Wasif Naeem

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This paper presents a new methodology for solving the multivehicle formation control problem. It employs a unique extension-decomposition-aggregation scheme to transform the overall complex formation control problem into a group of subproblems, which work via boundary interactions or disturbances. Thus, it is proved that the overall formation system is(More)
Over recent years, a number of marine autopilots designed using linear techniques have underperformed owing to their inability to cope with nonlinear vessel dynamics. To this end, a new design framework for the development of nonlinear autopilots is proposed. Local Control Networks (LCNs) can be used in the design of nonlinear control systems. In this(More)
This paper presents a methodology to solve formation flight problem for unmanned aerial vehicles (UAVs). It employs a unique “extension-decomposition-aggregation” scheme to transform the overall complex formation control problem to a group of sub-problems. The decentralised formation longitudinal and lateral autopilots are designed to support(More)
This paper presents an initial study of the autopilot development of an unmanned surface vehicle (USV). The USV named Springer is being developed to carry out pollutant tracking, and environmental and hydrographic surveys in rivers, reservoirs, inland waterways and coastal waters, particularly where shallow waters prevail. The catamaran shaped autonomous(More)
This paper proposes a new methodology for solving the unmanned multi-vehicle formation control problem. It employs a unique &#x201C;extension-decomposition-aggregation&#x201D; scheme to transform the overall complex formation control problem to a group of sub-problems which work via boundary interactions. The H<sub>&#x221E;</sub> robust control strategy is(More)
A new formation control methodology modelled by a virtual tendon-driven system using the tensegrity structures is presented. The objective of the work is to regulate the formation of unmanned vehicles within the communications bandwidth and perform point-to-point manoeuvring tasks. The reaction control forces that are experienced by vehicles in the(More)
This paper presents a novel technique for mapping and exploration using cooperating autonomous underwater vehicles. Rather than using the typical lawnmower sweep pattern to search an entire area, the proposed navigational plan involves guiding the formation directly towards each object of interest in turn, before arriving at a final goal position. This is(More)
This paper presents an Invariant Information Local Sub-map Filter (IILSF) as a technique for consistent Simultaneous Localisation and Mapping (SLAM) in a large environment. It harnesses the benefits of sub-map technique to improve the consistency and efficiency of Extended Kalman Filter (EKF) based SLAM. The IILSF makes use of invariant information obtained(More)