CPSRC at UC Santa Cruz is uniquely poised to lead the nationwide effort across industry, academia and national labs for integrating autonomous aerial traffic in the National Airspace. The Center's ongoing research encompasses generation of provably safe motion protocol for heterogeneous unmanned aerial systems, uncertainty propagation, probabilistic validation and verification, communication-control co-design for distributed and hybrid multi-agent systems. The Center has access to indoor and outdoor flight test facilities. With CPSRC faculty backgrounds spanning aerospace engineering, mechanical engineering, computer science, electrical and computer engineering, access to a diverse student population and outreach portfolio, the Center's activities are strongly aligned with the current research challenges for realizing autonomous flight in the National Airspace.
Selected Research Interests
-Unmanned Aerial Vehicles in the National Airspace
-Autonomy for Disaster Relief and Search/Rescue Missions
-Communications and Control Algorithms in Wireless Networks
-Guidance and Navigation in Uncertain Environments
-The Hybrid Systems Laboratory Testbed is used for rapid experimentation in robotic systems.
-It consists of a multipurpose 24/7 indoor positioning system for motion control, installed at a ∼1,000 sq. ft. facility at the Engineering 2 Building in the main UCSC campus.
The Delaware Facility:
- A high-ceiling indoor robotics/control/CPS facility at 2300 Delaware Ave.
-A multi-purpose 24/7 indoor positioning system for motion capture, with 27 foot ceiling, catwalk, retractable netting, and adjacent observation room.
-A machine room including safety features such as a fume hood, eyewash, and sink.
-Workspace, conference room, and office space on site.
M. Pachter, A. Von Moll, E. Garcia, D. Casbeer, and D. Milutinović “Singular Trajectories in the Two Pursuer One Evader Differential Game”, Proceedings of the 2019 International Conference on Unmanned Aircraft Systems, 2019.
A. Von Moll, D. Casbeer, E. Garcia, and D. Milutinović “Pursuit-Evasion of an Evader by Multiple Pursuers”, Proceedings of the 2018 International Conference on Unmanned Aircraft Systems, 2018.
Abhishek Halder
V. Agarwal, A. Halder, R. Garhwal, A. Gupta, S. Ghosh, S. Saxena and M. Sinha “Inertial Characterization of Unmanned Aerial Vehicle AX-1”, Proceedings of the 4th International Conference on Theoretical, Applied, Computational and Experimental Mechanics, 2007.
A. Halder, S. Ghosh and M. Sinha “Fuzzy Quadtree based Path Planner and Trajectory Smoother for A Low Cost Unmanned Aerial Vehicle”, Proceedings of the 3rd Indian International Conference on Artificial Intelligence, 2007.
Gabriel Elkaim
G. Elkaim, F.A. Lie, and D. Gebre-Egziabher “Principles of Guidance, Navigation and Control of UAVs”, Handbook of Unmanned Aerial Vehicles: Springer, 2013.
M. Lizarraga, R. Curry, and G. Elkaim, “Flight Test Results for An Improved Line of Sight Guidance Law for UAVs”, Proceedings of the American Control Conference, 2013.
Ricardo Sanfelice
D. W. Smith, and R. G. Sanfelice "A hybrid feedback control strategy for autonomous waypoint transitioning and loitering of unmanned aerial vehicles", Nonlinear Analysis: Hybrid Systems, vol. 26, pp. 115--136, 2017.
R. Naldi, M. Furci, R. G. Sanfelice, and L. Marconi "Robust Global Trajectory Tracking for Underactuated VTOL Aerial Vehicles using Inner-Outer Loop Control Paradigms", IEEE Transactions on Automatic Control, vol. 62, no. 1, pp. 97--112, 2017.
