research interests
 
I see research as an expression of the same drive that took explorers into uncharted wilderness a century ago. Eager anticipation, tedium punctuated by excitement, and a great deal of luck are all hallmarks of both research and exploration. Success is determined in large part—and, unfortunately, this is particularly clear in hindsight—by the choice of where to explore. For some, the ragged edge of theory is entirely appropriate. For me, I've found that other fields often contain ideas that can be applied to the vastly different set of problems I'm working to solve. (read more...)
 
My research is primarily on applied control systems with a focus on Autonomous and Embedded Systems. I founded the Autonomous Systems Lab at UC Santa Cruz as the place where applied control systems and navigation work is done.  The work I do includes Guidance, Navigation and Control (GNC), GPS research,  Sensor Fusion, Attitude Estimation, System Identification, and Robust Software Design for Real-Time Reactive Systems.
 
The overarching theme of my research has been to radically reduce cost (and hence increase the ubiquity) of Robotics and Autonomous Systems by adding increased sophistication and processing power (cheap) and reducing the quality and quantity of sensors (expensive).
 
 
sponsored projects
 
  1. •    ARVIN / R3EP -- Autonomous Robotic Vehicle Instrument and Rapidly Reconfigurable Robotics Evaluation Platform. A set of two identical off-road ground mobile robots with modular sub- and super-systems for in-situ evaluation of sensors, actuators, and algorithms. Funded by the National Science Foundation.
  2. •    EXPLORING THE WORLD WITH A RAY OF LIGHT -- Using a laser triangulation device to aide the blind in navigating the world. Funded by the National Science Foundation.
  3. •    METASENSOR TECHNOLOGY -- High performance Guidance, Navigation, and Control (GNC) using low-cost sensors. Combine better estimation algorithms, along with better calibration, and much better processing to make up for using low-cost sensors. Funded by NASA University Affiliated Research Center (UARC).
 
other projects
 
  1. •    OVERBOT -- A DARPA Grand Challenge Vehicle donated to the Jack Baskin School of Engineering for continued research onto Applied Controls for Off-Road Ground Autonomous Vehicles.
  2. •    ATLANTIS PROJECT -- An unmanned wind propelled catamaran that is both self-guiding and self-sailing. Instead of a sail, the Atlantis has a rigid wing with a flying tail that is suspended on bearings allowing to rotate 360 degrees about in azimuth.
  3. •    MAMMARK TAG -- Develop a low-cost and small tag for marine mammal monitoring. The finished tag will be approximately the size of a matchbox and will record data for up to a year on a single charge. The data will enable a full trajectory reconstruction of a diving pinniped.
  4. •    DISTRIBUTED FORMATION CONTOL -- Algorithms to control a flock of autonomous vehicles or robots using Artificial Potential Functions. Formation control is based on a liquid water metaphor, and is computationally very efficient.
  5. •    STRUCTURED LIGHT OBSTACLE DETECTION -- Using a low-cost laser fan and camera to project a straight line of light into the environment. The shape of the line determines the location and shape of obstacles for mobile robots.
ASL Research