Eric Schwartz

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This paper outlines the research and testing that went into the mechanical design and implementation of PropaGator 2. The goal of this project was to develop a small-scale, high-speed, fully autonomous surface vehicle (ASV). For the purposes of this paper, small-scale is defined as displacing less than 100 of water, while high-speed is defined as greater(More)
Over-actuated surface vessels, while highly maneuverable, can be challenging to control. This paper describes the process of implementing the controls of a novel propulsion system onto a small, fully autonomous surface vehicle (ASV). Two independent azimuth steered rimless propellers provide propulsion for the vessel. Using a nonlinear control allocation(More)
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