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

Andrew Spielvogel’s 2020 Robotics and Automation Letters Paper on Adaptive 2-Axis Magnetometer Calibration Appears Online

Andrew Spielvogel’s 2020 Robotics and Automation Letters paper on the topic of adaptive 2-axis magnetometer calibration appears online ahead of print ! A. R. Spielvogel and L. Whitcomb, “A Stable Adaptive Observer for Hard-Iron and Soft-Iron Bias Calibration and Compensation for Two-Axis Magnetometers: Theory and Experimental Evaluation,” in IEEE Robotics and Automation Letters.doi: 10.1109/LRA.2020.2967308 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8962008&isnumber=7339444

Recent DSCL Publications

Andrew Spielvogel published a paper in the International Journal of Robotics Research Andrew. R. Spielvogel and L. L. Whitcomb, Adaptive Bias and Attitude Observer on the Special Orthogonal Group for True-North Gyrocompass Systems: Theory and Preliminary Results, International Journal of Robotics Research. Invited Paper. Published online ahead of print Nov 5, 2019. https://doi.org/10.1177%2F0278364919881689 Giancarlo Troni …

Zachary Harris Defended his PhD Thesis

Zachary Harris presented his thesis research entitled “Model-Based Cooperative Acoustic Navigation and Parameter Identification for Underactuated Underwater Vehicles” on August 16, 2019. His thesis committee included Professor Louis Whitcomb (primary advisor), Assistant Professor Marin Kobilarov, and Senior Scientist Dr. Dana Yoerger of the Woods Hole Oceanographic Institution. Abstract This thesis reports novel theoretical and experimental …