Research

Nonlinear Dynamics and Control Lab

Our research focuses on nonlinear systems where sensing and actuation are integrated, stability and robustness in switched systems with delay, and incorporation of operational constraints such as communication delays in control of multi-vehicle systems.  Applications include both traditional autonomous vehicle systems such as fixed-wing aircraft and underwater gliders as well as novel systems such as bio-inspired underwater propulsion, bio-inspired agile flight, human decision making, and neural engineering.  The results of this work have been demonstrated in estimation and path planning in unmanned aerial vehicles with limited sensing, vorticity sensing and sensor placement on fixed wing aircraft, landing maneuvers in fruit flies, joint optimization of control and sensing in dynamical systems, and deconfliction and obstacle avoidance in autonomous systems and in biological systems including fish, insects, birds, and bats.