Added kavins papers

Author: kmgovind

content/news/2024-gatekeeper-tro-accepted.md

@@ -0,0 +1,7 @@
+---
+layout: news
+title:  "IEEE TCAC Best Student Paper Award"
+date:  2024-07-14
+---
+
+Our paper ["Sensor-based Planning and Control for Robotic Systems: Introducing Clarity and Perceivability"](/papers/2023-perceivability) has won the IEEE Technical Committee on Aerospace Controls (TCAC) best paper award. 

content/papers/2022-coverage-maximizing.md

@@ -2,13 +2,13 @@
 layout: papers
 title:  "Coverage-Maximizing Solar-Powered Autonomous Surface Vehicle Control for Persistent Gulf Stream Observation"
 date: 2022-06-10
-image: /images/default_paper.png
+image: /images/15astarPathOverCoverage.png
 venue: "IEEE ACC 2022"
 authors: 
     - kavinmgovindarajan
     - Ben Haydon
     - Kirti Mishra
-    - Chris Vermillion
+    - Christopher Vermillion
 code: https://github.com/kmgovind/acc-2022 
 abstract: "The Gulf Stream, which comes within 100 km
 of the United States coastline in both the Florida Straits and

content/papers/2023-predictive-velocity.md

@@ -0,0 +1,44 @@
+---
+layout: papers
+title:  "Predictive Velocity Trajectory Control for a Persistently Operating Solar-Powered Autonomous Surface Vessel"
+date: 2023-07-03
+image: /images/soc_v_time.png
+venue: "IEEE ACC 2023"
+authors: 
+    - kavinmgovindarajan
+    - Ben Haydon
+    - Christopher Vermillion
+code: https://github.com/kmgovind/speed-controller
+abstract: "The Gulf Stream represents a major potential
+resource for renewable energy but is presently only sparsely
+characterized via radar, buoys, gliders, and intermittently op-
+erating human-operated research vessels. Dramatically greater
+resolution is possible through the use of persistently operating
+autonomous surface vessels (ASVs), which can be powered
+by wind, wave, or solar resources. Optimizing the control of
+these ASVs, taking into account the device and environmental
+properties, is crucial to obtaining good data. An ASV’s path and
+velocity profile along that path both significantly influence the
+amount of a mission domain that can be covered and, ultimately,
+the scientific quality of the mission. While our previous work
+focused on optimizing the path of a solar-powered ASV with
+fixed speed, the present work represents the complement:
+optimizing the speed for a given path, accounting for the ASV
+dynamics, flow resource, and solar resource. We perform this
+optimization through a model predictive controller that maxi-
+mizes the projected distance traversed, with a terminal incentive
+that captures the estimated additional long-duration range that
+is achievable from a given terminal battery state of charge.
+We present simulation results based on the SeaTrac SP-48
+ASV, Mid-Atlantic Bight/South-Atlantic Bight Regional Ocean
+Model, and European Centre for Medium-Range Weather
+Forecasts solar model. Our results show improved performance
+relative to simpler heuristic controllers that aim to maintain
+constant speed or constant state of charge. However, we also
+show that the design of the MPC terminal incentive and design
+of the heuristic comparison controller can significantly impact
+the achieved performance; by examining underlying simulation
+results for different designs, we are able to identify likely causes
+of performance discrepancies."
+pdf: /pdfs/2023-persistent-velocity.pdf
+---

content/papers/2024-multiagent-coverage.md

@@ -9,18 +9,6 @@ authors:
     - dimitrapanagou
 arxiv:  https://arxiv.org/abs/2403.17917v1
 code: https://github.com/dev10110/multiagent-clarity-based-dynamic-coverage/ 
-abstract: "This paper presents two algorithms for multi-agent dynamic coverage in spatiotemporal environments, where
-the coverage algorithms are informed by the method of data
-assimilation. In particular, we show that by considering the
-information assimilation algorithm, here a Numerical Gaussian
-Process Kalman Filter, the influence of measurements taken
-at one position on the uncertainty of the estimate at another
-location can be computed. We use this relationship to propose
-new coverage algorithms. Furthermore, we show that the con-
-trollers naturally extend to the multi-agent context, allowing for
-a distributed-control central-information paradigm for multi-
-agent coverage. Finally, we demonstrate the algorithms through
-a realistic simulation of a team of UAVs collecting wind data
-over a region in Austria."
+abstract: "This paper presents two algorithms for multi-agent dynamic coverage in spatiotemporal environments, where the coverage algorithms are informed by the method of data assimilation. In particular, we show that by explicitly modeling the environment using a Gaussian Process (GP) model, and considering the sensing capabilities and the dynamics of a team of robots, we can design an estimation algorithm and multi-agent coverage controller that explores and estimates the state of the spatiotemporal environment. The uncertainty of the estimate is quantified using clarity, an information-theoretic metric, where higher clarity corresponds to lower uncertainty. By exploiting the relationship between GPs and Stochastic Differential Equations (SDEs) we quantify the increase in clarity of the estimated state at any position due to a measurement taken from any other position. We use this relationship to design two new coverage controllers, both of which scale well with the number of agents exploring the domain, assuming the robots can share the map of the clarity over the spatial domain via communication. We demonstrate the algorithms through a realistic simulation of a team of robots collecting wind data over a region in Austria."
 pdf: /pdfs/2024-multiagent-coverage.pdf
----
+---

content/people/devanshagrawal.md

@@ -4,5 +4,5 @@ category: PhD
 image: "/images/devanshagrawal.jpg"
 year: 2020
 link: https://dev10110.github.io
-mail: [email protected]
+mail: mailto:[email protected]
 ---

content/people/dmrc.md

@@ -0,0 +1,13 @@
+---
+title: Daniel Cherenson
+# choose a category from [Faculty, PostDoc, PhD, Masters, Visiting, Alumni]. Be careful about the capitalization.
+category: PhD
+# give the path relative to static/
+image: "/images/cherenson.jpg"
+# start year, used for sorting
+year: 2024
+# link to personal website (optional)
+link: 
+# email id (optional)
+mail: mailto:[email protected]
+---

content/people/haejoonl.md

@@ -9,5 +9,5 @@ year: 2023
 # link to personal website (optional)
 link: 
 # email id (optional)
-mail: [email protected]
+mail: mailto:[email protected]
 ---

content/people/kalebbennaveed.md

@@ -3,4 +3,5 @@ title: Kaleb Ben Naveed
 category: "PhD"
 image: /images/kalebbennaveed.jpeg
 year: 2022
+mail: mailto:[email protected]
 ---

content/people/kavinmgovindarajan.md

@@ -1,5 +1,5 @@
 ---
-title: 'Kavin M. Govindarajan'
+title: ' Kavin M. Govindarajan '
 # choose a category from [Faculty, PostDoc, PhD, Masters, Visiting, Alumni]. Be careful about the capitalization.
 category: PhD
 # give the path relative to static/

content/people/taekyungkim.md

@@ -0,0 +1,8 @@
+---
+title: Taekyung Kim
+category: PhD
+image: "/images/taekyungkim.jpg"
+year: 2023
+link: https://taekyung.me
+mail: mailto:[email protected]
+---