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Physics-based computer models based on numerical solution of the governing equations generally cannot make rapid predictions, which in turn, limits their applications in the clinic. To address this issue, we developed a physics-informed…

Autonomous Underwater Vehicles (AUVs) play an essential role in modern ocean exploration, and their speed control systems are fundamental to their efficient operation. Like many other robotic systems, AUVs exhibit multivariable nonlinear…

Fish fin rays constitute a sophisticated control system for ray-finned fish, facilitating versatile locomotion within complex fluid environments. Despite extensive research on the kinematics and hydrodynamics of fish locomotion, the…

Future Mars missions will require advanced guidance, navigation, and control algorithms for the powered descent phase to target specific surface locations and achieve pinpoint accuracy (landing error ellipse $<$ 5 m radius). The latter…

This paper presents a learned model to predict the robot-centric velocity of an underwater robot through dynamics-aware proprioception. The method exploits a recurrent neural network using as inputs inertial cues, motor commands, and…

Model-based feedforward control improves tracking performance of motion systems, provided that the model describing the inverse dynamics is of sufficient accuracy. Model sets, such as neural networks (NNs) and physics-guided neural networks…

This paper presents a manifold based Unscented Kalman Filter that applies a novel strategy for inertial, model-aiding and Acoustic Doppler Current Profiler (ADCP) measurement incorporation. The filter is capable of observing and utilizing…

A current-aided inertial navigation framework is proposed for small autonomous underwater vehicles in long-duration operations (> 1 hour), where neither frequent surfacing nor consistent bottom-tracking are available. We instantiate this…

Fast, collision-free motion through unknown environments remains a challenging problem for robotic systems. In these situations, the robot's ability to reason about its future motion is often severely limited by sensor field of view (FOV).…

Recently worldwide interest is growing toward commercial, military or scientific Unmanned Surface Vehicle (USV) and hence there is required to develop their guidance, navigation, and control (GNC) systems. Real USVs are a relatively new…

Porous materials -- natural or engineered -- often exhibit dual pore-network structures that govern processes such as mineral exploration and hydrocarbon recovery from tight shales. Double porosity/permeability (DPP) mathematical models…

Multirotor UAVs are used for a wide spectrum of civilian and public domain applications. Navigation controllers endowed with different attributes and onboard sensor suites enable multirotor autonomous or semi-autonomous, safe flight,…

Visual exploration and smart data collection via autonomous vehicles is an attractive topic in various disciplines. Disturbances like wind significantly influence both the power consumption of the flying robots and the performance of the…

In this article we propose a reactive constrained navigation scheme, with embedded obstacles avoidance for an Unmanned Aerial Vehicle (UAV), for enabling navigation in obstacle-dense environments. The proposed navigation architecture is…

In this work, we present an approach to supervisory reinforcement learning control for unmanned aerial vehicles (UAVs). UAVs are dynamic systems where control decisions in response to disturbances in the environment have to be made in the…

Inverse design problems are common in engineering and materials science. The forward direction, i.e., computing output quantities from design parameters, typically requires running a numerical simulation, such as a FEM, as an intermediate…

Navigation Foundation Models (NFMs) trained on large cross-embodied datasets have demonstrated powerful generalizability in various scenarios. Adopting in-domain fine-tuning for an NFM efficiently calibrates the visuomotor policy, promising…

Aircraft design optimization traditionally relies on computationally expensive simulation techniques such as Finite Element Method (FEM) and Finite Volume Method (FVM), which, while accurate, can significantly slow down the design iteration…

Inertial measurement units (IMUs) are fundamental sensing components in multi-source integrated navigation systems, and their performance directly determines the accuracy and reliability of solutions. However, the precision of low-cost IMUs…

Ensuring safe navigation in complex environments requires accurate real-time traversability assessment and understanding of environmental interactions relative to the robot`s capabilities. Traditional methods, which assume simplified…