Research

SSCI Projects:

NAVY SBIR (Phase I), "Dynamic Control Surfaces For Extreme Maneuverability of Underwater Vehicles", PI: Nima Moshtagh, ($100K), Starting December 2009
NASA-JPL SBIR (Phase II) "Topology Control Algorithms And Software for Spacecraft Formation Flying Networks Under Connectivity And Time-Delay Constraints", PI: Nima Moshtagh, ($600K), Starting January 2010
NASA-JPL SBIR (Phase I), " Topology Control Algorithms for Spacecraft Formation Flying Networks Under Connectivity and Time-Delay Constraints", PI: Jovan Boskovic, ($100K) Abstract: We showed that a game-theoretic approach provides a unified framework for topology control problems in dynamic mobile and ad hac wireless networks. (ICRA 2010)
NASA-JPL SBIR (Phase II), "Any-time Kalman Filtering: Estimation Under Processing Constraints"PI: Jovan Boskovic, Abstract:We developed an optimal state estimator that was able to select measurements based on their information content and use the out-of-sequence measurements in order to obtain the best state estimate under processing constraints. (CDC 2009)

ONR Mathematical, Computer and Information Sciences Division, "Vision-based distributed coordination of multi-vehicle systems", PI: Ali Jadbabaie, Abstract: We established the first framework for consensus of a formation of robots using only the lines of sight to neighbors. We proved that this is feasible using only bearing and the time to collision, giving thus a justification to biological evidence that many species flock without having any range sensors (RSS 2005, RSS 2008, TRO 2009).
ARO MURI SWARMS: Scalabale sWarms of Autonomous Robots and Mobile Sensors", Penn (lead institution), Other members: Yale, UCSB, MIT, Berkeley. Abstract: We developed motion coordination algorithms for distributed control of a group of nonholonomic rigid bodies in 2 and 3 dimensions. The resulting control laws depend only on the relative positions and orientations (CDC 2005, CDC 2007, CDC 2008, TAC 2007).