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Stephen Rock
Professor of Aeronautics and Astronautics, Emeritus
Bio
Professor Rock's research interests include the application of advanced control and modeling techniques for robotic and vehicle systems (aerospace and underwater). He directs the Aerospace Robotics Laboratory in which students are involved in experimental programs designed to extend the state-of-the-art in robotic control. Areas of emphasis include planning and navigation techniques (GPS and vision-based) for autonomous vehicles; aerodynamic modeling and control for aggressive flight systems; underwater remotely-operated vehicle control; precision end-point control of manipulators in the presence of flexibility and uncertainty; and cooperative control of multiple manipulators and multiple robots. Professor Rock teaches several courses in dynamics and control.
Professional Education
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PhD, Stanford University (1978)
2023-24 Courses
- Introduction to Control Design Techniques
ENGR 205 (Aut) -
Independent Studies (5)
- Directed Research and Writing in Aero/Astro
AA 190 (Aut, Win, Spr, Sum) - Independent Study in Aero/Astro
AA 199 (Aut, Win, Spr, Sum) - Practical Training
AA 291 (Win, Sum) - Problems in Aero/Astro
AA 290 (Aut, Win) - Problems in Aero/Astro
AA 290S (Sum)
- Directed Research and Writing in Aero/Astro
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Prior Year Courses
2022-23 Courses
- Dynamics
ENGR 15 (Win) - Dynamics and Control of Aircraft
AA 271A (Spr) - Introduction to Control Design Techniques
ENGR 205 (Aut)
2021-22 Courses
- Analysis and Control of Nonlinear Systems
ENGR 209A (Spr) - Dynamics
ENGR 15 (Win) - Introduction to Control Design Techniques
ENGR 205 (Aut)
2020-21 Courses
- Dynamics
ENGR 15 (Win) - Dynamics and Control of Aircraft
AA 271A (Spr) - Introduction to Control Design Techniques
ENGR 205 (Aut)
- Dynamics
Stanford Advisees
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Doctoral Dissertation Reader (AC)
Jared Blanchard, Loren Newton -
Orals Evaluator
Jared Blanchard, Molly Zhang -
Doctoral Dissertation Advisor (AC)
Molly Zhang -
Master's Program Advisor
Stephen Eicher
All Publications
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A hybrid underwater robot for multidisciplinary investigation of the ocean twilight zone.
Science robotics
2021; 6 (55)
Abstract
Mesobot, an autonomous underwater vehicle, addresses specific unmet needs for observing and sampling a variety of phenomena in the ocean's midwaters. The midwater hosts a vast biomass, has a role in regulating climate, and may soon be exploited commercially, yet our scientific understanding of it is incomplete. Mesobot has the ability to survey and track slow-moving animals and to correlate the animals' movements with critical environmental measurements. Mesobot will complement existing oceanographic assets such as towed, remotely operated, and autonomous vehicles; shipboard acoustic sensors; and net tows. Its potential to perform behavioral studies unobtrusively over long periods with substantial autonomy provides a capability that is not presently available to midwater researchers. The 250-kilogram marine robot can be teleoperated through a lightweight fiber optic tether and can also operate untethered with full autonomy while minimizing environmental disturbance. We present recent results illustrating the vehicle's ability to automatically track free-swimming hydromedusae (Solmissus sp.) and larvaceans (Bathochordaeus stygius) at depths of 200 meters in Monterey Bay, USA. In addition to these tracking missions, the vehicle can execute preprogrammed missions collecting image and sensor data while also carrying substantial auxiliary payloads such as cameras, sonars, and samplers.
View details for DOI 10.1126/scirobotics.abe1901
View details for PubMedID 34135116
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A Pilot Aid for Real-Time Vision-Based Coverage Estimation for Seabed Surveying Applications
IEEE. 2020
View details for DOI 10.1109/IEEECONF38699.2020.9389190
View details for Web of Science ID 000669813301053
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Mesobot: An Autonomous Underwater Vehicle for Tracking and Sampling Midwater Targets
IEEE. 2018
View details for Web of Science ID 000492901600119
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Iceberg Wall Following and Obstacle Avoidance by an AUV
IEEE. 2018
View details for Web of Science ID 000492901600022
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Online attitude determination of a passively magnetically stabilized spacecraft
ACTA ASTRONAUTICA
2017; 133: 269-281
View details for DOI 10.1016/j.actaastro.2017.01.024
View details for Web of Science ID 000396946700026
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Mapping of Translating, Rotating Icebergs With an Autonomous Underwater Vehicle
IEEE JOURNAL OF OCEANIC ENGINEERING
2015; 40 (1): 196-208
View details for DOI 10.1109/JOE.2014.2300396
View details for Web of Science ID 000347971400018
- Dual attitude and parameter estimation of passively magnetically stabilized nano satellites Acta Astronautica 2014; 94 (1): 145 - 158
- Correlation of Sidescan Sonar Acoustic Shadows and Bathymetry for Terrain-Relative Navigation Unmanned Untethered Submersible Technology 2013
- Guidance Augmentation for Reducing Uncertainty in Vision-Based Hazard Mapping during Lunar Landing IEEE Aerospace, IEEE 2013
- A Robust Framework for Failure Detection and Recovery for Terrain-Relative Navigation Unmanned Untethered Submersible Technology 2013
- Online Attitude Determination of a Passively Magnetically Stabilized Spacecraft 2013
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Improving Robustness of Terrain-Relative Navigation for AUVs in Regions with Flat Terrain
IEEE/OES Autonomous Underwater Vehicles Conference (AUV)
IEEE. 2012
View details for Web of Science ID 000316895100034
- Influence of Trajectory on Accuracy of Hazard Estimation During Lunar Landing 2012
- Dual Attitude and Parameter Estimation of Passively Magnetically Stabilized Spacecraft 2012
- Tumbling Target Reconstruction and Pose Estimation through Fusion of Monocular Vision and Sparse-Pattern Range Data IEEE MFI 2012
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A NEW METHOD FOR SIMULATING THE ATTITUDE DYNAMICS OF PASSIVELY MAGNETICALLY STABILIZED SPACECRAFT
22nd AAS/AIAA Space Flight Mechanics Meeting
UNIVELT INC. 2012: 967–980
View details for Web of Science ID 000308787200060
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Aggressive Terrain Following for Motion-constrained AUVs
IEEE/OES Autonomous Underwater Vehicles Conference (AUV)
IEEE. 2012
View details for Web of Science ID 000316895100032
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Sonar-based iceberg-relative navigation for autonomous underwater vehicles
DEEP-SEA RESEARCH PART II-TOPICAL STUDIES IN OCEANOGRAPHY
2011; 58 (11-12): 1301-1310
View details for DOI 10.1016/j.dsr2.2010.11.005
View details for Web of Science ID 000291079800003
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Hybrid Estimation Using Perceptional Information: Robotic Tracking of Deep Ocean Animals
IEEE JOURNAL OF OCEANIC ENGINEERING
2011; 36 (2): 298-315
View details for DOI 10.1109/JOE.2011.2124110
View details for Web of Science ID 000291044400013
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Improved Frame-to-Frame Pose Tracking during Vision-Only SLAM/SFM with a Tumbling Target
IEEE International Conference on Robotics and Automation (ICRA)
IEEE. 2011
View details for Web of Science ID 000324383402062
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OPTIMAL DESPIN OF A TUMBLING SATELLITE WITH AN ARBITRARY THRUSTER CONFIGURATION, INERTIA MATRIX, AND COST FUNCTIONAL
20th AAS/AIAA Spaceflight Mechanics Meeting
UNIVELT INC. 2010: 637–647
View details for Web of Science ID 000290282400038
- Estimation of Iceberg Motion for Mapping by AUVs 2010
- Closed-Loop Terrain Relative Navigation for AUVs with Non-Inertial Grade Navigation Sensors 2010
- Development of a Programmable Rotational Motion Laboratory Demonstrator 2010
- Spline-based Trajectory Planning Techniques for Benthic AUV Operations 2010
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Feedback Dual Controller Design and Its Application to Monocular Vision-Based Docking
AIAA Guidance, Navigation, and Control Conference
AMER INST AERONAUT ASTRONAUT. 2009: 1134–42
View details for DOI 10.2514/1.41957
View details for Web of Science ID 000268118300008
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RIGID BODY INERTIA ESTIMATION WITH APPLICATIONS TO THE CAPTURE OF A TUMBLING SATELLITE
AAS/AIAA 19th Space Flight Mechanics Meeting
UNIVELT INC. 2009: 343–356
View details for Web of Science ID 000276394400021
- Performing Visual Surveys of Non-Planar Benthic Terrain 2009
- Particle Filtering Range Data for Pose Estimation under Torque-Free Motion 2009
- AUV/ROV Pose and Shape Estimation of Tethered Targets without Fiducials 2009
- Sonar-Based Iceberg-Relative AUV Localization UUST: Unmanned Untethered Submersible Technology 2009
- Simultaneous Estimation of Target Pose and 3-D Shape using the FastSLAM Algorithm 2009
- Navigation for Performing Visual Surveys of Non-Planar Surfaces 2009
- AUV Terrain Relative Navigation Using Coarse Maps 2009
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Control of a climbing robot using real-time convex optimization
4th IFAC Symposium on Mechatronic Systems
PERGAMON-ELSEVIER SCIENCE LTD. 2008: 301–13
View details for DOI 10.1016/j.mechatronics.2007.07.009
View details for Web of Science ID 000257053900008
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Low-Cost Terrain Relative Navigation for Long-Range AUVs
OCEANS 2008 Conference
IEEE. 2008: 1643–1649
View details for Web of Science ID 000265654501072
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Estimating Inertial Position and Current in the Midwater
OCEANS 2008 Conference
IEEE. 2008: 1738–1743
View details for Web of Science ID 000265654501086
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Sonar-Based Iceberg-Relative AUV Navigation
IEEE/OES Autonomous Underwater Vehicles Conference (AUV 2008)
IEEE. 2008: 20–25
View details for Web of Science ID 000274806100004
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Automatic ROV positioning services tethered ocean moorings - ROV is hovered automatically with respect to moving moored platform, while single pilot performs servicing tasks
SEA TECHNOLOGY
2007; 48 (4): 50-54
View details for Web of Science ID 000246785500008
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An operational real-time large-scale visual mosaicking and navigation system - Precision benthic positioning and mapping without transponders
SEA TECHNOLOGY
2007; 48 (3): 10-13
View details for Web of Science ID 000246785300002
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Improved estimation of target velocity using multiple model estimation and a dynamic Bayesian network for a robotic tracker of ocean animals
12th International Symposium on Robotics Research (ISRR)
SPRINGER-VERLAG BERLIN. 2007: 402–415
View details for Web of Science ID 000245915500026
- Real-Time Visual Mosaicking and Navigation of the USS Macon 2007
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Design and validation of a robotic control law for observation of deep-ocean jellyfish
IEEE TRANSACTIONS ON ROBOTICS
2006; 22 (2): 282-291
View details for DOI 10.1109/TRO.2005.862484
View details for Web of Science ID 000236776800006
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Visual servoing of an ROV for servicing of tethered ocean moorings
Oceans 2006 Conference
IEEE. 2006: 1451–1456
View details for Web of Science ID 000246002100265
- Stochastic Feedback Controller Design Considering the Dual Effect 2006
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An operational real-time large-scale visual mosaicking and navigation system
Oceans 2006 Conference
IEEE. 2006: 1245–1250
View details for Web of Science ID 000246002100227
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Free-climbing with a multi-use robot
9th International Symposium on Experimental Robotics (ISER)
SPRINGER-VERLAG BERLIN. 2006: 449–458
View details for Web of Science ID 000236887500043
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Toward autonomous free-climbing robots
11th International Symposium on Robotics Research
SPRINGER-VERLAG BERLIN. 2005: 6–15
View details for Web of Science ID 000228862600001
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Passive GPS-Free navigation for small UAVs
2005 IEEE Aerospace Conference
IEEE. 2005: 3011–3019
View details for Web of Science ID 000238379002084
- A Real-Time Visual Mosaicking and Navigation System 2005
- A Multi-Sensor Approach to Automatic Tracking of Midwater Targets by an ROV 2005
- Relative Position Sensing and Automatic Control for Observation in the Midwater by an Underwater Vehicle 2005
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Multi-step motion planning for free-climbing robots
6th International Workshop on Algorithmic Foundations of Robotics
SPRINGER-VERLAG BERLIN. 2005: 59–74
View details for Web of Science ID 000231865200006
- Autonomous Deployment of a Self-Calibrating Pseudolite Array for Mars Rover Navigation 2004
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Autonomous deployment of a self-calibrating pseudolite array for Mars rover navigation
IEEE Position Location and Navigation Symposium
IEEE. 2004: 733–739
View details for Web of Science ID 000221540400101
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Segmentation methods for visual tracking of deep-ocean jellyfish using a conventional camera
IEEE JOURNAL OF OCEANIC ENGINEERING
2003; 28 (4): 595-608
View details for Web of Science ID 000187734200004
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Mars navigation system utilizes GPS
IEEE AEROSPACE AND ELECTRONIC SYSTEMS MAGAZINE
2003; 18 (4): 3-8
View details for Web of Science ID 000182164900001
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A local-area GPS pseudolite-based navigation system for Mars rovers
10th International Conference on Advanced Robotics
SPRINGER. 2003: 209–24
View details for Web of Science ID 000180741600009
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Motion planning for a three-limbed climbing robot in vertical natural terrain
20th IEEE International Conference on Robotics and Automation (ICRA)
IEEE. 2003: 2946–2953
View details for Web of Science ID 000187419900473
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An integrated system for command and control of cooperative robotic systems
11th International Conference on Advanced Robotics (ICAR 2003)
UNIV COIMBRA, FAC CIENCIAS & TECHNOL. 2003: 459–464
View details for Web of Science ID 000184782300080
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Trajectory generation for constant velocity target motion estimation using monocular vision
20th IEEE International Conference on Robotics and Automation (ICRA)
IEEE. 2003: 3479–3484
View details for Web of Science ID 000187419900558
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Relative position sensing by fusing monocular vision and inertial rate sensors
11th International Conference on Advanced Robotics (ICAR 2003)
UNIV COIMBRA, FAC CIENCIAS & TECHNOL. 2003: 1562–1567
View details for Web of Science ID 000184782300259
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Motion planning for multiple mobile robots using dynamic networks
20th IEEE International Conference on Robotics and Automation (ICRA)
IEEE. 2003: 4222–4227
View details for Web of Science ID 000187419900677
- Improving Performance of a Jelly-Tracking Underwater Vehicle Using Recognition of Animal Motion Modes 2003
- Dynamic Robot Networks for Motion Planning in Multi-Robot Space Systems 2003
- An Integrated System for Command and Control of Cooperative Robotic Systems 2003
- Relative Position Sensing by Fusing Monocular Vision and Inertial Rate Sensors 2003
- Trajectory Generation for Monocular-Vision Based Tracking of a Constant-Velocity Target 2003
- Climbing Robots in Natural Terrain 2003
- Automatic Determination of Vision Lock on the Seafloor in the Presence of Dust 2003
- Motion Planning for Multiple Mobile Robots using Dynamic Networks 2003
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Gradient-based parameter optimization for systems containing discrete-valued functions
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
2002; 12 (11): 1009-1028
View details for DOI 10.1002/rnc.729
View details for Web of Science ID 000178244600004
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Randomized kinodynamic motion planning with moving obstacles
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
2002; 21 (3): 233-255
View details for Web of Science ID 000177926400005
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Dialogue-based human-robot interaction for space construction teams
IEEE Aerospace Conference
IEEE. 2002: 3645–3653
View details for Web of Science ID 000179697800349
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Field experiments in the control of a jellyfish tracking ROV
MTS/IEEE Oceans 2002 Conference
IEEE. 2002: 2031–2038
View details for Web of Science ID 000182293200319
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Applying kinodynamic randomized motion planning with a dynamic priority system to multi-robot space systems
IEEE Aerospace Conference
IEEE. 2002: 3621–3631
View details for Web of Science ID 000179697800347
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Relative position estimation for AUVs by fusing bearing and inertial rate sensor measurements
MTS/IEEE Oceans 2002 Conference
IEEE. 2002: 1863–1870
View details for Web of Science ID 000182293200292
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Kinematic path-planning for formations of mobile robots with a nonholonomic constraint
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2002)
IEEE. 2002: 2819–2824
View details for Web of Science ID 000179289100459
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Field demonstration of a mars navigation system utilizing GPS pseudolite transceivers
IEEE Position Location and Navigation Symposium
IEEE. 2002: 150–155
View details for Web of Science ID 000176200300022
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Exploratory motion generation for monocular vision-based target localization
IEEE Aerospace Conference
IEEE. 2002: 3633–3643
View details for Web of Science ID 000179697800348
- Applying Kinodynamic Randomized Motion Planning with a Dynamic Priority System to Multi-Robot Space Systems 2002
- Kinematic Path-planning for Formations of Mobile Robots with a Nonholonomic Constraint 2002
- Field Demonstration of a Mars Navigation System Utilizing GPS Pseudolite Transceivers 2002
- Planning Robust Dynamic Transitions for Enhanced Mobility of Planetary Rovers 2002
- An Improved Solution Algorithm for Self-Calibrating Pseudolite Arrays 2002
- Robust Execution of Aggressive Maneuvers for Planetary Robotics 2002
- Exploratory Motion Generation for Monocular Vision-Based Target Localization 2002
- 3-D Capabilities for GPS Transceiver Arrays 2002
- Field Experiments in the Control of a Jellyfish Tracking ROV 2002
- Autonomous Robots in SWAT Applications: Research, Design, and Operations Challenges 2002
- Relative Position Estimation for AUVs by Fusing Bearing and Inertial Rate Sensor Measurements 2002
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Quantification of cyclic motion of marine animals from computer vision
MTS/IEEE Oceans 2002 Conference
IEEE. 2002: 1575–1581
View details for Web of Science ID 000182293200247
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Nonlinear flight control using forebody tangential blowing
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
2001; 24 (6): 1157-1166
View details for Web of Science ID 000172223900010
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Randomized kinodynamic motion planning with moving obstacles
4th International Workshop on the Algorithmic Foundations of Robotics (WAFR)
A K PETERS, LTD. 2001: 247–264
View details for Web of Science ID 000172546300020
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Visual tracking of jellyfish in situ
International Conference on Image Processing (ICIP 2001)
IEEE. 2001: 289–292
View details for Web of Science ID 000177932500072
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A pilot-aid for ROV based tracking of gelatinous animals in the midwater
Annual Conference of the Marine-Technology-Society
MARINE TECHNOLOGY SOC. 2001: 1137–1144
View details for Web of Science ID 000178200800179
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Relative position estimation for manipulation tasks by fusing vision and inertial measurements
Annual Conference of the Marine-Technology-Society
MARINE TECHNOLOGY SOC. 2001: 1025–1031
View details for Web of Science ID 000178200800162
- A Low Energy Sensor for AUV-Based Jellyfish Tracking 2001
- A Local-Area GPS Pseudolite-Based Mars Navigation System 2001
- A Pilot-Aid for ROV Based Tracking of Gelatinous Animals in the Midwater 2001
- Visual Tracking of Jellyfish In Situ 2001
- Relative Position Estimation for Intervention-Capable AUVs by Fusing Vision and Inertial Measurements 2001
- Randomized Motion Planning for Groups of Nonholonomic Robots 2001
- Relative Position Estimation for Manipulation Tasks by Fusing Vision and Inertial Measurements 2001
- Kinodynamic Motion Planning Amidst Moving Obstacles 2000
- Field Test Results for a Self-Calibrating Pseudolite Array 2000
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Aileron effectiveness at high angles of attack: Interaction with forebody blowing
AIAA Atmospheric Flight Mechanics Conference
AMER INST AERONAUT ASTRONAUT. 1999: 981–86
View details for Web of Science ID 000084187800012
- GPS Pseudolite Transceivers and their Applications 1999
- Self-Calibration of Pseudolite Arrays Using Self-Differencing Transceivers 1999
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Cooperative research in underwater robot mission-level programming methodologies
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
1998; 29 (10): 1099-1110
View details for Web of Science ID 000076354600006
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Development and experimental validation of an underwater manipulator hydrodynamic model
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
1998; 17 (7): 748-759
View details for Web of Science ID 000074575200005
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Roll-yaw control at high angle of attack by forebody tangential blowing
JOURNAL OF AIRCRAFT
1998; 35 (1): 69-77
View details for Web of Science ID 000071876300011
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Human-robot interaction for field operation of an autonomous helicopter
Conference on Mobile Robots XIII and Intelligent Transportation Systems
SPIE-INT SOC OPTICAL ENGINEERING. 1998: 244–251
View details for Web of Science ID 000078690700024
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Combined CDGPS and vision-based control of a small autonomous helicopter
American Control Conference
IEEE. 1998: 694–698
View details for Web of Science ID 000075568200148
- Human-Robot Interaction for Field Operation of an Autonomous Helicopter Mobile Robots XIII and Intelligent Transportation Systems 1998; 3525: 244-252
- Combined CDGPS and Vision-Based Control of a Small Autonomous Helicopter 1998
- Model Development of an Underwater Manipulator for Coordinated Arm-Vehicle Control 1998
- Experimental Validation of a Real-Time Vision Sensor and Navigation System for Intelligent Underwater Vehicles 1998
- Demonstration of a Vision-Based Dead-Reckoning System for Navigation of an Underwater Vehicle 1998
- A Contestant in the 1997 International Aerial Robotics Competition 1997
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Global position determination and vehicle path estimation from a vision sensor for real-time video Mosaicking and navigation
Oceans 97 MTS/IEEE Conference
IEEE. 1997: 641–647
View details for Web of Science ID A1997BJ68T00113
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Station keeping of an ROV using vision technology
Oceans 97 MTS/IEEE Conference
IEEE. 1997: 634–640
View details for Web of Science ID A1997BJ68T00112
- Station Keeping of an ROV Using Vision Technology 1997
- Global Position Determination and Vehicle Path Estimation from a Vision Sensor for Real-Time Video Mosaicking and Navigation 1997
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Frequency-weighted state estimation with application to estimation in the presence of sensor bias
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
1996; 4 (4): 427-436
View details for Web of Science ID A1996UU44700012
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OTTER: The design and development of an intelligent underwater robot
1995 IEEE International Conference on Robotics and Automation - Autonomous Underwater Robots
KLUWER ACADEMIC PUBL. 1996: 297–320
View details for Web of Science ID A1996VV72500014
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Experiments in the hydrodynamic modeling of an underwater manipulator
1996 Symposium on Autonomous Underwater Vehicle Technology (AUV 96)
I E E E. 1996: 463–469
View details for Web of Science ID A1996BF91Z00058
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Video mosaicking along arbitrary vehicle paths
1996 Symposium on Autonomous Underwater Vehicle Technology (AUV 96)
I E E E. 1996: 293–299
View details for Web of Science ID A1996BF91Z00037
- Carrier Phase GPS and Computer Vision for the Control of an Autonomous Helicopter 1996
- Real-time Dynamic Trajectory Optimization 1996
- A Contestant in the 1996 International Aerial Robotics Competition 1996
- Experiments in the Hydrodynamic Modeling of an Underwater Manipulator 1996
- Video Mosaicking Along Arbitrary Vehicle Paths 1996
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Joint evaluation of mission programming for underwater robots
IEEE International Conference on Robotics and Automation
IEEE. 1996: 2492–2497
View details for Web of Science ID A1996BF68P00390
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Experiments in the coordinated control of an underwater arm/vehicle system
1995 IEEE International Conference on Robotics and Automation - Autonomous Underwater Robots
KLUWER ACADEMIC PUBL. 1996: 213–32
View details for Web of Science ID A1996VV72500009
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TOWARD AN IMPROVED UNDERSTANDING OF THRUSTER DYNAMICS FOR UNDERWATER VEHICLES
IEEE JOURNAL OF OCEANIC ENGINEERING
1995; 20 (4): 354-361
View details for Web of Science ID A1995RZ86000013
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NEURAL-NETWORK CONTROL OF A FREE-FLYING SPACE ROBOT
SIMULATION
1995; 65 (2): 103-115
View details for Web of Science ID A1995RZ27900002
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REAL-TIME VIDEO MOSAICKING OF THE OCEAN-FLOOR
IEEE JOURNAL OF OCEANIC ENGINEERING
1995; 20 (3): 229-241
View details for Web of Science ID A1995RG93600008
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INTEGRATED FLIGHT PROPULSION CONTROL - SUBSYSTEM SPECIFICATIONS FOR PERFORMANCE
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
1995; 18 (3): 572-578
View details for Web of Science ID A1995QY60600026
- Real-time video mosaicking of the ocean floor IEEE Journal of Oceanic Engineering 1995; 20 (3): 229-241
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Improved real-time video mosaicking of the ocean floor
OCEANS 95 MTS/IEEE Conference on Challenges of Our Changing Global Environment
MARINE TECHNOLOGY SOC. 1995: 1935–1944
View details for Web of Science ID A1995BE48W00272
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Reconfigurable control of a free-flying space robot using neural networks
1995 American Control Conference
AMER AUTOMATIC CONTROL COUNCIL. 1995: 1355–1359
View details for Web of Science ID A1995BD66H00288
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Experiments in automatic retrieval of underwater objects with an AUV
OCEANS 95 MTS/IEEE Conference on Challenges of Our Changing Global Environment
MARINE TECHNOLOGY SOC. 1995: 366–373
View details for Web of Science ID A1995BE48W00055
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Experiments in the coordination of underwater manipulator and vehicle control
OCEANS 95 MTS/IEEE Conference on Challenges of Our Changing Global Environment
MARINE TECHNOLOGY SOC. 1995: 1208–1215
View details for Web of Science ID A1995BE48W00169
- A Contestant in the 1995 International Aerial Robotics Competition 1995
- Coupled-System Stability of Flexible-Object Impedance Control 1995
- Improved Real-Time Video Mosaicking of the Ocean Floor 1995
- Neural Network Control of a Free-Flying Space Robot Simulation 1995; 65 (2): 103-115
- Experiments in the coordination of Underwater Manipulator and Vehicle Control 1995
- Underwater Vehicle Control from a Virtual Environment Interface 1995
- Experiments in the Automatic Retrieval of Underwater Objects with an AUV 1995
- Reconfigurable Control of a Free-Flying Space Robot using Neural Networks 1995
- OTTER: A Testbed Submersible for Robotics Research 1995
- An Operational Space Formulation for a Free-Flying, Multi-Arm Space Robot 1995
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EXPERIMENTS IN CONTROL OF A FLEXIBLE-LINK ROBOTIC MANIPULATOR WITH UNKNOWN PAYLOAD DYNAMICS - AN ADAPTIVE APPROACH
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
1994; 13 (6): 481-495
View details for Web of Science ID A1994PU11600002
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INTEGRATED FLIGHT/PROPULSION CONTROL FOR HELICOPTERS
JOURNAL OF THE AMERICAN HELICOPTER SOCIETY
1994; 39 (3): 34-42
View details for Web of Science ID A1994RN42200004
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ACTIVE CONTROL OF WING ROCK USING TANGENTIAL LEADING-EDGE BLOWING
AIAA 31st Aerospace Sciences Meeting
AMER INST AERONAUT ASTRONAUT. 1994: 659–65
View details for Web of Science ID A1994NR63700028
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INTEGRATED FLIGHT/PROPULSION CONTROL - SUBSYSTEM SPECIFICATIONS
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
1994; 17 (1): 201-208
View details for Web of Science ID A1994MT28200028
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NEURAL-NETWORK CONTROL OF A FREE-FLYING SPACE ROBOT
1994 International-Neural-Network-Society Annual Meeting - World Congress on Neural Networks-San Diego
LAWRENCE ERLBAUM ASSOC PUBL. 1994: B15–B22
View details for Web of Science ID A1994BB69E00003
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AUTOMATIC VISUAL STATION KEEPING OF AN UNDERWATER ROBOT
Oceans 94/OSATES Conference on Oceans Engineering for Today's Technology and Tomorrow's Preservation
IEEE. 1994: B137–B142
View details for Web of Science ID A1994BB95J00026
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Toward an improved understanding of thruster dynamics for underwater vehicles
1994 Symposium on Autonomous Underwater Vehicle Technology (AUV 94)
IEEE. 1994: 340–352
View details for Web of Science ID A1994BD85J00048
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Real-time video mosaicking of the ocean floor
1994 Symposium on Autonomous Underwater Vehicle Technology (AUV 94)
IEEE. 1994: 21–27
View details for Web of Science ID A1994BD85J00004
- Visual Sensing for Control of an Underwater Robotic Vehicle 1994
- Real-Time Video Mosaicking of the Ocean Floor 1994
- Object-Based Task-Level Control: A Hierarchical Control Architecture for Remote Operation of Space Robots 1994
- Experiments in Object Impedance Control for Flexible Objects 1994
- Experiments in Control of a Flexible-Link Robotic Manipulator with Unknown Payload Dynamics: An Adaptive Approach International Journal of Robotics Research 1994; 13 (6): 481-495
- Automatic Visual Station Keeping of an Underwater Robot 1994
- Neural network control of a free-flying space robot 1994
- Toward an improved understanding of thruster dynamics for underwater vehicles 1994
- Generalized Object Control and Assembly for Space Robots 1994
- Experiments in Control of a Free-Flying Space Robot using Fully-Connected Neural Networks 1993
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EXPERIMENTS IN CONTROL OF A FREE-FLYING SPACE ROBOT USING FULLY-CONNECTED NEURAL NETWORKS
World Congress on Neural Networks (WCNN 93, Portland)
LAWRENCE ERLBAUM ASSOC PUBL. 1993: 157–162
View details for Web of Science ID A1993BA45W00037
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ADAPTIVE-CONTROL OF A FLEXIBLE-LINK ROBOTIC MANIPULATOR WITH UNKNOWN PAYLOAD DYNAMICS
1993 AMERICAN CONTROL CONF
I E E E. 1993: 2088–2092
View details for Web of Science ID A1993BY87D00460
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AUTOMATIC OBJECT TRACKING FOR AN UNMANNED UNDERWATER VEHICLE USING REAL-TIME IMAGE FILTERING AND CORRELATION
1993 IEEE International Conference on Systems, Man and Cybernetics
I E E E. 1993: 337–342
View details for Web of Science ID A1993BZ90U00059
- Adaptive Control of a Flexible-Link Robotic Manipulator with Unknown Payload Dynamics 1993
- Task-Based Control Architecture for an Untethered, Unmanned Submersible 1993
- Object Control for Undersea Robotic Vehicles Stanford University Aerospace Robotics Lab 1993
- A Modular System Architecture for Multi-Manipulator, Free-Flying Space Robots 1993
- Optimal Control of a Two-Link Flexible Manipulator Using Time-Varying Controller Gains: Initial Experiments 1992
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EXPERIMENTAL-MEASUREMENT OF ROV TETHER TENSION
INTERVENTION / ROV 92 CONF AND EXPOSITION : A DECADE OF ACHIEVEMENTS
MARINE TECHNOLOGY SOC. 1992: 291–296
View details for Web of Science ID A1992BX01S00036
- Cooperative Manipulation of Flexible Objects: Initial Experiments 1992
- End-Point Control of a Two-Link Flexible Robotic Manipulator with a Mini-Manipulator: Dynamic Coupling Issues 1992
- Experimental Measurement of ROV Tether Tension 1992
- End-Point Control of a Two-Link Flexible Robotic Manipulator with a Mini-Manipulator: Initial Experiments 1992
- Combined Camera and Vehicle Tracking of Underwater Objects 1992
- Control of a Flexible Robotic Manipulator with Unknown Payload Dynamics: Initial Experiments 1991
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EFFECT OF MODEL UNCERTAINTY ON FAILURE-DETECTION - THE THRESHOLD SELECTOR
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
1988; 33 (12): 1106-1115
View details for Web of Science ID A1988Q917800004