Recent Papers by Professor How

Primary Research Areas:

  1. Formation Flying and Carrier Differential-Phase GPS Relative Navigation
  2. Task Assignment and Path Planning (UAV and Spacecraft)
  3. Robust, Nonlinear, and Adaptive Control
  4. Ph.D. and Master Theses

Formation Flying and Carrier-Phase Differential GPS (CDGPS) Relative Navigation

  1. G. S. Aoude, J. P. How, and I. M. Garcia ``Two-Stage Path Planning Approach for Designing Multiple Spacecraft Reconfiguration Maneuvers,''Proceedings of the 20th International Symposium on Space Flight Dynamics, Sept 2007.
  2. L. S. Breger and J. P. How, ``Powered Safe Abort for Autonomous Rendezvous of Spacecraft,'' presented at the 2007 AIAA Guidance, Navigation and Control Conference
  3. L. Perea, J. P. How, L. S. Breger, and P. Elosegui, `` Nonlinearity in Sensor Fusion: Divergence Issues in EKF, modified truncated SOF, and UKF,'' presented at the 2007 AIAA Guidance, Navigation and Control Conference
  4. L. S. Breger and J. P. How, ``Safe Trajectories for Autonomous Rendezvous of Spacecraft,'' presented at the 2006 AIAA Guidance, Navigation and Control Conference
  5. L. S. Breger, J. P. How, and K. T. Alfriend``Partial J2-Invariance for Spacecraft Formations,'' presented at the 2006 AIAA Guidance, Navigation and Control Conference
  6. L. Breger, J. P. How, and K. T. Alfriend, ``Maneuver-optimized J2-Invariant Initial Conditions,'' presented at the NASA 2005 Flight Mechanics Symposium, Oct. 2005.
  7. L. Breger and J. P. How, ``J2-Modified GVE-Based MPC for Formation Flying Spacecraft,'' Proceedings of the AIAA Guidance, Navigation and Control Conference, Aug 2005. AIAA-2005-5833
  8. L. Breger, A. Richards and J. P. How, ``Model Predictive Control of Spacecraft Formations with Sensing Noise'' Proceedings of the IEEE American Control Conference, June 2005, pp. 2385-2391.
  9. J. P. How, K. T. Alfriend, L. Breger, and M. Mitchell, ``Semimajor Axis Estimation Strategies,'' 2nd International Symposium on Formation Flying Missions & Technologies, Washington, DC, September 14-16, 2004
  10. L. Breger and J. P. How,``GVE-Based Dynamics and Control for Formation Flying Spacecraft,'' 2nd International Symposium on Formation Flying Missions & Technologies, Washington, DC, September 14-16, 2004
  11. M. Mandic, L. Breger, and J. P. How, ``Analysis of Decentralized Estimation Filters for Formation Flying Spacecraft,'' Proceedings of the AIAA Guidance, Navigation and Control Conference, Aug 2004. AIAA-2004-5135
  12. M. Mitchell, L. Breger, J. P. How, and T. Alfriend, ``Effects of Navigation Filter Properties on Formation Flying Control,'' Proceedings of the AIAA Guidance, Navigation and Control Conference, Aug 2004. AIAA-2004-5024
  13. Philip Ferguson and J. P. How, "Decentralized Estimation Algorithms For Formation Flying Spacecraft," proceedings of the AIAA Guidance, Navigation, and Control Conference, August 2003
  14. L. Breger, P. Ferguson, J. P. How, S. Thomas, T. McLoughlin and M. Campbell, "Distributed Control of Formation Flying Spacecraft Built on OA," proceedings of the AIAA Guidance, Navigation, and Control Conference, August 2003
  15. M. Tillerson, L. Breger, and J. P. How, "Distributed Coordination and Control of Formation Flying Spacecraft," Proceedings of the IEEE American Control Conference, June 2003, pp. 1740 - 1745.
  16. M. Tillerson, L. Breger, and J. P. How, ``Distributed coordination and control of formation flying spacecraft,'' Proceedings of the American Control Conference, June 2003, pp. 1740 - 1745.
  17. J. P. How, Nicholas Pohlman, and Chan-Woo Park, "GPS Estimation Algorithms for Precise Velocity, Slip and Race-track Position Measurements," Proceedings of the SAE Motorsports Engineering Conference & Exhibition (2002-01-3336)
  18. Franz Busse and J. P. How, "Demonstration of Adaptive Extended Kalman Filter for Low Earth Orbit Formation Estimation Using CDGPS", Institute of Navigation GPS Meeting, September 2002 and in NAVIGATION, Journal of The Institute of Navigation.
  19. F.Busse and J. P. How, "Real-time Experimental Demonstration of Precise Decentralized Relative Navigation for Formation Flying Spacecraft", AIAA Guidance, Navigation, and Control Conference, August 2002
  20. P. Ferguson, T. Yang, M. Tillerson, and J. P. How, "New Formation Flying Testbed for Analyzing Distributed Estimation and Control Architectures," AIAA Guidance, Navigation, and Control Conference, August 2002
  21. M. Tillerson and J. P. How, ``Advanced Guidance Algorithms for Spacecraft Formation Flying," Proceedings of the American Control Conference, May 2002, pp. 2830-2835.
  22. M. Tillerson, G. Inalhan, and J. P. How, ``Coordination and Control of Distributed Spacecraft Systems Using Convex Optimization Techniques," International Journal of Robust and Nonlinear Control, Vol. 12, No. 2, Jan 2002, pp. 207-242
  23. G. Inalhan, M. Tillerson, and J. P. How, "Relative Dynamics and Control of Spacecraft Formations in Eccentric Orbits," AIAA Journal of Guidance Control and Dynamics, January - February 2002
  24. C.-W. Park, J. P. How, and L. Capots, "Sensing Technologies For Formation-Flying Spacecraft In LEO Using CDGPS and an Interspacecraft Communications System," NAVIGATION, Journal of The Institute of Navigation, Vol. 49, Nos. 1, 2002, pg. 45.
  25. C.-W. Park and J. P. How, "Decentralized Relative Navigation for Formation Flying Spacecraft using Augmented CDGPS," proceedings of the ION, September 2001
  26. M. Tillerson and J. P. How, "Formation Flying Control in Eccentric Orbits," proceedings of the AIAA Guidance, Navigation, and Control Conference, August 2001
  27. J. P. How and M. Tillerson, ``Analysis of the Impact of Sensing Noise on Formation Control," Proceedings of the American Control Conference, June 2001.
  28. J. C. Adams, T. Corazzini, F. Busse, J. P. How, and L. Capots, "Pseudolite Augmented Navigation for GEO Communication Satellite Collocation," IEEE Aerospace Conference, March 2000
  29. F. H. Bauer, K. Hartman, D. Weidow, J. P. How, and F. Busse, ``Enabling Spacecraft Formation Flying through Spaceborne GPS and Enhanced Autonomy Technologies," Proc. of the ION-GPS Conference, Sept, 1999, p. 369-383.
  30. T. Corazzini and J. P. How, ``Onboard Pseudolite Augmentation System for Relative Navigation", Proc. of the ION-GPS Conference, Sept. 1999, p. 1559-1568.
  31. F. Bauer, K. Hartman, J. P. How, J. Bristow, D. Weidow, and F. Busse, "Enabling Spacecraft Formation Flying through Spaceborne GPS and Enhanced Automation Technologies," Proceedings of the 1999 ION-GPS Conference, Nashville, TN, September 15, 1999.
  32. E. Olsen, C.-W. Park, and J. P. How, ``3D Formation Flight using Differential Carrier-phase GPS Sensors,'' Proc. of the ION-GPS Conference, Sept 1998.
  33. T. Corazzini and J. P. How, ``Onboard GPS signal augmentation for spacecraft formation flying,'' Proc. of the ION-GPS Conference, Sept 1998, p. 1937 - 1946.
  34. H. Teague, J. P. How, B. Parkinson, "Control of Flexible Structures Using GPS: Methods and Experimental Results," AIAA JGCD, September 1998
  35. J. P. How, R. Twiggs, D. Weidow, K. Hartman, and F. Bauer, "ORION: A Low-cost Demonstration of Formation Flying in Space using GPS," Proceedings of the AIAA/AAS Astrodynamics Conference August, 1998.
  36. T. Corazzini, A. Robertson, J. C. Adams, Arash Hassibi, and J. P. How, "GPS Sensing for Spacecraft Formation Flying," proceedings of the Institute of Navigation GPS-97 Conf., Kansas City MO, September 1997.
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Task Assignment and Path Planning (UAV and Spacecraft)

  1. B. Bethke, M. Valenti, J. How, ``Cooperative Vision Based Estimation and Tracking Using Multiple UAVs ,'' Conference of Cooperative Control and Optimization, January 2007, Gainesville, FL
  2. B. Bethke, J. How, J. Vian, ``Group Health Management of UAV Teams With Applications to Persistent Surveillance ,'' Submitted to American Controls Conference, July 2008, Seattle, WA
  3. M. Valenti, B. Bethke, J. How, D. Pucci de Farias, and J. Vian, ``Embedding Health Management into Mission Tasking for UAV Teams,'' IEEE American Controls Conference, July 2007, New York, NY
  4. A. Frank, J.S. McGrew, M. Valenti, D. Levine and J.P. How ``Hover, Transition, and Level Flight Control Design for a Single-Propeller Indoor Airplane,'' 2007 AIAA Guidance, Navigation and Control Conference
    AIAA-2007-6318
  5. L. F. Bertuccelli and J. P. How, ``Bayesian Forecasting in Multivehicle Search Operations,'' presented at the 2006 AIAA Guidance, Navigation and Control Conference
  6. M. Alighanbari and J. P. How, ``Robust Decentralized Task Assignment for Cooperative UAVs,'' presented at the 2006 AIAA Guidance, Navigation and Control Conference
  7. G. Tournier, M. Valenti, J. P. How and E. Feron, ``Estimation and Control of a Quadrotor Vehicle Using Monocular Vision and Moire Patterns,'' presented at the 2006 AIAA Guidance, Navigation and Control Conference
  8. M. Valenti, B. Bethke, G. Fiore, J. P. How, and E. Feron, ``Indoor Multi-Vehicle Flight Testbed for Fault Detection, Isolation, and Recovery,'' presented at the 2006 AIAA Guidance, Navigation and Control Conference
  9. Y. Kuwata, A. Richards, T. Schouwenaars, and J. P. How, ``Decentralized Robust Receding Horizon Control for Multi-vehicle Guidance" presented at the IEEE American Control Conference, June 2006.
  10. M. Alighanbari and J. P. How, `` An Unbiased Kalman Consensus Algorithm" presented at the IEEE American Control Conference, June 2006.
  11. L. F. Bertuccelli and J. P. How, ``Search for Dynamic Targets with Uncertain Probability Maps '' presented at the IEEE American Control Conference, June 2006.
  12. T. Schouwenaars, J. P. How, and E. Feron, `` Multi-Vehicle Path Planning for Non-Line of Sight Communication'' presented at the IEEE American Control Conference, June 2006.
  13. I. M. Garcia and J. P. How, ``Improving the Efficiency of Rapidly-exploring Random Trees Using a Potential Function Planner,'' presented at the IEEE Conference on Decision and Control , Dec 2006.
  14. L. F. Bertuccelli and J. P. How, ``Robust UAV Search for Environments with Imprecise Probability Maps'' presented at the IEEE Conference on Decision and Control , Dec 2006.
  15. M. Alighanbari and J. P. How, `` Decentralized Task Assignment for Unmanned Aerial Vehicles'' presented at the IEEE Conference on Decision and Control , Dec 2005.
  16. I. Garcia and J. P. How, ``Trajectory Optimization for Satellite Reconfiguration Maneuvers with Position and Attitude Constraints'' Proceedings of the IEEE American Control Conference, June 2005, pp.889-895
  17. A. Richards and J. P. How, ``Robust Model Predictive Control with Imperfect Information'' Proceedings of the IEEE American Control Conference, June 2005, pp. 268-274.
  18. M. Alighanbari and J. P. How, ``Cooperative Task Assignment of Unmanned Aerial Vehicles in Adversarial Environments'' Proceedings of the IEEE American Control Conference, June 2005, pp. 4661-4667.
  19. J. P. How, E. King, and Y. Kuwata, ``Flight Demonstrations of Cooperative Control for UAV Teams,'' AIAA 3rd Unmanned Unlimited Technical Conference, Workshop and Exhibit, Chicago, IL, Sept. 2004.
  20. L. Bertuccelli, M. Alighanbari, and J. P. How, ``Robust Planning for Coupled, Cooperative UAV Missions,'' Proceedings of the IEEE CDC, 2004, pp. 2917--2923.
  21. A. Richards and J. P. How, ``Decentralized Model Predictive Control of Cooperating UAVs,'' Proceedings of the IEEE Conference on Decision and Control, 2004, pp. 4286-4291.
  22. T. Schouwenaars, M. Valenti, E. Feron, and J. P. How, ``Implementation and Flight Test Results of MILP-based UAV Guidance,'' Proceedings of the IEEE Aerospace Conference, Feb. 2005.
  23. M. Alighanbari, L. F. Bertuccelli, and J. P.How, ``Filter-Embedded UAV Task Assignment Algorithms For Dynamic Environments,'' Proceedings of the AIAA Guidance, Navigation and Control Conference, Aug 2004. AIAA-2004-5251.
  24. T. Schouwenaars, J. P. How, and E. Feron, ``Decentralized Cooperative Trajectory Planning of Multiple Aircraft with Hard Safety Guarantees,'' Proceedings of the AIAA Guidance, Navigation and Control Conference, Aug 2004. AIAA-2004-5141.
  25. Y. Kuwata and J. P. How, "Three Dimensional Receding Horizon Control for UAVs,” Proceedings of the AIAA Guidance, Navigation, and Control Conference, Aug 2004. AIAA-2004-5144.
  26. M. Valenti, T. Schouwenaars, Y. Kuwata, E. Feron, J. P. How, and J. Paunicka, "Implementation of a Manned Vehicle - UAV Mission System," Proceedings of the AIAA Guidance, Navigation, and Control Conference, Aug 2004. AIAA-2004-5142
  27. T. Schouwenaars, B. Mettler, E. Feron, and J. P. How, ``Hybrid Model for Receding Horizon Guidance of Agile Maneuvering Autonomous Rotorcraft,'' Proceedings of the 16th IFAC Symposium on Automatic Control in Aerospace, June 2004.
  28. E. King, M. Alighanbari, and J. P. How. “Experimental Demonstration of Coordinated Control for Multi-Vehicle Teams,”' Proceedings of the 16th IFAC Symposium on Automatic Control in Aerospace, June 2004.
  29. Y. Kuwata and J. P. How, ``Stable Trajectory Design for Highly Constrained Environments using Receding Horizon Control,'' Proceedings of the IEEE American Control Conference, 2004, pp. 902--907.
  30. T. Schouwenaars, J. P. How, and E. Feron, ``Receding Horizon Path Planning with Implicit Safety Guarantees,'' Proceedings of the IEEE American Control Conference, 2004, pp. 5576 - 5581.
  31. E. King, M. Alighanbari, Y. Kuwata, and J. P. How, ``Coordination and Control Experiments on a Multi-vehicle Testbed,'' Proceedings of the IEEE American Control Conference, 2004, pp. 5315-5320.
  32. Y. Kuwata and J. P. How, ``Decentralized Receding Horizon Control of Multiple UAVs,'' Proc. of the Fourth Annual Conference on Cooperative Control and Optimization, Dec 2003.
  33. J. Bellingham, Y. Kuwata, and J. P. How, ``Stable Receding Horizon Trajectory Control for Complex Environments,'' Proceedings of the AIAA Guidance, Navigation, and Control Conference, August 2003. AIAA-2003-5635
  34. A. Richards, Y. Kuwata, and J.P. How, "Experimental Demonstrations of Real-time MILP Control," Proceedings of the AIAA Guidance, Navigation, and Control Conference, August 2003. AIAA-2003-5802
  35. A. Richards and J. P. How, "Performance Evaluation Of Rendezvous Using Model Predictive Control," Proceedings of the AIAA Guidance, Navigation, and Control Conference, August 2003. AIAA-2003-5507
  36. K. Sigurd and J. P. How, "UAV Trajectory Design Using Total Field Collision Avoidance," Proceedings of the AIAA Guidance, Navigation, and Control Conference, August 2003. AIAA-2003-5728
  37. S. Park, J. Deyst, and J. P. How, ``A New Nonlinear Guidance Logic for Trajectory Tracking,'' Proceedings of the AIAA Guidance, Navigation and Control Conference, Aug 2004. AIAA-2004-4900.
  38. B. Mettler, T. Schouwenaars, J. P. How, J. Paunicka and E. Feron, "Autonomous UAV Guidance Build-Up: Flight-Test Demonstration and Evaluation Plan," Proceedings of the AIAA Guidance, Navigation, and Control Conference, August 2003. AIAA-2003-5744
  39. T. Schouwenaars, B. Mettler, E. Feron and J. P. How, "Robust Motion Planning Using a Maneuver Automaton with Built-in Uncertainties," Proceedings of the IEEE American Control Conference, June 2003, pp. 2211 - 2216.
  40. A. Richards and J. P. How, "Model Predictive Control of Vehicle Maneuvers with Guaranteed Completion Time and Robust Feasibility," Proceedings of the IEEE American Control Conference, June 2003, pp. 4034-4040.
  41. M. Alighanbari, Y. Kuwata, and J. P. How, "Coordination and Control of Multiple UAVs with Timing Constraints and Loitering," Proceedings of the IEEE American Control Conference, June 2003, pp. 5311-5316
  42. T. Schouwenaars, B. Mettler, E. Feron, and J. P. How, ``Hybrid Architecture for Full-Envelope Autonomous Rotorcraft Guidance," Proceedings of the American Helicopter Society 59th Annual Forum, May 6-8, 2003.
  43. J. S. Bellingham, M. Tillerson, M. Alighanbari and J. P. How, "Cooperative Path Planning for Multiple UAVs in Dynamic and Uncertain Environments," Proceedings of the  IEEE Conference on Decision and Control, Dec. 2002, pp. 2816 - 2822.
  44. T. Schouwenaars, E. Feron, and J. P. How, "Safe Receding Horizon Path Planning for Autonomous Vehicles" 40th Allerton Conference on Communication, Control, and Computation October 2002
  45. A. Richards, J. Bellingham, M. Tillerson, and J. P. How, "Co-ordination and Control of Multiple UAVs," AIAA Guidance, Navigation, and Control Conference, August 2002, AIAA Paper 2002-4588
  46. A. Richards, T. Schouwenaars, J. P. How, and E. Feron, "Spacecraft Trajectory Planning with Avoidance Constraints Using Mixed-Integer Linear Programming," AIAA Journal of Guidance Control and Dynamics, Vol. 25, No. 4, July - August 2002.
  47. A. Richards and J. P. How, "Aircraft Trajectory Planning With Collision Avoidance Using Mixed Integer Linear Programming," Proceedings of the IEEE American Control Conference, May 2002, pp. 1936-1941
  48. J. Bellingham, A. Richards, and J. P. How, "Receding Horizon Control of Autonomous Aerial Vehicles," Proceedings of the IEEE American Control Conference, May 2002, pp. 3741-3746
  49. J. Bellingham, M. Tillerson, A. Richards, J. P. How, "Multi-Task Allocation and Trajectory Design for Cooperating UAVs," in Cooperative Control: Models, Applications and Algorithms at the Conference on Coordination, Control and Optimization, November 2001, pp. 1-19
  50. T. Schouwenaars, E. Feron, B. de Moor, and J. P. How, "Mixed Integer Programming for Multi-vehicle Path Planning, " Proceedings of the European Control Conference, European Union Control Association, Porto, Portugal, September, 2001, pp. 2603-2608.
  51. A. Richards, J. P. How, T. Schouwenaars, and E. Feron, "Plume Avoidance Maneuver Planning Using Mixed Integer Linear Programming," proceedings of the AIAA Guidance, Navigation, and Control Conference, August 2001, AIAA Paper 2001-4091
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Robust, Nonlinear, and Adaptive Control

  1. A. G. Richards and J. P. How, ``Robust Stable Model Predictive Control with Constraint Tightening ,'' presented at the IEEE American Control Conference, June 2006.
  2. A. G. Richards and J. P. How, ``Robust Constrained Model Predictive Control with Analytical Performance Prediction,'' Proceedings of the AIAA Guidance, Navigation and Control Conference, Aug 2004. AIAA-2004-5110
  3. A. Richards and J. P. How, ``A Decentralized Algorithm for Robust Constrained Model Predictive Control,'' Proceedings of the IEEE American Control Conference, 2004.
  4. L. Rodrigues and J. P. How, "Synthesis of Piecewise-Affine Controllers for Stabilization of Nonlinear Systems," Proceedings of the IEEE CDC, Dec 2003.
  5. L. Rodrigues and J. P. How, "Observer-Based Control of Piecewise-Affine Systems," International Journal of Control, Volume 76 Number 5 2003, pp. 459-477.
  6. L. Rodrigues and J. P. How, "Automated Control Design for a Piecewise-Affine Approximation of a Class of Nonlinear Systems," Proceedings of the American Control Conference, June 2001
  7. T. Pare, A. Hassibi, and J. P. How, "A KYP Lemma and Invariance Principle for Systems with Multiple Hysteresis Non-linearities," International Journal of Control, February 2001
  8. B. Sayyar-Rodsari and J. P. How, "Estimation-Based Synthesis of H-Infinity-Optimal Adaptive FIR Filters for Filtered-LMS Problems," IEEE Transactions on Signal Processing, January 2001
  9. L. Rodrigues and J. P. How, "Output Feedback Controller Synthesis for Piecewise-Affine Systems with Multiple Equilibria," Proceedings of the American Control Conference, June 2000
  10. L. Xiao, A. Hassibi, and J. P. How, "Control with Random Communication Delays via a Discrete-Time Jump System Approach," Proceedings of the American Control Conference, June 2000.
  11. T. Pare and J. P. How, "Algorithms for Reduced Order Robust H-Infinity Control Design," Proceedings of the 38th Conference on Decision and Control, December 1999
  12. A. Hassibi, J. P. How, and S. Boyd, "Low-Authority Controller Design by Means of Convex Optimization," AIAA JGCD, December 1999
  13. M. Campbell, J. P. How, S. Groccot, and D. Miller, "On-Orbit Closed-Loop Control Results for the Middeck Active Control Experiment," AIAA JGCD, April 1999
  14. T. Pare and J. P. How, "Robust H-Infinity Controller Design for Systems with Hysteresis Nonlinearities," Proceedings of the 37th Conference on Decision and Control, December 1998
  15. T. Pare, H. Hindi, J. P. How, and S. Boyd, "Synthesizing Stability Regions for Systems with Saturating Actuators," Proceedings of the 37th Conference on Decision and Control, December 1998
  16. D. Banjerdpongchai and J. P. How, "Parametric Robust H2 Control Design with Generalized Multipliers via LMI Synthesis," International Journal of Control, 1998
  17. J. P. How, E. Collins, and W. Haddad, "Optimal Popov Controller Analysis and Synthesis for Systems with Real Parameter Uncertainties," IEEE Transactions of Control, Systems Technology, March 1996
  18. S. Groccot, J. P. How, and D. Miller, "Experimental Comparison of Robust H2 Control Techniques for Uncertain Structural Systems," AIAA JGCD, Vol 20., No. 3.
  19. E. H. Anderson and J. P. How, "Adaptive feedforward control for actively isolated spacecraft platforms," AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference and Exhibit, Kissimmee, FL, Apr. 7-10, 1997 AIAA-1997-1200
  20. S. Lim and J. P. How, "Input command shaping techniques for robust, high-performance control of flexible structures," AIAA Guidance, Navigation and Control Conference, San Diego, CA, July 29-31, 1996 AIAA-1996-3842
  21. See also
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November 2, 2005