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CRUSER Funded Research


CRUSER has funding to support NPS Faculty research focused on any aspect of unmanned systems/robotics related research.  Researchers are selected based upon presentations at our spring Technical Continuum (TechCon) or our annual Call for Proposals.  Proposals that support concepts from our current innovation thread are encouraged, but all research related to unmanned systems or robotics will be considered.

CRUSER funding per NPS Department from inception (FY12) to present (FY19).

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FY19 Funded Research Proposals


Principal Investigator(s)

Research Title

Dr. Curtis Blaise

Unmanned Systems Interoperability Standardization: US Navy and International Community Activities

Prof. Alex Bordetsky   

Short-Term Self-Moving Maritime-Land Mesh Networks

Dr. John Dillard

A Sourcing Strategy for Scaling Unmanned Mine Countermeasure Capabilities 

Prof. Vlad Dobrokhodov

Dr. Kevin Jones

Dr. Paul Leary

Enable Real-Time Access to Underwater Acoustic and Beam-Forming Data on a Hybrid Aqua-Quad Vehicle

Dr. David Garren

Dr. Phil Pace

Dynamic Automatic Calibration of Coherent Radar UAV Swarm Arrays

Dr. Doug Horner
Dr. Sean Kragelund

Distributed Adaptive Submodularity for Mixed-Initiative, UxV Networked Control Systems

Dr. Kevin Jones

Prof. Vlad Dobrokhodov

Dr. Paul Leary

Environmental Hardening and At-Sea Testing of the Aqua-Quad Hybrid Platform

Dr. John Joseph

Dr. Doug Horner

Dr. Kevin Smith

Long endurance, wide-area maritime surveillance system

Prof. Isaac Kaminer

Dr. Claire Walton 

Multi-Domain Super Swarm: Robust Tactics for Engaging an Attacking Large-Scale Swarm 

Dr. Emil Kartalov

3D-Printable Artificial Muscles for UUV propulsion

Dist. Prof.Gamani Karunasiri
Dr. Fabio Alves

Bio-inspired MEMS acoustic sensor for small flying UAS localization

Dr. Joseph Klamo

Dist. Prof. Young Kwon

Identification of Wave Environments that Degrade the Performance of AUVs Operating Near-Surface

Dr. Mollie McGuire The effect of stress on the decision to rely on automation:  An investigation into transparency and anthropomorphism on decision making with autonomy uder stress

Prof. Jim Newman
Mr. Gio Minelli

Development of Autonomous, Optimized Capabilities for MC3

Prof. Marcello Romano

Dynamics and Control of an Autonomous “Tugboat-Spacecraft” to maneuver a passive Resident Space Object

Dr. Timothy Sands, COL., USAF Deterministic Artificial Intelligence for Surmounting Battle Damage

Prof. Kevin Smith
Prof. Vlad Dobrokhodov

Acoustic Target Motion Analysis from Novel Autonomous Systems Using Light-Weight, Low-Power Data Acquisition Systems

Dr. Preetha Thulasiriaman

Cybersecurity Evaluation and Testing of the ROS 2 Architecture for Networked UAV Systems

Dr. Douglas Van Bossuyt

Dr. Bryan Mesmer (UAH)

Dr. Kristin Weger (UAH)

Autonomous systems adoption challenges and requirements management solutions

Prof. Oleg Yakimenko

Air Superiority via Decentralized Swarming Tactics and Autonomous Pursuit

FY18 Funded Research Proposals


Principal Investigator(s)

Research Title

Dr. Brian Bingham
Dr. Preetha Thulasiraman

ROS 2: Cyber Security and Network Robustness for Robotics

Dr. Dan Boger
Mr. Scott Miller

Manned Unmanned Teaming (MUM-T) for Marine Fire Teams

Prof. Alex Bordetsky   

Short-Living Nodes and Links for Littoral Mesh Networking

Dr. Dwayne Davis
Dr. Kevin Jones
CDR Kathleen Giles

Aerial Swarm Behavior Development in Support of USMC Training

Dr. Doug Horner

Adaptive Submodularity for Mixed-Initiative UxV Network Control Systems

Dr. Kevin Jones
Dr. Dwayne Davis

Swarm Future Platforms

Dist. Prof.Gamani Karunasiri
Dr. Fabio Alves

Bio-inspired MEMS acoustic sensor for robotic autonomous systems applications

Dr. Mollie McGuire

The Decision to Rely on Automation Under Stress: The Debut Experimentation Effort for the Human Cognition and Automation Lab

Mr. Aurelio Monarrez
Dr. Sean Kragelund

Cooperative Autonomous ScanEagle

Prof. Jim Newman

Development of Autonomous, Optimized Capabilities for MC3

Prof. Mara Orescanin

Simultaneous visual and IR UAV imaging of littoral systems for AI driven change detection

Prof. Phillip Pace
Prof. Ric Romero

Network Enabled Digital Swarm Image Synthesis (NEDSIS) Phase 2

Dr. Susan Sanchez
Dr. Tom Lucas

Data Farming Explorations of the Tactics and Benefits of Unmanned Systems and Unmanned-Manned Teaming

Prof. Kevin Smith
Prof. Vlad Dobrokhodov

Acoustic Vector Sensing from Novel Autonomous Systems Using Light-Weight, Low-Power Data Acquisition Systems

Prof. Preetha Thulasiriaman

Study of Cybersecurity Requirements for the Military Robot Operating System (ROS-M) using ROS 2.0 on Unmanned Aerial Networks

Prof. Oleg Yakimenko

Mission Planning in Support of SAR Operations Involving Heterogeneous UxSs 

FY17 Funded Research Proposals


Principal Investigator(s)

Research Title

Dr. Paul Beery
Dr. Eugene Paulo
RADM (Ret.) Rick Williams

Investigation of Requirements and Capabilities of Next Generation Mine Warfare (MIW) Unmanned Underwater Vehicles (UUVs)

Prof. Alex Bordetsky     Multi-Domain  Mesh Network of Short Appearance Unmanned Nodes

Dr. Doug Horner

Alternative PNT for Persistent Undersea Navigation

Dr. Doug Horner
Mr. Aurelio Monarrez

Arctic Scan Eagle

Prof. David Jenn

UAV EM Sensors for Spectrum Sensing and Propagation Environment Assessment

Prof. Kevin Jones
Prof. Vladimir Dobrokhodov
Dr. Doug Horner

Cooperative Underwater Sensing with Aqua-Quad

Prof. Kevin Jones
Prof. Qing Wang

Low-Cost Expendable UAS with Application to  Low Altitude Atmospheric Measurements - Phase II

Distinguished Prof. Gamani Karunasiri
Dr. Fabio Alves

Bio-inspired MEMS acoustic sensor for robotic autonomous systems applications

Prof. Mark Nissen

C2 Design for Asymmetric Advantage: Teams of Autonomous Systems & People

Prof. R. C. Olsen

Multi-Modal Sensor Fusion from Autonomous Platforms with 3D Modeling

Prof. Ric Romero
Prof. Phillip Pace
Network Enabled Digital Swarm Image Synthesis (NEDSIS)
Dr. Preetha Thulasiraman Study of Security Primitives for the Robot Operating System (ROS) of UAV Swarms
Prof. Qing Wang Autonomous Wave Glider Based Measurements and Analyses In Support of Electromagnetic Maneuver Warfare (EMW)
Prof. Oleg Yakimenko Vision-Based Navigation and Guidance for Swarm UAS
Prof. Oleg Yakimenko Prototyping of Air-Launched Fast Recon UAS
Distinguished Prof. Xiaoping Yun
Dr. James Calusdian
Optimal Trajectory Generation for Small Drones Used as Micro Interceptors
Prof. Isaac Kaminer
Sean Kragelund
Closing the Experimental Gap in the Search and MCM Communities
Prof. Joseph T. Klamo
Young W. Kwon
Investigation of unsteady hydrodynamic loads on a UUV during near surface operations 
Prof. Susan M. Sanchez
Prof. Thomas W. Lucas
Innovations in unmanned technologies for humanitarian assistance, nonlethal weapons, and more

FY16 Funded Research Proposals


Principal Investigator(s)

Research Title

Prof Alex Bordetsky

Expanding Unmanned System Networks for Littoral Operations using Projectile Based Nodes

Prof Don Brutzman Integrating Semantic-Web Ontology for Ethical Robot Tasking and Simulation using Autonomous Vehicle Command Language (AVCL)

Prof Don Brutzman

Network Optional Warfare (NOW): Optical Signaling and Data Compression for Improved Stealth

Prof Peter Chu

Electro-Optic Detection in Littoral for MIW/ASW Using Navy’s EODES Model and Glider-Measured Optic Data

Prof Vladimir Dobrokhodov

Low-Cost High Precision Aerial Delivery System (LC-ADS)

Prof Noel du Toit
Prof Doug Horner

Tethered AUV Operations from a Mobile Robotic Outpost

Prof Josh Gordis
Prof Isaac Kaminer

On the use of UxVs in Seabasing Cargo Transfer

Prof Peter Guest

Quadrotor Unmanned Aerial Vehicles as Platforms for Atmospheric Measurements in Marine Environments

Prof Doug Horner

Autonomous Navigation in Polar Environments: ICEX16 Ice Operations

Prof Doug Horner

Sensor-Based Motion Planning for Marsupial MCM Teams

Prof Doug Horner Non-RF Communications for Scan Eagle Unmanned Aerial Vehicle
Prof Dave Jenn Short Range Wireless Power Transfer (WPT) for UAV/UAS Battery Charging – Phase III
Prof Kevin Jones
Prof Qing Wang
Low-Cost Expendable UAS with Application to  Low Altitude Atmospheric Measurements
Prof Isaac Kaminer Optimal Intelligence Gathering and Defense Strategies against a Swarm Attack on a High Value Naval Unit
Prof Mark Nissen  Command & Control for Teams of Autonomous Systems and People
Prof Phil Pace Using Small Unmanned Aerial Systems as Electronic Warfare Platforms - Providing the Tactical Ground Commander the Electromagnetic Advantage
Prof Timour Radko
Prof John Joseph
Stratified wakes induced by submerged propagating objects: detection using USVs and UUVs
Prof Ben Reeder
Prof John Joseph
Characterization of the Arctic acoustic environment using unmanned mobile sources in ICEX-16 
Prof Marcello Romano
Prof Xiaoping Yun
The "Manicopter": an Unmanned Aerial Multicopter Vehicle with Robotic Manipulation Capability
Prof Susan Sanchez Closing Capability Gaps:  Data Farming Methods for New Concept Exploration in the CRUSER Community

Prof Kevin Smith
Prof Roberto Cristi

Real-time undersea networking using acoustic communications for improved UUV positioning and collaboration
Prof Preetha Thulasiraman Enabling Secure Group Communications for UAV Swarms using Distributed Key Management
Prof Oleg Yakimenko Tactical Aerial Resupply with Extended Standoff Range

FY15 Funded Education Proposals


Principal Investigator(s)

Research Title

Prof Ron Giachetti Agent Library of Unmanned Vehicles
Prof Dick Harkins
Prof Ravi Vaidyanathan
Prof Greg Miller
Unmanned Systems Grasping: A Laboratory Based around Arm Grasping
Prof John Joseph
Prof Ben Reeder
Applications of a mobile acoustic source for Tactical Oceanography
Prof Isaac Kaminer Towards Persistent ISR missions by teams of Autonomous Gliders
Prof Susan Sanchez CRUSER Data Farming Workshops
Prof Paul Shebalin Robotic system software engineering classroom case study: a series of educational modules that result in the development and acceptance of an actual working robotic system
Prof BJ Strawser Future Challenges for Just War Theory: International Conference
Prof Cliff Whitcomb Development of instructional tutorials, online wiki, and videos in support of Robotics and Rapid Prototyping
Prof Oleg Yakimenko
Prof Xiaoping Yun
Development of Control System Course Content for Interdisciplinary Applications in Robotics

FY15 Funded Research Proposals


Principal Investigator(s)

Research Title

Prof Diana Angelis

CRUSER Unmanned Maritime Systems (UMS) Life Cycle Cost Study

Prof Curtis Blais

Representation of Unmanned Systems in Naval Analytical Modeling and Simulation

Prof Alex Bordetsky

Unmanned Systems Network to Support Vessel Boarding Operations

Prof Don Brutzman
Prof Scot Miller
Prof Dan Boger

Network Optional Warfare (NOW): Optical Signaling and Data Compression for Improved Stealth, with  Design of Experiments for Evaluating Operational Concepts

Prof Peter Chu

Glider-Measured Underwater Bioluminescence for Submarine Minefield Navigation

Prof Timothy Chung

Enabling Capabilities and Technologies for Swarm UAS Autonomy

Prof Vladimir Dobrokhodov

Cumulative Energy Estimation for Optimal Planning of ISR Mission of Cooperative Autonomously Soaring Gliders

Prof Noel DuToit
Prof Doug Horner

AUV Operations in Extreme Environments: Under-Ice Operations

Prof Noel DuToit
Prof Doug Horner

Robotic Outposts to Support Persistent AUV Operations

Prof Kristin Giammarco
Prof Mikhail Auguston
Modeling Swarm Failsafe Behaviors with Monterey Phoenix
Prof Peter Guest Testing Small Multi-Rotor Unmanned Aerial Systems as Platforms for Atmospheric Measurements
Prof Doug Horner Intelligent Sensing for Autonomous Coordinated Maneuvers
Prof Dave Jenn Short Range Wireless Power Transfer (WPT) for UAV/UAS Battery Charging – Phase II
Prof Kevin Jones
Prof Vladimir Dobrokhodov
Prof Isaac Kaminer
Cooperative Underwater Sensing with Aqua-Quad
Prof Wei Kang
Prof Lucas Wilcox
 Computational Solutions for Real-time Optimal Maneuvering of Unmanned Vehicles
Prof Dick Millar Irregular, Hybrid and Asymmetric Warfare: Functional Analysis & Automation for Sustaining and Supporting Dispersed Operations of Dismounted Infantry
Prof Mark Nissen C2 Models of Next Generation Unmanned Aircraft Systems
Prof Gene Paulo LDUUV Life Cycle Management
Prof Phillip Pace Using Small Unmanned Aerial Systems as Electronic Warfare Platforms - Providing the Tactical Ground Commander the Electromagnetic Advantage
Prof Radko Timour
Prof John Joseph
Stratified wakes induced by submerged propagating objects: detection using Unmanned Underwater Vehicles.
Prof Marcello Romano Autonomous Aerial Vehicles with Robotic Manipulation Capability
Prof Susan Sanchez
Prof Thomas Lucas
Investigating the Navy’s Logistics Role in Department of Defense International Humanitarian Assistance Activities
Prof Susan Sanchez
Prof Thomas Lucas
Combined Unmanned Underwater Vehicle Efforts in a Large-Scale Mine Warfare Environment
Prof Kevin Smith
Prof Roberto Cristi
Real-time undersea networking using acoustic communications for improved UUV positioning and collaboration
Prof Qing Wang
Prof Kevin Smith
Using Autonomous Wave Gliders to Quantify Near-Surface Turbulence and EM Ducting Conditions
Prof Oleg Yakimenko Rapid FDC Resupply Using a Projectile-Launched Guided Parafoil

 

FY14 Funded Education Proposals


Principal Investigator(s)

Research Title

Prof Vladimir Dobrokhodov
Prof Noel duToit
An Integrated Indoor Unmanned System Experimentation Facility for Campus-wide Teaching and Research
Prof Kristin Giammarco A Manual for the Model-Based Design and Assessment of Robotics and Unmanned Systems
Prof Dick Harkins A Student built Autonomous Ground Vehicle as a Course Project for the Benefit of the CRUSER Community
Prof John Joseph Glider applications in Tactical Oceanography
Prof Magdi Kamel Introduction to Big Data and Analytics Course Development

Prof Isaac Kaminer
Prof Kevin Jones
Prof Vladimir Dobrokhodov

Defense against Swarms: A Key Naval Capability

FY14 Funded Research Proposals


Principal Investigator(s)

Research Title

Prof Timothy H. Chung Innovating for the Swarm vs. Swarm Grand Challenge Competition
Prof Peter Guest Development of Very-Small Multi Rotor Aircraft as Platforms for Atmospheric and Sea Surface Measurement

Prof Kevin Jones
Prof Vladimir Dobrokhodov
Prof Isaac Kaminer

Aqua-Quad
Prof Alex Bordetsky Diver and Unmanned Vehicle Networking-by-Touch
Prof Peter Chu UUV Path Planning for ASW/MIW Using Navy’s Ocean Data
Prof Duane Davis
Prof Don Brutzman
A Robot Control Ontology Supporting Ethical Mission Execution
Prof Noel Du Toit Joint Human/Robot Operations in Extreme Environments
Prof Noel Du Toit Robotic Outposts to Support Persistent AUV Operations
Prof Dick Harkins
Prof Ravi Vaidyanathan
A Teleoperative Sensory-Motor Control Platform (TSMCP)
Prof Pat Harr Tropical Cyclone Reconnaissance with the Global Hawk: Assessment of Initial Results and Use in Improving Forecasts of Tropical Cyclone Intensity and Structure
Prof Dave Jenn Short Range Radiative Wireless Power Transfer (WPT) for UAV/UAS Battery Charging
Prof Dick Millar UAS IFC Phase II:  BBN Based Hazard Risk Analysis Toolset
Prof Dick Millar UAS IFC Phase III:
Prof Mark Nissen Command & Control of Highly Autonomous Systems and People
Prof Kevin Smith Real-time undersea networking using acoustic communications for improved AUV positioning and collaboration
Prof Qing Wang Environmental Data Collection Using Autonomous Wave Gliders

FY14 Funded Research Proposals


Principal Investigator(s)

Research Title

Prof Alex Bordetsky Networked Unmanned Systems Formation for Rapid Detection, Interdiction, and Expert Reachback in Maritime Interdiction Operations
Prof Don Brutzman Improving Novel Approaches using Ultra-high Resolution 60p Full Motion Video Cameras for QR Code Exploitation in Field Conditions
Prof Peter Chu Corporation of Navy’s Ocean Data into UUV Path Planning with Obstacle Avoidance
Prof Timothy Chung Countering Adversarial Unmanned Systems: Live-Fly Experimentation with Aerial Combat Swarms
Prof John Colosi Support for NPS Seaglider Operations
Prof Noel DuToit A Collaborative Diver Assistant for Underwater Operations
Prof Peter Guest The Use of Unmanned Systems for Environmental Sampling and Enhanced Battlespace Awareness in Support of Naval Operations
Prof William Hatch Comparative Analysis of X-47 UCAS & F-18 Squadron Manpower

Prof Kevin Jones
Prof Vladimir Dobrokhodov
Prof Isaac Kaminer

Tactical Long Endurance Unmanned Air System (TaLEUAS)
Prof Kevin Jones UAS Training and Pilot Certification Program
Prof Dick Millar Experimental Unmanned Aircraft System (UAS) Interim Flight Clearances
Prof Joe Rice MISSION

FY12 Funded Research Proposals


Principal Investigator(s)

Research Title

Prof Don Brutzman Developing Novel Approaches to Quick Response Code (QR Code) Image Acquisition using Live-streaming 4K Ultra-high Resolution 60p Camera Systems
Prof Peter Chu Joint Optimization of Sensing and Sampling with Unmanned Undersea Vehicles
Prof Roberto Cristi
Prof Oleg Yakimenko
Passive UxV Navigation using Visual Sensors
Prof Pat Harr Tropical Cyclone Reconnaissance with the Global Hawk: Operational Requirements, Benefits, and Feasibility
Prof Doug Horner Autonomous Multi-vehicle Tactical Surveillance and Support for Maritime Visit, Board, Search and Seizure Operations
Prof George Lucas
Prof Don Brutzman
Establishing Ethical Constraints on Mission Planning for Autonomous Systems:  AVCL Declarations and AUV Workbench Implementation
Prof Greg Mislick Roadmap for Reduction of Total Ownership Cost (TOC) to Support Acquisition Decisions of Unmanned Autonomous Vehicle
Prof Joe Rice MISSION