Publications

2015

Advances in In Situ Alignment Calibration of Doppler and High/Low-end Attitude Sensors for Underwater Vehicle Navigation: Theory and Experimental Evaluation Journal Article

In: Journal of Field Robotics, pp. n/a–n/a, 2015, ISSN: 1556-4967, (In Press).

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2014

Troni, Giancarlo; Eustice, Ryan M

Magnetometer bias calibration based on relative angular position: Theory and experimental comparative evaluation Inproceedings

In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 444–450, Chicago, IL, USA, 2014.

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Troni, Giancarlo

Advances in precision navigation of underwater vehicles PhD Thesis

Department of Mechanical Engineering, Johns Hopkins University, 2014.

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2013

Troni, Giancarlo; Whitcomb, Louis L

Adaptive estimation of measurement bias in three-dimensional field sensors with angular rate sensors: Theory and comparative experimental evaluation Inproceedings

In: Proc. Robot.: Sci. & Syst. Conf., Berlin, Germany, 2013.

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Troni, Giancarlo; Whitcomb, Louis L

Preliminary experimental evaluation of a Doppler-aided attitude estimator for improved Doppler navigation of underwater vehicles Inproceedings

In: IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013.

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Troni, Giancarlo; Abusleme, Angel

Introduction to microbots: a hands-on, contest-driven, interdisciplinary course on mobile robot design in a developing country. Journal Article

In: International Journal of Electrical Engineering Education, vol. 50, no. 4, pp. 395 - 407, 2013, ISSN: 00207209.

Abstract | BibTeX | Tags: developing engineering education, ENGINEERING -- Study & teaching, ENGINEERING design, microcontrollers, mobile robots, multidisciplinary group project, robotics contest, ROBOTS, SYSTEMS design

2012

Troni, Giancarlo; Kinsey, James C; Yoerger, Dana R; Whitcomb, Louis L

Field performance evaluation of new methods for in-situ calibration of attitude and Doppler sensors for underwater vehicle navigation Inproceedings

In: Robotics and Automation (ICRA), 2012 IEEE International Conference on, pp. 5334–5339, Ieee, St Paul, MN, 2012, ISSN: 1050-4729.

Abstract | BibTeX | Tags: alignment rotation matrix, attitude measurement, attitude sensor, calibration, Doppler radar, Doppler sensor, Doppler sonar velocity sensor, in-situ calibration, inertial navigation, inertial navigation sensor, internal vehicle navigation sensor, sensors, sonar, underwater sound, underwater vehicle navigation, underwater vehicles

Troni, Giancarlo; Whitcomb, Louis L

Preliminary experimental evaluation of in-situ calibration methods of MEMS-based attitude sensors and Doppler sonars for underwater vehicle navigation Inproceedings

In: Autonomous Underwater Vehicles (AUV), 2012 IEEE/OES, Southampton, UK, 2012.

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Troni, Giancarlo; Whitcomb, Louis L

Experimental evaluation of a MEMS inertial measurements unit for Doppler navigation of underwater vehicles Inproceedings

In: OCEANS 2012, Virginia Beach, VA, 2012.

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2011

Troni, Giancarlo; McFarland, Christopher J; Nichols, Kirk A; Whitcomb, Louis L

Experimental evaluation of an inertial navigation system for underwater robotic vehicles Inproceedings

In: Robotics and Automation (ICRA), 2011 IEEE International Conference on, pp. 3064–3071, Shanghai, China, 2011, ISSN: 1050-4729.

Abstract | Links | BibTeX | Tags: bottom-lock Doppler sonar, high-frequency acoustic time-of-flight ranging, in-water laboratory evaluation, inertial navigation, inertial navigation system, mobile robots, path planning, precision pressure depth sensing, sonar, state estimation, telerobotics, true-North-seeking gyrocompass, underwater robotic vehicle, underwater vehicles

Troni, Giancarlo; Whitcomb, Louis L

Experimental evaluation of new methods for in-situ calibration of attitude and Doppler sensors for underwater vehicle navigation Inproceedings

In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3722–3727, San Francisco, CA, 2011, ISSN: 2153-0858.

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2010

Troni, Giancarlo; Whitcomb, Louis L

New methods for in-situ calibration of attitude and Doppler sensors for underwater vehicle navigation: Preliminary results Inproceedings

In: OCEANS 2010, pp. 1–8, Seattle, WA, 2010.

Abstract | Links | BibTeX | Tags: attitude measurement, Doppler sonar velocity sensors, gyrocompass attitud, gyrocompass attitude sensors, in-situ calibration, simulated sensor noise, sonar signal processing, underwater vehicle navigation, underwater vehicles