The DECAR systems group conducts fundamental and applied research on

    • state estimation (navigation),

    • guidance, and

    • control.

Problems in air, ground, marine, space, and manipulator robotics are of particular interest to the DECAR systems group.

State Estimation (Navigation)

  • Nonlinear state estimation

    • Kalman-like filters (e.g., extended Kalman filters, sigma point Kalman filters)

    • Batch methods

    • Nonlinear deterministic observers

  • Simultaneous localization and mapping (SLAM)

  • Estimation of systems with matrix Lie group states

  • Constrained state estimation

  • Machine-learning-based approaches to enhance navigation


  • Extremum seeking guidance

  • Guidance of systems with matrix Lie group states


  • Robust control

  • Optimal control

  • Controller synthesis via linear matrix inequalities (LMIs)

  • Gain-scheduled control

  • Input-output stability analysis and control

    • Conic-sector-based control

    • Passivity-based control

    • Negative imaginary systems and their control

  • Control of systems with matrix Lie group states

Robotics and Aerospace Engineering Applications

  • Unmanned aerial vehicles (UAVs)

    • Multicoptor and fixed-wing UAVs

    • Flexible aircraft

  • Autonomous underwater vehicles (AUVs)

  • Autonomous ground vehicles (AGVs)

    • Rail vehicles

    • On- and off-road vehicles

    • Spherical (rolling) robots

  • Flexible robotic manipulators

  • Spacecraft

    • Magnetic attitude control

    • Flexible spacecraft and flexible space structures

  • Cable-actuated robots

    • Parallel cable-actuated robots

    • Wind-energy-harvesting kites

  • System identification of vehicles


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