James A. Preiss

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We study the nonlinear observability of a system&#x0027;s states in view of <italic>how well</italic> they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware trajectory-optimization framework for nonlinear systems that produces trajectories well suited for(More)
Trajectory generation approaches for mobile robots generally aim to optimize with respect to a cost function such as energy, execution time, or other mission-relevant parameters within the constraints of vehicle dynamics and obstacles in the environment. We propose to add the cost of state observability to the trajectory optimization in order to ensure fast(More)
— We describe a method for formation-change tra-jectory planning for large quadcopter teams in obstacle-rich environments. Our method decomposes the planning problem into two stages: a discrete planner operating on a graph representation of the workspace, and a continuous refinement that converts the non-smooth graph plan into a set of C k-continuous(More)
To fully realize the system potential of wireless local area networks (WLAN), polarization diverse antennas must be employed to minimize fading and optimize performance in dynamic, complex electromagnetic environments. An antenna solution that is integral to a WLAN PCMCIA card has been developed, demonstrated and the results presented here.
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