skip to main content
US FlagAn official website of the United States government
dot gov icon
Official websites use .gov
A .gov website belongs to an official government organization in the United States.
https lock icon
Secure .gov websites use HTTPS
A lock ( lock ) or https:// means you've safely connected to the .gov website. Share sensitive information only on official, secure websites.

Explore Research Products in the PAR
It may take a few hours for recently added research products to appear in PAR search results.


  • Home
  • Search Results
  • Page 1 of 1

Search for: All records

Creators/Authors contains: "Hsieh, M. A."

Note: When clicking on a Digital Object Identifier (DOI) number, you will be taken to an external site maintained by the publisher. Some full text articles may not yet be available without a charge during the embargo (administrative interval).
What is a DOI Number?

Some links on this page may take you to non-federal websites. Their policies may differ from this site.

  1. ; ; ; (, IEEE International Conference on Robotics and Automation (ICRA2023))
    Modular self-assembling systems typically assume that modules are present to assemble. But in sparsely observed ocean environments, modules of an aquatic modular robotic system may be separated by distances they do not have the energy to cross, and the information needed for optimal path planning is often unavailable. In this work we present a flow-based rendezvous and docking controller that allows aquatic robots in gyre-like environments to rendezvous with and dock to a target by leveraging environmental forces. This approach does not require complete knowledge of the flow, but suffices with imperfect knowledge of the flow's center and shape. We validate the performance of this control approach in both simulations and experiments relative to naive rendezvous and docking strategies, and show that energy efficiency improves as the scale of the gyre increases. 
    more » « less
    Accepted Manuscript Full Text Available