Uncertainty-Aware Trajectory Planning for Multi-Agent Target Tracking
We aim to develop an uncertainty-aware guidance law for a multi-agent system to track multiple targets.
Research
Magnetic Navigation: Long duration intelligent planning and localization in GNSS-Denied environments
Use magnetic field map and magenetometer for localization when GNSS is not available in long-duration navigation scenarios.
Minimal Multi-Modal Sensing for Task Completion in Uncertain Environments
Robots are generally adapted with a rich sensor suite, but using all of them at all times is inefficient and power hungry. Can a minimal subset of required sensors be selected that maintains a maximal localization uncertainty?
The "Bathy-drone" for Underwater Survey, Mapping and Inspection
We aim to create and test a system capable of measuring underwater areas and features in areas highly prone to change, including but not limited to coastal areas, tidal zones, ports, canals or water bodies that have an immediate impact on the hydrologic health of an ecosystem. The “bathydrone” is an unpowered boat equipped with a down-scan and side-scan sonar transducer mounted on the hull, towed by a medium-sized UAV.
Underwater Robot Planning with Imaging Sonar
We aim to develop an autonomous underwater system that can be aware of information and uncertainty.
Modular UUV Design
We aim to design an open-sourced modular UUV that can be easily used for validation and verification.