Lars B. Cremean

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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 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)
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)
Successful high-speed autonomous navigation requires integration of tools from robotics, control theory, computer vision, and systems engineering. This thesis presents work that develops and combines these tools in the context of navigating desert terrain. A comparative analysis of reactive, behavior-based, hybrid, and deliberative control architectures(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 a(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 explores the stability analysis problem for nonlinear systems which have general linear feedback interconnections. Systems are often modeled in this manner in the study of decentralized control because many communication topologies can be modeled and analyzed using connections to graph theory. We present necessary conditions for stability of a(More)
38 0272-1708/04/$20.00©2004IEEE IEEE Control Systems Magazine 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(More)
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 providing GPS-like position information and wireless Ethernet for communications. Each(More)