Lars B. Cremean

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In this paper we introduce the Caltech Multi-Vehicle Wireless Testbed (MVWT), a platform for testing decentralized control methodologies for multiple vehicle coordination and formation stabilization. The testbed consists of eight mobile vehicles, an overhead vision system that provides GPS-like state information and wireless Ethernet for communications.(More)
The Caltech Multi-Vehicle Wireless Testbed (MVWT) is an experimental platform for investigating the increasingly important intersecting frontiers of reliable distributed computation, communication and control. The testbed consists of eight autonomous vehicles equipped with onboard sensing, communication and computation. The vehicles are underactuated and(More)
This paper addresses the position tracking control problem of an underactuated hovercraft vehicle. A nonlinear Lyapunov-based tracking controller is developed and proved to exponentially stabilize the position tracking error to a neighborhood of the origin that can be made arbitrarily small. The desired trajectory does not need to be a specially chosen(More)
This paper describes the implementation and testing of Alice, the California Institute of Technology's entry in the 2005 DARPA Grand Challenge. Alice utilizes a highly networked control system architecture to provide high performance, autonomous driving in unknown environments. Innovations include a vehicle architecture designed for efficient testing in(More)
— This paper applies some previously studied extended Kalman filter techniques for planar road geometry estimation to the domain of autonomous navigation of off-highway vehicles. In this work, a clothoid model of the road geometry is constructed and estimated recursively based on road features extracted from single-axis LADAR range measurements. We present(More)
All Rights Reserved iii Acknowledgements Many thanks go out to the people that have provided guidance and support along the way to me finishing this thesis. First and foremost, I would like to thank my advisor, Richard Murray, for allowing me the latitude to explore a variety of directions in my research, for his support in my intensive participation in(More)
T o address the growing need for a broader approach to teaching control [1], [2], the Control and Dynamical Systems (CDS) Department at the California Institute of Technology (Caltech) has revised its entry-level curriculum in dynamics, feedback, and control with the goals of updating the subject matter to include modern tools and making control tools(More)
— This paper introduces a new computationally inexpensive approach to perception and modeling of the environment that allows fusion of sensory range data of various types and fidelities while explicitly taking into account a complete description of uncertainty of the range measurements. This approach makes use of known sensor uncertainty models to create a(More)
In this paper we demonstrate the integration of real-time cooperative control of a set of dynamic vehicles with a leader election algorithm for wireless ad hoc networks. The algorithm makes use of spatial information and other application specific metrics to elect the best suited vehicle as the leader. Experimental results are provided that demonstrate(More)
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