic UXO Gathering System Simulator Development" Naval Postgraduate School Report No. NPS-ME-94-008, December 1994

Healey et al., "Coordination of the Hovering Behaviors of the NPS AUV II using Onboard Sonar Servoing", Proceedings of the 1994 NSF IARP Workshop on Mobile Robots for Subsea Environments, MBARI, Pacific Grove, CA. May 1994

Byrnes, R.B., Healey, A.J., McGhee, R.B., Nelson, M.L., and Kwak, S.H., "A Software Architecture for Intelligent Ships: An Approach to Motion and Mission Control", Proc. Intelligent Ships Symposium, American Society of Naval Engineers, Philadelphia, PA, June 1-2, 1994.

N. Sivashankar, I. Kaminer, and P.P. Khargonekar `` Optimal Controller Design with D-Stability,''  Automatica, vol. 30 pp. 1003-1008, 1994.

Papers 1993

Healey, A. J., Lienard, D., "Multivariable Sliding Mode Control for Autonomous Diving and Steering of Unmanned Underwater Vehicles", IEEE Journal of Oceanic Engineering Vol. 18, No. 3, July 1993 pp. 1-13

Franke, M., Lynch, M., Healey, A. J.,"A 50 Year History of the Dynamic Systems and Control Division" ASME Transactions Journal of Dynamic Systems Measurement and Control, Vol. 5 No.1 March 1993 pp.1-15

Healey, A.J., "Towards an Automatic Health Monitor for Autonomous Underwater Vehicle using Parameter Identification" Proceedings of the American Control Conference, San Francisco, June 2-4 1993

Byrnes, R. B., Nelson, M., McGhee, R. B., Healey, A. J., " The Rational Behavior Model - A Tri Level Multilingual, Software Architecture etc Proceedings of the 8th. UUST Symposium, Durham New Hampshire Oct. 27-28 1993 pp. 222-239

Healey, A. J.," Experimental Verification Of Mission Planning Using The NPS Auv II Autonomous Vehicle " Proceedings of the First International Workshop on Autonomous Underwater Vehicles, University of Porto, Porto Portugal, August 1993

Healey, A. J.," A Trilevel Software Architecture For The Mission Control Of Autonomous Vehicles " Proceedings of the First International Workshop on Autonomous Underwater Vehicles, University of Porto, Porto Portugal, August 1993

Healey, A.J., Mukherjee, R. "Sonar Signal Acquisition and Processing for Identification and Classification of Ship Hull Fouling" Report No. 93-NPS-ME-007 Naval Postgraduate School, Monterey, CA. Sept 30 1993

Gordis, J., Healey, A. J.,"Submarine Machinery Cradle: Structural Dynamic Design And Analysis Techniques" Report No 93-NPS-ME-009 Naval Postgraduate School, Monterey CA. Dec. 31 1993.

I. Kaminer, P.P. Khargonekar, and M. A. Rotea, `` Mixed  Control for Discrete Time Systems via Convex Optimization,'' Automatica, Vol.29, No. 1, pp. 57-70, 1993.

Papers 1992

Healey, A. J., "Model Based Maneuvering Controls for Autonomous Underwater Vehicles". Trans ASME Journal of Dynamic Systems, Measurement and Control Vol. 114, No. 4, Dec. 1992 pp. 614-622

Healey, A.J., Good, M., "The NPS AUV II Autonomous Underwater Vehicle Testbed: Design and Experimental Verification" Naval Engineers Journal, ASNE , May 1992

Papoulias, F. A., Healey, A. J., "Path Control of Surface Ships Using Sliding Modes", Journal of Ship Research, Vol. 36, No. 2, 1992

Healey, A.J., Bahrke, F., Navarrete, J., "Failure Diagnostics for Underwater Vehicles: A Neural Network Approach" Maneuvering and Control of Marine Craft, Computational Mechanics Publications, ISBN No. 1-56252-109-8, 1992. Section 5 pp. 293-306

Healey, A. J., Marco, D. B., "Experimental Verification of Autonomous Underwater Vehicle Behavior Using the NPS AUV II", Maneuvering and Control of Marine Craft, Computational Mechanics Publications, ISBN No. 1-56252-109-8, 1992. Section 4 pp. 217-236

Healey, A.J., Marco, D.B., "Slow Speed Flight Control of Autonomous Underwater Vehicles: Experimental Results with NPS AUV II" Proceedings of the 2nd International Offshore and Polar Engineering Conference, San Francisco, July 14-19 1992

Healey, A.J., Marco, D. B., " Experimental Verification.of Mission Planning by Autonomous Mission Execution and Data Visualization using the NPS AUV II." Proceedings of IEEE Oceanic Engineering Society Symposium on Autonomous Underwater Vehicles, AUV-92 Washington D.C., June 2-3, 1992

Healey, A.J., "A Neural Network Approach to Failure Diagnostics for Underwater Vehicles" Proceedings of IEEE Oceanic Engineering Society Symposium on Autonomous Underwater Vehicles, AUV-92 Washington D.C., June 2-3, 1992

I. Kaminer,`` Preventing  Integrator Windup in a Control System,'' NASA Technical Briefs, LAR-14337, pp. 21-22, April 1992.

Papers 1991

Healey, A. J., Papoulias, F. A. Lienard, D., (1991) "Multivariable Sliding Mode Control for Autonomous Diving and Steering of Unmanned Underwater Vehicles " Modeling and Control of Marine Craft, Elsevier Publications,1991

Healey, A.J., (1991) "Neural Network Based Approach to Failure Diagnostics for Underwater Vehicles" Report No. NPS-ME-91-006, under Contract No. N6133191WR10119, Naval Postgraduate School, Monterey, Calif. September 30 1991

I. Kaminer, P. R. O' Shaughnessy, `` Integration of Four-Dimensional Guidance with Total  Energy Control System,'' AIAA Journal of Guidance and Control, vol. 14, no.3, pp. 564-573, May-June 1991.

Papers 1990

Cristi, R.,Healey, A.J., Papoulias, F.A., "Adaptive Sliding Mode Control of Autonomous Underwater Vehicles in the Dive Plane" IEEE Journal of Oceanic Engineering, July 1990

Healey, A. J., Papoulias, F. A. Lienard, D., "Multivariable Sliding Mode Control for Autonomous Diving and Steering of Unmanned Underwater Vehicles" Proceedings of the International Conference on Modeling and Control of Marine Craft, University of Exeter, April 18-20 ,1990. Also published in Modelling and Control of Marine Craft, Elsevier Pubs. 1991

Healey, A.J., et. al. (1990) "Mission Planning, Execution, and Data Analysis for the NPS AUV II Autonomous Underwater Vehicle" Mobile Robots for Subsea Environments, Proceedings of the 1st NSF IARP Workshop, Monterey Bay Aquarium Research Institute, California, October 23-26, 1990, pp 177-186

Papoulias, F.A., Healey, A.J. "Path Tracking of Surface Ships Using Multivariable Sliding Mode Control" Proceedings of the 9th Ship Control Systems Symposium, Washington D.C.Sept 10-14 1990

Cristi, R., Healey, A.J., Papoulias, F. A., "Dynamic output feedback by Robust Observer and Variable Structure Control" Proceedings of the American Control Conference, San Diego June 1990

I. Kaminer, P. P. Khargonekar, and G. Robel, `` Design of Capture and  Track Modes for a Lateral Autopilot using  Synthesis,'' IEEE Control Systems Magazine,   pp. 13-21, June 1990.

Papers 1989

Papoulias, F.A., Cristi, R., Marco, D., Healey, A.J., " Modeling, Sliding Mode Control Design, and Visual Simulation of AUV Dive Plane Dynamic Response " Proceedings of the 6th Unmanned, Untethered, Submersible Technology, Washington DC., June 12-14 1989

Healey, A. J., Papoulias, F. A., MacDonald, G., " Design and Experimental Verification of a Model Based Compensator for Rapid AUV Depth Control ", Proceedings of the 6th Unmanned, Untethered, Submersible Technology, Washington DC., June 12-14 1989

Cristi,R., Healey A. J. , " Adaptive Identification and Control of an Autonomous Underwater Vehicle " Proceedings of the 6th Unmanned, Untethered, Submersible Technology, Washington DC., June 12-14 1989

CAVR PhD Dissertations

1994

Brutzman, Donald P. A virtual world for an autonomous underwater vehicle

1993

Byrnes, Ronald Benton. The Rational Behavior Model : a multi-paradigm, tri-level software architecture for the control of autonomous vehicles

1996

Marco, David Bryan. Autonomous control of underwater vehicles and local area maneuvering

1999

Riedel, Jeffrey Scott. Seaway learning and motion compensation in shallow waters for small auvs

2003

Marr, William J. Acoustic based tactical control of underwater vehicles

Masters Theses 2010

Burkamshaw, Leon. Towards A Low-Cost Quadrotor Research Platform.

Masters Theses 2009

McChesney, Nevin. Generating 3D Occupancy Grids with Forward Looking Sonars

Masters Theses 2008

Chua, Choon Seong. Generic UAV Modeling to Obtain its Aerodynamic and Control Derivatives

Kandasamy, Jaya Kumar. Stabilization System For Camera Control on an Unmanned Surface Vehicle

Masek, Theodore D. Acoustic Image Models for Navigation with Forward Looking Sonars

Masters Theses 2007

Lim, Han Leong. Network Payload Integration For The Scan Eagle UAV

Masters Theses 2006

Furukawa, Tyler H. Reactive Obstacle Avoidance for the Remus Autonomous Underwater Vehicle Utilizing a Forward Looking Sonar

Vonheeder, Steven R. Analysis and Tuning of a Low Cost Inertial Navigation System in the ARIES AUV

Masters Theses 2005

Gow, Joel. Testing the HG1700 Inertial Measurement Unit For Implementation Into The ARIES Unmanned Underwater Vehicle

Grabelle, Jason. "Follow The Leader": Formation Control of Multiple Autonomous Underwater Vehicles Using Forward Looking Sonar

Hemminger, Daniel L. Vertical Plane Obstacle Avoidance and Control of the Remus Autonomous Underwater Vehocle Using Forward Look Sonar

Van Reet, Alan Robert. Contour Tracking Control for the Remus Autonomous Underwater Vehicle

Masters Theses 2004

Phaneuf, Matthew D. Experiments With The Remus AUV

Masters Theses 2003

Chuhran, Christopher D. Obstacle avoidance control in the vertical plane for the REMUS autonomous underwater vehicle

Hawkins, Darrin L. An XML-based mission command language for autonomous underwater vehicles (AUVs)

Kucik, Daniel P. "Follow the leader" tracking by autonomous underwater vehicles (AUVs) using acoustic communications and ranging

Sarton, Christopher J. Autopilot using differential thrust for ARIES autonomous underwater vehicle

Masters Theses 2002

Ayala, Miguel A. Execution level Java software and hardware for the NPS autonomous underwater vehicle

Fodrea, Lynn. Obstacle avoidance control for the REMUS autonomous underwater vehicle

Gruneisen, Adrien and Henriet, Yann. 3D model of the ARIES autonomous underwater vehicle (AUV), Javadoc for Dynamics, Software, AUV mission-visualization workbench, and AUV dynamics control workbench in MATLAB

Keegan, John J. Trajectory planning for the Aries AUV

Keller, Joseph J. Tracking control of autonomous underwater vehicles

Nguyen, Thanh V. ARIES navigation system accuracy and track following

Williams, Douglas L. Loitering behaviors of autonomous underwater vehicles

Masters Theses 2001

Gooding, Trent R. A framework for evaluating advanced search concepts for multiple Autonomous Underwater Vehicle (AUV) Mine Countermeasures (MCM)

Johnson, Jay H. AUV steering parameter identification for improved control design

Roussille, Frederic. Extensible 3D (X3D) graphics: scene design for autonomous underwater vehicle (AUV) mission visualization

Masters Theses 2000

Alleyne, Jason C. Position estimation from range only measurements

Arslan, Suat. Testing and evaluation of the Small Autonomous Underwater Vehicle Navigation System (SANS)

Dussourd, Xavier. Design of a video recording and tracking system for the NPS Autonomous Underwater Vehicle (AUV)

Gibbons, Andrew S. Optimal fault detection and resolution during maneuvaring for Autonomous Underwater Vehicles

Ludwig, Peter M. Formation control for multi-vehicle robotic minesweeping

Stinespring, Benjamin M. The experimental evaluatation of a DGPS Based Navigational System for the ARIES AUV

Masters Theses 1999

Akyol, Kadir. Hardware integration of the Small Autonomous Underwater Vehicle Navigation System (SANS) using a PC/104 computer

Beyazay, Bahadir. Simulation and modeling of a soft grounding system for an AUV

Diaz, J. Enrique Reyes. Assigning Unmanned Undersea Vehicles (UUVs) to mine detection operations

Doleac, Joel. A Graphic User Interface (GUI) for generating NPS Autonomous Underwater Vehicle (AUV) execution script files

Garibal, Sebastien. Initial Computer-Aided Design Model and Stress Analysis for the ARIES Autonomous Underwater Vehicle (AUV)

Lalaque, Samuel. Design of a power bus for a new Autonomous Underwater Vehicle (AUV)

Piton, Gwladys. Design and evaluation of a Differential Global Positioning System (DGPS) for the NPS Autonomous Underwater Vehicle (AUV)

Masters Theses 1998

Beguery, Laurent and David, Alexandre. LonWorks Technology for a Control Network onboard the Phoenix AUV

Byrne, Kevin Michael. Real-time modeling of cross-body flow for torpedo tube recovery of the Phoenix Autonomous Underwater Vehicle (AUV)

Fitzpatrick, Sean M. Source development for a seismo-acoustic sonar

Hernandez, Glenn C. An integrated INS/GPS navigation system for small AUVs using an asynchronous Kalman filTer

Holliday, Timothy M. Real-time 3D sonar modeling and visualization

Melvin, James E. AUV fault detection using model based observer residuals

Moreau, Jean-Etienne. Surface Forces and Real-Time Hydrodynamic Modeling for the Phoenix AUV

Masters Theses 1997

Çelebio*glu, Hakki. Acoustic motion estimation and control for autonomous underwater vehicles

Hurni, Michael A. Development of an on-line failure mode detection and resolution algorithm for the Phoenix AUV

Knapp, Randall G. Calbration and evaluation of water speed indicator and compass for the small autonomous underwater vehicle navigation filter

LeBas, Phillip J. Maximizing AUV slow speed performance

Roberts, Ricky L. Analysis, experimental evaluation, and software upgrade for attitude estimatin by the Shallow-Water AUV Navigation System (SANS)

Simmons, Anthony L. A discrete, digital filter for forward prediction of seaway elevation response

Starr, Jack A. Multiple autonomous vehicles for minefield reconnaissance and mapping

Thorne, Richard L. Asychronous [i.e. asynchronous] data fusion for AUV navigation using extended Kalman filtering

Young, Forrest C. Phoenix autonomous underwater vehicle (AUV) : networked control of multiple analog and digital devices using LonTalk

Masters Theses 1996

Burian, Erik Alfred. Search methods for an autonomous underwater vehicle using scalar measurements

Burns, Michael L. Merging virtual and real execution level control software for the Phoenix Autonomous Underwater Vehicle

Campbell, Michael Scott. Real-time sonar classification for autonomous underwater vehicles

Davis, Duane T. Precision control and maneuvering of the Phoenix Autonomous Underwater Vehicle for entering a recovery tube

Leonhardt, Bradley J. Misson planning and mission control software for the Phoenix Autonomous Underwater Vehicle (AUV) : implementation and experimental study

Lewis, Todd A. Simulation of small robotic vehicle performance during UXO gathering operations using discrete event control

McClarin, David W. Discrete asynchronous Kalman filtering of navigation data for the Phoenix Autonomous Underwater Vehicle

Middlebrook, Edwin E. A combat simulation analysis of autonomous legged underwater vehicles

Reilly, Kevin D. Experimental evaluation of a low cost acoustic communication system for AUVs

Scrivener, Arthur W. Acoustic underwater navigation of the Phoenix Autonomous Underwater Vehicle using the DiveTracker system

Steven, Ruediger. Simulation-based validation of navigation filter software for a shallow water AUV navigation system (SANS)

Toprak, Ufuk. Assessment of shallow water near surface response of submersible vehicles

Walker, Randy G. Design and evaluation of an integrated, self-contained GPS/INS shallow-water AUV navigation system (SANS)

Zinni, Jerome. Analysis of the DiveTracker acoustical navigation system for the NPS AUV

Masters Theses 1995

Bachmann, Eric R. Design and evaluation of an integrated GPS/INS system for shallow-water AUV Navigation

Bacon, Daniel Keith. Integration of a submarine into NPSNET

Conowitch, Kevin D. Sensor based navigation and localization methods for autonomous underwater vehicles

Gonzalez, Juan Cesar. Design of a hover mode autopilot for the Phoenix autonomous underwater vehicle

Holden, Michael John. Ada implementation of concurrent execution of multiple tasks in the strategic and tactical levels of the rational behavior model for the NPS Phoenix Autonomous Underwater Vehicle (AUV)

Jenkins, David A. "BUGS" Basic Unexploded Ordnance Gathering System : effectivess of small cheap robotics

Reimers, Stephen Paul. Towards Internet Protocol over seawater (IP/SW) : forward error correction (FEC) using Hamming codes for reliable acoustic telemetry

Roque, João P. C. Sensors and control in the underwater intercept and docking problems

Webber, William T. Magnetic inductive sensor applications for robotic ordnance detection and recovery

Masters Theses 1994

Covington, James Harvey. Implementing an open ocean theater in NPSNET

Kayirhan, Alp. Sonar based navigation of an autonomous underwater vehicle

Leader, Daniel Eugene. Kalman filter estimation of underwater vehicle position and attitude using a Doppler velocity aided inertial motion unit

Marr, William J. Using the ST1000/ST725 sonars on the NPS AUV II

Norton, Nancy Ann. Evaluation of hardware and software for a Small Autonomous Underwater Vehicle Navigation System (SANS)

Rodrigues Neto, Jose Augusto. A mine search algorithm for the Naval Postgraduate School Autonomous Underwater Vehicle

Shirasaka, Masahide. Optimizing safe motion for autonomous vehicles

Torsiello, Kevin A. Acoustic positioning of the NPS Autonomous Underwater Vehicle (AUV II) during hover conditions

Masters Theses 1993

Blank, Richard P. A structured programming approach for complex AUV mission control

Brown, James P. Four quadrant dynamic model of the AUV II thruster

Cottle, Dean J. Mine avoidance and localization for underwater vehicles using continuous curvature path generation and non-linear tracking control

Percin, Enis. Sonar localization of an autonomous underwater vehicle

Stevens, Clark D. A software architecture for a small autonomous underwater vehicle navigation system

Masters Theses 1992

Badr, Salah M. Real-time systems

Bahrke, Fredric G. On-line identification of the speed, steering and diving response parameters of an autonomous underwater vehicle from experimental data

Brutzman, Donald P. NPS AUV Integrated Simulation

Cody, Steven E. An experimental study of the response of small tunnel thrusters to triangular and square wave inputs

Compton, Mark A. Minefield search and object recognition for autonomous underwater vehicles

Ingold, Barry W. Key feature identification from image profile segments using a high frequency sonar

Lee, Yuh-jeng. Rule based control for mission execution for an autonomous underwater vehicle

McKeon, James Bernard. Incorporation of GPS/INS small autonomous underwater vehicle navigation

Navarrette, Juan A. Neural network based propulsion system fault diagnostics for the NPS AUV II

Masters Theses 1991

Bonsignore, Joseph. Underwater Multi-Dimensional Path Planning for the Naval Postgraduate School Autonomous Underwater Vehicle II

Caddell, Tymothy Wayne. Three-Dimensional Path Planning for the NPS II AUV

Floyd, Charles Alan. Design and Implementation of a Collision Avoidance System for the NPS Autonomous Underwater Vehicle (AUV II) Utilizing Ultrasonic Sensors

Leatherman, Brent Lee. An Approach to Integration of Real-time Software for an Autonomous Underwater Vehicle

Magrino, Christopher. Three Dimensional Guidance for the NPS Autonomous Underwater Vehicle

Makris, Dionysios. Real-time Scheduling and Synchronization for the NPS Autonomous Underwater Vehicle

Marsilio, Alan M. Use of Hopfield Networks for System Identification and Failure Detection in Autonomous Underwater Vehicles

McLean, Michael B. Dynamic Performance of Small Diameter Tunnel Thrusters

Miller, Christopher A. An Application of Extended Kalman Filtering to a Model-based, Short-range Navigator for an AUV

Richmond, Clay A. On Programming Transputers to Capture Ada Multitasking for the NPS Autonomous Underwater Vehicle

Warner, David C. Design, simulation, and Experimental Verification of a Computer Model and Enhanced Position Estimator for the NPS AUV II

Wilkinson, Wilfrid P. Mission Executor for an Autonomous Underwater Vehicle

Woodford, Thomas James. Propulsion Optimization for ABE, an Autonomous Underwater Vehicle (AUV)

Masters Theses 1990

Chism, Steven R. Robust Path Tracking of Autonomous Underwater Vehicles Using Sliding Modes

Cloutier, Michael John. Guidance and Control System for an Autonomous Underwater Vehicle

Hawkinson, Todd D. Multiple Input Sliding Mode Control for Autonomous Diving and Steering of Underwater Vehicles

Jurewicz, Thomas A. A real time Autonomous Underwater Vehicle Dymanic Sumulator

Lienard, David E. Autopilot Design for Autonomous Underwater Vehicles Based on Sliding Mode Control

Ong, Seow Meng. A Mission Planning Expert System with Three-Dimensional Path Optimization for the NPS Model 2 Autonomous Underwater Vehicle

Riling, William D. A Microcomputer-based Controller for an Autonomous Underwater Vehicle (AUV)

Saunders, Thomas E. Performance of Small Thrusters and Propulsion Systems

Masters Theses 1989

Davis, Michael H. Real time Adaptive Control of an Autonomous Underwater Vehicle (AUV)

Friend, John Robert. Design of a Navigator for a Testbed Autonomous Underwater Vehicle

Good, Michael R. Design and Construction of a Second Generation AUV

MacDonald, Gordon S. Model Based Design and Verification of a Rapid Dive Controller for an Autonomous Underwater Vehicle

Nordman, Douglas B. A Computer Simulation Study of Mission Planning and Control for the NPS Autonomous Underwater Vehicle

Rogers, Ray Charles. A Study of 3-D visualization and Knowledge-Based Mission Planning and Control for the NPS Model 2 Autonomous Underwater Vehicle

Sur, Joo-No. Design and Investigation of a Dive Plane Sliding Mode Compensator for an Autonomous Underwater Vehicle

Masters Theses 1988

Brunner, Glenn M. Experimental Verification of AUV Performance

Delaplane, Stephen W. Preliminary Design and Cycle Verification of a Digital Autopilot for Autonomous Underwater Vehicles

Farren, Maureen A. Some Experiments with Underwater Acoustic Returns from Cylinders Relative to Object Identification for AUV Operation

Hartley, Chet A. A Computer Simulation Study of Station Keeping by an Autonomous Submersible Using Bottom-Tracking Sonar

MacPherson, David L. A Computer Simulation Study of Rule-Based Control of an Autonomous Underwater Vehicle

Reina, Gerard J. AUV Dive Control System Development Including Sensor Bias Compensation and Parameter

Masters Theses 1987

Boncal, Richard J. A Study of Model Based Maneuvering Controls for Autonomous Underwater Vehicles

Sydnor, Katherine Anne. Design Features of Small Brayton Cycles for Autonomous Underwater Vehicles

Thompson, Chris A. A Conceptual Design Study of a Hovering System Controller for an Autonomous Underwater Vehicle