Publications


(For a full list see below or go to Google Scholar, ResearchGate)

Highlights

Visual-inertial guidance with a plenoptic camera for autonomous underwater vehicles

This letter demonstrates the feasibility of near realtime, plenoptic-inertial navigation on a low-cost central processing unit (CPU). The relationship between distance and disparity for the simplified model was experimentally validated in an aquatic environment, using a first-generation Lytro camera, and a mean error of 2% of the target distance was obtained.

J Eisele, Z Song, K Nelson, K Mohseni

IEEE Robotics and Automation Letters (2019)

Concurrent flow-based localization and mapping in time-invariant flow fields

We present the concept of concurrent flow-based localization and mapping (FLAM) for autonomous field robots navigating within background flows. FLAM utilizes the continuous flow fields as navigation references for mobile robots and provides flow field mapping capability with in-situ flow velocity observations.

Z Song, K Mohseni

IEEE IROS (2019)

Fast autonomous underwater exploration using a hybrid focus model with semantic representation

We proposed a system that semantically discriminates the visual inputs of the robot’s environment by combining task-directed and stimulation-based focus to encode artificial “attention”, to enhance exploration decision making. The hybrid focus model allows a metric map to be generated with semantic labels of the desired types of objects.

C Meek, Z Song

IEEE OCEANS-Seattle (2019)

Long-term inertial navigation aided by dynamics of flow field features

A current-aided inertial navigation framework is proposed for small autonomous underwater vehicles in long-duration operations (>1 h), where neither frequent surfacing nor consistent bottom tracking is available. This strategy mitigates dead-reckoning uncertainty of inertial navigation systems by comparing the estimate of local ambient flow velocity with preloaded ocean current maps.

Z Song, K Mohseni

IEEE Journal of Oceanic Engineering (2017)

Multi-vehicle cooperation and nearly fuel-optimal flock guidance in strong background flows

A multi-vehicle flocking and guidance control scheme is proposed for small autonomous underwater vehicles in the presence of strong ocean flows that exceed vehicles’ actuation capabilities. The flocking problem and flock guidance problem are simultaneously addressed by enduing fluid properties to the vehicle swarm.

Z Song, D Lipinski, K Mohseni

Ocean Engineering (2017)

Anisotropic active Lagrangian particle swarm control in a meandering jet

We investigate the mobility of a robot swarm in dominant and dynamically changing ocean currents. A physicomimetic swarm control law is proposed such that pair-wise self-propulsion is applied analogously to internal forces among atoms or molecules.

Z Song, K Mohseni

IEEE CDC (2015)


Full List since 2013

Navigating unsteady flows - From finite-time Lyapunov exponents to finite-horizon energy-optimal trajectories
K Krishna, Z Song, S Brunton | [abstract submitted]

A universal underwater docking station with wireless power and data transfer
M Jeske, Z Song | [submitted]

Resilient time-varying formation tracking for mobile robot networks under positioning attacks
Y Liu, Z Song, K Liu | [under review]

Heterogeneous fixed-wing aerial vehicles for resilient coverage of an area
S Shriwastav, Z Song |[under review]

Resident subsea robotic systems - A review
Z Song, A Marburg, D Manalang | [under review]

Coordinated coverage and fault tolerance using fixed-wing unmanned aerial vehicles
S Shriwastav, Z Song | ICUAS (2020) [to appear]

Visual-inertial guidance with a plenoptic camera for autonomous underwater vehicles
J Eisele, Z Song, K Nelson, K Mohseni | IEEE Robotics and Automation Letters (2019)

Concurrent flow-based localization and mapping in time-invariant flow fields
Z Song, K Mohseni | IEEE IROS (2019)

Fast autonomous underwater exploration using a hybrid focus model with semantic representation
C Meek, Z Song | IEEE OCEANS-Seattle (2019)

Underwater docking system for a wave energy converter based mobile station
J Wallen, N Ulm, Z Song | IEEE OCEANS-Seattle (2019)

Development of an adaptive docking station for resident underwater vehicles
J Wallen, Z Song | IEEE OCEANS-Marseille (2019)

Toward the temperature distribution on ball bearing inner rings during single-grit grinding
G Yu, Q Wang, Z Song, D Fang, Y Li, Y Yao | International Journal of Advanced Manufacturing Technology (2019)

Simultaneous AUV localization and lagrangian particle tracking
Z Song, K Mohseni | IEEE OCEANS-Charleston (2018)

Development of a compact autonomous underwater vehicle for hierarchical multi-agent cooperation
Z Song, M Krieg, K Mohseni | IEEE OCEANS-Charleston (2018)

Wear-life analysis of deep groove ball bearings based on Archard wear theory
G Yu, W Xia, Z Song, R Wu, S Wang, Y Yao | Journal of Mechanical Science and Technology (2018)

Anisotropic flocking control of distributed multi-agent systems using fluid abstraction
MB Silic, Z Song, K Mohseni | AIAA-SciTech (2018)

Automated AUV docking control with light-field imaging
Z Song, K Mohseni | IEEE OCEANS-Anchorage (2017)

Cooperative mid-depth navigation aided by ocean current prediction
Z Song, K Mohseni | IEEE OCEANS-Anchorage (2017)

Bioinspired visual guidance in turbid underwater environment
Z Song, E Schwartz, K Mohseni | IEEE Sensors Conference (2017)

A low-power optical communication modem for compact autonomous underwater vehicles
Z Song, E Schwartz, K Mohseni | IEEE Sensors Conference (2017)

Long-term inertial navigation aided by dynamics of flow field features
Z Song, K Mohseni | IEEE Journal of Oceanic Engineering (2017)

FACON: A flow-aided cooperative navigation scheme
Z Song, K Mohseni | IEEE IROS (2017)

Multi-vehicle cooperation and nearly fuel-optimal flock guidance in strong background flows
Z Song, D Lipinski, K Mohseni | Ocean Engineering (2017)

A compact autonomous underwater vehicle with cephalopod-inspired propulsion
Z Song, C Mazzola, E Schwartz, R Chen, J Finlaw, M Krieg, K Mohseni | Marine Technology Society Journal (2016)

Anisotropic active Lagrangian particle swarm control in a meandering jet
Z Song, K Mohseni | IEEE CDC (2015)

Towards background flow based AUV localization
Z Song, K Mohseni | IEEE CDC (2014)

Autonomous vehicle localization in a vector field: Underwater vehicle implementation
Z Song, K Mohseni | IEEE IROS (2014)

A distributed localization hierarchy for an AUV swarm
Z Song, K Mohseni | IEEE ACC (2014)

Fluid-based cooperative underwater localization
Z Song, K Mohseni | IEEE CDC (2013)

Hierarchical underwater localization in dominating background flow fields
Z Song, K Mohseni | IEEE IROS (2013)

Cooperative underwater localization in ocean currents
Z Song, K Mohseni | AIAA GNC (2013)