DSCL research focuses on problems in the navigation, dynamics, and control of linear and nonlinear dynamical systems, observers, nonlinear systems analysis, modeling, and sensing relevant to robots that interact dynamically in extreme environments. We focus on problems motivated by several application areas that share a common underlying mathematical framework including underwater robotics, space telerobotics, and medical robotics.  Lab Director Louis Whitcomb and his students have participated in the development of numerous underwater vehicles for oceanographic science missions including the Nereus hybrid underwater vehicle that dove to the bottom of the Mariana Trench in 2009, and Nereid Under-Ice (NUI) hybrid underwater vehicle that was deployed under Arctic sea ice at 87 degrees North in 2016. Our methodology is to address fundamental theoretical issues with concise mathematical analysis, and to experimentally validate our research results in actual working systems.

Lab News

Short Course in Robot Systems Programming at the Woods hole Oceanographic Institution

Louis Whitcomb is leading a short course in Robot Systems Programming with the Robot Operating System (ROS) at the Woods Hole Oceanographic Institution on Nov 29, 2017 – Dec 1, 2017.  More information is available here.  JHU ME PhD student Andrew Spielvogel is assisting with the course. This course will employ  EduMIP mobile robots as a …

Recent DSCL Student Publications

In September Jonathan Bohren presented at the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017) in Vancouver : Jonathan Bohren and Louis L. Whitcomb, “A Preliminary Study of an Intent-Recognition-based Traded Control Architecture for High Latency Telemanipulation”, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Vancouver. In May Andrew Spielvogel presented at …