1. E. J. Barth. “Global Robotic Swarm Search and Navigation using Deployable Relay Markers”. IEEE Transactions on Robotics, in revision, August 2009.
  1. M. H. Smith, E. J. Barth, N. Sadegh, G. J. Vachtsevanos. “The Horsepower Reserve Formulation of Driveability for a Vehicle Fitted with a Continuously Variable Transmission”. Vehicle System Dynamics, vol. 41, no. 3, pp.157 – 180, March 2004. (Awarded one of the ten most popular articles of volume 41. One of the ten most popular articles of volume 41.
  1. C. Yong, E. J. Barth. “Real-Time Dynamic Path Planning for Dubins’ Nonholonomic Robot,” 45th IEEE Conference on Decision and Control, Paper# ThA02.5, December 13-15, 2006, San Diego, CA.
  1. E. J. Barth. “A Cooperative Control Structure for UAV’s Executing a Cooperative Ground Moving Target Engagement (CGMTE) Scenario,” The 2006 American Control Conference (ACC), pp. 2183-2190, June 14-16, 2006. Minneapolis, MN. DOI 10.1109/ACC.2006.1656543.
  1. E. J. Barth. “A Dynamic Programming Approach to Robotic Swarm Navigation using Relay Markers”. Proceedings of the 2003 American Control Conference (ACC), Vol. 6, 4-6 June 2003, pp. 5264-5269.
  1. D. C. Foley, N. Sadegh, E. J. Barth, G. J. Vachtsevanos. “Model Identification and Backstepping Control of a Continuously Variable Transmission”. Proceedings of the 2001 American Control Conference (ACC), 25-27 June 2001, vol. 6, pp. 4591-4596.

Single and Multiple Vehicle Control

Work related to vehicle control and guidance includes: cooperative control of UAV’s, path planning for a nonholonomic robot, a dynamic programming approach to robot swarm path planning, and control methodologies for the control of continuously variable transmission systems. All of this work utilizes either direct measures of energy or power, or Lyapunov energy-like quantities as the basis for the approaches.

 

Video


Swarm of 150 in Maze

UAV coop. tracking

Swarm of 1000 in Maze