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Recent Publications

Note: Links to papers are being added slowly. More to come.

Spinello, D., Stilwell, D. J., Nonlinear estimation with state-dependent Gaussian observation noise, in IEEE Transaction on Automatic Control, (in press, preprint PDF) .

Petrich, J., Stilwell, D. J., Robust Control for an Autonomous Underwater Vehicle that suppresses Pitch and Yaw Coupling, in Journal of Ocean Engineering (submitted).

Roberson, D. G., Stilwell, D. J., 2009, L2 Gain of Periodic Linear Switched Systems: Fast Switching Behavior, in IEEE Transaction on Automatic Control, 54(7):1632-1637. (PDF)

Petrich, J., Woolsey, C. A., Stilwell, D. J., 2009, Planar flow model identification for improved navigation of small AUVs, Journal of Ocean Engineering, 36(1):119-131.

Porfiri, M., Roberson, D. G., Stilwell, D. J., 2008, Fast switching analysis of linear switched systems using exponential splitting, in SIAM Journal of Control and Optimization, 47(5): 2582–2597. (PDF)

Porfiri, M., Stilwell, D. J., Bolt, E. M., 2008, Synchronization in random weighted directed networks, in IEEE Transactions on Circuits and Systems I, 55(10):3170 – 3177. (PDF)

Spinello, D., Stilwell, D. J., 2008, Cooperative Target Localization with Full-State Observers, in Proceeds of the Symposium on Mathematical Theory of Networks and Systems, Blacksburg, VA.

Gadre, A. S., Maczka, D. K., Spinello, D., McCarter, B. R., Stilwell, D. J., Neu, W. L., Roan, M. J., Hennage, J. H., 2008, Cooperative localization of an acoustic source using towed hydrophone arrays, in Proc. IEEE Workshop on Autonomous Underwater Vehicles, Woods Hole, MA.

Porfiri, M., Stilwell, D. J., 2007, Consensus Seeking over Random Weighted Directed Graphs, in IEEE Transactions on Automatic Control, 52(9):1767 - 1773.(PDF)

Maczka, D. K., Stilwell, D. J., 2007, Experiments in distributed navigation for AUV platoons, in Proceedings of the IEEE/MTS OCEANS, Alberta BC, Canada.

Petrich, J., Stilwell, D. J., 2007, Identification of a simplified AUV pitch-axis model for control design: Theory and experiments,” in Proceedings of the IEEE/MTS OCEANS, Alberta BC, Canada.

Porfiri, M., Bollt, E. M., Stilwell, D. J., 2007, Decline of minorities in stubborn societies, in European Physical Journal B, 57:481–486.

Porfiri, M., Roberson, D. G., Stilwell, D. J., 2007, Tracking and Formation Control of Multiple Autonomous Agents: A Two-Level Consensus Approach, in Automatica, 43: 1318 – 1328.

Porfiri, M., Stilwell, D. J., Bollt, E. M., Skufca, J. D. “Random Talk: Random Walk and Synchronizability in a Moving Neighborhood Network,” in Physica D, 224: 102–113.

Xu, B., Stilwell, D. J., Gadre, A. S., Kurdila, A., 2007, Analysis of local observability for feature localization in a maritime environment using an omnidirectional camera, Proceedings IEEE Intelligent Robots and Systems, San Diego, CA.

X. Gong, A. Subramanian, C. L. Wyatt, D. J. Stilwell, "Performance Analysis and Validation of a Paracatadioptric Omnistereo System," The Seventh Workshop on Omnidirectional Vision, Camera Networks and Non-classical Cameras, October 2007, Rio de Janeiro, Brazil.

Stilwell, D. J., Bollt, E. M., Roberson, D. G., "Sufficient Conditions for Fast Switching Synchronization in Time-Varying Network Topologies," in SIAM J. Applied Dynamical Systems, vol. 6, no. 1, pp. 140-156, 2006.

Porfiri, M., Roberson, D. G., Stilwell, D. J., 2006, "Environmental Tracking and Formation Control of a Platoon of Autonomous Vehicles Subject to Limited Communication," Proceedings of the IEEE Int'l. Conf. on Robotics and Automation, Orlando, FL.

Kurdila, A., Stilwell, D. J., Wyatt, C. L., Maczka, D., Subramanian, A., Hielsberg, M., Sharpley, R., 2006, “Sensor Fusion and Coastal Geometry Estimation from Autonomous Surface Naval Vehicles,” Proceedings AUVSI Unmanned Systems North America, Orlando , FL.

Pofiri, M., Stilwell, D. J., 2006, Consensus Seeking over Random Digraphs, Proceedings AIAA Guidance, Navigation, and Control Conference, Keystone, CO.

Arafat, H. Stilwell, D. J, Neu, W. L., 2006, Dynamic Model Development of a Small High-Speed Autonomous Underwater Vehicle, Proceedings IEEE/MTS OCEANS, Boston , MA .

Subramanian, S., Gong, X., Riggins, J. N., Stilwell, D. J., Wyatt, C. L., 2006, Shoreline Mapping using an Omni-directional Camera for Autonomous Surface Vehicle Applications, Proceedings IEEE/MTS OCEANS, Boston, MA.

Cannell, C. J., Stilwell, D. J., 2006, Boundary Tracking and Rapid Mapping of A Thermal Plume Using an Autonomous Vehicle, Proceedings IEEE/MTS OCEANS, Boston , MA .

Subramanian, A., Gong, X., Wyatt, C. L., Stilwell, D. J., 2006, "Shoreline Detection in Images for Autonomous Boat Navigation," Proceedings Asilomar Conference on Signals, Systems, and Computers, Pacific Grove, CA.

Roberson, D. G., Porfiri, M., Stilwell, D. J., "Application of Exponential Splitting Methods to Fast Switching Theory," Proceedings of the American Control Conference, Minneapolis, MN, 2006.

Stilwell, D. J., Roberson, D. G., Bollt, E. M., "Synchronization of Time-Varying Networks Under Fast Switching," Proceedings of the American Control Conference, Minneapolis, MN, 2006.

Roberson, D. G., Stilwell, D. J., "Decentralized Control and Estimation for a Platoon of Autonomous Vehicles with a Circulant Communication Network," Proceedings of the American Control Conference, Minneapolis, MN, 2006.

Gadre, A. S. , Stilwell, D. J. "A Complete Solution to Underwater Navigation In the Presence of Unknown Currents Based On Range Measurements From a Single Location," Proceedings of the IEEE/RSJ International Conference on Intelligent Robotics and Systems, Edmonton AB, Canada, 2005.

Petrich, J., Woolsey, C. A., Stilwell, D. J., "Identification of a Low-Complexity Flow Field Model for AUV Applications," Proceedings MTS/IEEE OCEANS, Washington, DC, 2005.

Cannell, C. J., Stilwell, D. J., "A Comparison of Two Approaches for Adaptive Sampling of Environmental Processes Using Autonomous Underwater Vehicles," Proceedings MTS/IEEE OCEANS, Washington, DC, 2005.

Gadre, A. S. , Stilwell, D. J., Davis, B., "An Information-Theoretic Approach to Underwater Magnetic Dipole Localization," Proceedings MTS/IEEE OCEANS, Washington, DC, 2005.

Nickell, C. L., Woolsey, C. A., Stilwell, D. J., "A Low-Speed Control Module for a Streamlined AUV," Proceedings MTS/IEEE OCEANS, Washington, DC, 2005.

Gadre, A. S., Stilwell, D. J., “Underwater Navigation in the Presence of Unknown Currents Based on Range Measurements from a Single Source,” Proceedings of the American Control Conference, Portland, OR, pp. 656 - 661, 2005.

Roberson, D. G, Stilwell, D J. , “Control of an Autonomous Underwater Vehicle Platoon with a Switched Communication Network,” Proceedings of the American Control Conference, Portland, OR, pp. 4333 - 4338, 2005.

Stilwell, D. J., Bishop, B. E, Sylvester, C. A.,“Redundant Manipulator Techniques for Partially Decentralized Path Planning and Control of a Platoon of Autonomous Vehicles,” IEEE Transactions on Systems, Man, and Cybernetics - Part B, vol. 35, No. 4, pp. 842 – 848, 2005.

Cannell, C. J., Stilwell., D. J., Austin, J. A., “A simulation tool to support the development of adaptive sampling algorithms for multiple autonomous underwater vehicles,” Proc. of the IEEE Workshop on Autonomous Underwater Vehicles, Sebasco Estates, ME, 2004.

Stilwell, D. J., Gadre, A. S., Sylvester, C. A., Cannell, C. J., “Design elements of a small low-cost autonomous underwater vehicle for field experiments in multi-vehicle coordination,” Proc. of the IEEE Workshop on Autonomous Underwater Vehicles, Sebasco Estates, ME, 2004.

Gadre, A. S., Stilwell, D. J., , “Toward Underwater Navigation Based on Range Measurements From a Single Location,” Proc. IEEE International Conference on Robotics and Automation, New Orleans, LA, 2004, pp. 4472 - 4477.

Gadre, A. S., Mach, J. J., Stilwell, D. J., Wick, C. E., “Design of a Prototype Miniature Autonomous Underwater Vehicle,” Proceedings of the IEEE/RSJ Intelligent Robotics and Systems, Las Vegas, NV, 2003, pp. 842 - 846.

Stilwell, D. J., Rugh, W. J., “Stability and L2 Gain Properties of LPV Systems,” Automatica, Vol. 38, pp. 1601-1606, 2002.

Wick, C. E., Stilwell, D. J., “USNA-1: A Miniature, Low-Cost, Autonomous Underwater Vehicle,” Sea Technology, Vol. 43, No. 6, pp. 17-25, 2002 (invited).

Stilwell, D. J., Lawrence, D. A., “On Sampled-Data Implementation of Continuous-Time Gain Scheduled Controllers”, (invited) Special issue on gain scheduled control in the International Journal of Robust and Nonlinear Control, Guest editor, J. S. Shamma, Vol. 12, pp. 855-868, 2002.

Stilwell, D. J., Bishop, B. E., “Decentralized Control and Path Planning for Platoons of Autonomous Vehicles,” Proceedings of the IEEE International Conference on Decision and Control, Las Vegas, NV, pp. 10-13, 2002 (invited).

Stilwell, D. J., “Decentralized Control Synthesis for a Platoon of Autonomous Vehicles,” Proceedings of the IEEE International Conference on Robotics and Automation, Washington, D. C., pp. 744—749, 2002.

Stilwell, D. J., “State-Space Interpolation for a Gain Scheduled Autopilot,” AIAA Journal of Guidance, Control, and Dynamics, Vol. 24, No. 3, 2001.

Stilwell, D. J., Bishop, B., E., “Platoons of underwater vehicles: Communication feedback, and decentralized control,” Special issue on autonomous unmanned vehicles in the IEEE Control Systems Magazine, organizer, D. A. Schoenwald, Vol. 20, No. 6, pp. 45-52, 2001 (invited).

Bishop, B. E., Stilwell, D. J., “On the Application of Redundant Manipulator Techniques to the Control of a Platoon of Autonomous Vehicles,” Proceedings of the IEEE Conference on Control Applications, Mexico City, Mexico, pp. 823-828, 2001.

Stilwell, D. J., Wick, C. E., Bishop, B. E., “Small Inertial Sensors for a Miniature Autonomous Underwater Vehicle,” Proceedings of the IEEE Conference on Control Applications, Mexico City, Mexico, pp. 841-846, 2001.

Wick, C. E., Stilwell, D. J., “Design, Guidance, and Control of a Miniature Autonomous Underwater Vehicle,” Proceedings of IEEE/MTS Oceans, Honolulu, HI, pp. 423 -428, 2001

Stilwell, D. J., Campbell, D. J., “Experiments in Calibration and Alignment of Inertial Sensors for UUV Applications,” Proceedings of the of the Unmanned Untethered Submersible Technology Symposium, Durham, NH, 2001.

Stilwell, D. J., Rugh, W. J., “Stability Preserving Interpolation Methods for the Synthesis of Gain Scheduled Controllers,” Automatica, Vol. 36, No. 5, pp. 665-671, 2000.

Stilwell, D. J., Bishop, B. E., “A Strategy for Controlling Autonomous Robot Platoons,” Proceedings of the IEEE Conference on Decision and Control, pp. 3483-3488, Sydney, Australia, 2000.

Stilwell, D. J., “On the Use of Slow-variation Arguments in Gain Scheduled Control,” Proceedings of the Conference on Information Systems and Sciences, Princeton, NJ, 2000.

Stilwell, D. J., Bishop, B. E., “A Framework for Decentralized Control of Autonomous Vehicles,” Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA, April 2000.

Stilwell, D. J., Rugh, W. J., “Interpolation of Observer State Feedback Controllers for Gain Scheduling,” IEEE Transactions on Automatic Control, Vol. 44, No. 6, pp. 1225-1229, June 1999.

Stilwell, D. J., “J-Q Interpolation for Gain Scheduled Controllers,” Proceedings of the IEEE Conference on Decision and Control, Phoenix, AZ, 1999.

Stilwell, D. J., Rugh, W., J., “Stability and L2 Gain Properties of LPV Systems,” Proceedings of the 1999 American Control Conference, San Diego, CA, pp. 2262-2266, June, 1999.

Stilwell, D. J., Lawrence, D. A., “Sampled-data Implementation of a Gain Scheduled Controller,” (invited) Proceedings of the Conference on Information and Systems Sciences, Baltimore, MD, 1999.

Stilwell, D. J., Rugh, W. J., “Interpolation Methods for Gain Scheduling,” Proceedings of the IEEE Conference on Decision and Control, Tampa, FL, pp. 3003-3008, 1998.

Stilwell, D. J., Rugh, W. J., “Gain Scheduling with H-infinity Controllers,” Proc. of the Conference on Information and System Sciences, Princeton, NJ, 1998.

Stilwell, D. J., Rugh, W. J., “Gain Scheduling with Observer State Feedback Controllers” Proceedings of the American Control Conference, Philadelphia, PA, pp. 1215-1219, 1998.

Stilwell, D. J., Bay, J. S., “Optimal Control for Cooperating Mobile Robots Bearing a Common Load,” Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, CA, 1994.

Stilwell, D. J., Bay, J. S., “Toward the Development of a Material Transport System Using Swarms of Ant-like Robots,” Proceedings IEEE International Conference on Robotics and Automation, Atlanta, GA, May, 1993.