var bibbase_data = {"data":"<img src=\"//bibbase.org/img/ajax-loader.gif\" id=\"spinner\"\n  style=\"display: none;\" alt=\"Loading..\" />\n\n<div id=\"bibbase\">\n\n  <script type=\"text/javascript\">\n    var bibbase = {\n      params: {\"bib\":\"https://bibbase.org/zotero/keb0115\",\"jsonp\":\"1\",\"host\":\"bibbase.org\",\"ssl\":false},\n      data: [{\"bibtype\":\"incollection\",\"type\":\"incollection\",\"title\":\"Navigation in Advanced Driver-Assisted Systems and Automated Driving\",\"booktitle\":\"Position, Navigation, and Timing Technologies in the 21st Century: Integrated Satellite Navigation, Sensor Systems, and Civil Applications\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]}],\"editor\":[{\"propositions\":[],\"lastnames\":[\"Morton\"],\"firstnames\":[\"Y.\",\"Jade\"],\"suffixes\":[]},{\"propositions\":[\"van\"],\"lastnames\":[\"Diffelen\"],\"firstnames\":[\"Frank\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Spilker\",\"Jr.\"],\"firstnames\":[\"James\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Parkinson\"],\"firstnames\":[\"Brad\"],\"suffixes\":[]}],\"collaborator\":\"Lo, Sherman and Gao, Grace\",\"bibtex\":\"@incollection{bevly_navigation_nodate,\\n\\ttitle = {Navigation in {Advanced} {Driver}-{Assisted} {Systems} and {Automated} {Driving}},\\n\\tbooktitle = {Position, {Navigation}, and {Timing} {Technologies} in the 21st {Century}: {Integrated} {Satellite} {Navigation}, {Sensor} {Systems}, and {Civil} {Applications}},\\n\\tauthor = {Bevly, David and Martin, Scott},\\n\\teditor = {Morton, Y. Jade and van Diffelen, Frank and Spilker Jr., James and Parkinson, Brad},\\n\\tcollaborator = {Lo, Sherman and Gao, Grace},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Bevly, D.\",\"Martin, S.\"],\"editor_short\":[\"Morton, Y. J.\",\"van Diffelen, F.\",\"Spilker Jr., J.\",\"Parkinson, B.\"],\"key\":\"bevly_navigation_nodate\",\"id\":\"bevly_navigation_nodate\",\"bibbaseid\":\"bevly-martin-navigationinadvanceddriverassistedsystemsandautomateddriving\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"incollection\",\"type\":\"incollection\",\"address\":\"Norwood, MA\",\"title\":\"Integration of GNSS and INS: Part 2\",\"booktitle\":\"GNSS Applications and Methods\",\"publisher\":\"Artech House\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Gebra-Egziabher\"],\"firstnames\":[\"Demoz\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Petovello\"],\"firstnames\":[\"Mark\"],\"suffixes\":[]}],\"year\":\"2009\",\"pages\":\"177–189\",\"bibtex\":\"@incollection{bevly_integration_2009,\\n\\taddress = {Norwood, MA},\\n\\ttitle = {Integration of {GNSS} and {INS}: {Part} 2},\\n\\tbooktitle = {{GNSS} {Applications} and {Methods}},\\n\\tpublisher = {Artech House},\\n\\tauthor = {Bevly, David and Gebra-Egziabher, Demoz and Petovello, Mark},\\n\\tyear = {2009},\\n\\tpages = {177--189},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Bevly, D.\",\"Gebra-Egziabher, D.\",\"Petovello, M.\"],\"key\":\"bevly_integration_2009\",\"id\":\"bevly_integration_2009\",\"bibbaseid\":\"bevly-gebraegziabher-petovello-integrationofgnssandinspart2-2009\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"incollection\",\"type\":\"incollection\",\"address\":\"Norwood, MA\",\"title\":\"Integration of GNSS and INS: Part I\",\"booktitle\":\"GNSS Applications and Methods\",\"publisher\":\"Artech House\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Gebra-Egziabher\"],\"firstnames\":[\"Demoz\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Petovello\"],\"firstnames\":[\"Mark\"],\"suffixes\":[]}],\"year\":\"2009\",\"pages\":\"149–176\",\"bibtex\":\"@incollection{bevly_integration_2009,\\n\\taddress = {Norwood, MA},\\n\\ttitle = {Integration of {GNSS} and {INS}: {Part} {I}},\\n\\tbooktitle = {{GNSS} {Applications} and {Methods}},\\n\\tpublisher = {Artech House},\\n\\tauthor = {Bevly, David and Gebra-Egziabher, Demoz and Petovello, Mark},\\n\\tyear = {2009},\\n\\tpages = {149--176},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Bevly, D.\",\"Gebra-Egziabher, D.\",\"Petovello, M.\"],\"key\":\"bevly_integration_2009-1\",\"id\":\"bevly_integration_2009-1\",\"bibbaseid\":\"bevly-gebraegziabher-petovello-integrationofgnssandinsparti-2009\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"series\":\"2nd Modeling, Estimation and Control Conference MECC 2022\",\"title\":\"Ground-Vehicle Relative Position Estimation with UWB Ranges and a Vehicle Dynamics Model\",\"volume\":\"55\",\"url\":\"https://www.sciencedirect.com/science/article/pii/S2405896322029044\",\"doi\":\"10.1016/j.ifacol.2022.11.261\",\"abstract\":\"An accurate relative position vector (RPV) solution between local vehicles is critical in numerous autonomous vehicle applications from cooperative cruise control (CACC) to commercial truck platooning. Relative GPS solutions can deliver sufficient accuracy for such applications, but resiliency and availability can suffer in cluttered environments; thus, relative position solutions independent of GPS are necessary. Ultra-wideband (UWB) radios can provide accurate and robust range, and have gathered attention in recent decades for use in navigation. Prior work has shown that relative position estimation of dynamic vehicles is possible without a GPS reference through UWB-ranging and a constant-velocity Extended Kalman Filter (EKF). Through a kinematic bicycle model, this work modifies the state vector to include direct estimates of the lead vehicle's longitudinal speed and effective steer angle. This improves estimation quality and robustness in the presence of UWB measurement errors, unfavorable relative geometry, and dynamic maneuvers. The algorithm has been compared to previous methods in simulation and experimental testing environments and exhibits both superior accuracy as well as improved robustness during periods of difficult relative geometry.\",\"language\":\"en\",\"urldate\":\"2023-06-06\",\"booktitle\":\"IFAC-PapersOnLine\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Jones\"],\"firstnames\":[\"Ben\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Thompson\"],\"firstnames\":[\"Kyle\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pierce\"],\"firstnames\":[\"Dan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"month\":\"January\",\"year\":\"2022\",\"keywords\":\"Kalman filtering, Relative position estimation, ultra-wideband radios, vehicle dynamics\",\"pages\":\"681–687\",\"bibtex\":\"@inproceedings{jones_ground-vehicle_2022,\\n\\tseries = {2nd {Modeling}, {Estimation} and {Control} {Conference} {MECC} 2022},\\n\\ttitle = {Ground-{Vehicle} {Relative} {Position} {Estimation} with {UWB} {Ranges} and a {Vehicle} {Dynamics} {Model}},\\n\\tvolume = {55},\\n\\turl = {https://www.sciencedirect.com/science/article/pii/S2405896322029044},\\n\\tdoi = {10.1016/j.ifacol.2022.11.261},\\n\\tabstract = {An accurate relative position vector (RPV) solution between local vehicles is critical in numerous autonomous vehicle applications from cooperative cruise control (CACC) to commercial truck platooning. Relative GPS solutions can deliver sufficient accuracy for such applications, but resiliency and availability can suffer in cluttered environments; thus, relative position solutions independent of GPS are necessary. Ultra-wideband (UWB) radios can provide accurate and robust range, and have gathered attention in recent decades for use in navigation. Prior work has shown that relative position estimation of dynamic vehicles is possible without a GPS reference through UWB-ranging and a constant-velocity Extended Kalman Filter (EKF). Through a kinematic bicycle model, this work modifies the state vector to include direct estimates of the lead vehicle's longitudinal speed and effective steer angle. This improves estimation quality and robustness in the presence of UWB measurement errors, unfavorable relative geometry, and dynamic maneuvers. The algorithm has been compared to previous methods in simulation and experimental testing environments and exhibits both superior accuracy as well as improved robustness during periods of difficult relative geometry.},\\n\\tlanguage = {en},\\n\\turldate = {2023-06-06},\\n\\tbooktitle = {{IFAC}-{PapersOnLine}},\\n\\tauthor = {Jones, Ben and Thompson, Kyle and Pierce, Dan and Martin, Scott and Bevly, David},\\n\\tmonth = jan,\\n\\tyear = {2022},\\n\\tkeywords = {Kalman filtering, Relative position estimation, ultra-wideband radios, vehicle dynamics},\\n\\tpages = {681--687},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Jones, B.\",\"Thompson, K.\",\"Pierce, D.\",\"Martin, S.\",\"Bevly, D.\"],\"key\":\"jones_ground-vehicle_2022\",\"id\":\"jones_ground-vehicle_2022\",\"bibbaseid\":\"jones-thompson-pierce-martin-bevly-groundvehiclerelativepositionestimationwithuwbrangesandavehicledynamicsmodel-2022\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.sciencedirect.com/science/article/pii/S2405896322029044\"},\"keyword\":[\"Kalman filtering\",\"Relative position estimation\",\"ultra-wideband radios\",\"vehicle dynamics\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":1,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"GPS Positioning in Reduced Coverage Environments Using Batched Doppler and Pseudorange Measurements\",\"abstract\":\"This paper summarizes Doppler positioning and clock modeling. A combined pseudorange and Doppler measurement model is discussed, as well as implications of using Doppler for positioning with the GPS constellation. The combined Doppler and pseudorange algorithm is compared to the standard GPS positioning method, and the constraints on the Doppler positioning will be analyzed. The accuracy of the batched results is compared to GPS positioning. Results for various scenarios with varying satellite visibility are shown. The results of the batched solutions are compared to the performance of standard GPS positioning in different environments.\",\"publisher\":\"IEEE\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Wood\"],\"firstnames\":[\"Joshua\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Thompson\"],\"firstnames\":[\"Sterling\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"month\":\"April\",\"year\":\"2020\",\"bibtex\":\"@inproceedings{wood_gps_2020,\\n\\ttitle = {{GPS} {Positioning} in {Reduced} {Coverage} {Environments} {Using} {Batched} {Doppler} and {Pseudorange} {Measurements}},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.9110186&site=eds-live&scope=site},\\n\\tabstract = {This paper summarizes Doppler positioning and clock modeling. A combined pseudorange and Doppler measurement model is discussed, as well as implications of using Doppler for positioning with the GPS constellation. The combined Doppler and pseudorange algorithm is compared to the standard GPS positioning method, and the constraints on the Doppler positioning will be analyzed. The accuracy of the batched results is compared to GPS positioning. Results for various scenarios with varying satellite visibility are shown. The results of the batched solutions are compared to the performance of standard GPS positioning in different environments.},\\n\\tpublisher = {IEEE},\\n\\tauthor = {Wood, Joshua and Thompson, Sterling and Martin, Scott and Bevly, David},\\n\\tmonth = apr,\\n\\tyear = {2020},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Wood, J.\",\"Thompson, S.\",\"Martin, S.\",\"Bevly, D.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.9110186&site=eds-live&scope=site\",\"key\":\"wood_gps_2020\",\"id\":\"wood_gps_2020\",\"bibbaseid\":\"wood-thompson-martin-bevly-gpspositioninginreducedcoverageenvironmentsusingbatcheddopplerandpseudorangemeasurements-2020\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.9110186&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"A Study of the Effect of Various Vehicle Properties on Rollover Propensity\",\"abstract\":\"Copyright © 2004 SAE International This paper investigates the effect of various vehicle parameters on rollover propensity using computer simulation. The computer simulation’s accuracy is verified by comparing it to experimental data from NHTSA’s Phase IV testing on rollover of passenger vehicles. The vehicle model used in the simulation study considers the non-linear, transient dynamics of both yaw and roll motion. The vehicle model is subjected to a specific steering input defined by NHTSA, the Fishhook 1a. A correlation between the vehicle parameter of center of gravity location and rollover propensity is found using the validated vehicle simulation.\",\"publisher\":\"SAE International\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Whitehead\"],\"firstnames\":[\"Y.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Travis\"],\"firstnames\":[\"William\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Flowers\"],\"firstnames\":[\"George\"],\"suffixes\":[]}],\"year\":\"2004\",\"bibtex\":\"@inproceedings{whitehead_study_2004,\\n\\ttitle = {A {Study} of the {Effect} of {Various} {Vehicle} {Properties} on {Rollover} {Propensity}},\\n\\tabstract = {Copyright © 2004 SAE International This paper investigates the effect of various vehicle parameters on rollover propensity using computer simulation. The computer simulation’s accuracy is verified by comparing it to experimental data from NHTSA’s Phase IV testing on rollover of passenger vehicles. The vehicle model used in the simulation study considers the non-linear, transient dynamics of both yaw and roll motion. The vehicle model is subjected to a specific steering input defined by NHTSA, the Fishhook 1a. A correlation between the vehicle parameter of center of gravity location and rollover propensity is found using the validated vehicle simulation.},\\n\\tpublisher = {SAE International},\\n\\tauthor = {Whitehead, Y. and Travis, William and Bevly, David M. and Flowers, George},\\n\\tyear = {2004},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Whitehead, Y.\",\"Travis, W.\",\"Bevly, D. M.\",\"Flowers, G.\"],\"key\":\"whitehead_study_2004\",\"id\":\"whitehead_study_2004\",\"bibbaseid\":\"whitehead-travis-bevly-flowers-astudyoftheeffectofvariousvehiclepropertiesonrolloverpropensity-2004\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Design and Implementation of an SAE Level-2 Lane Keeping System for Class 8 Trucks Using Nonlinear Model Predictive Control\",\"abstract\":\"This paper focuses on the design and evaluation of a lateral Nonlinear Model Predictive Control (NMPC) path following algorithm for Class 8 vehicles. While NMPC allows for the inclusion of constraints such as obstacle avoidance or rollover prevention, this work is primarily focused on testing the path following capabilities of the NMPC controller without the consideration of constraints. Although many lateral controllers for tractor-trailer systems use either fully linear or fully nonlinear Equations of Motion (EOMs), this paper presents a hybrid model. This hybrid model uses a linear model to describe the dynamics of the tractor-trailer while using nonlinear equations to describe the global position of the system. This model is then implemented in a NMPC architecture. The controller is first designed and tested in MATLAB to yield a controller that can follow a lane change maneuver. This controller is then implemented in a real-time format using ROS and C++. The objective of the real-time controller was to replicate the path of a Kia Optima which was driving in front of the test vehicle. To accomplish this, an estimator was developed to calculate the relative path between the vehicles with enough accuracy to stay within the standard road lane. This estimation algorithm was able to produce lateral position errors with a standard deviation of 1.96 cm. Finally, the lateral controller was shown to track the generated reference path with a mean error of 1.47 cm and a RMS error of under 27 cm.\",\"publisher\":\"IEEE\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Ward\"],\"firstnames\":[\"Jacob\",\"W.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pierce\"],\"firstnames\":[\"J.\",\"Daniel\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Brown\"],\"firstnames\":[\"Lowell\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2023\",\"bibtex\":\"@inproceedings{ward_design_2023,\\n\\ttitle = {Design and {Implementation} of an {SAE} {Level}-2 {Lane} {Keeping} {System} for {Class} 8 {Trucks} {Using} {Nonlinear} {Model} {Predictive} {Control}},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.10253308&site=eds-live&scope=site},\\n\\tabstract = {This paper focuses on the design and evaluation of a lateral Nonlinear Model Predictive Control (NMPC) path following algorithm for Class 8 vehicles. While NMPC allows for the inclusion of constraints such as obstacle avoidance or rollover prevention, this work is primarily focused on testing the path following capabilities of the NMPC controller without the consideration of constraints. Although many lateral controllers for tractor-trailer systems use either fully linear or fully nonlinear Equations of Motion (EOMs), this paper presents a hybrid model. This hybrid model uses a linear model to describe the dynamics of the tractor-trailer while using nonlinear equations to describe the global position of the system. This model is then implemented in a NMPC architecture. The controller is first designed and tested in MATLAB to yield a controller that can follow a lane change maneuver. This controller is then implemented in a real-time format using ROS and C++. The objective of the real-time controller was to replicate the path of a Kia Optima which was driving in front of the test vehicle. To accomplish this, an estimator was developed to calculate the relative path between the vehicles with enough accuracy to stay within the standard road lane. This estimation algorithm was able to produce lateral position errors with a standard deviation of 1.96 cm. Finally, the lateral controller was shown to track the generated reference path with a mean error of 1.47 cm and a RMS error of under 27 cm.},\\n\\tpublisher = {IEEE},\\n\\tauthor = {Ward, Jacob W. and Pierce, J. Daniel and Brown, Lowell and Bevly, David M.},\\n\\tmonth = aug,\\n\\tyear = {2023},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Ward, J. W.\",\"Pierce, J. D.\",\"Brown, L.\",\"Bevly, D. M.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.10253308&site=eds-live&scope=site\",\"key\":\"ward_design_2023\",\"id\":\"ward_design_2023\",\"bibbaseid\":\"ward-pierce-brown-bevly-designandimplementationofansaelevel2lanekeepingsystemforclass8trucksusingnonlinearmodelpredictivecontrol-2023\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.10253308&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"GPS spoofing detection and mitigation using Cooperative Adaptive Cruise Control system\",\"abstract\":\"Global Navigation Satellite Systems (GNSS) like the Global Positioning System (GPS) are susceptible to electronic interference which threatens the reliability of the systems outputs, precise time and localization. Interference comes from natural and predatory sources in the form of increased in-band noise and structured attacks. The structured attack, called spoofing, is designed to trick the receiver into reporting an incorrect navigation solution as if it were accurate. Modern automobiles are becoming more reliant on GPS for localization, automation, and safety. Vehicles are also equipped with a variety of sensors (e.g. Radars, Lidars, wheel encoders) that provide situational awareness which may be leveraged in a GPS spoofing detection scheme. The proposed spoofing detection and mitigation system relies on an existing Cooperative Adaptive Cruise Control (CACC) system to provide inter-vehicle ranging and data sharing. The inter-vehicle ranges are used to detect a spoofing attack, and the mitigation system removes the attacking signal from the incoming data stream. The spoofing detection and removal system is tested using data recorded with a fielded CACC system on two commercial trucks. Intermediate frequency (IF) GPS data is collected during the test. Since live sky spoofing is legal, the IF data recording allows for post process spoofing injection in a controlled environment. In post process, the spoofing signal is shown to “capture” the onboard GPS receiver. The proposed system uses the spoofed IF GPS data along with recorded observables from the CACC system to detection and remove the attack.\",\"publisher\":\"IEEE\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Carson\"],\"firstnames\":[\"Nathaniel\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Starling\"],\"firstnames\":[\"Joshua\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"month\":\"June\",\"year\":\"2016\",\"bibtex\":\"@inproceedings{carson_gps_2016,\\n\\ttitle = {{GPS} spoofing detection and mitigation using {Cooperative} {Adaptive} {Cruise} {Control} system},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.7535525&site=eds-live&scope=site},\\n\\tabstract = {Global Navigation Satellite Systems (GNSS) like the Global Positioning System (GPS) are susceptible to electronic interference which threatens the reliability of the systems outputs, precise time and localization. Interference comes from natural and predatory sources in the form of increased in-band noise and structured attacks. The structured attack, called spoofing, is designed to trick the receiver into reporting an incorrect navigation solution as if it were accurate. Modern automobiles are becoming more reliant on GPS for localization, automation, and safety. Vehicles are also equipped with a variety of sensors (e.g. Radars, Lidars, wheel encoders) that provide situational awareness which may be leveraged in a GPS spoofing detection scheme. The proposed spoofing detection and mitigation system relies on an existing Cooperative Adaptive Cruise Control (CACC) system to provide inter-vehicle ranging and data sharing. The inter-vehicle ranges are used to detect a spoofing attack, and the mitigation system removes the attacking signal from the incoming data stream. The spoofing detection and removal system is tested using data recorded with a fielded CACC system on two commercial trucks. Intermediate frequency (IF) GPS data is collected during the test. Since live sky spoofing is legal, the IF data recording allows for post process spoofing injection in a controlled environment. In post process, the spoofing signal is shown to “capture” the onboard GPS receiver. The proposed system uses the spoofed IF GPS data along with recorded observables from the CACC system to detection and remove the attack.},\\n\\tpublisher = {IEEE},\\n\\tauthor = {Carson, Nathaniel and Martin, Scott M. and Starling, Joshua and Bevly, David M.},\\n\\tmonth = jun,\\n\\tyear = {2016},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Carson, N.\",\"Martin, S. M.\",\"Starling, J.\",\"Bevly, D. M.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.7535525&site=eds-live&scope=site\",\"key\":\"carson_gps_2016\",\"id\":\"carson_gps_2016\",\"bibbaseid\":\"carson-martin-starling-bevly-gpsspoofingdetectionandmitigationusingcooperativeadaptivecruisecontrolsystem-2016\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.7535525&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Dynamic Testing and Calibration of Gaussian Processes for Vehicle Attitude Estimation.\",\"abstract\":\"A method of estimating a vehicle's attitude in relation to the road surface using only light detection and ranging (lidar) measurements is presented. Gaussian processes, a machine learning technique, is used to relate the measurements of the road surface to the pitch and roll of the vehicle. Testing was performed under normal driving conditions on a test track as well as under high dynamic maneuvers on a skid-pad to assess performance of the algorithm. On-vehicle results show that the attitude calculations are capable of being implemented in a real-time system and have been compared against a multi-antenna GPS attitude measurement for accuracy. [ABSTRACT FROM PUBLISHER], Copyright of 2011 10th International Conference on Machine Learning & Applications & Workshops is the property of IEEE and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles )\",\"booktitle\":\"2011 10th International Conference on Machine Learning & Applications & Workshops\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Britt\"],\"firstnames\":[\"Jordan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Broderick\"],\"firstnames\":[\"David\",\"J.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hung\"],\"firstnames\":[\"John\",\"Y.\"],\"suffixes\":[]}],\"year\":\"2011\",\"keywords\":\"Estimation, Gaussian processes, Laser radar, Roads, Testing, Training, Training data, Vehicles, attitude, lidar\",\"pages\":\"124 – 128\",\"bibtex\":\"@inproceedings{britt_dynamic_2011,\\n\\ttitle = {Dynamic {Testing} and {Calibration} of {Gaussian} {Processes} for {Vehicle} {Attitude} {Estimation}.},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=86968314&site=eds-live&scope=site},\\n\\tabstract = {A method of estimating a vehicle's attitude in relation to the road surface using only light detection and ranging (lidar) measurements is presented. Gaussian processes, a machine learning technique, is used to relate the measurements of the road surface to the pitch and roll of the vehicle. Testing was performed under normal driving conditions on a test track as well as under high dynamic maneuvers on a skid-pad to assess performance of the algorithm. On-vehicle results show that the attitude calculations are capable of being implemented in a real-time system and have been compared against a multi-antenna GPS attitude measurement for accuracy. [ABSTRACT FROM PUBLISHER], Copyright of 2011 10th International Conference on Machine Learning \\\\& Applications \\\\& Workshops is the property of IEEE and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles )},\\n\\tbooktitle = {2011 10th {International} {Conference} on {Machine} {Learning} \\\\& {Applications} \\\\& {Workshops}},\\n\\tauthor = {Britt, Jordan and Broderick, David J. and Bevly, David M. and Hung, John Y.},\\n\\tyear = {2011},\\n\\tkeywords = {Estimation, Gaussian processes, Laser radar, Roads, Testing, Training, Training data, Vehicles, attitude, lidar},\\n\\tpages = {124 -- 128},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Britt, J.\",\"Broderick, D. J.\",\"Bevly, D. M.\",\"Hung, J. Y.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=86968314&site=eds-live&scope=site\",\"key\":\"britt_dynamic_2011\",\"id\":\"britt_dynamic_2011\",\"bibbaseid\":\"britt-broderick-bevly-hung-dynamictestingandcalibrationofgaussianprocessesforvehicleattitudeestimation-2011\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=86968314&site=eds-live&scope=site\"},\"keyword\":[\"Estimation\",\"Gaussian processes\",\"Laser radar\",\"Roads\",\"Testing\",\"Training\",\"Training data\",\"Vehicles\",\"attitude\",\"lidar\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Mobility improves LMI-based cooperative indoor localization.\",\"booktitle\":\"2015 IEEE Wireless Communications & Networking Conference (WCNC)\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Wang\"],\"firstnames\":[\"Xuyu\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Zhou\"],\"firstnames\":[\"Hui\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Mao\"],\"firstnames\":[\"Shiwen\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pandey\"],\"firstnames\":[\"Santosh\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Agrawal\"],\"firstnames\":[\"Prathima\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"year\":\"2015\",\"pages\":\"2215 – 2220\",\"bibtex\":\"@inproceedings{wang_mobility_2015,\\n\\ttitle = {Mobility improves {LMI}-based cooperative indoor localization.},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=108577088&site=eds-live&scope=site},\\n\\tbooktitle = {2015 {IEEE} {Wireless} {Communications} \\\\& {Networking} {Conference} ({WCNC})},\\n\\tauthor = {Wang, Xuyu and Zhou, Hui and Mao, Shiwen and Pandey, Santosh and Agrawal, Prathima and Bevly, David M.},\\n\\tyear = {2015},\\n\\tpages = {2215 -- 2220},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Wang, X.\",\"Zhou, H.\",\"Mao, S.\",\"Pandey, S.\",\"Agrawal, P.\",\"Bevly, D. M.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=108577088&site=eds-live&scope=site\",\"key\":\"wang_mobility_2015\",\"id\":\"wang_mobility_2015\",\"bibbaseid\":\"wang-zhou-mao-pandey-agrawal-bevly-mobilityimproveslmibasedcooperativeindoorlocalization-2015\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=108577088&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Implementation details of a deeply integrated GPS/INS software receiver.\",\"booktitle\":\"2010 IEEE/ION Position Location & Navigation Symposium (PLANS)\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Edwards\"],\"firstnames\":[\"W.\",\"Luke\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Clark\"],\"firstnames\":[\"Benjamin\",\"J.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"year\":\"2010\",\"pages\":\"1137 – 1146\",\"bibtex\":\"@inproceedings{edwards_implementation_2010,\\n\\ttitle = {Implementation details of a deeply integrated {GPS}/{INS} software receiver.},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=81644261&site=eds-live&scope=site},\\n\\tbooktitle = {2010 {IEEE}/{ION} {Position} {Location} \\\\& {Navigation} {Symposium} ({PLANS})},\\n\\tauthor = {Edwards, W. Luke and Clark, Benjamin J. and Bevly, David M.},\\n\\tyear = {2010},\\n\\tpages = {1137 -- 1146},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Edwards, W. L.\",\"Clark, B. J.\",\"Bevly, D. M.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=81644261&site=eds-live&scope=site\",\"key\":\"edwards_implementation_2010\",\"id\":\"edwards_implementation_2010\",\"bibbaseid\":\"edwards-clark-bevly-implementationdetailsofadeeplyintegratedgpsinssoftwarereceiver-2010\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=81644261&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Control of a robot-trailer system using a single non-collocated sensor.\",\"abstract\":\"In this paper, the authors develop an observer and controller for a robot and trailer system in which only a single non-collocated position measurement is used. A linearized state-space model of the system is derived using kinematic equations that have previously proven sufficient for state feedback control. Optimal observer gains (LQG) and controller gains (LQR) are calculated using known process and measurement noise variances. Simulations and experiments both confirm that the LQG/LQR system controls the nonlinear system in path tracking. Control based on state estimation yields performance that is comparable to a more heavily-instrumented full-state feedback system previously used on the robot-trailer system. [ABSTRACT FROM PUBLISHER], Copyright of IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society is the property of IEEE and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written perm)\",\"booktitle\":\"IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Payne\"],\"firstnames\":[\"Michael\",\"L.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hung\"],\"firstnames\":[\"John\",\"Y.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Selfridge\"],\"firstnames\":[\"Bob\",\"J.\"],\"suffixes\":[]}],\"year\":\"2012\",\"pages\":\"2674 – 2679\",\"bibtex\":\"@inproceedings{payne_control_2012,\\n\\ttitle = {Control of a robot-trailer system using a single non-collocated sensor.},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=86613713&site=eds-live&scope=site},\\n\\tabstract = {In this paper, the authors develop an observer and controller for a robot and trailer system in which only a single non-collocated position measurement is used. A linearized state-space model of the system is derived using kinematic equations that have previously proven sufficient for state feedback control. Optimal observer gains (LQG) and controller gains (LQR) are calculated using known process and measurement noise variances. Simulations and experiments both confirm that the LQG/LQR system controls the nonlinear system in path tracking. Control based on state estimation yields performance that is comparable to a more heavily-instrumented full-state feedback system previously used on the robot-trailer system. [ABSTRACT FROM PUBLISHER], Copyright of IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society is the property of IEEE and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written perm)},\\n\\tbooktitle = {{IECON} 2012 - 38th {Annual} {Conference} on {IEEE} {Industrial} {Electronics} {Society}},\\n\\tauthor = {Payne, Michael L. and Hung, John Y. and Bevly, David M. and Selfridge, Bob J.},\\n\\tyear = {2012},\\n\\tpages = {2674 -- 2679},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Payne, M. L.\",\"Hung, J. Y.\",\"Bevly, D. M.\",\"Selfridge, B. J.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=86613713&site=eds-live&scope=site\",\"key\":\"payne_control_2012\",\"id\":\"payne_control_2012\",\"bibbaseid\":\"payne-hung-bevly-selfridge-controlofarobottrailersystemusingasinglenoncollocatedsensor-2012\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=86613713&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Error analysis of GPS signals from USRP using GPS receivers.\",\"booktitle\":\"2014 IEEE/ION Position, Location & Navigation Symposium - PLANS 2014\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Hennigar\"],\"firstnames\":[\"Andrew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"year\":\"2014\",\"pages\":\"1041 – 1047\",\"bibtex\":\"@inproceedings{hennigar_error_2014,\\n\\ttitle = {Error analysis of {GPS} signals from {USRP} using {GPS} receivers.},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=98457190&site=eds-live&scope=site},\\n\\tbooktitle = {2014 {IEEE}/{ION} {Position}, {Location} \\\\& {Navigation} {Symposium} - {PLANS} 2014},\\n\\tauthor = {Hennigar, Andrew and Bevly, David M.},\\n\\tyear = {2014},\\n\\tpages = {1041 -- 1047},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Hennigar, A.\",\"Bevly, D. M.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=98457190&site=eds-live&scope=site\",\"key\":\"hennigar_error_2014\",\"id\":\"hennigar_error_2014\",\"bibbaseid\":\"hennigar-bevly-erroranalysisofgpssignalsfromusrpusinggpsreceivers-2014\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=98457190&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Observer design for differentiable Lipschitz nonlinear systems with time-varying parameters.\",\"booktitle\":\"53rd IEEE Conference on Decision & Control\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Wang\"],\"firstnames\":[\"Yan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Rajamani\"],\"firstnames\":[\"Rajesh\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"year\":\"2014\",\"pages\":\"145 – 152\",\"bibtex\":\"@inproceedings{wang_observer_2014,\\n\\ttitle = {Observer design for differentiable {Lipschitz} nonlinear systems with time-varying parameters.},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=102539927&site=eds-live&scope=site},\\n\\tbooktitle = {53rd {IEEE} {Conference} on {Decision} \\\\& {Control}},\\n\\tauthor = {Wang, Yan and Rajamani, Rajesh and Bevly, David M.},\\n\\tyear = {2014},\\n\\tpages = {145 -- 152},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Wang, Y.\",\"Rajamani, R.\",\"Bevly, D. M.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=102539927&site=eds-live&scope=site\",\"key\":\"wang_observer_2014\",\"id\":\"wang_observer_2014\",\"bibbaseid\":\"wang-rajamani-bevly-observerdesignfordifferentiablelipschitznonlinearsystemswithtimevaryingparameters-2014\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=102539927&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Performance comparison of single and dual frequency closely coupled GPS/INS relative positioning systems.\",\"booktitle\":\"2010 IEEE/ION Position Location & Navigation Symposium (PLANS)\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Travis\"],\"firstnames\":[\"William\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"year\":\"2010\",\"pages\":\"544 – 551\",\"bibtex\":\"@inproceedings{martin_performance_2010,\\n\\ttitle = {Performance comparison of single and dual frequency closely coupled {GPS}/{INS} relative positioning systems.},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=81644321&site=eds-live&scope=site},\\n\\tbooktitle = {2010 {IEEE}/{ION} {Position} {Location} \\\\& {Navigation} {Symposium} ({PLANS})},\\n\\tauthor = {Martin, Scott and Travis, William and Bevly, David},\\n\\tyear = {2010},\\n\\tpages = {544 -- 551},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Martin, S.\",\"Travis, W.\",\"Bevly, D.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=81644321&site=eds-live&scope=site\",\"key\":\"martin_performance_2010\",\"id\":\"martin_performance_2010\",\"bibbaseid\":\"martin-travis-bevly-performancecomparisonofsingleanddualfrequencycloselycoupledgpsinsrelativepositioningsystems-2010\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=81644321&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"A Comparison of Particle Propagation and Weight Update Methods for Indoor Positioning Systems\",\"doi\":\"10.33012/2018.16075\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Ray\"],\"firstnames\":[\"Tanner\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pierce\"],\"firstnames\":[\"J.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"month\":\"October\",\"year\":\"2018\",\"pages\":\"3398–3408\",\"bibtex\":\"@inproceedings{ray_comparison_2018,\\n\\ttitle = {A {Comparison} of {Particle} {Propagation} and {Weight} {Update} {Methods} for {Indoor} {Positioning} {Systems}},\\n\\tdoi = {10.33012/2018.16075},\\n\\tauthor = {Ray, Tanner and Pierce, J. and Bevly, David},\\n\\tmonth = oct,\\n\\tyear = {2018},\\n\\tpages = {3398--3408},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Ray, T.\",\"Pierce, J.\",\"Bevly, D.\"],\"key\":\"ray_comparison_2018\",\"id\":\"ray_comparison_2018\",\"bibbaseid\":\"ray-pierce-bevly-acomparisonofparticlepropagationandweightupdatemethodsforindoorpositioningsystems-2018\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Experimental Fuel Consumption Results from a Heterogeneous Four-Truck Platoon\",\"url\":\"https://doi.org/10.4271/2021-01-0071.\",\"doi\":\"https://doi.org/10.4271/2021-01-0071.\",\"booktitle\":\"SAE Technical Paper Series\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Stegner\"],\"firstnames\":[\"Evan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Ward\"],\"firstnames\":[\"Jacob\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Siefert\"],\"firstnames\":[\"Jan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hoffman\"],\"firstnames\":[\"Mark\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"month\":\"April\",\"year\":\"2021\",\"bibtex\":\"@inproceedings{stegner_experimental_2021,\\n\\ttitle = {Experimental {Fuel} {Consumption} {Results} from a {Heterogeneous} {Four}-{Truck} {Platoon}},\\n\\turl = {https://doi.org/10.4271/2021-01-0071.},\\n\\tdoi = {https://doi.org/10.4271/2021-01-0071.},\\n\\tbooktitle = {{SAE} {Technical} {Paper} {Series}},\\n\\tauthor = {Stegner, Evan and Ward, Jacob and Siefert, Jan and Hoffman, Mark and Bevly, David M.},\\n\\tmonth = apr,\\n\\tyear = {2021},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Stegner, E.\",\"Ward, J.\",\"Siefert, J.\",\"Hoffman, M.\",\"Bevly, D. M.\"],\"key\":\"stegner_experimental_2021\",\"id\":\"stegner_experimental_2021\",\"bibbaseid\":\"stegner-ward-siefert-hoffman-bevly-experimentalfuelconsumptionresultsfromaheterogeneousfourtruckplatoon-2021\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://doi.org/10.4271/2021-01-0071.\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":3,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Palm Springs, CA\",\"title\":\"Relating Local Vision Measurements to Global Navigation Satellite Systems Using Waypoint Based Maps\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Allen\"],\"firstnames\":[\"J.\",\"W.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]}],\"year\":\"2010\",\"bibtex\":\"@inproceedings{allen_relating_2010,\\n\\taddress = {Palm Springs, CA},\\n\\ttitle = {Relating {Local} {Vision} {Measurements} to {Global} {Navigation} {Satellite} {Systems} {Using} {Waypoint} {Based} {Maps}},\\n\\tauthor = {Allen, J. W. and Bevly, D. M.},\\n\\tyear = {2010},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Allen, J. W.\",\"Bevly, D. M.\"],\"key\":\"allen_relating_2010\",\"id\":\"allen_relating_2010\",\"bibbaseid\":\"allen-bevly-relatinglocalvisionmeasurementstoglobalnavigationsatellitesystemsusingwaypointbasedmaps-2010\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Robust Ground Vehicle Constraints for Aiding Stand Alone INS and Determining Inertial Sensor Errors\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Ryan\"],\"firstnames\":[\"J.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\"],\"suffixes\":[]}],\"month\":\"January\",\"year\":\"2012\",\"bibtex\":\"@inproceedings{ryan_robust_2012,\\n\\ttitle = {Robust {Ground} {Vehicle} {Constraints} for {Aiding} {Stand} {Alone} {INS} and {Determining} {Inertial} {Sensor} {Errors}},\\n\\tauthor = {Ryan, J. and Bevly, D.},\\n\\tmonth = jan,\\n\\tyear = {2012},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Ryan, J.\",\"Bevly, D.\"],\"key\":\"ryan_robust_2012\",\"id\":\"ryan_robust_2012\",\"bibbaseid\":\"ryan-bevly-robustgroundvehicleconstraintsforaidingstandaloneinsanddetermininginertialsensorerrors-2012\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\",\"downloads\":1},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Tire Radius Determination and Press Loss Detection Using GPS and Vehicle Stability Control Sensors\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Ryan\"],\"firstnames\":[\"J.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2012\",\"bibtex\":\"@inproceedings{ryan_tire_2012,\\n\\ttitle = {Tire {Radius} {Determination} and {Press} {Loss} {Detection} {Using} {GPS} and {Vehicle} {Stability} {Control} {Sensors}},\\n\\tauthor = {Ryan, J. and Bevly, D. M.},\\n\\tmonth = aug,\\n\\tyear = {2012},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Ryan, J.\",\"Bevly, D. M.\"],\"key\":\"ryan_tire_2012\",\"id\":\"ryan_tire_2012\",\"bibbaseid\":\"ryan-bevly-tireradiusdeterminationandpresslossdetectionusinggpsandvehiclestabilitycontrolsensors-2012\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Robust Observer Design for Lipschitz Nonlinear Systems using Quadratic Polynomial Constraints\",\"url\":\"https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6426517\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Wang\"],\"firstnames\":[\"Y.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2012\",\"keywords\":\"Asymptotic stability, Mathematical model, Observers, Polynomials, Stability criteria, Vectors\",\"bibtex\":\"@inproceedings{wang_robust_2012,\\n\\ttitle = {Robust {Observer} {Design} for {Lipschitz} {Nonlinear} {Systems} using {Quadratic} {Polynomial} {Constraints}},\\n\\turl = {https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6426517},\\n\\tauthor = {Wang, Y. and Bevly, D. M.},\\n\\tmonth = dec,\\n\\tyear = {2012},\\n\\tkeywords = {Asymptotic stability, Mathematical model, Observers, Polynomials, Stability criteria, Vectors},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Wang, Y.\",\"Bevly, D. M.\"],\"key\":\"wang_robust_2012\",\"id\":\"wang_robust_2012\",\"bibbaseid\":\"wang-bevly-robustobserverdesignforlipschitznonlinearsystemsusingquadraticpolynomialconstraints-2012\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6426517\"},\"keyword\":[\"Asymptotic stability\",\"Mathematical model\",\"Observers\",\"Polynomials\",\"Stability criteria\",\"Vectors\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"An On-Line Visual Driver Aid for Safe and Precise Convoy Following in Visibility-Impaired Conditions\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Cofield\"],\"firstnames\":[\"R.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"S.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\"],\"suffixes\":[]}],\"year\":\"2013\",\"bibtex\":\"@inproceedings{cofield_-line_2013,\\n\\ttitle = {An {On}-{Line} {Visual} {Driver} {Aid} for {Safe} and {Precise} {Convoy} {Following} in {Visibility}-{Impaired} {Conditions}},\\n\\tauthor = {Cofield, R. and Martin, S. and Bevly, D.},\\n\\tyear = {2013},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Cofield, R.\",\"Martin, S.\",\"Bevly, D.\"],\"key\":\"cofield_-line_2013\",\"id\":\"cofield_-line_2013\",\"bibbaseid\":\"cofield-martin-bevly-anonlinevisualdriveraidforsafeandpreciseconvoyfollowinginvisibilityimpairedconditions-2013\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Opportunistic Landmark Registration for Long Distance Relative Path Following\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Pierce\"],\"firstnames\":[\"Dan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"month\":\"September\",\"year\":\"2017\",\"bibtex\":\"@inproceedings{pierce_opportunistic_2017,\\n\\ttitle = {Opportunistic {Landmark} {Registration} for {Long} {Distance} {Relative} {Path} {Following}},\\n\\tauthor = {Pierce, Dan and Martin, Scott and Bevly, David M.},\\n\\tmonth = sep,\\n\\tyear = {2017},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Pierce, D.\",\"Martin, S.\",\"Bevly, D. M.\"],\"key\":\"pierce_opportunistic_2017\",\"id\":\"pierce_opportunistic_2017\",\"bibbaseid\":\"pierce-martin-bevly-opportunisticlandmarkregistrationforlongdistancerelativepathfollowing-2017\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Initialization of a Pedestrian Navigation System: A Transfer Alignment Approach\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Thopay\"],\"firstnames\":[\"Archit\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Chen\"],\"firstnames\":[\"Howard\"],\"suffixes\":[]}],\"month\":\"April\",\"year\":\"2019\",\"bibtex\":\"@inproceedings{thopay_initialization_2019,\\n\\ttitle = {Initialization of a {Pedestrian} {Navigation} {System}: {A} {Transfer} {Alignment} {Approach}},\\n\\tauthor = {Thopay, Archit and Bevly, David and Martin, Scott and Chen, Howard},\\n\\tmonth = apr,\\n\\tyear = {2019},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Thopay, A.\",\"Bevly, D.\",\"Martin, S.\",\"Chen, H.\"],\"key\":\"thopay_initialization_2019\",\"id\":\"thopay_initialization_2019\",\"bibbaseid\":\"thopay-bevly-martin-chen-initializationofapedestriannavigationsystematransferalignmentapproach-2019\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"techreport\",\"type\":\"techreport\",\"title\":\"Evaluation and Testing of Driver-Assistive Truck Platooning: Phase 2 Final Results\",\"abstract\":\"Phase 2 final results are described for the FHWA Exploratory Advanced Research project titled Heavy Truck Cooperative Adaptive Cruise Control: Evaluation, Testing, and Stakeholder Engagement for Near Term Deployment, which evaluates the commercial feasibility of driver-assistive truck platooning (DATP). The project was led by Auburn University, in partnership with Peloton Technology, Peterbilt Trucks, Meritor WABCO, and the American Transportation Research Institute. DATP is a form of cooperative adaptive cruise control for heavy trucks (two-truck platoons). It takes advantage of the increasing maturity of vehicle-to-vehicle (V2V) communications (and the expected widespread deployment of V2V connectivity based on dedicated short-range communications over the next decade) to improve freight efficiency, fleet efficiency, safety, and highway mobility as well as reduce emissions. Notably, truck fleets can implement DATP regardless of the regulatory timeline for dedicated short-range communications. The Phase 2 analysis built on Phase 1 and included a testing program of a DATP prototype (with detailed SAE Type 2 fuel economy testing), wireless communications optimization, traffic modeling to understand the impact on roadways at various levels of market penetration, and additional analysis of methods to find DATP partners as well as aerodynamic simulations to understand drag on the vehicles. Detailed analysis of the fuel economy testing data is provided.\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bishop\"],\"firstnames\":[\"Richard\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Humphreys\"],\"firstnames\":[\"Luke\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Boyd\"],\"firstnames\":[\"Stephen\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Murray\"],\"firstnames\":[\"Daniel\"],\"suffixes\":[]}],\"month\":\"January\",\"year\":\"2017\",\"pages\":\"11 – 18\",\"bibtex\":\"@techreport{bishop_evaluation_2017,\\n\\ttitle = {Evaluation and {Testing} of {Driver}-{Assistive} {Truck} {Platooning}: {Phase} 2 {Final} {Results}},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edo&AN=ejs46779707&site=eds-live&scope=site},\\n\\tabstract = {Phase 2 final results are described for the FHWA Exploratory Advanced Research project titled Heavy Truck Cooperative Adaptive Cruise Control: Evaluation, Testing, and Stakeholder Engagement for Near Term Deployment, which evaluates the commercial feasibility of driver-assistive truck platooning (DATP). The project was led by Auburn University, in partnership with Peloton Technology, Peterbilt Trucks, Meritor WABCO, and the American Transportation Research Institute. DATP is a form of cooperative adaptive cruise control for heavy trucks (two-truck platoons). It takes advantage of the increasing maturity of vehicle-to-vehicle (V2V) communications (and the expected widespread deployment of V2V connectivity based on dedicated short-range communications over the next decade) to improve freight efficiency, fleet efficiency, safety, and highway mobility as well as reduce emissions. Notably, truck fleets can implement DATP regardless of the regulatory timeline for dedicated short-range communications. The Phase 2 analysis built on Phase 1 and included a testing program of a DATP prototype (with detailed SAE Type 2 fuel economy testing), wireless communications optimization, traffic modeling to understand the impact on roadways at various levels of market penetration, and additional analysis of methods to find DATP partners as well as aerodynamic simulations to understand drag on the vehicles. Detailed analysis of the fuel economy testing data is provided.},\\n\\tauthor = {Bishop, Richard and Bevly, David and Humphreys, Luke and Boyd, Stephen and Murray, Daniel},\\n\\tmonth = jan,\\n\\tyear = {2017},\\n\\tpages = {11 -- 18},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Bishop, R.\",\"Bevly, D.\",\"Humphreys, L.\",\"Boyd, S.\",\"Murray, D.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edo&AN=ejs46779707&site=eds-live&scope=site\",\"key\":\"bishop_evaluation_2017\",\"id\":\"bishop_evaluation_2017\",\"bibbaseid\":\"bishop-bevly-humphreys-boyd-murray-evaluationandtestingofdriverassistivetruckplatooningphase2finalresults-2017\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edo&AN=ejs46779707&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Using the microsoft kinect for 3D map building and teleoperation.\",\"abstract\":\"This paper describes the use of the Microsoft Kinect for building three dimensional maps for use in teleoperation. Though these maps are being used for teleoperation in this paper, these map building techniques could also be applied in localization for navigation or robot path planning. The Kinect is a relatively new depth sensor that has become popular in the field of robotics, often replacing significantly more expensive systems like tilting laser range finders and stereoscopic vision systems. Two main sources of error in the map making are investigated, random and systematic error from the depth sensor and uncertainty in the navigation solution of the vehicle. Systematic and random error in the Kinect has previously been described in the literature [1] and this paper looks at how these errors affect the users ability to do mapping and offers some practical solutions. The teleoperation system design around this map making process is presented, and it builds on existing work [2] usin)\",\"booktitle\":\"Proceedings of the 2012 IEEE/ION Position, Location & Navigation Symposium\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Woodall\"],\"firstnames\":[\"William\",\"J.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"year\":\"2012\",\"keywords\":\"Artificial neural networks, Indium phosphide, Kinect, Mapping, Octree, Robotics, Robots, Stereo image processing, Teleoperation\",\"pages\":\"1054 – 1061\",\"bibtex\":\"@inproceedings{woodall_using_2012,\\n\\ttitle = {Using the microsoft kinect for {3D} map building and teleoperation.},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=86626968&site=eds-live&scope=site},\\n\\tabstract = {This paper describes the use of the Microsoft Kinect for building three dimensional maps for use in teleoperation. Though these maps are being used for teleoperation in this paper, these map building techniques could also be applied in localization for navigation or robot path planning. The Kinect is a relatively new depth sensor that has become popular in the field of robotics, often replacing significantly more expensive systems like tilting laser range finders and stereoscopic vision systems. Two main sources of error in the map making are investigated, random and systematic error from the depth sensor and uncertainty in the navigation solution of the vehicle. Systematic and random error in the Kinect has previously been described in the literature [1] and this paper looks at how these errors affect the users ability to do mapping and offers some practical solutions. The teleoperation system design around this map making process is presented, and it builds on existing work [2] usin)},\\n\\tbooktitle = {Proceedings of the 2012 {IEEE}/{ION} {Position}, {Location} \\\\& {Navigation} {Symposium}},\\n\\tauthor = {Woodall, William J. and Bevly, David},\\n\\tyear = {2012},\\n\\tkeywords = {Artificial neural networks, Indium phosphide, Kinect, Mapping, Octree, Robotics, Robots, Stereo image processing, Teleoperation},\\n\\tpages = {1054 -- 1061},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Woodall, W. J.\",\"Bevly, D.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=86626968&site=eds-live&scope=site\",\"key\":\"woodall_using_2012\",\"id\":\"woodall_using_2012\",\"bibbaseid\":\"woodall-bevly-usingthemicrosoftkinectfor3dmapbuildingandteleoperation-2012\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=86626968&site=eds-live&scope=site\"},\"keyword\":[\"Artificial neural networks\",\"Indium phosphide\",\"Kinect\",\"Mapping\",\"Octree\",\"Robotics\",\"Robots\",\"Stereo image processing\",\"Teleoperation\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Cluster-Based Wall Curvature Detection and Parameterization for Autonomous Racing using LiDAR Point Clouds\",\"abstract\":\"Auotonomous driving and robotic operations often involve and rely upon road edge detection from perception sensor data. In autonomous racing, an emerging application which is currently driving high-dynamic algorithm development in the field of autonomy, edge detection provides safety for the system by making impending wall collisions detectable and offering an aid to on-track localization and guidance. An algorithm is here proposed for the detection of curved and straight wall sections from LiDAR data in race track environments. This method is unique in leveraging point clustering for wall detections, and is designed to provide mid-process results to be used both in this wall detection task as well as in further object detection processes as part of a cohesive perception stack. Position-aware outlier reduction and a least-squares parabolic line fit are used to clean and parameterize the wall position, orientation, and curvature results within individual frames of point cloud data. The algorithm was tested over 200 frames of data with an RMS lateral offset error of the parameterized wall of 0.11 meters.\",\"language\":\"en\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Meyer\"],\"firstnames\":[\"Stephanie\",\"W\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M\"],\"suffixes\":[]}],\"month\":\"October\",\"year\":\"2022\",\"pages\":\"6\",\"bibtex\":\"@inproceedings{meyer_cluster-based_2022,\\n\\ttitle = {Cluster-{Based} {Wall} {Curvature} {Detection} and {Parameterization} for {Autonomous} {Racing} using {LiDAR} {Point} {Clouds}},\\n\\tabstract = {Auotonomous driving and robotic operations often involve and rely upon road edge detection from perception sensor data. In autonomous racing, an emerging application which is currently driving high-dynamic algorithm development in the field of autonomy, edge detection provides safety for the system by making impending wall collisions detectable and offering an aid to on-track localization and guidance. An algorithm is here proposed for the detection of curved and straight wall sections from LiDAR data in race track environments. This method is unique in leveraging point clustering for wall detections, and is designed to provide mid-process results to be used both in this wall detection task as well as in further object detection processes as part of a cohesive perception stack. Position-aware outlier reduction and a least-squares parabolic line fit are used to clean and parameterize the wall position, orientation, and curvature results within individual frames of point cloud data. The algorithm was tested over 200 frames of data with an RMS lateral offset error of the parameterized wall of 0.11 meters.},\\n\\tlanguage = {en},\\n\\tauthor = {Meyer, Stephanie W and Bevly, David M},\\n\\tmonth = oct,\\n\\tyear = {2022},\\n\\tpages = {6},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Meyer, S. W\",\"Bevly, D. M\"],\"key\":\"meyer_cluster-based_2022\",\"id\":\"meyer_cluster-based_2022\",\"bibbaseid\":\"meyer-bevly-clusterbasedwallcurvaturedetectionandparameterizationforautonomousracingusinglidarpointclouds-2022\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Robust large-area piezoelectric polymer-based collision detection sensor.\",\"abstract\":\"Complex high speed autonomous articulations associated with modern large-scale high degree-of-freedom (DOF) robotic arms have a high possibility of collision when integrated into human cooperative environments for human-aid, task automation, and biomedical interfacing. This paper proposes a large area collision detection system utilizing the piezoelectric effect of polyvinylidene fluoride film. The proposed system provides high dynamic range for sensation and robust adaptability to achieve collision detection on complex surfaces in order to augment robotic systems with collision perception. The design allows for increased cohabitation of human and high DOF robotic arms in cooperative environments requiring advanced and robust collision detection systems capable of retrofitting onto deployed and operating robotic arms in the commercial world. [ABSTRACT FROM PUBLISHER], Copyright of IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society is the property of IEEE an)\",\"booktitle\":\"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Wooten\"],\"firstnames\":[\"J.\",\"Michael\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hung\"],\"firstnames\":[\"John\",\"Y.\"],\"suffixes\":[]}],\"year\":\"2013\",\"pages\":\"3994 – 3999\",\"bibtex\":\"@inproceedings{wooten_robust_2013,\\n\\ttitle = {Robust large-area piezoelectric polymer-based collision detection sensor.},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=94548864&site=eds-live&scope=site},\\n\\tabstract = {Complex high speed autonomous articulations associated with modern large-scale high degree-of-freedom (DOF) robotic arms have a high possibility of collision when integrated into human cooperative environments for human-aid, task automation, and biomedical interfacing. This paper proposes a large area collision detection system utilizing the piezoelectric effect of polyvinylidene fluoride film. The proposed system provides high dynamic range for sensation and robust adaptability to achieve collision detection on complex surfaces in order to augment robotic systems with collision perception. The design allows for increased cohabitation of human and high DOF robotic arms in cooperative environments requiring advanced and robust collision detection systems capable of retrofitting onto deployed and operating robotic arms in the commercial world. [ABSTRACT FROM PUBLISHER], Copyright of IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society is the property of IEEE an)},\\n\\tbooktitle = {{IECON} 2013 - 39th {Annual} {Conference} of the {IEEE} {Industrial} {Electronics} {Society}},\\n\\tauthor = {Wooten, J. Michael and Bevly, David M. and Hung, John Y.},\\n\\tyear = {2013},\\n\\tpages = {3994 -- 3999},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Wooten, J. M.\",\"Bevly, D. M.\",\"Hung, J. Y.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=94548864&site=eds-live&scope=site\",\"key\":\"wooten_robust_2013\",\"id\":\"wooten_robust_2013\",\"bibbaseid\":\"wooten-bevly-hung-robustlargeareapiezoelectricpolymerbasedcollisiondetectionsensor-2013\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=94548864&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"On the suitability of Nonlinear Model Predictive Control for Unmanned Ground Vehicles\",\"isbn\":\"978-1-4799-3274-0\",\"doi\":\"10.1109/ACC.2014.6858827\",\"abstract\":\"Nonlinear Model Predictive Control (NMPC) has great appeal for vehicle path control due to its ability to easily handle nonlinear dynamic models with constraints while achieving near-optimal control. The drawback is that a straight-forward application results in computations that take too long for real-time use. In this paper, we explore these issues in the use of NMPC for vehicle control. Methods for speeding up the computations are discussed.\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Berkemeier\"],\"firstnames\":[\"Matthew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Perez\"],\"firstnames\":[\"Sostenes\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"month\":\"June\",\"year\":\"2014\",\"pages\":\"4605–4610\",\"bibtex\":\"@inproceedings{berkemeier_suitability_2014,\\n\\ttitle = {On the suitability of {Nonlinear} {Model} {Predictive} {Control} for {Unmanned} {Ground} {Vehicles}},\\n\\tisbn = {978-1-4799-3274-0},\\n\\tdoi = {10.1109/ACC.2014.6858827},\\n\\tabstract = {Nonlinear Model Predictive Control (NMPC) has great appeal for vehicle path control due to its ability to easily handle nonlinear dynamic models with constraints while achieving near-optimal control. The drawback is that a straight-forward application results in computations that take too long for real-time use. In this paper, we explore these issues in the use of NMPC for vehicle control. Methods for speeding up the computations are discussed.},\\n\\tauthor = {Berkemeier, Matthew and Perez, Sostenes and Bevly, David},\\n\\tmonth = jun,\\n\\tyear = {2014},\\n\\tpages = {4605--4610},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Berkemeier, M.\",\"Perez, S.\",\"Bevly, D.\"],\"key\":\"berkemeier_suitability_2014\",\"id\":\"berkemeier_suitability_2014\",\"bibbaseid\":\"berkemeier-perez-bevly-onthesuitabilityofnonlinearmodelpredictivecontrolforunmannedgroundvehicles-2014\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Performance Comparison of Deep Integration and Tight Coupling.\",\"volume\":\"60\",\"issn\":\"00281522\",\"abstract\":\"ABSTRACT This paper presents a comparative analysis of tight coupling and deep integration. Three deeply integrated and two tightly coupled architectures are analyzed. The analysis of the different architectures is performed using the same grade inertial measurement units, satellite constellations, and GPS signal processing techniques (i.e., identical discriminators, coherent integration times, and C ∕ N0 ratio estimators). Three aspects of the architectures are studied. The first is the general performance improvement offered by deep integration over tight coupling. The second is the effect of using a federated filtering architecture instead of using a single, centralized filter. The third aspect analyzed is the performance of the algorithms when operated with and without vector tracking. The analysis shows that the architectures with vector tracking perform virtually identically. The algorithms using scalar tracking loops perform worse in comparison. However, all the architectures )\",\"number\":\"3\",\"journal\":\"Navigation (Wiley-Blackwell)\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Lashley\"],\"firstnames\":[\"Matthew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"year\":\"2013\",\"keywords\":\"AIR traffic control, ALGORITHMS, ARTIFICIAL satellites, CONS℡LATIONS, GLOBAL Positioning System, SIGNAL filtering\",\"pages\":\"159 – 178\",\"bibtex\":\"@article{lashley_performance_2013,\\n\\ttitle = {Performance {Comparison} of {Deep} {Integration} and {Tight} {Coupling}.},\\n\\tvolume = {60},\\n\\tissn = {00281522},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=aph&AN=90398662&site=eds-live&scope=site},\\n\\tabstract = {ABSTRACT This paper presents a comparative analysis of tight coupling and deep integration. Three deeply integrated and two tightly coupled architectures are analyzed. The analysis of the different architectures is performed using the same grade inertial measurement units, satellite constellations, and GPS signal processing techniques (i.e., identical discriminators, coherent integration times, and C ∕ N0 ratio estimators). Three aspects of the architectures are studied. The first is the general performance improvement offered by deep integration over tight coupling. The second is the effect of using a federated filtering architecture instead of using a single, centralized filter. The third aspect analyzed is the performance of the algorithms when operated with and without vector tracking. The analysis shows that the architectures with vector tracking perform virtually identically. The algorithms using scalar tracking loops perform worse in comparison. However, all the architectures )},\\n\\tnumber = {3},\\n\\tjournal = {Navigation (Wiley-Blackwell)},\\n\\tauthor = {Lashley, Matthew and Bevly, David M.},\\n\\tyear = {2013},\\n\\tkeywords = {AIR traffic control, ALGORITHMS, ARTIFICIAL satellites, CONS℡LATIONS, GLOBAL Positioning System, SIGNAL filtering},\\n\\tpages = {159 -- 178},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Lashley, M.\",\"Bevly, D. M.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=aph&AN=90398662&site=eds-live&scope=site\",\"key\":\"lashley_performance_2013\",\"id\":\"lashley_performance_2013\",\"bibbaseid\":\"lashley-bevly-performancecomparisonofdeepintegrationandtightcoupling-2013\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=aph&AN=90398662&site=eds-live&scope=site\"},\"keyword\":[\"AIR traffic control\",\"ALGORITHMS\",\"ARTIFICIAL satellites\",\"CONS℡LATIONS\",\"GLOBAL Positioning System\",\"SIGNAL filtering\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"A Study of Vehicle Properties That Influence Rollover and Their Effect on Electronic Stability Controllers\",\"url\":\"https://etd.auburn.edu//handle/10415/112\",\"abstract\":\"In this thesis, the vehicle properties that most influence rollover are investigated, and methods to improve stability are examined. Every year, vehicle rollover is the cause of thousands of fatalities on US highways. Electronic Stability Controllers (ESC) have been proven to reduce the incidence of rollover; however, improvement is still possible and necessary. With the development of a detailed vehicle model that includes roll and individual wheel dynamics, research has been done to investigate the properties that most affect rollover. Using these key vehicle properties, equations are developed to estimate the maximum lateral acceleration and velocity allowed before rollover. With a good knowledge of the stability limits, ESC systems are developed in simulation, and testing is done to investigate how these controllers can be optimized to greater ensure stability during evasive maneuvers. Results prove that stability can be improved and that rollover can be averted with correct execution of ESC limits and outputs.\",\"language\":\"en_US\",\"urldate\":\"2022-04-20\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Lambert\"],\"firstnames\":[\"Kenneth\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2007\",\"note\":\"Accepted: 2008-09-09T21:14:07Z\",\"bibtex\":\"@phdthesis{lambert_study_2007,\\n\\ttype = {Thesis},\\n\\ttitle = {A {Study} of {Vehicle} {Properties} {That} {Influence} {Rollover} and {Their} {Effect} on {Electronic} {Stability} {Controllers}},\\n\\turl = {https://etd.auburn.edu//handle/10415/112},\\n\\tabstract = {In this thesis, the vehicle properties that most influence rollover are investigated, and methods to improve stability are examined. Every year, vehicle rollover is the cause of thousands of fatalities on US highways. Electronic Stability Controllers (ESC) have been proven to reduce the incidence of rollover; however, improvement is still possible and necessary. With the development of a detailed vehicle model that includes roll and individual wheel dynamics, research has been done to investigate the properties that most affect rollover. Using these key vehicle properties, equations are developed to estimate the maximum lateral acceleration and velocity allowed before rollover. With a good knowledge of the stability limits, ESC systems are developed in simulation, and testing is done to investigate how these controllers can be optimized to greater ensure stability during evasive maneuvers. Results prove that stability can be improved and that rollover can be averted with correct execution of ESC limits and outputs.},\\n\\tlanguage = {en\\\\_US},\\n\\turldate = {2022-04-20},\\n\\tauthor = {Lambert, Kenneth},\\n\\tmonth = dec,\\n\\tyear = {2007},\\n\\tnote = {Accepted: 2008-09-09T21:14:07Z},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Lambert, K.\"],\"key\":\"lambert_study_2007\",\"id\":\"lambert_study_2007\",\"bibbaseid\":\"lambert-astudyofvehiclepropertiesthatinfluencerolloverandtheireffectonelectronicstabilitycontrollers-2007\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://etd.auburn.edu//handle/10415/112\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"techreport\",\"type\":\"techreport\",\"title\":\"Vehicle positioning, navigation, and timing : leveraging results from EAR program-sponsored research.\",\"url\":\"http://purl.fdlp.gov/GPO/gpo45296\",\"institution\":\"U.S. Department of Transportation, Federal Highway Administration\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Farrell\"],\"firstnames\":[\"Jay\"],\"suffixes\":[]}],\"year\":\"2013\",\"bibtex\":\"@techreport{bevly_vehicle_2013,\\n\\ttitle = {Vehicle positioning, navigation, and timing : leveraging results from {EAR} program-sponsored research.},\\n\\turl = {http://purl.fdlp.gov/GPO/gpo45296},\\n\\tinstitution = {U.S. Department of Transportation, Federal Highway Administration},\\n\\tauthor = {Bevly, David M. and Farrell, Jay},\\n\\tyear = {2013},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Bevly, D. M.\",\"Farrell, J.\"],\"key\":\"bevly_vehicle_2013\",\"id\":\"bevly_vehicle_2013\",\"bibbaseid\":\"bevly-farrell-vehiclepositioningnavigationandtimingleveragingresultsfromearprogramsponsoredresearch-2013\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://purl.fdlp.gov/GPO/gpo45296\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Radar probabilistic data association filter/DGPS fusion for target selection and relative range determination for a ground vehicle convoy.\",\"volume\":\"66\",\"issn\":\"00281522\",\"abstract\":\"As navigation systems are being developed, it is apparent that cost‐effective accurate and precise positioning is an imperative for both military and civilian ground vehicle guidance. As this need increases, navigation systems incorporating multiple sensors have been developed and relied upon in many navigation situations. In this work, radar and global positioning system (GPS) measurements are utilized in a multi‐sensor fusion scheme allowing for a robust ranging solution utilizing the accuracy of a differential GPS (DGPS) solution and higher update rate of the radar solution in a Kalman filter. A probabilistic data association filter (PDAF) is utilized to determine a weighted mean of the radar channels' solutions that fall within a validation region set in the algorithm. In this work, radar was used to track vehicles and not surrounding landmarks. This paper intends to evaluate the accuracy and availability of a GPS/radar fusion algorithm in vehicle convoying scenarios. [ABSTRACT FR)\",\"number\":\"2\",\"journal\":\"Navigation (Wiley-Blackwell)\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Sherer\"],\"firstnames\":[\"Tyler\",\"P.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"year\":\"2019\",\"keywords\":\"FILTERS & filtration, GLOBAL Positioning System, KALMAN filtering, MULTISENSOR data fusion, NAVIGATION, RADAR\",\"pages\":\"441 – 450\",\"bibtex\":\"@article{sherer_radar_2019,\\n\\ttitle = {Radar probabilistic data association filter/{DGPS} fusion for target selection and relative range determination for a ground vehicle convoy.},\\n\\tvolume = {66},\\n\\tissn = {00281522},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=aph&AN=137054739&site=eds-live&scope=site},\\n\\tabstract = {As navigation systems are being developed, it is apparent that cost‐effective accurate and precise positioning is an imperative for both military and civilian ground vehicle guidance. As this need increases, navigation systems incorporating multiple sensors have been developed and relied upon in many navigation situations. In this work, radar and global positioning system (GPS) measurements are utilized in a multi‐sensor fusion scheme allowing for a robust ranging solution utilizing the accuracy of a differential GPS (DGPS) solution and higher update rate of the radar solution in a Kalman filter. A probabilistic data association filter (PDAF) is utilized to determine a weighted mean of the radar channels' solutions that fall within a validation region set in the algorithm. In this work, radar was used to track vehicles and not surrounding landmarks. This paper intends to evaluate the accuracy and availability of a GPS/radar fusion algorithm in vehicle convoying scenarios. [ABSTRACT FR)},\\n\\tnumber = {2},\\n\\tjournal = {Navigation (Wiley-Blackwell)},\\n\\tauthor = {Sherer, Tyler P. and Martin, Scott M. and Bevly, David M.},\\n\\tyear = {2019},\\n\\tkeywords = {FILTERS \\\\& filtration, GLOBAL Positioning System, KALMAN filtering, MULTISENSOR data fusion, NAVIGATION, RADAR},\\n\\tpages = {441 -- 450},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Sherer, T. P.\",\"Martin, S. M.\",\"Bevly, D. M.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=aph&AN=137054739&site=eds-live&scope=site\",\"key\":\"sherer_radar_2019\",\"id\":\"sherer_radar_2019\",\"bibbaseid\":\"sherer-martin-bevly-radarprobabilisticdataassociationfilterdgpsfusionfortargetselectionandrelativerangedeterminationforagroundvehicleconvoy-2019\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=aph&AN=137054739&site=eds-live&scope=site\"},\"keyword\":[\"FILTERS & filtration\",\"GLOBAL Positioning System\",\"KALMAN filtering\",\"MULTISENSOR data fusion\",\"NAVIGATION\",\"RADAR\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Modeling and validation of hitch loading effects on tractor yaw dynamics\",\"volume\":\"44\",\"issn\":\"00224898\",\"abstract\":\"Abstract: This paper develops a yaw dynamic model for a farm tractor with a hitched implement, which can be used to understand the effect of tractor handling characteristics for design applications and for new automated steering control systems. Dynamic equations which use a tire-like model to capture the characteristics of the implement are found to adequately describe the tractor implement yaw dynamics. This model is termed the “3-wheeled” Bicycle Model since it uses an additional wheel (from the traditional bicycle model used to capture lateral dynamics of passenger vehicles) to account for the implement forces. The model only includes effects of lateral forces as it neglects differential longitudinal or draft forces between inner and outer sides of the vehicle. Experiments are taken to verify the hitch model using a three-dimensional force dynamometer. This data shows the implement forces are indeed proportional to lateral velocity and that differential draft forces can be neglect)\",\"number\":\"6\",\"journal\":\"Journal of Terramechanics\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Pearson\"],\"firstnames\":[\"Paul\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"year\":\"2007\",\"keywords\":\"AGRICULTURAL equipment, EXPERIMENTS, FARM tractors, TRACTORS, Tractor implement modeling, Tractor yaw dynamics, VEHICLES\",\"pages\":\"439 – 450\",\"bibtex\":\"@article{pearson_modeling_2007,\\n\\ttitle = {Modeling and validation of hitch loading effects on tractor yaw dynamics},\\n\\tvolume = {44},\\n\\tissn = {00224898},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=aph&AN=32497685&site=eds-live&scope=site},\\n\\tabstract = {Abstract: This paper develops a yaw dynamic model for a farm tractor with a hitched implement, which can be used to understand the effect of tractor handling characteristics for design applications and for new automated steering control systems. Dynamic equations which use a tire-like model to capture the characteristics of the implement are found to adequately describe the tractor implement yaw dynamics. This model is termed the “3-wheeled” Bicycle Model since it uses an additional wheel (from the traditional bicycle model used to capture lateral dynamics of passenger vehicles) to account for the implement forces. The model only includes effects of lateral forces as it neglects differential longitudinal or draft forces between inner and outer sides of the vehicle. Experiments are taken to verify the hitch model using a three-dimensional force dynamometer. This data shows the implement forces are indeed proportional to lateral velocity and that differential draft forces can be neglect)},\\n\\tnumber = {6},\\n\\tjournal = {Journal of Terramechanics},\\n\\tauthor = {Pearson, Paul and Bevly, David M.},\\n\\tyear = {2007},\\n\\tkeywords = {AGRICULTURAL equipment, EXPERIMENTS, FARM tractors, TRACTORS, Tractor implement modeling, Tractor yaw dynamics, VEHICLES},\\n\\tpages = {439 -- 450},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Pearson, P.\",\"Bevly, D. M.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=aph&AN=32497685&site=eds-live&scope=site\",\"key\":\"pearson_modeling_2007\",\"id\":\"pearson_modeling_2007\",\"bibbaseid\":\"pearson-bevly-modelingandvalidationofhitchloadingeffectsontractoryawdynamics-2007\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=aph&AN=32497685&site=eds-live&scope=site\"},\"keyword\":[\"AGRICULTURAL equipment\",\"EXPERIMENTS\",\"FARM tractors\",\"TRACTORS\",\"Tractor implement modeling\",\"Tractor yaw dynamics\",\"VEHICLES\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"SciAutonics-Auburn Engineering's low-cost high-speed ATV for the 2005 DARPA grand challenge.\",\"volume\":\"23\",\"issn\":\"15564959\",\"abstract\":\"This paper presents a summary of SciAutonics-Auburn Engineering's efforts in the 2005 DARPA Grand Challenge. The areas discussed in detail include the team makeup and strategy, vehicle choice, software architecture, vehicle control, navigation, path planning, and obstacle detection. In particular, the advantages and complications involved in fielding a low budget all-terrain vehicle are presented. Emphasis is placed on detailing the methods used for high-speed control, customized navigation, and a novel stereo vision system. The platform chosen required a highly accurate model and a well-tuned navigation system in order to meet the demands of the Grand Challenge. Overall, the vehicle completed three out of four runs at the National Qualification Event and traveled 16 miles in the Grand Challenge before a hardware failure disabled operation. The performance in the events is described, along with a success and failure analysis. © 2006 Wiley Periodicals, Inc. [ABSTRACT FROM AUTHOR], Copy)\",\"number\":\"8\",\"journal\":\"Journal of Field Robotics\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Travis\"],\"firstnames\":[\"William\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Daily\"],\"firstnames\":[\"Robert\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Knoedler\"],\"firstnames\":[\"Kevin\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Behringer\"],\"firstnames\":[\"Reinhold\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hemetsberger\"],\"firstnames\":[\"Hannes\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kogler\"],\"firstnames\":[\"Jürgen\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kubinger\"],\"firstnames\":[\"Wilfried\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Alefs\"],\"firstnames\":[\"Bram\"],\"suffixes\":[]}],\"year\":\"2006\",\"keywords\":\"ALL terrain vehicles, AUTOMOTIVE electronics, AUTOMOTIVE engineering, FAILURE analysis\",\"pages\":\"579 – 597\",\"bibtex\":\"@article{travis_sciautonics-auburn_2006,\\n\\ttitle = {{SciAutonics}-{Auburn} {Engineering}'s low-cost high-speed {ATV} for the 2005 {DARPA} grand challenge.},\\n\\tvolume = {23},\\n\\tissn = {15564959},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=23643055&site=eds-live&scope=site},\\n\\tabstract = {This paper presents a summary of SciAutonics-Auburn Engineering's efforts in the 2005 DARPA Grand Challenge. The areas discussed in detail include the team makeup and strategy, vehicle choice, software architecture, vehicle control, navigation, path planning, and obstacle detection. In particular, the advantages and complications involved in fielding a low budget all-terrain vehicle are presented. Emphasis is placed on detailing the methods used for high-speed control, customized navigation, and a novel stereo vision system. The platform chosen required a highly accurate model and a well-tuned navigation system in order to meet the demands of the Grand Challenge. Overall, the vehicle completed three out of four runs at the National Qualification Event and traveled 16 miles in the Grand Challenge before a hardware failure disabled operation. The performance in the events is described, along with a success and failure analysis. © 2006 Wiley Periodicals, Inc. [ABSTRACT FROM AUTHOR], Copy)},\\n\\tnumber = {8},\\n\\tjournal = {Journal of Field Robotics},\\n\\tauthor = {Travis, William and Daily, Robert and Bevly, David M. and Knoedler, Kevin and Behringer, Reinhold and Hemetsberger, Hannes and Kogler, Jürgen and Kubinger, Wilfried and Alefs, Bram},\\n\\tyear = {2006},\\n\\tkeywords = {ALL terrain vehicles, AUTOMOTIVE electronics, AUTOMOTIVE engineering, FAILURE analysis},\\n\\tpages = {579 -- 597},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Travis, W.\",\"Daily, R.\",\"Bevly, D. M.\",\"Knoedler, K.\",\"Behringer, R.\",\"Hemetsberger, H.\",\"Kogler, J.\",\"Kubinger, W.\",\"Alefs, B.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=23643055&site=eds-live&scope=site\",\"key\":\"travis_sciautonics-auburn_2006\",\"id\":\"travis_sciautonics-auburn_2006\",\"bibbaseid\":\"travis-daily-bevly-knoedler-behringer-hemetsberger-kogler-kubinger-etal-sciautonicsauburnengineeringslowcosthighspeedatvforthe2005darpagrandchallenge-2006\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=23643055&site=eds-live&scope=site\"},\"keyword\":[\"ALL terrain vehicles\",\"AUTOMOTIVE electronics\",\"AUTOMOTIVE engineering\",\"FAILURE analysis\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Adaptive steering control of a farm tractor with varying yaw rate properties.\",\"volume\":\"26\",\"issn\":\"15564959\",\"abstract\":\"This paper presents a novel application of a model reference adaptive control (MRAC) system to control the lateral position of a farm tractor tracking a straight path. Farm tractors can be configured with various implements, and the tractor yaw rate dynamics vary with each implement. It is desired that the lateral position response of the farm tractor remain consistent with respect to different implement configurations. Therefore, a MRAC system is implemented on the farm tractor to compensate for yaw rate plant variations by adapting the feed-forward yaw rate controller. Simulation results of the algorithm are shown that display poor performance due to neglected steering actuator dynamics and saturation. Modifications are made to the algorithm to account for the steering actuator properties, and more simulated results are presented that display ideal performance. Finally, the MRAC algorithm is implemented on a John Deere 8420 farm tractor, and experimental results are presented. © 200)\",\"number\":\"6/7\",\"journal\":\"Journal of Field Robotics\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Derrick\"],\"firstnames\":[\"J.\",\"Benton\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"year\":\"2009\",\"keywords\":\"ACTUATORS, ADAPTIVE control systems, AGRICULTURAL development, AGRICULTURAL equipment, CULTIVARS, FARM tractors, GENETIC algorithms, GLOBAL Positioning System\",\"pages\":\"519 – 536\",\"bibtex\":\"@article{derrick_adaptive_2009,\\n\\ttitle = {Adaptive steering control of a farm tractor with varying yaw rate properties.},\\n\\tvolume = {26},\\n\\tissn = {15564959},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=39055443&site=eds-live&scope=site},\\n\\tabstract = {This paper presents a novel application of a model reference adaptive control (MRAC) system to control the lateral position of a farm tractor tracking a straight path. Farm tractors can be configured with various implements, and the tractor yaw rate dynamics vary with each implement. It is desired that the lateral position response of the farm tractor remain consistent with respect to different implement configurations. Therefore, a MRAC system is implemented on the farm tractor to compensate for yaw rate plant variations by adapting the feed-forward yaw rate controller. Simulation results of the algorithm are shown that display poor performance due to neglected steering actuator dynamics and saturation. Modifications are made to the algorithm to account for the steering actuator properties, and more simulated results are presented that display ideal performance. Finally, the MRAC algorithm is implemented on a John Deere 8420 farm tractor, and experimental results are presented. © 200)},\\n\\tnumber = {6/7},\\n\\tjournal = {Journal of Field Robotics},\\n\\tauthor = {Derrick, J. Benton and Bevly, David M.},\\n\\tyear = {2009},\\n\\tkeywords = {ACTUATORS, ADAPTIVE control systems, AGRICULTURAL development, AGRICULTURAL equipment, CULTIVARS, FARM tractors, GENETIC algorithms, GLOBAL Positioning System},\\n\\tpages = {519 -- 536},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Derrick, J. B.\",\"Bevly, D. M.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=39055443&site=eds-live&scope=site\",\"key\":\"derrick_adaptive_2009\",\"id\":\"derrick_adaptive_2009\",\"bibbaseid\":\"derrick-bevly-adaptivesteeringcontrolofafarmtractorwithvaryingyawrateproperties-2009\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=39055443&site=eds-live&scope=site\"},\"keyword\":[\"ACTUATORS\",\"ADAPTIVE control systems\",\"AGRICULTURAL development\",\"AGRICULTURAL equipment\",\"CULTIVARS\",\"FARM tractors\",\"GENETIC algorithms\",\"GLOBAL Positioning System\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"An embedded system for real-time navigation and remote command of a trained canine\",\"volume\":\"15\",\"issn\":\"16174909\",\"number\":\"1\",\"journal\":\"PERSONAL AND UBIQUITOUS COMPUTING\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Britt\"],\"firstnames\":[\"Winard\",\"R.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Miller\"],\"firstnames\":[\"Jeffrey\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Waggoner\"],\"firstnames\":[\"Paul\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hamilton\"],\"firstnames\":[\"John\",\"A.\"],\"suffixes\":[\"Jr.\"]}],\"month\":\"January\",\"year\":\"2011\",\"keywords\":\"Canine augmentation technology, Canine guidance, DETECTORS, DOG behavior, EMBEDDED computer systems, Embedded systems, GLOBAL Positioning System, NAVIGATION, REAL-time computing, REMOTE control, Sensor aggregation, Sensor navigation\",\"pages\":\"61 – 74\",\"bibtex\":\"@article{britt_embedded_2011,\\n\\ttitle = {An embedded system for real-time navigation and remote command of a trained canine},\\n\\tvolume = {15},\\n\\tissn = {16174909},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000286002100008&site=eds-live&scope=site},\\n\\tnumber = {1},\\n\\tjournal = {PERSONAL AND UBIQUITOUS COMPUTING},\\n\\tauthor = {Britt, Winard R. and Miller, Jeffrey and Waggoner, Paul and Bevly, David M. and Hamilton, John A., Jr.},\\n\\tmonth = jan,\\n\\tyear = {2011},\\n\\tkeywords = {Canine augmentation technology, Canine guidance, DETECTORS, DOG behavior, EMBEDDED computer systems, Embedded systems, GLOBAL Positioning System, NAVIGATION, REAL-time computing, REMOTE control, Sensor aggregation, Sensor navigation},\\n\\tpages = {61 -- 74},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Britt, W. R.\",\"Miller, J.\",\"Waggoner, P.\",\"Bevly, D. M.\",\"Hamilton, J. A.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000286002100008&site=eds-live&scope=site\",\"key\":\"britt_embedded_2011\",\"id\":\"britt_embedded_2011\",\"bibbaseid\":\"britt-miller-waggoner-bevly-hamilton-anembeddedsystemforrealtimenavigationandremotecommandofatrainedcanine-2011\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000286002100008&site=eds-live&scope=site\"},\"keyword\":[\"Canine augmentation technology\",\"Canine guidance\",\"DETECTORS\",\"DOG behavior\",\"EMBEDDED computer systems\",\"Embedded systems\",\"GLOBAL Positioning System\",\"NAVIGATION\",\"REAL-time computing\",\"REMOTE control\",\"Sensor aggregation\",\"Sensor navigation\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Performance Analysis of Vector Tracking Algorithms for Weak GPS Signals in High Dynamics\",\"volume\":\"3\",\"issn\":\"19324553\",\"number\":\"4\",\"journal\":\"IEEE JOURNAL OF SELECTED TOPICS IN SIGNAL PROCESSING\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Lashley\"],\"firstnames\":[\"Matthew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hung\"],\"firstnames\":[\"John\",\"Y.\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2009\",\"keywords\":\"Delay lock loop, Global Positioning System, Global Positioning System (GPS), Kalman filter, Performance analysis, Satellite broadcasting, Satellite navigation systems, Signal processing, Signal processing algorithms, Signal to noise ratio, Tracking loops, Vehicle dynamics, Working environment noise, frequency lock loop, vector tracking\",\"pages\":\"661 – 673\",\"bibtex\":\"@article{lashley_performance_2009,\\n\\ttitle = {Performance {Analysis} of {Vector} {Tracking} {Algorithms} for {Weak} {GPS} {Signals} in {High} {Dynamics}},\\n\\tvolume = {3},\\n\\tissn = {19324553},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000268377200011&site=eds-live&scope=site},\\n\\tnumber = {4},\\n\\tjournal = {IEEE JOURNAL OF SELECTED TOPICS IN SIGNAL PROCESSING},\\n\\tauthor = {Lashley, Matthew and Bevly, David M. and Hung, John Y.},\\n\\tmonth = aug,\\n\\tyear = {2009},\\n\\tkeywords = {Delay lock loop, Global Positioning System, Global Positioning System (GPS), Kalman filter, Performance analysis, Satellite broadcasting, Satellite navigation systems, Signal processing, Signal processing algorithms, Signal to noise ratio, Tracking loops, Vehicle dynamics, Working environment noise, frequency lock loop, vector tracking},\\n\\tpages = {661 -- 673},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Lashley, M.\",\"Bevly, D. M.\",\"Hung, J. Y.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000268377200011&site=eds-live&scope=site\",\"key\":\"lashley_performance_2009\",\"id\":\"lashley_performance_2009\",\"bibbaseid\":\"lashley-bevly-hung-performanceanalysisofvectortrackingalgorithmsforweakgpssignalsinhighdynamics-2009\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000268377200011&site=eds-live&scope=site\"},\"keyword\":[\"Delay lock loop\",\"Global Positioning System\",\"Global Positioning System (GPS)\",\"Kalman filter\",\"Performance analysis\",\"Satellite broadcasting\",\"Satellite navigation systems\",\"Signal processing\",\"Signal processing algorithms\",\"Signal to noise ratio\",\"Tracking loops\",\"Vehicle dynamics\",\"Working environment noise\",\"frequency lock loop\",\"vector tracking\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"An empirical study of DSRC V2V performance in truck platooning scenarios\",\"volume\":\"2\",\"issn\":\"2352-8648\",\"abstract\":\"Among many safety applications enabled by Dedicated Short Range Communication (DSRC), truck platooning provides many incentives to commercial companies. This paper studies DSRC Vehicle-to-Vehicle (V2V) performance in truck platooning scenarios through real-world experiments. Commercial DSRC equipments and semi-trailer trucks are used in this study. We mount one DSRC antenna on each side of the truck. One set of dynamic tests and a few sets of static tests are conducted to explore DSRC behaviors under different situations. From the test results, we verified some of our speculations. For example, hilly roads can affect delivery ratio and antennas mounted on opposite sides of a truck can suffer from low delivery ratio at curved roads. In addition, we also found that antennas can sometimes suffer from low delivery ratio even when the trucks are on straight roads, possibly due to reflections from the nearby terrain. Fortunately, the delivery ratio can be greatly improved by using the two side antennas alternately.\",\"number\":\"4\",\"journal\":\"Digital Communications and Networks\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Gao\"],\"firstnames\":[\"Song\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Lim\"],\"firstnames\":[\"Alvin\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"month\":\"November\",\"year\":\"2016\",\"keywords\":\"DSRC V2V performance, Delivery ratio, Empirical study, Information technology, T58.5-58.64, Truck platooning\",\"pages\":\"233 – 244\",\"bibtex\":\"@article{gao_empirical_2016,\\n\\ttitle = {An empirical study of {DSRC} {V2V} performance in truck platooning scenarios},\\n\\tvolume = {2},\\n\\tissn = {2352-8648},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edsdoj&AN=edsdoj.3a694505148c4518800249ed58217fa9&site=eds-live&scope=site},\\n\\tabstract = {Among many safety applications enabled by Dedicated Short Range Communication (DSRC), truck platooning provides many incentives to commercial companies. This paper studies DSRC Vehicle-to-Vehicle (V2V) performance in truck platooning scenarios through real-world experiments. Commercial DSRC equipments and semi-trailer trucks are used in this study. We mount one DSRC antenna on each side of the truck. One set of dynamic tests and a few sets of static tests are conducted to explore DSRC behaviors under different situations. From the test results, we verified some of our speculations. For example, hilly roads can affect delivery ratio and antennas mounted on opposite sides of a truck can suffer from low delivery ratio at curved roads. In addition, we also found that antennas can sometimes suffer from low delivery ratio even when the trucks are on straight roads, possibly due to reflections from the nearby terrain. Fortunately, the delivery ratio can be greatly improved by using the two side antennas alternately.},\\n\\tnumber = {4},\\n\\tjournal = {Digital Communications and Networks},\\n\\tauthor = {Gao, Song and Lim, Alvin and Bevly, David},\\n\\tmonth = nov,\\n\\tyear = {2016},\\n\\tkeywords = {DSRC V2V performance, Delivery ratio, Empirical study, Information technology, T58.5-58.64, Truck platooning},\\n\\tpages = {233 -- 244},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Gao, S.\",\"Lim, A.\",\"Bevly, D.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edsdoj&AN=edsdoj.3a694505148c4518800249ed58217fa9&site=eds-live&scope=site\",\"key\":\"gao_empirical_2016\",\"id\":\"gao_empirical_2016\",\"bibbaseid\":\"gao-lim-bevly-anempiricalstudyofdsrcv2vperformanceintruckplatooningscenarios-2016\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edsdoj&AN=edsdoj.3a694505148c4518800249ed58217fa9&site=eds-live&scope=site\"},\"keyword\":[\"DSRC V2V performance\",\"Delivery ratio\",\"Empirical study\",\"Information technology\",\"T58.5-58.64\",\"Truck platooning\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"An exploration of low-cost sensor and vehicle model Solutions for ground vehicle navigation.\",\"booktitle\":\"2014 IEEE/ION Position, Location & Navigation Symposium - PLANS 2014\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Salmon\"],\"firstnames\":[\"Daniel\",\"C.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"year\":\"2014\",\"pages\":\"462 – 471\",\"bibtex\":\"@inproceedings{salmon_exploration_2014,\\n\\ttitle = {An exploration of low-cost sensor and vehicle model {Solutions} for ground vehicle navigation.},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=98457126&site=eds-live&scope=site},\\n\\tbooktitle = {2014 {IEEE}/{ION} {Position}, {Location} \\\\& {Navigation} {Symposium} - {PLANS} 2014},\\n\\tauthor = {Salmon, Daniel C. and Bevly, David M.},\\n\\tyear = {2014},\\n\\tpages = {462 -- 471},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Salmon, D. C.\",\"Bevly, D. M.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=98457126&site=eds-live&scope=site\",\"key\":\"salmon_exploration_2014\",\"id\":\"salmon_exploration_2014\",\"bibbaseid\":\"salmon-bevly-anexplorationoflowcostsensorandvehiclemodelsolutionsforgroundvehiclenavigation-2014\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=98457126&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\",\"downloads\":1},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Analysis of Deeply Integrated and Tightly Coupled Architectures\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Lashley\"],\"firstnames\":[\"M.\",\"Bevly\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"M\"],\"firstnames\":[\"D.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hung\"],\"firstnames\":[\"J.\",\"W.\"],\"suffixes\":[]}],\"year\":\"2010\",\"bibtex\":\"@inproceedings{lashley_analysis_2010,\\n\\ttitle = {Analysis of {Deeply} {Integrated} and {Tightly} {Coupled} {Architectures}},\\n\\tauthor = {Lashley, M. Bevly and M, D. and Hung, J. W.},\\n\\tyear = {2010},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Lashley, M. B.\",\"M, D.\",\"Hung, J. W.\"],\"key\":\"lashley_analysis_2010\",\"id\":\"lashley_analysis_2010\",\"bibbaseid\":\"lashley-m-hung-analysisofdeeplyintegratedandtightlycoupledarchitectures-2010\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"LiDAR Attitude Estimation for Vehicle Safety Systems\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Britt\"],\"firstnames\":[\"Jordan\",\"Hugh\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"month\":\"April\",\"year\":\"2010\",\"bibtex\":\"@inproceedings{britt_lidar_2010,\\n\\ttitle = {{LiDAR} {Attitude} {Estimation} for {Vehicle} {Safety} {Systems}},\\n\\tauthor = {Britt, Jordan Hugh and Bevly, David},\\n\\tmonth = apr,\\n\\tyear = {2010},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Britt, J. H.\",\"Bevly, D.\"],\"key\":\"britt_lidar_2010\",\"id\":\"britt_lidar_2010\",\"bibbaseid\":\"britt-bevly-lidarattitudeestimationforvehiclesafetysystems-2010\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"State Estimation for Vehicle Stability Control: A Kinematic Approach Using Only GPS and VSC Sensors\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Ryan\"],\"firstnames\":[\"J.\",\";\",\"Bevly\"],\"suffixes\":[]},{\"firstnames\":[],\"propositions\":[],\"lastnames\":[\"D.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Lu\"],\"firstnames\":[\"J.\"],\"suffixes\":[]}],\"month\":\"September\",\"year\":\"2010\",\"bibtex\":\"@inproceedings{ryan_state_2010,\\n\\ttitle = {State {Estimation} for {Vehicle} {Stability} {Control}: {A} {Kinematic} {Approach} {Using} {Only} {GPS} and {VSC} {Sensors}},\\n\\tauthor = {Ryan, J. ; Bevly and {D.} and Lu, J.},\\n\\tmonth = sep,\\n\\tyear = {2010},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Ryan, J. ; B.\",\"D.\",\"Lu, J.\"],\"key\":\"ryan_state_2010\",\"id\":\"ryan_state_2010\",\"bibbaseid\":\"ryan-d-lu-stateestimationforvehiclestabilitycontrolakinematicapproachusingonlygpsandvscsensors-2010\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Boston, MA\",\"title\":\"Road Bank Estimation on Uneven Terrain for Unmanned Ground Vehicles\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Brown\"],\"firstnames\":[\"L.\",\"S.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Dawkins\"],\"firstnames\":[\"J.\",\"J.\",\"Hill\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"S\"],\"firstnames\":[\"R.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]}],\"month\":\"September\",\"year\":\"2010\",\"bibtex\":\"@inproceedings{brown_road_2010,\\n\\taddress = {Boston, MA},\\n\\ttitle = {Road {Bank} {Estimation} on {Uneven} {Terrain} for {Unmanned} {Ground} {Vehicles}},\\n\\tauthor = {Brown, L. S. and Dawkins, J. J. Hill and S, R. and Bevly, D. M.},\\n\\tmonth = sep,\\n\\tyear = {2010},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Brown, L. S.\",\"Dawkins, J. J. H.\",\"S, R.\",\"Bevly, D. M.\"],\"key\":\"brown_road_2010\",\"id\":\"brown_road_2010\",\"bibbaseid\":\"brown-dawkins-s-bevly-roadbankestimationonuneventerrainforunmannedgroundvehicles-2010\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Evolution of Parameters for an Autonomous Canine Control Algorithm\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Lyles\"],\"firstnames\":[\"W.\",\";\",\"Britt\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"W.\",\";\"],\"suffixes\":[]},{\"firstnames\":[\"D.\"],\"propositions\":[],\"lastnames\":[\";\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2009\",\"bibtex\":\"@inproceedings{lyles_evolution_2009,\\n\\ttitle = {Evolution of {Parameters} for an {Autonomous} {Canine} {Control} {Algorithm}},\\n\\tauthor = {Lyles, W. ; Britt and Bevly, W. ; and D. ;},\\n\\tmonth = dec,\\n\\tyear = {2009},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Lyles, W. ; B.\",\"Bevly, W. ;\",\";, D.\"],\"key\":\"lyles_evolution_2009\",\"id\":\"lyles_evolution_2009\",\"bibbaseid\":\"lyles-bevly--evolutionofparametersforanautonomouscaninecontrolalgorithm-2009\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Boston, MA\",\"title\":\"Modeling Vehicle Lateral Dynamics by Gaussian Processes\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Broderick\"],\"firstnames\":[\"D.\",\"J.\",\";\",\"Bevly\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"M\"],\"firstnames\":[\"D.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hung\"],\"firstnames\":[\"J.\",\"Y.\"],\"suffixes\":[]}],\"month\":\"September\",\"year\":\"2010\",\"bibtex\":\"@inproceedings{broderick_modeling_2010,\\n\\taddress = {Boston, MA},\\n\\ttitle = {Modeling {Vehicle} {Lateral} {Dynamics} by {Gaussian} {Processes}},\\n\\tauthor = {Broderick, D. J. ; Bevly and M, D. and Hung, J. Y.},\\n\\tmonth = sep,\\n\\tyear = {2010},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Broderick, D. J. ; B.\",\"M, D.\",\"Hung, J. Y.\"],\"key\":\"broderick_modeling_2010\",\"id\":\"broderick_modeling_2010\",\"bibbaseid\":\"broderick-m-hung-modelingvehiclelateraldynamicsbygaussianprocesses-2010\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"San Diego\",\"title\":\"Simple Calibration for Vehicle Pose Estimation Using Gaussian Processes,\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Broderick\"],\"firstnames\":[\"Britt\"],\"suffixes\":[]},{\"firstnames\":[],\"propositions\":[],\"lastnames\":[\"Ryan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]}],\"year\":\"2011\",\"bibtex\":\"@inproceedings{broderick_simple_2011,\\n\\taddress = {San Diego},\\n\\ttitle = {Simple {Calibration} for {Vehicle} {Pose} {Estimation} {Using} {Gaussian} {Processes},},\\n\\tauthor = {Broderick, Britt and {Ryan} and Bevly, D. M.},\\n\\tyear = {2011},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Broderick, B.\",\"Ryan\",\"Bevly, D. M.\"],\"key\":\"broderick_simple_2011\",\"id\":\"broderick_simple_2011\",\"bibbaseid\":\"broderick-ryan-bevly-simplecalibrationforvehicleposeestimationusinggaussianprocesses-2011\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Comparison in the Performance of the Vector Delay/Frequency Lock Loop and Equivalent Scalar Tracking Loops in Dense Foliage and Urban Canyon\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Lashley\"],\"firstnames\":[\"M.\",\"Bevly\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"M\"],\"firstnames\":[\"D.\"],\"suffixes\":[]}],\"year\":\"2011\",\"bibtex\":\"@inproceedings{lashley_comparison_2011,\\n\\ttitle = {Comparison in the {Performance} of the {Vector} {Delay}/{Frequency} {Lock} {Loop} and {Equivalent} {Scalar} {Tracking} {Loops} in {Dense} {Foliage} and {Urban} {Canyon}},\\n\\tauthor = {Lashley, M. Bevly and M, D.},\\n\\tyear = {2011},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Lashley, M. B.\",\"M, D.\"],\"key\":\"lashley_comparison_2011\",\"id\":\"lashley_comparison_2011\",\"bibbaseid\":\"lashley-m-comparisonintheperformanceofthevectordelayfrequencylockloopandequivalentscalartrackingloopsindensefoliageandurbancanyon-2011\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"A Comparative Study of Lidar and Camera-based Lane Departure Warning Systems\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Britt\"],\"firstnames\":[\"Jordan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Rose\"],\"firstnames\":[\"Christopher\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"year\":\"2011\",\"bibtex\":\"@inproceedings{britt_comparative_2011,\\n\\ttitle = {A {Comparative} {Study} of {Lidar} and {Camera}-based {Lane} {Departure} {Warning} {Systems}},\\n\\tauthor = {Britt, Jordan and Rose, Christopher and Bevly, David M.},\\n\\tyear = {2011},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Britt, J.\",\"Rose, C.\",\"Bevly, D. 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M.\"],\"key\":\"powell_multiple-antenna_2017\",\"id\":\"powell_multiple-antenna_2017\",\"bibbaseid\":\"powell-starling-bevly-amultipleantennasoftwaregpssignalsimulatorforrapidtestingofinterferencemitigationtechniques-2017\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Radar Probabilistic Data Association Filter with GPS Aiding for Target Selection and Relative Position Determination\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Sherer\"],\"firstnames\":[\"T.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"S.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2017\",\"bibtex\":\"@inproceedings{sherer_radar_2017,\\n\\ttitle = {Radar {Probabilistic} {Data} {Association} {Filter} with {GPS} {Aiding} for {Target} {Selection} and {Relative} {Position} {Determination}},\\n\\tauthor = {Sherer, T. and Martin, S. and Bevly, D.},\\n\\tmonth = may,\\n\\tyear = {2017},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Sherer, T.\",\"Martin, S.\",\"Bevly, D.\"],\"key\":\"sherer_radar_2017\",\"id\":\"sherer_radar_2017\",\"bibbaseid\":\"sherer-martin-bevly-radarprobabilisticdataassociationfilterwithgpsaidingfortargetselectionandrelativepositiondetermination-2017\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Collaborative Ground Vehicle Navigation Utilizing an IMM Radar Tracking Algorithm, Proceedings of the 2018 ION GNSS+ Conference, Miami, Florida, September\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Selikoff\"],\"firstnames\":[\"J.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]}],\"year\":\"2018\",\"bibtex\":\"@inproceedings{selikoff_collaborative_2018,\\n\\ttitle = {Collaborative {Ground} {Vehicle} {Navigation} {Utilizing} an {IMM} {Radar} {Tracking} {Algorithm}, {Proceedings} of the 2018 {ION} {GNSS}+ {Conference}, {Miami}, {Florida}, {September}},\\n\\tauthor = {Selikoff, J. and Bevly, D. M.},\\n\\tyear = {2018},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Selikoff, J.\",\"Bevly, D. M.\"],\"key\":\"selikoff_collaborative_2018\",\"id\":\"selikoff_collaborative_2018\",\"bibbaseid\":\"selikoff-bevly-collaborativegroundvehiclenavigationutilizinganimmradartrackingalgorithmproceedingsofthe2018iongnssconferencemiamifloridaseptember-2018\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"A GPS and GLONASS L1 Vector Tracking Software-Defined Receiver\",\"url\":\"https://www.ion.org/publications/abstract.cfm?articleID=16686\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Watts\"],\"firstnames\":[\"Tanner\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"month\":\"January\",\"year\":\"2019\",\"bibtex\":\"@inproceedings{watts_gps_2019,\\n\\ttitle = {A {GPS} and {GLONASS} {L1} {Vector} {Tracking} {Software}-{Defined} {Receiver}},\\n\\turl = {https://www.ion.org/publications/abstract.cfm?articleID=16686},\\n\\tauthor = {Watts, Tanner and Martin, Scott and Bevly, David},\\n\\tmonth = jan,\\n\\tyear = {2019},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Watts, T.\",\"Martin, S.\",\"Bevly, D.\"],\"key\":\"watts_gps_2019\",\"id\":\"watts_gps_2019\",\"bibbaseid\":\"watts-martin-bevly-agpsandglonassl1vectortrackingsoftwaredefinedreceiver-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.ion.org/publications/abstract.cfm?articleID=16686\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Performance Analysis of Low SWaP-C Jamming Mitigation Methods for Commercial Applications\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Burchfield\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Starling\"],\"firstnames\":[\"Joshua\"],\"suffixes\":[]}],\"month\":\"September\",\"year\":\"2020\",\"bibtex\":\"@inproceedings{burchfield_performance_2020,\\n\\ttitle = {Performance {Analysis} of {Low} {SWaP}-{C} {Jamming} {Mitigation} {Methods} for {Commercial} {Applications}},\\n\\tauthor = {Burchfield, Scott and Martin, Scott and Bevly, David and Starling, Joshua},\\n\\tmonth = sep,\\n\\tyear = {2020},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Burchfield, S.\",\"Martin, S.\",\"Bevly, D.\",\"Starling, J.\"],\"key\":\"burchfield_performance_2020\",\"id\":\"burchfield_performance_2020\",\"bibbaseid\":\"burchfield-martin-bevly-starling-performanceanalysisoflowswapcjammingmitigationmethodsforcommercialapplications-2020\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Impact of Lateral Alignment on the Energy Savings of a Truck Platoon\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Lammert\"],\"firstnames\":[\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"McAuliffe\"],\"firstnames\":[\"B.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Smith\"],\"firstnames\":[\"P.\"],\"suffixes\":[]},{\"firstnames\":[],\"propositions\":[],\"lastnames\":[\"others\"],\"suffixes\":[]}],\"year\":\"2020\",\"bibtex\":\"@inproceedings{lammert_impact_2020,\\n\\ttitle = {Impact of {Lateral} {Alignment} on the {Energy} {Savings} of a {Truck} {Platoon}},\\n\\tauthor = {Lammert, M. and McAuliffe, B. and Smith, P. and {others}},\\n\\tyear = {2020},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Lammert, M.\",\"McAuliffe, B.\",\"Smith, P.\",\"others\"],\"key\":\"lammert_impact_2020\",\"id\":\"lammert_impact_2020\",\"bibbaseid\":\"lammert-mcauliffe-smith-others-impactoflateralalignmentontheenergysavingsofatruckplatoon-2020\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"A valid comparison of vector and scalar tracking loops.\",\"booktitle\":\"2010 IEEE/ION Position Location & Navigation Symposium (PLANS)\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Lashley\"],\"firstnames\":[\"Matthew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hung\"],\"firstnames\":[\"John\",\"Y.\"],\"suffixes\":[]}],\"year\":\"2010\",\"pages\":\"464 – 474\",\"bibtex\":\"@inproceedings{lashley_valid_2010,\\n\\ttitle = {A valid comparison of vector and scalar tracking loops.},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=81644244&site=eds-live&scope=site},\\n\\tbooktitle = {2010 {IEEE}/{ION} {Position} {Location} \\\\& {Navigation} {Symposium} ({PLANS})},\\n\\tauthor = {Lashley, Matthew and Bevly, David M. and Hung, John Y.},\\n\\tyear = {2010},\\n\\tpages = {464 -- 474},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Lashley, M.\",\"Bevly, D. M.\",\"Hung, J. Y.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=81644244&site=eds-live&scope=site\",\"key\":\"lashley_valid_2010\",\"id\":\"lashley_valid_2010\",\"bibbaseid\":\"lashley-bevly-hung-avalidcomparisonofvectorandscalartrackingloops-2010\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=81644244&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Automated platoon manipulation in merging scenarios using trajectory estimation of connected vehicles\",\"volume\":\"11009\",\"issn\":\"0277786X\",\"number\":\"1\",\"journal\":\"Proceedings of SPIE\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Dudzik\"],\"firstnames\":[\"Michael\",\"C.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Ricklin\"],\"firstnames\":[\"Jennifer\",\"C.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Alston\"],\"firstnames\":[\"Rory\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pierce\"],\"firstnames\":[\"Daniel\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Smith\"],\"firstnames\":[\"Patrick\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Heim\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]}],\"month\":\"July\",\"year\":\"2019\",\"pages\":\"110090N – 110090N–14\",\"bibtex\":\"@article{dudzik_automated_2019,\\n\\ttitle = {Automated platoon manipulation in merging scenarios using trajectory estimation of connected vehicles},\\n\\tvolume = {11009},\\n\\tissn = {0277786X},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edo&AN=ejs50893868&site=eds-live&scope=site},\\n\\tnumber = {1},\\n\\tjournal = {Proceedings of SPIE},\\n\\tauthor = {Dudzik, Michael C. and Ricklin, Jennifer C. and Alston, Rory and Pierce, Daniel and Smith, Patrick and Bevly, David and Heim, Scott},\\n\\tmonth = jul,\\n\\tyear = {2019},\\n\\tpages = {110090N -- 110090N--14},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Dudzik, M. C.\",\"Ricklin, J. C.\",\"Alston, R.\",\"Pierce, D.\",\"Smith, P.\",\"Bevly, D.\",\"Heim, S.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edo&AN=ejs50893868&site=eds-live&scope=site\",\"key\":\"dudzik_automated_2019\",\"id\":\"dudzik_automated_2019\",\"bibbaseid\":\"dudzik-ricklin-alston-pierce-smith-bevly-heim-automatedplatoonmanipulationinmergingscenariosusingtrajectoryestimationofconnectedvehicles-2019\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edo&AN=ejs50893868&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"An Integrated Vehicle Navigation System Utilizing Lane-Detection and Lateral Position Estimation Systems in Difficult Environments for GPS\",\"volume\":\"15\",\"issn\":\"15249050\",\"number\":\"6\",\"journal\":\"IEEE TRANSACTIONS ON IN℡LIGENT TRANSPORTATION SYSTEMS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Rose\"],\"firstnames\":[\"Christopher\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Britt\"],\"firstnames\":[\"Jordan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Allen\"],\"firstnames\":[\"John\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2014\",\"keywords\":\"Camera, Cameras, Global Navigation Satellite System, Global Positioning System, Global Positioning System (GPS), Image edge detection, Kalman filter, Kalman filters, Sensor fusion, inertial measurement unit (IMU), lane detection, light detection and ranging (lidar), outages, sensor fusion\",\"pages\":\"2615 – 2629\",\"bibtex\":\"@article{rose_integrated_2014,\\n\\ttitle = {An {Integrated} {Vehicle} {Navigation} {System} {Utilizing} {Lane}-{Detection} and {Lateral} {Position} {Estimation} {Systems} in {Difficult} {Environments} for {GPS}},\\n\\tvolume = {15},\\n\\tissn = {15249050},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000345572900023&site=eds-live&scope=site},\\n\\tnumber = {6},\\n\\tjournal = {IEEE TRANSACTIONS ON IN℡LIGENT TRANSPORTATION SYSTEMS},\\n\\tauthor = {Rose, Christopher and Britt, Jordan and Allen, John and Bevly, David},\\n\\tmonth = dec,\\n\\tyear = {2014},\\n\\tkeywords = {Camera, Cameras, Global Navigation Satellite System, Global Positioning System, Global Positioning System (GPS), Image edge detection, Kalman filter, Kalman filters, Sensor fusion, inertial measurement unit (IMU), lane detection, light detection and ranging (lidar), outages, sensor fusion},\\n\\tpages = {2615 -- 2629},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Rose, C.\",\"Britt, J.\",\"Allen, J.\",\"Bevly, D.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000345572900023&site=eds-live&scope=site\",\"key\":\"rose_integrated_2014\",\"id\":\"rose_integrated_2014\",\"bibbaseid\":\"rose-britt-allen-bevly-anintegratedvehiclenavigationsystemutilizinglanedetectionandlateralpositionestimationsystemsindifficultenvironmentsforgps-2014\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000345572900023&site=eds-live&scope=site\"},\"keyword\":[\"Camera\",\"Cameras\",\"Global Navigation Satellite System\",\"Global Positioning System\",\"Global Positioning System (GPS)\",\"Image edge detection\",\"Kalman filter\",\"Kalman filters\",\"Sensor fusion\",\"inertial measurement unit (IMU)\",\"lane detection\",\"light detection and ranging (lidar)\",\"outages\",\"sensor fusion\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"The Use of GPS Based Velocity Measurements for Measurement of Sideslip and Wheel Slip.\",\"volume\":\"38\",\"issn\":\"00423114\",\"abstract\":\"Discusses a global positioning system (GPS)-based method for measuring wheel slip, body sideslip angle and tire sideslip angle. Velocity measurement; Stochastic noise in GPS; State estimation.\",\"number\":\"2\",\"journal\":\"Vehicle System Dynamics\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Gerdes\"],\"firstnames\":[\"J.\",\"Christian\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Wilson\"],\"firstnames\":[\"Christopher\"],\"suffixes\":[]}],\"year\":\"2002\",\"keywords\":\"GLOBAL Positioning System, VEHICLES, WHEELS\",\"pages\":\"127\",\"bibtex\":\"@article{bevly_use_2002,\\n\\ttitle = {The {Use} of {GPS} {Based} {Velocity} {Measurements} for {Measurement} of {Sideslip} and {Wheel} {Slip}.},\\n\\tvolume = {38},\\n\\tissn = {00423114},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=7266436&site=eds-live&scope=site},\\n\\tabstract = {Discusses a global positioning system (GPS)-based method for measuring wheel slip, body sideslip angle and tire sideslip angle. Velocity measurement; Stochastic noise in GPS; State estimation.},\\n\\tnumber = {2},\\n\\tjournal = {Vehicle System Dynamics},\\n\\tauthor = {Bevly, David M. and Gerdes, J. Christian and Wilson, Christopher},\\n\\tyear = {2002},\\n\\tkeywords = {GLOBAL Positioning System, VEHICLES, WHEELS},\\n\\tpages = {127},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Bevly, D. M.\",\"Gerdes, J. C.\",\"Wilson, C.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=7266436&site=eds-live&scope=site\",\"key\":\"bevly_use_2002\",\"id\":\"bevly_use_2002\",\"bibbaseid\":\"bevly-gerdes-wilson-theuseofgpsbasedvelocitymeasurementsformeasurementofsideslipandwheelslip-2002\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=7266436&site=eds-live&scope=site\"},\"keyword\":[\"GLOBAL Positioning System\",\"VEHICLES\",\"WHEELS\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Cascaded Kalman filters for accurate estimation of multiple biases, dead-reckoning navigation, and full state feedback control of ground vehicles\",\"volume\":\"15\",\"issn\":\"10636536\",\"number\":\"2\",\"journal\":\"IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Parkinson\"],\"firstnames\":[\"Bradford\"],\"suffixes\":[]}],\"month\":\"March\",\"year\":\"2007\",\"keywords\":\"AIR traffic control, CONTROL theory (Engineering), Cascaded estimation, FARM tractors, FEEDBACK control systems, GLOBAL Positioning System, KALMAN filtering, cascaded estimation, dead-reckoning navigation, decentralized Kalman filters, ground vehicle navigation\",\"pages\":\"199 – 208\",\"bibtex\":\"@article{bevly_cascaded_2007,\\n\\ttitle = {Cascaded {Kalman} filters for accurate estimation of multiple biases, dead-reckoning navigation, and full state feedback control of ground vehicles},\\n\\tvolume = {15},\\n\\tissn = {10636536},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000245247800001&site=eds-live&scope=site},\\n\\tnumber = {2},\\n\\tjournal = {IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY},\\n\\tauthor = {Bevly, David M. and Parkinson, Bradford},\\n\\tmonth = mar,\\n\\tyear = {2007},\\n\\tkeywords = {AIR traffic control, CONTROL theory (Engineering), Cascaded estimation, FARM tractors, FEEDBACK control systems, GLOBAL Positioning System, KALMAN filtering, cascaded estimation, dead-reckoning navigation, decentralized Kalman filters, ground vehicle navigation},\\n\\tpages = {199 -- 208},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Bevly, D. M.\",\"Parkinson, B.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000245247800001&site=eds-live&scope=site\",\"key\":\"bevly_cascaded_2007\",\"id\":\"bevly_cascaded_2007\",\"bibbaseid\":\"bevly-parkinson-cascadedkalmanfiltersforaccurateestimationofmultiplebiasesdeadreckoningnavigationandfullstatefeedbackcontrolofgroundvehicles-2007\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000245247800001&site=eds-live&scope=site\"},\"keyword\":[\"AIR traffic control\",\"CONTROL theory (Engineering)\",\"Cascaded estimation\",\"FARM tractors\",\"FEEDBACK control systems\",\"GLOBAL Positioning System\",\"KALMAN filtering\",\"cascaded estimation\",\"dead-reckoning navigation\",\"decentralized Kalman filters\",\"ground vehicle navigation\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Global Positioning System (GPS): a low-cost velocity sensor for correcting inertial sensor errors on ground vehicles\",\"volume\":\"126\",\"issn\":\"0022-0434\",\"abstract\":\"This paper demonstrates the ability of a standard low-cost Global Positioning System (GPS) receiver to reduce errors inherent in low-cost accelerometers and rate gyroscopes used on ground vehicles. Specifically GPS velocity is used to obtain vehicle course, velocity, and road grade, as well as to correct inertial sensors errors, providing accurate longitudinal and lateral acceleration, and pitch, roll, and yaw angular velocities. Additionally, it is shown that transient changes in sideslip (or lateral velocity), roll, and pitch angles can be measured. The method utilizes GPS velocity measurements to determine the inertial sensor errors using a kinematic Kalman Filter estimator. Simple models of the inertial sensors, which take into account the sensor noise and bias drift properties, are developed and used to design the estimator. Based on the characteristics of low-cost GPS receivers and IMU sensors, this paper presents the achievable performance of the combined system using the covariance analysis from the Kalman filter. Subsequent simulations and experiments validate both the error analysis and the methodology for utilizing GPS as a velocity sensor for correcting low-cost inertial sensor errors and providing critical vehicle state measurements. [DOI: 10.1115/1.1766027]\",\"number\":\"2\",\"journal\":\"Journal of Dynamic Systems, Measurement, and Control\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"month\":\"June\",\"year\":\"2004\",\"keywords\":\"ACCELEROMETERS, AUTOMATIC control systems, DETECTORS, GLOBAL Positioning System, GYROSCOPES, Global Positioning System, Global Positioning System – Analysis, Motor vehicles – Analysis, United States, VEHICLES\",\"pages\":\"255\",\"bibtex\":\"@article{bevly_global_2004,\\n\\ttitle = {Global {Positioning} {System} ({GPS}): a low-cost velocity sensor for correcting inertial sensor errors on ground vehicles},\\n\\tvolume = {126},\\n\\tissn = {0022-0434},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edsgao&AN=edsgcl.121647052&site=eds-live&scope=site},\\n\\tabstract = {This paper demonstrates the ability of a standard low-cost Global Positioning System (GPS) receiver to reduce errors inherent in low-cost accelerometers and rate gyroscopes used on ground vehicles. Specifically GPS velocity is used to obtain vehicle course, velocity, and road grade, as well as to correct inertial sensors errors, providing accurate longitudinal and lateral acceleration, and pitch, roll, and yaw angular velocities. Additionally, it is shown that transient changes in sideslip (or lateral velocity), roll, and pitch angles can be measured. The method utilizes GPS velocity measurements to determine the inertial sensor errors using a kinematic Kalman Filter estimator. Simple models of the inertial sensors, which take into account the sensor noise and bias drift properties, are developed and used to design the estimator. Based on the characteristics of low-cost GPS receivers and IMU sensors, this paper presents the achievable performance of the combined system using the covariance analysis from the Kalman filter. Subsequent simulations and experiments validate both the error analysis and the methodology for utilizing GPS as a velocity sensor for correcting low-cost inertial sensor errors and providing critical vehicle state measurements. [DOI: 10.1115/1.1766027]},\\n\\tnumber = {2},\\n\\tjournal = {Journal of Dynamic Systems, Measurement, and Control},\\n\\tauthor = {Bevly, David M.},\\n\\tmonth = jun,\\n\\tyear = {2004},\\n\\tkeywords = {ACCELEROMETERS, AUTOMATIC control systems, DETECTORS, GLOBAL Positioning System, GYROSCOPES, Global Positioning System, Global Positioning System – Analysis, Motor vehicles – Analysis, United States, VEHICLES},\\n\\tpages = {255},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Bevly, D. M.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edsgao&AN=edsgcl.121647052&site=eds-live&scope=site\",\"key\":\"bevly_global_2004\",\"id\":\"bevly_global_2004\",\"bibbaseid\":\"bevly-globalpositioningsystemgpsalowcostvelocitysensorforcorrectinginertialsensorerrorsongroundvehicles-2004\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edsgao&AN=edsgcl.121647052&site=eds-live&scope=site\"},\"keyword\":[\"ACCELEROMETERS\",\"AUTOMATIC control systems\",\"DETECTORS\",\"GLOBAL Positioning System\",\"GYROSCOPES\",\"Global Positioning System\",\"Global Positioning System – Analysis\",\"Motor vehicles – Analysis\",\"United States\",\"VEHICLES\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Using GPS with a model-based estimator to estimate critical vehicle states.\",\"volume\":\"48\",\"issn\":\"00423114\",\"abstract\":\"This paper demonstrates a method to estimate the vehicle states sideslip, yaw rate, and heading using GPS and yaw rate gyroscope measurements in a model-based estimator. The model-based estimator using GPS measurements provides accurate and observable estimates of sideslip, yaw rate, and heading even if the vehicle model is in neutral steer or if the gyro fails. This method also reduces estimation errors introduced by gyroscope errors such as the gyro bias and gyro scale factor. The GPS and Inertial Navigation System measurements are combined using a Kalman filter to generate estimates of the vehicle states. The residuals of the Kalman filter provide insight to determine if the estimator model is correct and therefore providing accurate state estimates. Additionally, a method to predict the estimation error due to errors in the estimator model is presented. The algorithms are tested in simulation with a correct and incorrect model as well as with sensor errors. Finally, the estimation)\",\"number\":\"12\",\"journal\":\"Vehicle System Dynamics\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Anderson\"],\"firstnames\":[\"Rusty\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"year\":\"2010\",\"keywords\":\"CHEVROLET Blazer truck, GLOBAL Positioning System, GPS, GYROSCOPES, INERTIAL navigation systems, KALMAN filtering, Kalman filter, estimation, sideslip, vehicle\",\"pages\":\"1413 – 1438\",\"bibtex\":\"@article{anderson_using_2010,\\n\\ttitle = {Using {GPS} with a model-based estimator to estimate critical vehicle states.},\\n\\tvolume = {48},\\n\\tissn = {00423114},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=aph&AN=55028346&site=eds-live&scope=site},\\n\\tabstract = {This paper demonstrates a method to estimate the vehicle states sideslip, yaw rate, and heading using GPS and yaw rate gyroscope measurements in a model-based estimator. The model-based estimator using GPS measurements provides accurate and observable estimates of sideslip, yaw rate, and heading even if the vehicle model is in neutral steer or if the gyro fails. This method also reduces estimation errors introduced by gyroscope errors such as the gyro bias and gyro scale factor. The GPS and Inertial Navigation System measurements are combined using a Kalman filter to generate estimates of the vehicle states. The residuals of the Kalman filter provide insight to determine if the estimator model is correct and therefore providing accurate state estimates. Additionally, a method to predict the estimation error due to errors in the estimator model is presented. The algorithms are tested in simulation with a correct and incorrect model as well as with sensor errors. Finally, the estimation)},\\n\\tnumber = {12},\\n\\tjournal = {Vehicle System Dynamics},\\n\\tauthor = {Anderson, Rusty and Bevly, David M.},\\n\\tyear = {2010},\\n\\tkeywords = {CHEVROLET Blazer truck, GLOBAL Positioning System, GPS, GYROSCOPES, INERTIAL navigation systems, KALMAN filtering, Kalman filter, estimation, sideslip, vehicle},\\n\\tpages = {1413 -- 1438},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Anderson, R.\",\"Bevly, D. M.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=aph&AN=55028346&site=eds-live&scope=site\",\"key\":\"anderson_using_2010\",\"id\":\"anderson_using_2010\",\"bibbaseid\":\"anderson-bevly-usinggpswithamodelbasedestimatortoestimatecriticalvehiclestates-2010\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=aph&AN=55028346&site=eds-live&scope=site\"},\"keyword\":[\"CHEVROLET Blazer truck\",\"GLOBAL Positioning System\",\"GPS\",\"GYROSCOPES\",\"INERTIAL navigation systems\",\"KALMAN filtering\",\"Kalman filter\",\"estimation\",\"sideslip\",\"vehicle\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"Radar Aided INS Navigation Filter with Magnetometer Based Attitude Measurements. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/6548\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Williams\"],\"firstnames\":[\"John\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Riggs\"],\"firstnames\":[\"Lloyd\",\"Stephen\"],\"suffixes\":[]}],\"year\":\"2018\",\"bibtex\":\"@phdthesis{williams_radar_2018,\\n\\ttitle = {Radar {Aided} {INS} {Navigation} {Filter} with {Magnetometer} {Based} {Attitude} {Measurements}. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/6548},\\n\\tauthor = {Williams, John and Bevly, David M. and Martin, Scott M. and Riggs, Lloyd Stephen},\\n\\tyear = {2018},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Williams, J.\",\"Bevly, D. M.\",\"Martin, S. M.\",\"Riggs, L. S.\"],\"key\":\"williams_radar_2018\",\"id\":\"williams_radar_2018\",\"bibbaseid\":\"williams-bevly-martin-riggs-radaraidedinsnavigationfilterwithmagnetometerbasedattitudemeasurementselectronicresource-2018\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/6548\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"A study of the properties that influence vehicle rollover propensity. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/379\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Whitehead\"],\"firstnames\":[\"Randall\",\"John\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"year\":\"2005\",\"bibtex\":\"@phdthesis{whitehead_study_2005,\\n\\ttitle = {A study of the properties that influence vehicle rollover propensity. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/379},\\n\\tauthor = {Whitehead, Randall John and Bevly, David M.},\\n\\tyear = {2005},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Whitehead, R. J.\",\"Bevly, D. M.\"],\"key\":\"whitehead_study_2005\",\"id\":\"whitehead_study_2005\",\"bibbaseid\":\"whitehead-bevly-astudyofthepropertiesthatinfluencevehiclerolloverpropensityelectronicresource-2005\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/379\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"Robust Gain-Scheduled Observer Design with Application to Vehicle State Estimation. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/4351\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Wang\"],\"firstnames\":[\"Yan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Flowers\"],\"firstnames\":[\"George\",\"T.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hung\"],\"firstnames\":[\"John\",\"Y.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Sinha\"],\"firstnames\":[\"S.\",\"C.\"],\"suffixes\":[]}],\"year\":\"2014\",\"bibtex\":\"@phdthesis{wang_robust_2014,\\n\\ttitle = {Robust {Gain}-{Scheduled} {Observer} {Design} with {Application} to {Vehicle} {State} {Estimation}. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/4351},\\n\\tauthor = {Wang, Yan and Bevly, David M. and Flowers, George T. and Hung, John Y. and Sinha, S. C.},\\n\\tyear = {2014},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Wang, Y.\",\"Bevly, D. M.\",\"Flowers, G. T.\",\"Hung, J. Y.\",\"Sinha, S. C.\"],\"key\":\"wang_robust_2014\",\"id\":\"wang_robust_2014\",\"bibbaseid\":\"wang-bevly-flowers-hung-sinha-robustgainscheduledobserverdesignwithapplicationtovehiclestateestimationelectronicresource-2014\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/4351\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"An Adaptive Control System for an Accelerating Rotor Supported by Active Magnetic Bearings under Unbalance Disturbances. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/5954\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Wang\"],\"firstnames\":[\"Xianglin\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Flowers\"],\"firstnames\":[\"George\",\"T.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hung\"],\"firstnames\":[\"John\",\"Y.\"],\"suffixes\":[]}],\"year\":\"2017\",\"bibtex\":\"@phdthesis{wang_adaptive_2017,\\n\\ttitle = {An {Adaptive} {Control} {System} for an {Accelerating} {Rotor} {Supported} by {Active} {Magnetic} {Bearings} under {Unbalance} {Disturbances}. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/5954},\\n\\tauthor = {Wang, Xianglin and Flowers, George T. and Bevly, David M. and Hung, John Y.},\\n\\tyear = {2017},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Wang, X.\",\"Flowers, G. T.\",\"Bevly, D. M.\",\"Hung, J. Y.\"],\"key\":\"wang_adaptive_2017\",\"id\":\"wang_adaptive_2017\",\"bibbaseid\":\"wang-flowers-bevly-hung-anadaptivecontrolsystemforanacceleratingrotorsupportedbyactivemagneticbearingsunderunbalancedisturbanceselectronicresource-2017\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/5954\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"Path duplication using GPS carrier based relative position for automated ground vehicle convoys. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/2109\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Travis\"],\"firstnames\":[\"William\",\"E.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Flowers\"],\"firstnames\":[\"George\",\"T.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Sinclair\"],\"firstnames\":[\"Andrew\",\"J.\"],\"suffixes\":[]}],\"year\":\"2010\",\"bibtex\":\"@phdthesis{travis_path_2010,\\n\\ttitle = {Path duplication using {GPS} carrier based relative position for automated ground vehicle convoys. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/2109},\\n\\tauthor = {Travis, William E. and Bevly, David M. and Flowers, George T. and Sinclair, Andrew J.},\\n\\tyear = {2010},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Travis, W. E.\",\"Bevly, D. M.\",\"Flowers, G. T.\",\"Sinclair, A. J.\"],\"key\":\"travis_path_2010\",\"id\":\"travis_path_2010\",\"bibbaseid\":\"travis-bevly-flowers-sinclair-pathduplicationusinggpscarrierbasedrelativepositionforautomatedgroundvehicleconvoyselectronicresource-2010\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/2109\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"Collaborative Simultaneous Tracking and Navigation with Low Earth Orbit Satellite Signals of Opportunity and Inertial Navigation System. [electronic resource]\",\"url\":\"https://etd.auburn.edu/handle/10415/8332\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Thompson\"],\"firstnames\":[\"Sterling\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Rose\"],\"firstnames\":[\"Chad\",\"A.\"],\"suffixes\":[]}],\"year\":\"2022\",\"bibtex\":\"@phdthesis{thompson_collaborative_2022,\\n\\ttitle = {Collaborative {Simultaneous} {Tracking} and {Navigation} with {Low} {Earth} {Orbit} {Satellite} {Signals} of {Opportunity} and {Inertial} {Navigation} {System}. [electronic resource]},\\n\\turl = {https://etd.auburn.edu/handle/10415/8332},\\n\\tauthor = {Thompson, Sterling and Martin, Scott M. and Bevly, David M. and Rose, Chad A.},\\n\\tyear = {2022},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Thompson, S.\",\"Martin, S. M.\",\"Bevly, D. M.\",\"Rose, C. A.\"],\"key\":\"thompson_collaborative_2022\",\"id\":\"thompson_collaborative_2022\",\"bibbaseid\":\"thompson-martin-bevly-rose-collaborativesimultaneoustrackingandnavigationwithlowearthorbitsatellitesignalsofopportunityandinertialnavigationsystemelectronicresource-2022\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://etd.auburn.edu/handle/10415/8332\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"Multi-Antenna GPS for Improved Carrier Phase Positioning in Autonomous Convoys. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/6900\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Tabb\"],\"firstnames\":[\"Thomas\",\"Troupe\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"year\":\"2019\",\"bibtex\":\"@phdthesis{tabb_multi-antenna_2019,\\n\\ttitle = {Multi-{Antenna} {GPS} for {Improved} {Carrier} {Phase} {Positioning} in {Autonomous} {Convoys}. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/6900},\\n\\tauthor = {Tabb, Thomas Troupe and Bevly, David M.},\\n\\tyear = {2019},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Tabb, T. T.\",\"Bevly, D. M.\"],\"key\":\"tabb_multi-antenna_2019\",\"id\":\"tabb_multi-antenna_2019\",\"bibbaseid\":\"tabb-bevly-multiantennagpsforimprovedcarrierphasepositioninginautonomousconvoyselectronicresource-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/6900\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"Utilizing Hidden Markov Models to Classify Maneuvers and Improve Estimates of an Unmanned Aerial Vehicle During High Dynamic Flight. [electronic resource]\",\"url\":\"https://etd.auburn.edu//handle/10415/7886\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Strong\"],\"firstnames\":[\"Amy\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Liu\"],\"firstnames\":[\"Bo\"],\"suffixes\":[]}],\"year\":\"2021\",\"bibtex\":\"@phdthesis{strong_utilizing_2021,\\n\\ttitle = {Utilizing {Hidden} {Markov} {Models} to {Classify} {Maneuvers} and {Improve} {Estimates} of an {Unmanned} {Aerial} {Vehicle} {During} {High} {Dynamic} {Flight}. [electronic resource]},\\n\\turl = {https://etd.auburn.edu//handle/10415/7886},\\n\\tauthor = {Strong, Amy and Martin, Scott M. and Bevly, David M. and Liu, Bo},\\n\\tyear = {2021},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Strong, A.\",\"Martin, S. M.\",\"Bevly, D. M.\",\"Liu, B.\"],\"key\":\"strong_utilizing_2021\",\"id\":\"strong_utilizing_2021\",\"bibbaseid\":\"strong-martin-bevly-liu-utilizinghiddenmarkovmodelstoclassifymaneuversandimproveestimatesofanunmannedaerialvehicleduringhighdynamicflightelectronicresource-2021\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://etd.auburn.edu//handle/10415/7886\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"The Utilization of Geometric Hashing Techniques for Feature Association during Ground Vehicle Localization. [electronic resource]\",\"url\":\"https://etd.auburn.edu//handle/10415/8682\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Sprunk\"],\"firstnames\":[\"Michael\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Oeding\"],\"firstnames\":[\"Luke\",\"A.\"],\"suffixes\":[]}],\"year\":\"2023\",\"bibtex\":\"@phdthesis{sprunk_utilization_2023,\\n\\ttitle = {The {Utilization} of {Geometric} {Hashing} {Techniques} for {Feature} {Association} during {Ground} {Vehicle} {Localization}. [electronic resource]},\\n\\turl = {https://etd.auburn.edu//handle/10415/8682},\\n\\tauthor = {Sprunk, Michael and Bevly, David M. and Martin, Scott M. and Oeding, Luke A.},\\n\\tyear = {2023},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Sprunk, M.\",\"Bevly, D. M.\",\"Martin, S. M.\",\"Oeding, L. A.\"],\"key\":\"sprunk_utilization_2023\",\"id\":\"sprunk_utilization_2023\",\"bibbaseid\":\"sprunk-bevly-martin-oeding-theutilizationofgeometrichashingtechniquesforfeatureassociationduringgroundvehiclelocalizationelectronicresource-2023\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://etd.auburn.edu//handle/10415/8682\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"Utilization of Vehicle-Specific Power as a Powertrain Independent Platoon Controller Performance Metric. [electronic resource]\",\"url\":\"https://etd.auburn.edu//handle/10415/8517\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Snitzer\"],\"firstnames\":[\"Richard\",\"Philip\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hoffman\"],\"firstnames\":[\"Mark\",\"A.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Silva\",\"Izquierdo\"],\"firstnames\":[\"Daniel\",\"F.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"year\":\"2022\",\"bibtex\":\"@phdthesis{snitzer_utilization_2022,\\n\\ttitle = {Utilization of {Vehicle}-{Specific} {Power} as a {Powertrain} {Independent} {Platoon} {Controller} {Performance} {Metric}. [electronic resource]},\\n\\turl = {https://etd.auburn.edu//handle/10415/8517},\\n\\tauthor = {Snitzer, Richard Philip and Hoffman, Mark A. and Silva Izquierdo, Daniel F. and Bevly, David M.},\\n\\tyear = {2022},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Snitzer, R. P.\",\"Hoffman, M. A.\",\"Silva Izquierdo, D. F.\",\"Bevly, D. M.\"],\"key\":\"snitzer_utilization_2022\",\"id\":\"snitzer_utilization_2022\",\"bibbaseid\":\"snitzer-hoffman-silvaizquierdo-bevly-utilizationofvehiclespecificpowerasapowertrainindependentplatooncontrollerperformancemetricelectronicresource-2022\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://etd.auburn.edu//handle/10415/8517\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"Radar Probabilistic Data Association Filter with GPS Aiding for Target Selection and Relative Position Determination. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/5686\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Sherer\"],\"firstnames\":[\"Tyler\",\"P.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Flowers\"],\"firstnames\":[\"George\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hung\"],\"firstnames\":[\"John\",\"Y.\"],\"suffixes\":[]}],\"year\":\"2017\",\"bibtex\":\"@phdthesis{sherer_radar_2017,\\n\\ttitle = {Radar {Probabilistic} {Data} {Association} {Filter} with {GPS} {Aiding} for {Target} {Selection} and {Relative} {Position} {Determination}. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/5686},\\n\\tauthor = {Sherer, Tyler P. and Bevly, David M. and Flowers, George and Hung, John Y.},\\n\\tyear = {2017},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Sherer, T. P.\",\"Bevly, D. M.\",\"Flowers, G.\",\"Hung, J. 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[electronic resource] : {Map} {Merging}, {Path} {Planning}, and {Target} {Interception}.},\\n\\turl = {http://hdl.handle.net/10415/5849},\\n\\tauthor = {Park, Jinyoung and Sinclair, Andrew J. and Cicci, David A. and Hung, John Y. and Bevly, David M. and Sherrill, Ryan Edward},\\n\\tyear = {2017},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Park, J.\",\"Sinclair, A. J.\",\"Cicci, D. A.\",\"Hung, J. Y.\",\"Bevly, D. M.\",\"Sherrill, R. E.\"],\"key\":\"park_reduced_2017\",\"id\":\"park_reduced_2017\",\"bibbaseid\":\"park-sinclair-cicci-hung-bevly-sherrill-areducedelementmaprepresentationandapplicationselectronicresourcemapmergingpathplanningandtargetinterception-2017\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/5849\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"A Real-time Implementation of Rendering Light Field Imagery for Generating Point Clouds in Vision Navigation. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/6059\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Rose\"],\"firstnames\":[\"Christopher\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Thurow\"],\"firstnames\":[\"Brian\",\"S.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Sinha\"],\"firstnames\":[\"S.\",\"C.\",\"(Subhash\",\"Chandra)\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Marghitu\"],\"firstnames\":[\"Dan\",\"B.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Flowers\"],\"firstnames\":[\"George\",\"T.\"],\"suffixes\":[]}],\"year\":\"2017\",\"bibtex\":\"@phdthesis{rose_real-time_2017,\\n\\ttitle = {A {Real}-time {Implementation} of {Rendering} {Light} {Field} {Imagery} for {Generating} {Point} {Clouds} in {Vision} {Navigation}. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/6059},\\n\\tauthor = {Rose, Christopher and Bevly, David M. and Thurow, Brian S. and Sinha, S. C. (Subhash Chandra) and Marghitu, Dan B. and Flowers, George T.},\\n\\tyear = {2017},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Rose, C.\",\"Bevly, D. M.\",\"Thurow, B. S.\",\"Sinha, S. C. (. C.\",\"Marghitu, D. B.\",\"Flowers, G. T.\"],\"key\":\"rose_real-time_2017\",\"id\":\"rose_real-time_2017\",\"bibbaseid\":\"rose-bevly-thurow-sinha-marghitu-flowers-arealtimeimplementationofrenderinglightfieldimageryforgeneratingpointcloudsinvisionnavigationelectronicresource-2017\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/6059\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"A Numerical Analysis of Heterogeneous and Homogeneous Truck Platoon Aerodynamic Drag Reduction. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/6405\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Siemon\"],\"firstnames\":[\"Michael\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Nichols\"],\"firstnames\":[\"Stephen\",\"G.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Raghav\"],\"firstnames\":[\"Vrishank\"],\"suffixes\":[]}],\"year\":\"2018\",\"bibtex\":\"@phdthesis{siemon_numerical_2018,\\n\\ttitle = {A {Numerical} {Analysis} of {Heterogeneous} and {Homogeneous} {Truck} {Platoon} {Aerodynamic} {Drag} {Reduction}. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/6405},\\n\\tauthor = {Siemon, Michael and Nichols, Stephen G. and Bevly, David M. and Raghav, Vrishank},\\n\\tyear = {2018},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Siemon, M.\",\"Nichols, S. G.\",\"Bevly, D. M.\",\"Raghav, V.\"],\"key\":\"siemon_numerical_2018\",\"id\":\"siemon_numerical_2018\",\"bibbaseid\":\"siemon-nichols-bevly-raghav-anumericalanalysisofheterogeneousandhomogeneoustruckplatoonaerodynamicdragreductionelectronicresource-2018\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/6405\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"A Nonlinear Model Predictive Control Algorithm for an Unmanned Ground Vehicle on Variable Terrain. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/5517\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Eick\"],\"firstnames\":[\"Andrew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"year\":\"2016\",\"bibtex\":\"@phdthesis{eick_nonlinear_2016,\\n\\ttitle = {A {Nonlinear} {Model} {Predictive} {Control} {Algorithm} for an {Unmanned} {Ground} {Vehicle} on {Variable} {Terrain}. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/5517},\\n\\tauthor = {Eick, Andrew and Bevly, David M.},\\n\\tyear = {2016},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Eick, A.\",\"Bevly, D. M.\"],\"key\":\"eick_nonlinear_2016\",\"id\":\"eick_nonlinear_2016\",\"bibbaseid\":\"eick-bevly-anonlinearmodelpredictivecontrolalgorithmforanunmannedgroundvehicleonvariableterrainelectronicresource-2016\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/5517\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"A new yaw dynamic model for improved high speed control of a farm tractor\",\"volume\":\"124\",\"issn\":\"0022-0434\",\"abstract\":\"This paper presents the system identification of a new model for the farm tractor yaw dynamics in order to improve automatic control at higher speeds and understand controller limitations from neglecting these dynamics. As speed increases, higher order models are required to maintain accurate lateral control of the vehicle. Neglecting these dynamics can cause the controller to become unstable at the bandwidths required for accurate control at higher speeds. The yaw dynamic model, which is found to be dominated by a second order response, is identified for multiple speeds to determine the effect of velocity on the model. The second order yaw dynamics cannot be represented by the traditional bicycle model. An analytical derivation shows that the model characteristics can, however, be captured by a model consisting of a significant (non-negligible) relaxation length in the front tire. Experimental results are presented showing that the new yaw dynamic model can provide lateral control of the tractor to within 4 cm (1[sigma]) at speeds up to 8 m/s. These results are shown to be an improvement, at high speeds, over controllers based on models (such as a kinematic model) previously used for control of farm equipment. [DOI: 10.1115/1.1515329]\",\"number\":\"4\",\"journal\":\"Journal of Dynamic Systems, Measurement, and Control\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Gerdes\"],\"firstnames\":[\"J.\",\"Christian\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Parkinson\"],\"firstnames\":[\"Bradford\",\"W.\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2002\",\"keywords\":\"Control equipment – Models, SYSTEM identification, TRACTOR dynamics, Yawing (Aerodynamics) – Equipment and supplies, Yawing (Aerodynamics) – Models, Yawing (Aerodynamics) – Prevention\",\"pages\":\"659\",\"bibtex\":\"@article{bevly_new_2002,\\n\\ttitle = {A new yaw dynamic model for improved high speed control of a farm tractor},\\n\\tvolume = {124},\\n\\tissn = {0022-0434},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edsgao&AN=edsgcl.96645722&site=eds-live&scope=site},\\n\\tabstract = {This paper presents the system identification of a new model for the farm tractor yaw dynamics in order to improve automatic control at higher speeds and understand controller limitations from neglecting these dynamics. As speed increases, higher order models are required to maintain accurate lateral control of the vehicle. Neglecting these dynamics can cause the controller to become unstable at the bandwidths required for accurate control at higher speeds. The yaw dynamic model, which is found to be dominated by a second order response, is identified for multiple speeds to determine the effect of velocity on the model. The second order yaw dynamics cannot be represented by the traditional bicycle model. An analytical derivation shows that the model characteristics can, however, be captured by a model consisting of a significant (non-negligible) relaxation length in the front tire. Experimental results are presented showing that the new yaw dynamic model can provide lateral control of the tractor to within 4 cm (1[sigma]) at speeds up to 8 m/s. These results are shown to be an improvement, at high speeds, over controllers based on models (such as a kinematic model) previously used for control of farm equipment. [DOI: 10.1115/1.1515329]},\\n\\tnumber = {4},\\n\\tjournal = {Journal of Dynamic Systems, Measurement, and Control},\\n\\tauthor = {Bevly, David M. and Gerdes, J. Christian and Parkinson, Bradford W.},\\n\\tmonth = dec,\\n\\tyear = {2002},\\n\\tkeywords = {Control equipment – Models, SYSTEM identification, TRACTOR dynamics, Yawing (Aerodynamics) – Equipment and supplies, Yawing (Aerodynamics) – Models, Yawing (Aerodynamics) – Prevention},\\n\\tpages = {659},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Bevly, D. M.\",\"Gerdes, J. C.\",\"Parkinson, B. W.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edsgao&AN=edsgcl.96645722&site=eds-live&scope=site\",\"key\":\"bevly_new_2002\",\"id\":\"bevly_new_2002\",\"bibbaseid\":\"bevly-gerdes-parkinson-anewyawdynamicmodelforimprovedhighspeedcontrolofafarmtractor-2002\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edsgao&AN=edsgcl.96645722&site=eds-live&scope=site\"},\"keyword\":[\"Control equipment – Models\",\"SYSTEM identification\",\"TRACTOR dynamics\",\"Yawing (Aerodynamics) – Equipment and supplies\",\"Yawing (Aerodynamics) – Models\",\"Yawing (Aerodynamics) – Prevention\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"A Multiple-Antenna Software GPS Signal Simulator for Rapid Testing of Interference Mitigation Techniques. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/5520\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Powell\"],\"firstnames\":[\"Russell\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"year\":\"2016\",\"bibtex\":\"@phdthesis{powell_multiple-antenna_2016,\\n\\ttitle = {A {Multiple}-{Antenna} {Software} {GPS} {Signal} {Simulator} for {Rapid} {Testing} of {Interference} {Mitigation} {Techniques}. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/5520},\\n\\tauthor = {Powell, Russell and Bevly, David M.},\\n\\tyear = {2016},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Powell, R.\",\"Bevly, D. M.\"],\"key\":\"powell_multiple-antenna_2016\",\"id\":\"powell_multiple-antenna_2016\",\"bibbaseid\":\"powell-bevly-amultipleantennasoftwaregpssignalsimulatorforrapidtestingofinterferencemitigationtechniqueselectronicresource-2016\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/5520\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"A Multi-Antenna Vector Tracking Beamsteering GPS Receiver for Robust Positioning. [electronic resource]\",\"url\":\"https://etd.auburn.edu//handle/10415/8243\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Burchfield\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Reeves\"],\"firstnames\":[\"Stan\"],\"suffixes\":[]}],\"year\":\"2022\",\"bibtex\":\"@phdthesis{burchfield_multi-antenna_2022,\\n\\ttitle = {A {Multi}-{Antenna} {Vector} {Tracking} {Beamsteering} {GPS} {Receiver} for {Robust} {Positioning}. [electronic resource]},\\n\\turl = {https://etd.auburn.edu//handle/10415/8243},\\n\\tauthor = {Burchfield, Scott and Martin, Scott M. and Bevly, David M. and Reeves, Stan},\\n\\tyear = {2022},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Burchfield, S.\",\"Martin, S. M.\",\"Bevly, D. M.\",\"Reeves, S.\"],\"key\":\"burchfield_multi-antenna_2022\",\"id\":\"burchfield_multi-antenna_2022\",\"bibbaseid\":\"burchfield-martin-bevly-reeves-amultiantennavectortrackingbeamsteeringgpsreceiverforrobustpositioningelectronicresource-2022\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://etd.auburn.edu//handle/10415/8243\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"A Loosely Coupled GNSS/PDR Integration Approach for Pedestrian Navigation. [electronic resource]\",\"url\":\"https://etd.auburn.edu//handle/10415/8840\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Jones\"],\"firstnames\":[\"Connor\",\"Steele\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Chen\"],\"firstnames\":[\"Howard\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Rose\"],\"firstnames\":[\"Chad\",\"A.\"],\"suffixes\":[]}],\"year\":\"2023\",\"bibtex\":\"@phdthesis{jones_loosely_2023,\\n\\ttitle = {A {Loosely} {Coupled} {GNSS}/{PDR} {Integration} {Approach} for {Pedestrian} {Navigation}. [electronic resource]},\\n\\turl = {https://etd.auburn.edu//handle/10415/8840},\\n\\tauthor = {Jones, Connor Steele and Bevly, David M. and Chen, Howard and Rose, Chad A.},\\n\\tyear = {2023},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Jones, C. S.\",\"Bevly, D. M.\",\"Chen, H.\",\"Rose, C. A.\"],\"key\":\"jones_loosely_2023\",\"id\":\"jones_loosely_2023\",\"bibbaseid\":\"jones-bevly-chen-rose-alooselycoupledgnsspdrintegrationapproachforpedestriannavigationelectronicresource-2023\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://etd.auburn.edu//handle/10415/8840\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"A maximum effort control system for the tracking and control of a guided canine. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/2400\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Miller\"],\"firstnames\":[\"Jeffrey\",\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"year\":\"2010\",\"bibtex\":\"@phdthesis{miller_maximum_2010,\\n\\ttitle = {A maximum effort control system for the tracking and control of a guided canine. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/2400},\\n\\tauthor = {Miller, Jeffrey David and Bevly, David M.},\\n\\tyear = {2010},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Miller, J. D.\",\"Bevly, D. M.\"],\"key\":\"miller_maximum_2010\",\"id\":\"miller_maximum_2010\",\"bibbaseid\":\"miller-bevly-amaximumeffortcontrolsystemforthetrackingandcontrolofaguidedcanineelectronicresource-2010\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/2400\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"A GPS L5 Software Defined Vector Tracking Receiver. [electronic resource]\",\"url\":\"https://etd.auburn.edu//handle/10415/7943\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Givhan\"],\"firstnames\":[\"Charles\",\"Anderson\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Reeves\"],\"firstnames\":[\"Stan\"],\"suffixes\":[]}],\"year\":\"2021\",\"bibtex\":\"@phdthesis{givhan_gps_2021,\\n\\ttitle = {A {GPS} {L5} {Software} {Defined} {Vector} {Tracking} {Receiver}. [electronic resource]},\\n\\turl = {https://etd.auburn.edu//handle/10415/7943},\\n\\tauthor = {Givhan, Charles Anderson and Martin, Scott M. and Bevly, David M. and Reeves, Stan},\\n\\tyear = {2021},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Givhan, C. A.\",\"Martin, S. M.\",\"Bevly, D. M.\",\"Reeves, S.\"],\"key\":\"givhan_gps_2021\",\"id\":\"givhan_gps_2021\",\"bibbaseid\":\"givhan-martin-bevly-reeves-agpsl5softwaredefinedvectortrackingreceiverelectronicresource-2021\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://etd.auburn.edu//handle/10415/7943\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"A GPS L1 and Cellular 4G LTE Vector Tracking Software-Defined Receiver. [electronic resource]\",\"url\":\"https://etd.auburn.edu//handle/10415/9005\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Morgan\"],\"firstnames\":[\"Samuel\",\"C.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Tugnait\"],\"firstnames\":[\"Jitendra\",\"K.\"],\"suffixes\":[]}],\"year\":\"2023\",\"bibtex\":\"@phdthesis{morgan_gps_2023,\\n\\ttitle = {A {GPS} {L1} and {Cellular} {4G} {LTE} {Vector} {Tracking} {Software}-{Defined} {Receiver}. [electronic resource]},\\n\\turl = {https://etd.auburn.edu//handle/10415/9005},\\n\\tauthor = {Morgan, Samuel C. and Martin, Scott M. and Bevly, David M. and Tugnait, Jitendra K.},\\n\\tyear = {2023},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Morgan, S. C.\",\"Martin, S. M.\",\"Bevly, D. M.\",\"Tugnait, J. K.\"],\"key\":\"morgan_gps_2023\",\"id\":\"morgan_gps_2023\",\"bibbaseid\":\"morgan-martin-bevly-tugnait-agpsl1andcellular4gltevectortrackingsoftwaredefinedreceiverelectronicresource-2023\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://etd.auburn.edu//handle/10415/9005\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"A GPS and GLONASS L1 Vector Tracking Software-Defined Receiver. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/6899\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Watts\"],\"firstnames\":[\"Tanner\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"year\":\"2019\",\"bibtex\":\"@phdthesis{watts_gps_2019,\\n\\ttitle = {A {GPS} and {GLONASS} {L1} {Vector} {Tracking} {Software}-{Defined} {Receiver}. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/6899},\\n\\tauthor = {Watts, Tanner M. and Bevly, David M.},\\n\\tyear = {2019},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Watts, T. M.\",\"Bevly, D. M.\"],\"key\":\"watts_gps_2019-1\",\"id\":\"watts_gps_2019-1\",\"bibbaseid\":\"watts-bevly-agpsandglonassl1vectortrackingsoftwaredefinedreceiverelectronicresource-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/6899\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"A fully integrated sensor fusion method combining a single antenna GPS unit with electronic stability control sensors. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/2655\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Ryan\"],\"firstnames\":[\"Jonathan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hung\"],\"firstnames\":[\"John\",\"Y.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Sinha\"],\"firstnames\":[\"S.\",\"C.\"],\"suffixes\":[]}],\"year\":\"2011\",\"bibtex\":\"@phdthesis{ryan_fully_2011,\\n\\ttitle = {A fully integrated sensor fusion method combining a single antenna {GPS} unit with electronic stability control sensors. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/2655},\\n\\tauthor = {Ryan, Jonathan and Bevly, David M. and Hung, John Y. and Sinha, S. C.},\\n\\tyear = {2011},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Ryan, J.\",\"Bevly, D. M.\",\"Hung, J. Y.\",\"Sinha, S. C.\"],\"key\":\"ryan_fully_2011\",\"id\":\"ryan_fully_2011\",\"bibbaseid\":\"ryan-bevly-hung-sinha-afullyintegratedsensorfusionmethodcombiningasingleantennagpsunitwithelectronicstabilitycontrolsensorselectronicresource-2011\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/2655\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Novi, MI\",\"title\":\"Cooperative Adaptive Cruise Control (CACC) in Controlled and Real-World Environments: Testing and Results\",\"url\":\"http://gvsets.ndia-mich.org/documents/AAIR/2019/CACC_in_Cntrolled_and_Real_World_Environments_Ward_Jacob_6_30_2019.pdf\",\"booktitle\":\"In Proceedings of the Ground Vehicle Systems Engineering and Technology Symposium (GVSETS), NDIA\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Ward\"],\"firstnames\":[\"J.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Smith\"],\"firstnames\":[\"P.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pierce\"],\"firstnames\":[\"D.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\"],\"suffixes\":[]},{\"firstnames\":[],\"propositions\":[],\"lastnames\":[\"others\"],\"suffixes\":[]}],\"year\":\"2019\",\"bibtex\":\"@inproceedings{ward_cooperative_2019,\\n\\taddress = {Novi, MI},\\n\\ttitle = {Cooperative {Adaptive} {Cruise} {Control} ({CACC}) in {Controlled} and {Real}-{World} {Environments}: {Testing} and {Results}},\\n\\turl = {http://gvsets.ndia-mich.org/documents/AAIR/2019/CACC_in_Cntrolled_and_Real_World_Environments_Ward_Jacob_6_30_2019.pdf},\\n\\tbooktitle = {In {Proceedings} of the {Ground} {Vehicle} {Systems} {Engineering} and {Technology} {Symposium} ({GVSETS}), {NDIA}},\\n\\tauthor = {Ward, J. and Smith, P. and Pierce, D. and Bevly, D. and {others}},\\n\\tyear = {2019},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Ward, J.\",\"Smith, P.\",\"Pierce, D.\",\"Bevly, D.\",\"others\"],\"key\":\"ward_cooperative_2019\",\"id\":\"ward_cooperative_2019\",\"bibbaseid\":\"ward-smith-pierce-bevly-others-cooperativeadaptivecruisecontrolcaccincontrolledandrealworldenvironmentstestingandresults-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://gvsets.ndia-mich.org/documents/AAIR/2019/CACC_in_Cntrolled_and_Real_World_Environments_Ward_Jacob_6_30_2019.pdf\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Teleoperated Ground Vehicle Rollover Prevention via Haptic Feedback of the Zero-Moment Point Index\",\"abstract\":\"Many rollover prevention algorithms rely on vehicle models which are difficult to develop and require extensive knowledge of the vehicle. The Zero-Moment Point (ZMP) combines a simple vehicle model with IMU-only sensor measurements. When used in conjunction with haptic feedback, ground vehicle rollover can be prevented. This paper investigates IMU grade requirements for an accurate rollover prediction. This paper also discusses a haptic feedback design that delivers operator alerts to prevent rollover. An experiment was conducted using a Gazebo simulation to assess the capabilities of the ZMP method to predict vehicle wheel lift-off and demonstrate the potential for haptic communication of the ZMP index to prevent rollover.\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Steadman\"],\"firstnames\":[\"Kathleen\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Stubbs\"],\"firstnames\":[\"Chandler\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Baskaran\"],\"firstnames\":[\"Avinash\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Rose\"],\"firstnames\":[\"Chad\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2022\",\"bibtex\":\"@inproceedings{steadman_teleoperated_2022,\\n\\ttitle = {Teleoperated {Ground} {Vehicle} {Rollover} {Prevention} via {Haptic} {Feedback} of the {Zero}-{Moment} {Point} {Index}},\\n\\tabstract = {Many rollover prevention algorithms rely on vehicle models which are difficult to develop and require extensive knowledge of the vehicle. The Zero-Moment Point (ZMP) combines a simple vehicle model with IMU-only sensor measurements. When used in conjunction with haptic feedback, ground vehicle rollover can be prevented. This paper investigates IMU grade requirements for an accurate rollover prediction. This paper also discusses a haptic feedback design that delivers operator alerts to prevent rollover. An experiment was conducted using a Gazebo simulation to assess the capabilities of the ZMP method to predict vehicle wheel lift-off and demonstrate the potential for haptic communication of the ZMP index to prevent rollover.},\\n\\tauthor = {Steadman, Kathleen and Stubbs, Chandler and Baskaran, Avinash and Rose, Chad and Bevly, David},\\n\\tmonth = aug,\\n\\tyear = {2022},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Steadman, K.\",\"Stubbs, C.\",\"Baskaran, A.\",\"Rose, C.\",\"Bevly, D.\"],\"key\":\"steadman_teleoperated_2022\",\"id\":\"steadman_teleoperated_2022\",\"bibbaseid\":\"steadman-stubbs-baskaran-rose-bevly-teleoperatedgroundvehiclerolloverpreventionviahapticfeedbackofthezeromomentpointindex-2022\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"A COMPARISON OF VEHICLE HANDLING FIDELITY BETWEEN THE GAZEBO AND ANVEL SIMULATORS\",\"abstract\":\"This paper provides a comparison of the Gazebo and ANVEL simulators and analyzes the aspects of vehicle modeling fidelity that are critical to the design of unmanned ground vehicle (UGV) control and estimation algorithms. The robotic simulators Gazebo [1], from the Open Source Robotics Foundation (OSRF), and Autonomous Navigation Virtual Environment Laboratory (ANVEL) [2], from Quantum Signal, are two popular new tools that are being used extensively in academic, commercial, and military development of perception, navigation, and control algorithms for UGVs. Despite the similarities between Gazebo and ANVEL there has been no direct comparison between the two simulators with respect to their validity as vehicle dynamics simulators.\",\"language\":\"en\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Brothers\"],\"firstnames\":[\"Robert\"],\"suffixes\":[]}],\"year\":\"2018\",\"bibtex\":\"@inproceedings{brothers_comparison_2018,\\n\\ttitle = {A {COMPARISON} {OF} {VEHICLE} {HANDLING} {FIDELITY} {BETWEEN} {THE} {GAZEBO} {AND} {ANVEL} {SIMULATORS}},\\n\\tabstract = {This paper provides a comparison of the Gazebo and ANVEL simulators and analyzes the aspects of vehicle modeling fidelity that are critical to the design of unmanned ground vehicle (UGV) control and estimation algorithms. The robotic simulators Gazebo [1], from the Open Source Robotics Foundation (OSRF), and Autonomous Navigation Virtual Environment Laboratory (ANVEL) [2], from Quantum Signal, are two popular new tools that are being used extensively in academic, commercial, and military development of perception, navigation, and control algorithms for UGVs. Despite the similarities between Gazebo and ANVEL there has been no direct comparison between the two simulators with respect to their validity as vehicle dynamics simulators.},\\n\\tlanguage = {en},\\n\\tauthor = {Brothers, Robert},\\n\\tyear = {2018},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Brothers, R.\"],\"key\":\"brothers_comparison_2018\",\"id\":\"brothers_comparison_2018\",\"bibbaseid\":\"brothers-acomparisonofvehiclehandlingfidelitybetweenthegazeboandanvelsimulators-2018\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Detroit, Michigan, United States\",\"title\":\"Comparing the Performance of Different Heavy Duty Platooning Control Strategies\",\"url\":\"https://www.sae.org/content/2023-01-0895\",\"doi\":\"10.4271/2023-01-0895\",\"abstract\":\"\\\\textlessdiv class=\\\"section abstract\\\"\\\\textgreater\\\\textlessdiv class=\\\"htmlview paragraph\\\"\\\\textgreaterPlatooning is a promising technology which can mitigate greenhouse gas impacts and reduce transportation energy consumption. Platooning is a coordinated driving strategy where trucks align themselves in order to realize aerodynamic benefits to reduce required motive force. The aerodynamic benefit is seen as either a “pull” effect experienced by the following vehicles or a “push” effect experienced by the leader. The energy savings magnitude increases nonlinearly as headway (following distance) is reduced [\\\\textlessspan class=\\\"xref\\\"\\\\textgreater1\\\\textless/span\\\\textgreater]. In efforts to maximize energy savings, cooperative adaptive cruise control (CACC) is utilized to maintain relatively short headways. However, when platooning is attempted in the real world, small transient accelerations caused by imperfect control result in observed energy savings being less than expected values.\\\\textless/div\\\\textgreater\\\\textlessdiv class=\\\"htmlview paragraph\\\"\\\\textgreaterThis study analyzes the performance of a recently developed nonlinear model predictive control (NMPC) platooning strategy over challenging terrain. The NMPC strategy is compared to the previous proportional-integral-derivative (PID) control scheme in terms of headway, commanded torque, and fuel rate variances along with the total fuel consumed per lap. These comparisons reveal that the NMPC based controller’s ability to optimize headway variation while considering upcoming grade disturbances reduces the harshness of commanded torque and fuel rate transients. These platoon behavior changes result in significant fuel energy consumption reductions. In all platooning configurations analyzed, the NMPC strategy consumed less fuel than the comparable PID based data. This is best exemplified by findings from platoons with increased headway spacing. When compared to PID platoon control, the NMPC produced 25.5% and 31.6% fuel consumption decreases for the final truck in four-truck platoon configurations when targeting 50 foot and 100 foot follow distances, respectively. These results suggest that the NMPC implementation minimizes extraneous acceleration events associated with rigid PID headway adherence.\\\\textless/div\\\\textgreater\\\\textless/div\\\\textgreater\",\"language\":\"en\",\"urldate\":\"2024-02-07\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bentley\"],\"firstnames\":[\"John\",\"William\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Snitzer\"],\"firstnames\":[\"Philip\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Stegner\"],\"firstnames\":[\"Evan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hoffman\"],\"firstnames\":[\"Mark\"],\"suffixes\":[]}],\"month\":\"April\",\"year\":\"2023\",\"pages\":\"2023–01–0895\",\"bibtex\":\"@inproceedings{bentley_comparing_2023,\\n\\taddress = {Detroit, Michigan, United States},\\n\\ttitle = {Comparing the {Performance} of {Different} {Heavy} {Duty} {Platooning} {Control} {Strategies}},\\n\\turl = {https://www.sae.org/content/2023-01-0895},\\n\\tdoi = {10.4271/2023-01-0895},\\n\\tabstract = {{\\\\textless}div class=\\\"section abstract\\\"{\\\\textgreater}{\\\\textless}div class=\\\"htmlview paragraph\\\"{\\\\textgreater}Platooning is a promising technology which can mitigate greenhouse gas impacts and reduce transportation energy consumption. Platooning is a coordinated driving strategy where trucks align themselves in order to realize aerodynamic benefits to reduce required motive force. The aerodynamic benefit is seen as either a “pull” effect experienced by the following vehicles or a “push” effect experienced by the leader. The energy savings magnitude increases nonlinearly as headway (following distance) is reduced [{\\\\textless}span class=\\\"xref\\\"{\\\\textgreater}1{\\\\textless}/span{\\\\textgreater}]. In efforts to maximize energy savings, cooperative adaptive cruise control (CACC) is utilized to maintain relatively short headways. However, when platooning is attempted in the real world, small transient accelerations caused by imperfect control result in observed energy savings being less than expected values.{\\\\textless}/div{\\\\textgreater}{\\\\textless}div class=\\\"htmlview paragraph\\\"{\\\\textgreater}This study analyzes the performance of a recently developed nonlinear model predictive control (NMPC) platooning strategy over challenging terrain. The NMPC strategy is compared to the previous proportional-integral-derivative (PID) control scheme in terms of headway, commanded torque, and fuel rate variances along with the total fuel consumed per lap. These comparisons reveal that the NMPC based controller’s ability to optimize headway variation while considering upcoming grade disturbances reduces the harshness of commanded torque and fuel rate transients. These platoon behavior changes result in significant fuel energy consumption reductions. In all platooning configurations analyzed, the NMPC strategy consumed less fuel than the comparable PID based data. This is best exemplified by findings from platoons with increased headway spacing. When compared to PID platoon control, the NMPC produced 25.5\\\\% and 31.6\\\\% fuel consumption decreases for the final truck in four-truck platoon configurations when targeting 50 foot and 100 foot follow distances, respectively. These results suggest that the NMPC implementation minimizes extraneous acceleration events associated with rigid PID headway adherence.{\\\\textless}/div{\\\\textgreater}{\\\\textless}/div{\\\\textgreater}},\\n\\tlanguage = {en},\\n\\turldate = {2024-02-07},\\n\\tauthor = {Bentley, John William and Snitzer, Philip and Stegner, Evan and Bevly, David M. and Hoffman, Mark},\\n\\tmonth = apr,\\n\\tyear = {2023},\\n\\tpages = {2023--01--0895},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Bentley, J. W.\",\"Snitzer, P.\",\"Stegner, E.\",\"Bevly, D. M.\",\"Hoffman, M.\"],\"key\":\"bentley_comparing_2023\",\"id\":\"bentley_comparing_2023\",\"bibbaseid\":\"bentley-snitzer-stegner-bevly-hoffman-comparingtheperformanceofdifferentheavydutyplatooningcontrolstrategies-2023\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.sae.org/content/2023-01-0895\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Detroit, Michigan, United States\",\"title\":\"Adaptive Actuator Delay Compensation for a Vehicle Lateral Control System\",\"url\":\"https://www.sae.org/content/2023-01-0677\",\"doi\":\"10.4271/2023-01-0677\",\"abstract\":\"\\\\textlessdiv class=\\\"section abstract\\\"\\\\textgreater\\\\textlessdiv class=\\\"htmlview paragraph\\\"\\\\textgreaterSteering actuator lag is detrimental to the performance of lateral control systems and often leads to oscillation, reduced stability margins, and in some cases, instability. If the actuator lag is significant, compensation is required to maintain stability and meet performance specifications. Many recent works use a high-level approach to compensate for delay by utilizing model-based methods such as model predictive control (MPC). While these methods are effective when accurate models of both the vehicle and the actuator are available, they are susceptible to model errors. This work presents a low-level, adaptive control architecture to compensate for unknown or varying steering delay and dynamics. Using an inner-loop controller to regulate steer angle commands, oscillation can be reduced, and stability margins can be maintained without the need for an accurate vehicle model. The Smith Predictor (SP) control scheme is implemented in the inner-loop to mitigate the effects of the communication delay between the controller and the steering actuator. An algorithm will be presented to estimate both the communication delay between the controller and actuator and the steering dynamics. These estimates will be used to adapt the inner-loop SP to maintain gain and phase margins while reducing oscillation. Estimating the steering lag allows the algorithm to compensate for unknown or changing steering dynamics and communication delay. Results are presented both from simulation and from real-time experiments on a vehicle outfitted with drive-by-wire (DBW) hardware.\\\\textless/div\\\\textgreater\\\\textless/div\\\\textgreater\",\"language\":\"en\",\"urldate\":\"2024-02-07\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Kennedy\"],\"firstnames\":[\"William\",\"Thomas\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"month\":\"April\",\"year\":\"2023\",\"pages\":\"2023–01–0677\",\"bibtex\":\"@inproceedings{kennedy_adaptive_2023,\\n\\taddress = {Detroit, Michigan, United States},\\n\\ttitle = {Adaptive {Actuator} {Delay} {Compensation} for a {Vehicle} {Lateral} {Control} {System}},\\n\\turl = {https://www.sae.org/content/2023-01-0677},\\n\\tdoi = {10.4271/2023-01-0677},\\n\\tabstract = {{\\\\textless}div class=\\\"section abstract\\\"{\\\\textgreater}{\\\\textless}div class=\\\"htmlview paragraph\\\"{\\\\textgreater}Steering actuator lag is detrimental to the performance of lateral control systems and often leads to oscillation, reduced stability margins, and in some cases, instability. If the actuator lag is significant, compensation is required to maintain stability and meet performance specifications. Many recent works use a high-level approach to compensate for delay by utilizing model-based methods such as model predictive control (MPC). While these methods are effective when accurate models of both the vehicle and the actuator are available, they are susceptible to model errors. This work presents a low-level, adaptive control architecture to compensate for unknown or varying steering delay and dynamics. Using an inner-loop controller to regulate steer angle commands, oscillation can be reduced, and stability margins can be maintained without the need for an accurate vehicle model. The Smith Predictor (SP) control scheme is implemented in the inner-loop to mitigate the effects of the communication delay between the controller and the steering actuator. An algorithm will be presented to estimate both the communication delay between the controller and actuator and the steering dynamics. These estimates will be used to adapt the inner-loop SP to maintain gain and phase margins while reducing oscillation. Estimating the steering lag allows the algorithm to compensate for unknown or changing steering dynamics and communication delay. Results are presented both from simulation and from real-time experiments on a vehicle outfitted with drive-by-wire (DBW) hardware.{\\\\textless}/div{\\\\textgreater}{\\\\textless}/div{\\\\textgreater}},\\n\\tlanguage = {en},\\n\\turldate = {2024-02-07},\\n\\tauthor = {Kennedy, William Thomas and Bevly, David M.},\\n\\tmonth = apr,\\n\\tyear = {2023},\\n\\tpages = {2023--01--0677},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Kennedy, W. T.\",\"Bevly, D. M.\"],\"key\":\"kennedy_adaptive_2023-1\",\"id\":\"kennedy_adaptive_2023-1\",\"bibbaseid\":\"kennedy-bevly-adaptiveactuatordelaycompensationforavehiclelateralcontrolsystem-2023\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.sae.org/content/2023-01-0677\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Detroit, Michigan, United States\",\"title\":\"New Controller Evaluation Techniques for Autonomously Driven Heavy-Duty Convoys\",\"url\":\"https://www.sae.org/content/2023-01-0688\",\"doi\":\"10.4271/2023-01-0688\",\"abstract\":\"\\\\textlessdiv class=\\\"section abstract\\\"\\\\textgreater\\\\textlessdiv class=\\\"htmlview paragraph\\\"\\\\textgreaterPlatooning vehicles present novel pathways to saving fuel during transportation. With the rise of autonomous solutions, platooning becomes an increasingly apparent sector requiring the application of this new technology. Platooning vehicles travel together intending to reduce aerodynamic resistance during operation. Drafting allows following vehicles to increase fuel economy and save money on refueling, whether that be at the pump or at a charging station. However, autonomous solutions are still in infancy, and controller evaluation is an exciting challenge proposed to researchers. This work brings forth a new application of an emissions quantification metric called vehicle-specific power (VSP). Rather than utilize its emissions investigative benefits, the present work applies VSP to heterogeneous Class 8 Heavy-Duty truck platoons as a means of evaluating the efficacy of Cooperative Adaptive Cruise Control (CACC). VSP creates a bridge between types of passenger vehicles to compare emission rates via estimating powertrain effort to maintain current conditions (speed, acceleration, road grade, etc.). In this study, different controller strategies and platoon configurations are examined to determine the applicability of VSP to controller evaluation. Experiments were completed at the National Center for Asphalt Technology (NCAT) circuitous track, the American Center for Mobility’s (ACM) freeway loop, and a straight section of NCAT’s track dubbed “ideal” for platooning efficiency. One truck is analyzed and compared to a lead truck, where VSP traces are calculated at each time step of experimentation. The influence of road grade, platoon size, and platooning position is considered in this study. Because the calculation of VSP considers an isolated driving environment, it effectively assesses the controller’s ability to reduce energy consumption for platooning vehicles.\\\\textless/div\\\\textgreater\\\\textless/div\\\\textgreater\",\"language\":\"en\",\"urldate\":\"2024-02-07\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Snitzer\"],\"firstnames\":[\"Philip\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Stegner\"],\"firstnames\":[\"Evan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bentley\"],\"firstnames\":[\"John\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hoffman\"],\"firstnames\":[\"Mark\"],\"suffixes\":[]}],\"month\":\"April\",\"year\":\"2023\",\"pages\":\"2023–01–0688\",\"bibtex\":\"@inproceedings{snitzer_new_2023,\\n\\taddress = {Detroit, Michigan, United States},\\n\\ttitle = {New {Controller} {Evaluation} {Techniques} for {Autonomously} {Driven} {Heavy}-{Duty} {Convoys}},\\n\\turl = {https://www.sae.org/content/2023-01-0688},\\n\\tdoi = {10.4271/2023-01-0688},\\n\\tabstract = {{\\\\textless}div class=\\\"section abstract\\\"{\\\\textgreater}{\\\\textless}div class=\\\"htmlview paragraph\\\"{\\\\textgreater}Platooning vehicles present novel pathways to saving fuel during transportation. With the rise of autonomous solutions, platooning becomes an increasingly apparent sector requiring the application of this new technology. Platooning vehicles travel together intending to reduce aerodynamic resistance during operation. Drafting allows following vehicles to increase fuel economy and save money on refueling, whether that be at the pump or at a charging station. However, autonomous solutions are still in infancy, and controller evaluation is an exciting challenge proposed to researchers. This work brings forth a new application of an emissions quantification metric called vehicle-specific power (VSP). Rather than utilize its emissions investigative benefits, the present work applies VSP to heterogeneous Class 8 Heavy-Duty truck platoons as a means of evaluating the efficacy of Cooperative Adaptive Cruise Control (CACC). VSP creates a bridge between types of passenger vehicles to compare emission rates via estimating powertrain effort to maintain current conditions (speed, acceleration, road grade, etc.). In this study, different controller strategies and platoon configurations are examined to determine the applicability of VSP to controller evaluation. Experiments were completed at the National Center for Asphalt Technology (NCAT) circuitous track, the American Center for Mobility’s (ACM) freeway loop, and a straight section of NCAT’s track dubbed “ideal” for platooning efficiency. One truck is analyzed and compared to a lead truck, where VSP traces are calculated at each time step of experimentation. The influence of road grade, platoon size, and platooning position is considered in this study. Because the calculation of VSP considers an isolated driving environment, it effectively assesses the controller’s ability to reduce energy consumption for platooning vehicles.{\\\\textless}/div{\\\\textgreater}{\\\\textless}/div{\\\\textgreater}},\\n\\tlanguage = {en},\\n\\turldate = {2024-02-07},\\n\\tauthor = {Snitzer, Philip and Stegner, Evan and Bentley, John and Bevly, David M. and Hoffman, Mark},\\n\\tmonth = apr,\\n\\tyear = {2023},\\n\\tpages = {2023--01--0688},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Snitzer, P.\",\"Stegner, E.\",\"Bentley, J.\",\"Bevly, D. M.\",\"Hoffman, M.\"],\"key\":\"snitzer_new_2023\",\"id\":\"snitzer_new_2023\",\"bibbaseid\":\"snitzer-stegner-bentley-bevly-hoffman-newcontrollerevaluationtechniquesforautonomouslydrivenheavydutyconvoys-2023\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.sae.org/content/2023-01-0688\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Detroit, Michigan, United States\",\"title\":\"Quantifying the Energy Impact of Autonomous Platooning-Imposed Longitudinal Dynamics\",\"url\":\"https://www.sae.org/content/2023-01-0896\",\"doi\":\"10.4271/2023-01-0896\",\"abstract\":\"\\\\textlessdiv class=\\\"section abstract\\\"\\\\textgreater\\\\textlessdiv class=\\\"htmlview paragraph\\\"\\\\textgreaterPlatooning has produced significant energy savings for vehicles in a controlled environment. However, the impact of real-world disturbances, such as grade and interactions with passenger vehicles, has not been sufficiently characterized. Follower vehicles in a platoon operate with both different aerodynamic drag and different velocity traces than while driving alone. While aerodynamic drag reduction usually dominates the change in energy consumption for platooning vehicles, the dynamics imposed on the follow vehicle by the lead vehicle and exogenous disturbances impacting the platoon can negate aerodynamic energy savings. In this paper, a methodology is proposed to link the change in longitudinal platooning dynamics with the energy consumption of a platoon follower in real time. This is accomplished by subtracting a predicted acceleration from measured longitudinal acceleration. The real-time consumption calculation methodology is evaluated using data from simulated and experimental platoons. The proposed methodology allows active deceleration losses to be calculated for a platoon follower in real time and is a development of the active deceleration theory presented by the authors in SAE Paper 2022-01-0526. In simulation, energy losses calculated by the method were within 5% of the true value and were robust to errors in modeled aerodynamic drag. As for the experimental results, the method agreed with the prior procedure of SAE Paper 2022-01-0526, which required extensive datasets and could only be completed as a post-processing routine. This novel methodology provides an important new feedback metric for platoon operators, and makes it possible to analyze real-time platooning benefit while the platoon is on the road.\\\\textless/div\\\\textgreater\\\\textless/div\\\\textgreater\",\"language\":\"en\",\"urldate\":\"2024-02-07\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Stegner\"],\"firstnames\":[\"Evan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Snitzer\"],\"firstnames\":[\"Philip\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bentley\"],\"firstnames\":[\"John\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hoffman\"],\"firstnames\":[\"Mark\"],\"suffixes\":[]}],\"month\":\"April\",\"year\":\"2023\",\"pages\":\"2023–01–0896\",\"bibtex\":\"@inproceedings{stegner_quantifying_2023,\\n\\taddress = {Detroit, Michigan, United States},\\n\\ttitle = {Quantifying the {Energy} {Impact} of {Autonomous} {Platooning}-{Imposed} {Longitudinal} {Dynamics}},\\n\\turl = {https://www.sae.org/content/2023-01-0896},\\n\\tdoi = {10.4271/2023-01-0896},\\n\\tabstract = {{\\\\textless}div class=\\\"section abstract\\\"{\\\\textgreater}{\\\\textless}div class=\\\"htmlview paragraph\\\"{\\\\textgreater}Platooning has produced significant energy savings for vehicles in a controlled environment. However, the impact of real-world disturbances, such as grade and interactions with passenger vehicles, has not been sufficiently characterized. Follower vehicles in a platoon operate with both different aerodynamic drag and different velocity traces than while driving alone. While aerodynamic drag reduction usually dominates the change in energy consumption for platooning vehicles, the dynamics imposed on the follow vehicle by the lead vehicle and exogenous disturbances impacting the platoon can negate aerodynamic energy savings. In this paper, a methodology is proposed to link the change in longitudinal platooning dynamics with the energy consumption of a platoon follower in real time. This is accomplished by subtracting a predicted acceleration from measured longitudinal acceleration. The real-time consumption calculation methodology is evaluated using data from simulated and experimental platoons. The proposed methodology allows active deceleration losses to be calculated for a platoon follower in real time and is a development of the active deceleration theory presented by the authors in SAE Paper 2022-01-0526. In simulation, energy losses calculated by the method were within 5\\\\% of the true value and were robust to errors in modeled aerodynamic drag. As for the experimental results, the method agreed with the prior procedure of SAE Paper 2022-01-0526, which required extensive datasets and could only be completed as a post-processing routine. This novel methodology provides an important new feedback metric for platoon operators, and makes it possible to analyze real-time platooning benefit while the platoon is on the road.{\\\\textless}/div{\\\\textgreater}{\\\\textless}/div{\\\\textgreater}},\\n\\tlanguage = {en},\\n\\turldate = {2024-02-07},\\n\\tauthor = {Stegner, Evan and Snitzer, Philip and Bentley, John and Bevly, David M. and Hoffman, Mark},\\n\\tmonth = apr,\\n\\tyear = {2023},\\n\\tpages = {2023--01--0896},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Stegner, E.\",\"Snitzer, P.\",\"Bentley, J.\",\"Bevly, D. M.\",\"Hoffman, M.\"],\"key\":\"stegner_quantifying_2023\",\"id\":\"stegner_quantifying_2023\",\"bibbaseid\":\"stegner-snitzer-bentley-bevly-hoffman-quantifyingtheenergyimpactofautonomousplatooningimposedlongitudinaldynamics-2023\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.sae.org/content/2023-01-0896\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Robust Vehicle Stability Based on Non-Linear Model Predictive Control and Environmental Characterization\",\"abstract\":\"A Non-linear Model Predictive Controller (NMPC) was developed for an unmanned ground vehicle (UGV). The NMPC uses a particle swarm pattern search algorithm to optimize the control input, which contains a desired steer angle and a desired longitudinal velocity. The NMPC is designed to approach a target whilst avoiding obstacles that are detected using a light detection and ranging sensor (lidar). Since not all obstacles are stationary, an obstacle tracking algorithm is employed to track obstacles. Two point cluster detection algorithms were reviewed, and a constant velocity Kalman filter-based tracking loop was developed. The tracked obstacles’ positions are predicted using a constant velocity model in the NMPC; this allows for avoidance of both stationary and dynamic obstacles.\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Stamenov\"],\"firstnames\":[\"Velislav\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Geiger\"],\"firstnames\":[\"Stephen\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Balas\"],\"firstnames\":[\"Christian\"],\"suffixes\":[]}],\"year\":\"2017\",\"bibtex\":\"@inproceedings{stamenov_robust_2017,\\n\\ttitle = {Robust {Vehicle} {Stability} {Based} on {Non}-{Linear} {Model} {Predictive} {Control} and {Environmental} {Characterization}},\\n\\tabstract = {A Non-linear Model Predictive Controller (NMPC) was developed for an unmanned ground vehicle (UGV). The NMPC uses a particle swarm pattern search algorithm to optimize the control input, which contains a desired steer angle and a desired longitudinal velocity. The NMPC is designed to approach a target whilst avoiding obstacles that are detected using a light detection and ranging sensor (lidar). Since not all obstacles are stationary, an obstacle tracking algorithm is employed to track obstacles. Two point cluster detection algorithms were reviewed, and a constant velocity Kalman filter-based tracking loop was developed. The tracked obstacles’ positions are predicted using a constant velocity model in the NMPC; this allows for avoidance of both stationary and dynamic obstacles.},\\n\\tauthor = {Stamenov, Velislav and Geiger, Stephen and Bevly, David and Balas, Christian},\\n\\tyear = {2017},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Stamenov, V.\",\"Geiger, S.\",\"Bevly, D.\",\"Balas, C.\"],\"key\":\"stamenov_robust_2017\",\"id\":\"stamenov_robust_2017\",\"bibbaseid\":\"stamenov-geiger-bevly-balas-robustvehiclestabilitybasedonnonlinearmodelpredictivecontrolandenvironmentalcharacterization-2017\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"IMPROVED RELATIVE POSITIONING FOR PATH FOLLOWING IN AUTONOMOUS CONVOYS\",\"abstract\":\"This work presents the development of an algorithm to incorporate measurements from multiple antennas to improve the relative position solution between convoying vehicles provided by Global Positioning System (GPS) measurements. The technique presented, incorporates measurements from multiple antennas with a known fixed-baseline between a base antenna and auxiliary antenna on a base vehicle, and a rover antenna on a rover vehicle. The additional information provided by the fixed-baseline distance is used to provide an additional measurement with low uncertainty for improved integer ambiguity resolution between the base and auxiliary receiver, which in turn, provides additional measurements for determining the integer ambiguity difference between the base and rover receivers for the computation of a high-precision relative position vector (HPRPV).\",\"language\":\"en\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Tabb\"],\"firstnames\":[\"Thomas\",\"T\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Ratowski\"],\"firstnames\":[\"Jeff\"],\"suffixes\":[]}],\"year\":\"2018\",\"bibtex\":\"@inproceedings{tabb_improved_2018,\\n\\ttitle = {{IMPROVED} {RELATIVE} {POSITIONING} {FOR} {PATH} {FOLLOWING} {IN} {AUTONOMOUS} {CONVOYS}},\\n\\tabstract = {This work presents the development of an algorithm to incorporate measurements from multiple antennas to improve the relative position solution between convoying vehicles provided by Global Positioning System (GPS) measurements. The technique presented, incorporates measurements from multiple antennas with a known fixed-baseline between a base antenna and auxiliary antenna on a base vehicle, and a rover antenna on a rover vehicle. The additional information provided by the fixed-baseline distance is used to provide an additional measurement with low uncertainty for improved integer ambiguity resolution between the base and auxiliary receiver, which in turn, provides additional measurements for determining the integer ambiguity difference between the base and rover receivers for the computation of a high-precision relative position vector (HPRPV).},\\n\\tlanguage = {en},\\n\\tauthor = {Tabb, Thomas T and Martin, Scott and Bevly, David and Ratowski, Jeff},\\n\\tyear = {2018},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Tabb, T. T\",\"Martin, S.\",\"Bevly, D.\",\"Ratowski, J.\"],\"key\":\"tabb_improved_2018\",\"id\":\"tabb_improved_2018\",\"bibbaseid\":\"tabb-martin-bevly-ratowski-improvedrelativepositioningforpathfollowinginautonomousconvoys-2018\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"GPS-INDEPENDENT AUTONOMOUS VEHICLE CONVOYING WITH UWB RANGING AND VEHICLE MODELS\",\"abstract\":\"Leader-follower autonomous vehicle systems have a vast range of applications which can increase efficiency, reliability, and safety by only requiring one manned-vehicle to lead a fleet of unmanned followers. The proper estimation and duplication of a manned-vehicle’s path is a critical component of the ongoing development of convoying systems. Auburn University’s GAVLAB has developed a UWB-ranging based leader-follower GNC system which does not require an external GPS reference or communication between the vehicles in the convoy. Experimental results have shown path-duplication accuracy between 1-5 meters for following distances of 10 to 50 meters.\",\"language\":\"en\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Thompson\"],\"firstnames\":[\"Kyle\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Jones\"],\"firstnames\":[\"Ben\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"year\":\"2022\",\"bibtex\":\"@inproceedings{thompson_gps-independent_2022,\\n\\ttitle = {{GPS}-{INDEPENDENT} {AUTONOMOUS} {VEHICLE} {CONVOYING} {WITH} {UWB} {RANGING} {AND} {VEHICLE} {MODELS}},\\n\\tabstract = {Leader-follower autonomous vehicle systems have a vast range of applications which can increase efficiency, reliability, and safety by only requiring one manned-vehicle to lead a fleet of unmanned followers. The proper estimation and duplication of a manned-vehicle’s path is a critical component of the ongoing development of convoying systems. Auburn University’s GAVLAB has developed a UWB-ranging based leader-follower GNC system which does not require an external GPS reference or communication between the vehicles in the convoy. Experimental results have shown path-duplication accuracy between 1-5 meters for following distances of 10 to 50 meters.},\\n\\tlanguage = {en},\\n\\tauthor = {Thompson, Kyle and Jones, Ben and Martin, Scott and Bevly, David},\\n\\tyear = {2022},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Thompson, K.\",\"Jones, B.\",\"Martin, S.\",\"Bevly, D.\"],\"key\":\"thompson_gps-independent_2022\",\"id\":\"thompson_gps-independent_2022\",\"bibbaseid\":\"thompson-jones-martin-bevly-gpsindependentautonomousvehicleconvoyingwithuwbrangingandvehiclemodels-2022\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"ANVEL HIL/SIL ADDITIONS FOR NAVIGATION ALGORITHM DEVELOPMENT\",\"abstract\":\"This work presents the development of a high fidelity Simulation In the Loop/Hardware In the Loop simulation environment using add-ons to Autonomous Navigation Virtual Environment Laboratory (ANVEL) and a navigation unit developed by Auburn University’s GPS and Vehicle Dynamics Lab (GAVLAB) in support of the United States Army’s Autonomous Ground Resupply Science Technology Objective. The developed add-ons include a real time interface for ANVEL, Inertial Measurement Unit module, Wheel Speed Sensor module, and a GPS module that allows simulated signals or generated Radio Frequency signals. The developed add-ons allow for faster development of navigation algorithms and controllers due to a readily available, highly accurate truth from ANVEL and can be configured to introduce realistic errors from sensors, hardware, and GPS signals such that algorithm and controller robustness can be easily examined.\",\"language\":\"en\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Nelson\"],\"firstnames\":[\"Brently\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Ratowski\"],\"firstnames\":[\"Jeff\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Theisen\"],\"firstnames\":[\"Bernard\"],\"suffixes\":[]}],\"year\":\"2017\",\"bibtex\":\"@inproceedings{nelson_anvel_2017,\\n\\ttitle = {{ANVEL} {HIL}/{SIL} {ADDITIONS} {FOR} {NAVIGATION} {ALGORITHM} {DEVELOPMENT}},\\n\\tabstract = {This work presents the development of a high fidelity Simulation In the Loop/Hardware In the Loop simulation environment using add-ons to Autonomous Navigation Virtual Environment Laboratory (ANVEL) and a navigation unit developed by Auburn University’s GPS and Vehicle Dynamics Lab (GAVLAB) in support of the United States Army’s Autonomous Ground Resupply Science Technology Objective. The developed add-ons include a real time interface for ANVEL, Inertial Measurement Unit module, Wheel Speed Sensor module, and a GPS module that allows simulated signals or generated Radio Frequency signals. The developed add-ons allow for faster development of navigation algorithms and controllers due to a readily available, highly accurate truth from ANVEL and can be configured to introduce realistic errors from sensors, hardware, and GPS signals such that algorithm and controller robustness can be easily examined.},\\n\\tlanguage = {en},\\n\\tauthor = {Nelson, Brently and Bevly, David and Ratowski, Jeff and Theisen, Bernard},\\n\\tyear = {2017},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Nelson, B.\",\"Bevly, D.\",\"Ratowski, J.\",\"Theisen, B.\"],\"key\":\"nelson_anvel_2017\",\"id\":\"nelson_anvel_2017\",\"bibbaseid\":\"nelson-bevly-ratowski-theisen-anvelhilsiladditionsfornavigationalgorithmdevelopment-2017\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Automated Tuning and Calibration for Unmanned Ground Vehicles\",\"abstract\":\"A critical and time-consuming part of commissioning an unmanned ground vehicle (UGV) is tuning and calibrating the navigation and control systems. This involves selecting and modifying parameters for these systems to obtain a desired response. Tuning these parameters often requires experience or technical expertise that may not be readily available in a time of need. Even the simple task of measuring the mounting location of the sensors introduce opportunities for user error. In addition, the tuning parameters for these systems may change significantly between UGVs. These challenges motivate the need for automated tuning and calibration algorithms to set parameters without the interaction from a user. This work presents automated tuning and calibration approaches for UGVs.\",\"language\":\"en\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bunderson\"],\"firstnames\":[\"Nate\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Costley\"],\"firstnames\":[\"Austin\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bryan\"],\"firstnames\":[\"William\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Mifflin\"],\"firstnames\":[\"Gregory\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Balas\"],\"firstnames\":[\"Cristian\"],\"suffixes\":[]}],\"year\":\"2020\",\"bibtex\":\"@inproceedings{bunderson_automated_2020,\\n\\ttitle = {Automated {Tuning} and {Calibration} for {Unmanned} {Ground} {Vehicles}},\\n\\tabstract = {A critical and time-consuming part of commissioning an unmanned ground vehicle (UGV) is tuning and calibrating the navigation and control systems. This involves selecting and modifying parameters for these systems to obtain a desired response. Tuning these parameters often requires experience or technical expertise that may not be readily available in a time of need. Even the simple task of measuring the mounting location of the sensors introduce opportunities for user error. In addition, the tuning parameters for these systems may change significantly between UGVs. These challenges motivate the need for automated tuning and calibration algorithms to set parameters without the interaction from a user. This work presents automated tuning and calibration approaches for UGVs.},\\n\\tlanguage = {en},\\n\\tauthor = {Bunderson, Nate and Bevly, David and Costley, Austin and Bryan, William and Mifflin, Gregory and Balas, Cristian},\\n\\tyear = {2020},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Bunderson, N.\",\"Bevly, D.\",\"Costley, A.\",\"Bryan, W.\",\"Mifflin, G.\",\"Balas, C.\"],\"key\":\"bunderson_automated_2020\",\"id\":\"bunderson_automated_2020\",\"bibbaseid\":\"bunderson-bevly-costley-bryan-mifflin-balas-automatedtuningandcalibrationforunmannedgroundvehicles-2020\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"A Simplified Cartesian-Computed Torque Controller for Highly Geared Systems and its Application...\",\"volume\":\"122\",\"issn\":\"00220434\",\"abstract\":\"Presents a simplified Cartesian computed torque control scheme for mobile robots. Application to an experimental climbing robot called Limbed Intelligent Basic Robot Acender; Block diagram of the control scheme; Cartesian control of manipulators.\",\"number\":\"1\",\"journal\":\"Journal of Dynamic Systems, Measurement, & Control\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Dubowsky\"],\"firstnames\":[\"Steven\"],\"suffixes\":[]}],\"year\":\"2000\",\"keywords\":\"CONTROL theory (Engineering), MANIPULATORS (Machinery), MOBILE robots\",\"pages\":\"27\",\"bibtex\":\"@article{bevly_simplified_2000,\\n\\ttitle = {A {Simplified} {Cartesian}-{Computed} {Torque} {Controller} for {Highly} {Geared} {Systems} and its {Application}...},\\n\\tvolume = {122},\\n\\tissn = {00220434},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=aph&AN=3092584&site=eds-live&scope=site},\\n\\tabstract = {Presents a simplified Cartesian computed torque control scheme for mobile robots. Application to an experimental climbing robot called Limbed Intelligent Basic Robot Acender; Block diagram of the control scheme; Cartesian control of manipulators.},\\n\\tnumber = {1},\\n\\tjournal = {Journal of Dynamic Systems, Measurement, \\\\& Control},\\n\\tauthor = {Bevly, David and Dubowsky, Steven},\\n\\tyear = {2000},\\n\\tkeywords = {CONTROL theory (Engineering), MANIPULATORS (Machinery), MOBILE robots},\\n\\tpages = {27},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Bevly, D.\",\"Dubowsky, S.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=aph&AN=3092584&site=eds-live&scope=site\",\"key\":\"bevly_simplified_2000\",\"id\":\"bevly_simplified_2000\",\"bibbaseid\":\"bevly-dubowsky-asimplifiedcartesiancomputedtorquecontrollerforhighlygearedsystemsanditsapplication-2000\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=aph&AN=3092584&site=eds-live&scope=site\"},\"keyword\":[\"CONTROL theory (Engineering)\",\"MANIPULATORS (Machinery)\",\"MOBILE robots\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"Maintaining the Security and Availability of a Stream of Time-Dependent Secret Information in an Ad-Hoc Network. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/6465\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Sprunger\"],\"firstnames\":[\"John\",\"David\",\"S.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Lim\"],\"firstnames\":[\"Alvin\",\"S.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Qin\"],\"firstnames\":[\"Xiao\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Umphress\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"year\":\"2018\",\"bibtex\":\"@phdthesis{sprunger_maintaining_2018,\\n\\ttitle = {Maintaining the {Security} and {Availability} of a {Stream} of {Time}-{Dependent} {Secret} {Information} in an {Ad}-{Hoc} {Network}. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/6465},\\n\\tauthor = {Sprunger, John David S. and Lim, Alvin S. and Bevly, David M. and Qin, Xiao and Umphress, David},\\n\\tyear = {2018},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Sprunger, J. D. S.\",\"Lim, A. S.\",\"Bevly, D. M.\",\"Qin, X.\",\"Umphress, D.\"],\"key\":\"sprunger_maintaining_2018\",\"id\":\"sprunger_maintaining_2018\",\"bibbaseid\":\"sprunger-lim-bevly-qin-umphress-maintainingthesecurityandavailabilityofastreamoftimedependentsecretinformationinanadhocnetworkelectronicresource-2018\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/6465\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"Evaluation of Platooning Efficiency for Heavy Duty Trucks using Cooperative Adaptive Cruise Control. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/7241\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Smith\"],\"firstnames\":[\"Patrick\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hoffman\"],\"firstnames\":[\"Mark\",\"A.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"McAuliffe\"],\"firstnames\":[\"Brian\"],\"suffixes\":[]}],\"year\":\"2020\",\"bibtex\":\"@phdthesis{smith_evaluation_2020,\\n\\ttitle = {Evaluation of {Platooning} {Efficiency} for {Heavy} {Duty} {Trucks} using {Cooperative} {Adaptive} {Cruise} {Control}. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/7241},\\n\\tauthor = {Smith, Patrick and Bevly, David M. and Hoffman, Mark A. and McAuliffe, Brian},\\n\\tyear = {2020},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Smith, P.\",\"Bevly, D. M.\",\"Hoffman, M. A.\",\"McAuliffe, B.\"],\"key\":\"smith_evaluation_2020\",\"id\":\"smith_evaluation_2020\",\"bibbaseid\":\"smith-bevly-hoffman-mcauliffe-evaluationofplatooningefficiencyforheavydutytrucksusingcooperativeadaptivecruisecontrolelectronicresource-2020\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/7241\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"GPS Multipath Detection and Mitigation Timing Bias Techniques. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/4611\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Preston\"],\"firstnames\":[\"Sarah\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Riggs\"],\"firstnames\":[\"Lloyd\",\"Stephen\"],\"suffixes\":[]}],\"year\":\"2015\",\"bibtex\":\"@phdthesis{preston_gps_2015,\\n\\ttitle = {{GPS} {Multipath} {Detection} and {Mitigation} {Timing} {Bias} {Techniques}. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/4611},\\n\\tauthor = {Preston, Sarah and Bevly, David M. and Riggs, Lloyd Stephen},\\n\\tyear = {2015},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Preston, S.\",\"Bevly, D. M.\",\"Riggs, L. 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R.\",\"Starling, J.\",\"Martin, S.\",\"Bevly, D.\"],\"key\":\"carter_baseline_2019\",\"id\":\"carter_baseline_2019\",\"bibbaseid\":\"carter-starling-martin-bevly-baselineimpactongeolocation-2019\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Blind Pedestrian Body-Worn Navigation Aid Based on Pedometry and Smart Intersection Connectivity\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Rose\"],\"firstnames\":[\"C.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pierce\"],\"firstnames\":[\"D.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Gao\"],\"firstnames\":[\"S.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Cofield\"],\"firstnames\":[\"R.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bishop\"],\"firstnames\":[\"R.\"],\"suffixes\":[]}],\"year\":\"2016\",\"bibtex\":\"@inproceedings{rose_blind_2016,\\n\\ttitle = {Blind {Pedestrian} {Body}-{Worn} {Navigation} {Aid} {Based} on {Pedometry} and {Smart} {Intersection} {Connectivity}},\\n\\tauthor = {Rose, C. and Pierce, D. and Gao, S. and Cofield, R. and Bevly, D. M. and Bishop, R.},\\n\\tyear = {2016},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Rose, C.\",\"Pierce, D.\",\"Gao, S.\",\"Cofield, R.\",\"Bevly, D. M.\",\"Bishop, R.\"],\"key\":\"rose_blind_2016\",\"id\":\"rose_blind_2016\",\"bibbaseid\":\"rose-pierce-gao-cofield-bevly-bishop-blindpedestrianbodywornnavigationaidbasedonpedometryandsmartintersectionconnectivity-2016\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Performance Analysis of a Vector Tracking Software Defined Receiver for GPS L5\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Givhan\"],\"firstnames\":[\"Charles\",\"Anderson\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\",\"M.\"],\"suffixes\":[]}],\"month\":\"September\",\"year\":\"2020\",\"bibtex\":\"@inproceedings{givhan_performance_2020,\\n\\ttitle = {Performance {Analysis} of a {Vector} {Tracking} {Software} {Defined} {Receiver} for {GPS} {L5}},\\n\\tauthor = {Givhan, Charles Anderson and Bevly, David M. and Martin, Scott M.},\\n\\tmonth = sep,\\n\\tyear = {2020},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Givhan, C. A.\",\"Bevly, D. M.\",\"Martin, S. M.\"],\"key\":\"givhan_performance_2020\",\"id\":\"givhan_performance_2020\",\"bibbaseid\":\"givhan-bevly-martin-performanceanalysisofavectortrackingsoftwaredefinedreceiverforgpsl5-2020\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Implementation and Analysis of a GPS Differential Vector Delay/Frequency Lock Loop\",\"url\":\"https://www.ion.org/publications/abstract.cfm?articleID=17144\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Watts\"],\"firstnames\":[\"Tanner\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"month\":\"January\",\"year\":\"2020\",\"bibtex\":\"@inproceedings{watts_implementation_2020,\\n\\ttitle = {Implementation and {Analysis} of a {GPS} {Differential} {Vector} {Delay}/{Frequency} {Lock} {Loop}},\\n\\turl = {https://www.ion.org/publications/abstract.cfm?articleID=17144},\\n\\tauthor = {Watts, Tanner M. and Martin, Scott M. and Bevly, David M.},\\n\\tmonth = jan,\\n\\tyear = {2020},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Watts, T. M.\",\"Martin, S. M.\",\"Bevly, D. M.\"],\"key\":\"watts_implementation_2020\",\"id\":\"watts_implementation_2020\",\"bibbaseid\":\"watts-martin-bevly-implementationandanalysisofagpsdifferentialvectordelayfrequencylockloop-2020\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.ion.org/publications/abstract.cfm?articleID=17144\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Using Demanded Power and RDE Aggressiveness Metrics to Analyze the Impact of CACC Aggressiveness on Heavy Duty Platooning Power Consumption\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Siefert\"],\"firstnames\":[\"J.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Stegner\"],\"firstnames\":[\"E.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Snitzer\"],\"firstnames\":[\"P.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Ward\"],\"firstnames\":[\"J.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hoffman\"],\"firstnames\":[\"M.\"],\"suffixes\":[]}],\"year\":\"2021\",\"bibtex\":\"@inproceedings{siefert_using_2021,\\n\\ttitle = {Using {Demanded} {Power} and {RDE} {Aggressiveness} {Metrics} to {Analyze} the {Impact} of {CACC} {Aggressiveness} on {Heavy} {Duty} {Platooning} {Power} {Consumption}},\\n\\tauthor = {Siefert, J. and Stegner, E. and Snitzer, P. and Ward, J. and Bevly, D. and Hoffman, M.},\\n\\tyear = {2021},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Siefert, J.\",\"Stegner, E.\",\"Snitzer, P.\",\"Ward, J.\",\"Bevly, D.\",\"Hoffman, M.\"],\"key\":\"siefert_using_2021\",\"id\":\"siefert_using_2021\",\"bibbaseid\":\"siefert-stegner-snitzer-ward-bevly-hoffman-usingdemandedpowerandrdeaggressivenessmetricstoanalyzetheimpactofcaccaggressivenessonheavydutyplatooningpowerconsumption-2021\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Experimentally Establishing Ideal Platooning Performance as a Metric for Real-World Platooning Assessment\",\"url\":\"doi.org/10.4271/2022-01-0069\",\"doi\":\"doi.org/10.4271/2022-01-0069\",\"booktitle\":\"SAE Technical Paper Series\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Snitzer\"],\"firstnames\":[\"Philip\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Stegner\"],\"firstnames\":[\"Evan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Siefert\"],\"firstnames\":[\"Jan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hoffman\"],\"firstnames\":[\"Mark\"],\"suffixes\":[]}],\"year\":\"2022\",\"bibtex\":\"@inproceedings{snitzer_experimentally_2022,\\n\\ttitle = {Experimentally {Establishing} {Ideal} {Platooning} {Performance} as a {Metric} for {Real}-{World} {Platooning} {Assessment}},\\n\\turl = {doi.org/10.4271/2022-01-0069},\\n\\tdoi = {doi.org/10.4271/2022-01-0069},\\n\\tbooktitle = {{SAE} {Technical} {Paper} {Series}},\\n\\tauthor = {Snitzer, Philip and Stegner, Evan and Siefert, Jan and Bevly, David M. and Hoffman, Mark},\\n\\tyear = {2022},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Snitzer, P.\",\"Stegner, E.\",\"Siefert, J.\",\"Bevly, D. M.\",\"Hoffman, M.\"],\"key\":\"snitzer_experimentally_2022\",\"id\":\"snitzer_experimentally_2022\",\"bibbaseid\":\"snitzer-stegner-siefert-bevly-hoffman-experimentallyestablishingidealplatooningperformanceasametricforrealworldplatooningassessment-2022\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://bibbase.org/zotero/doi.org/10.4271/2022-01-0069\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":4,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Integrating INS Sensors with GPS Velocity Measurements for Continuous Estimation of Vehicle Side-Slip and Tire Cornering Stiffness\",\"volume\":\"7\",\"number\":\"4\",\"journal\":\"IEEE Transactions on Intelligent Transportation Systems\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Ryu\"],\"firstnames\":[\"J.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Gerdes\"],\"firstnames\":[\"J.\",\"C\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2006\",\"keywords\":\"GPS sideslip measurements, Global Positioning System (GPS)/Inertial Navigation System (INS) vehicle state estimation, roll estimation, sideslip estimation\",\"pages\":\"483–493\",\"bibtex\":\"@article{bevly_integrating_2006,\\n\\ttitle = {Integrating {INS} {Sensors} with {GPS} {Velocity} {Measurements} for {Continuous} {Estimation} of {Vehicle} {Side}-{Slip} and {Tire} {Cornering} {Stiffness}},\\n\\tvolume = {7},\\n\\tnumber = {4},\\n\\tjournal = {IEEE Transactions on Intelligent Transportation Systems},\\n\\tauthor = {Bevly, D. M. and Ryu, J. and Gerdes, J. C},\\n\\tmonth = dec,\\n\\tyear = {2006},\\n\\tkeywords = {GPS sideslip measurements, Global Positioning System (GPS)/Inertial Navigation System (INS) vehicle state estimation, roll estimation, sideslip estimation},\\n\\tpages = {483--493},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Bevly, D. M.\",\"Ryu, J.\",\"Gerdes, J. C\"],\"key\":\"bevly_integrating_2006\",\"id\":\"bevly_integrating_2006\",\"bibbaseid\":\"bevly-ryu-gerdes-integratinginssensorswithgpsvelocitymeasurementsforcontinuousestimationofvehiclesideslipandtirecorneringstiffness-2006\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"GPS sideslip measurements\",\"Global Positioning System (GPS)/Inertial Navigation System (INS) vehicle state estimation\",\"roll estimation\",\"sideslip estimation\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"Initialization of a Pedestrian Navigation System Using a Transfer Alignment Approach\",\"url\":\"https://etd.auburn.edu//handle/10415/7438\",\"abstract\":\"Pedestrian navigation techniques are used to provide positioning information in lieu of or to supplement more traditional systems such as GNSS. A challenge facing users of pedestrian navigation algorithms is the acquisition of initialization data. Existing initialization methods for pedestrian navigation methods assume the availability of GNSS position and velocity and of standstill periods that can be used to provide attitude information. This thesis presents a method that performs the attitude initialization for a pedestrian navigation system (PNS) while the pedestrian is riding inside a vehicle. An algorithm is presented which uses data from a vehicle-mounted IMU and a pedestrian-mounted IMU to detect when the two sensors form a rigid body. Once rigidity has been established, a solution to Wahba’s Problem is used to solve for the misalignment between the two systems. The misalignment is used in conjunction with the vehicle’s attitude to initialize the PNS before the pedestrian leaves the vehicle. Performance analyses of the rigidity detector and misalignment estimation are shown using both simulated and real data, while a performance analysis for the PNS initialization procedure is shown using real data. The method is implemented using IMU data gathered using a Vectornav VN-300 GPS/INS and a Lincoln MKZ instrumented with a KVH 1750 IMU. Results show that the proposed method can initialize a PNS with a mean initial heading error of 7.3 degrees, with the error being attributable to violations of the rigidity condition.\",\"language\":\"en\",\"urldate\":\"2022-04-27\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Thopay\"],\"firstnames\":[\"Archit\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2020\",\"note\":\"Accepted: 2020-08-11T18:03:13Z\",\"bibtex\":\"@phdthesis{thopay_initialization_2020,\\n\\ttitle = {Initialization of a {Pedestrian} {Navigation} {System} {Using} a {Transfer} {Alignment} {Approach}},\\n\\turl = {https://etd.auburn.edu//handle/10415/7438},\\n\\tabstract = {Pedestrian navigation techniques are used to provide positioning information in lieu of or to supplement more traditional systems such as GNSS. A challenge facing users of pedestrian navigation algorithms is the acquisition of initialization data. Existing initialization methods for pedestrian navigation methods assume the availability of GNSS position and velocity and of standstill periods that can be used to provide attitude information. This thesis presents a method that performs the attitude initialization for a pedestrian navigation system (PNS) while the pedestrian is riding inside a vehicle. An algorithm is presented which uses data from a vehicle-mounted IMU and a pedestrian-mounted IMU to detect when the two sensors form a rigid body. Once rigidity has been established, a solution to Wahba’s Problem is used to solve for the misalignment between the two systems. The misalignment is used in conjunction with the vehicle’s attitude to initialize the PNS before the pedestrian leaves the vehicle. Performance analyses of the rigidity detector and misalignment estimation are shown using both simulated and real data, while a performance analysis for the PNS initialization procedure is shown using real data. The method is implemented using IMU data gathered using a Vectornav VN-300 GPS/INS and a Lincoln MKZ instrumented with a KVH 1750 IMU. Results show that the proposed method can initialize a PNS with a mean initial heading error of 7.3 degrees, with the error being attributable to violations of the rigidity condition.},\\n\\tlanguage = {en},\\n\\turldate = {2022-04-27},\\n\\tauthor = {Thopay, Archit},\\n\\tmonth = aug,\\n\\tyear = {2020},\\n\\tnote = {Accepted: 2020-08-11T18:03:13Z},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Thopay, A.\"],\"key\":\"thopay_initialization_2020-1\",\"id\":\"thopay_initialization_2020-1\",\"bibbaseid\":\"thopay-initializationofapedestriannavigationsystemusingatransferalignmentapproach-2020\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://etd.auburn.edu//handle/10415/7438\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Impact of Mixed Traffic on the Energy Savings of a Truck Platoon\",\"volume\":\"2\",\"issn\":\"2641-9637, 2641-9645\",\"abstract\":\"A two-truck platoon based on a prototype cooperative adaptive cruise control (CACC) system was tested on a closed test track in a variety of realistic traffic and transient operating scenarios - conditions that truck platoons are likely to face on real highways. The fuel consumption for both trucks in the platoon was measured using the SAE J1321 gravimetric procedure as well as calibrated J1939 instantaneous fuel rate, serving as proxies to evaluate the impact of aerodynamic drag reduction under constant-speed conditions. These measurements demonstrate the effects of: the presence of a multiple-passenger-vehicle pattern ahead of and adjacent to the platoon, cut-in and cut-out manoeuvres by other vehicles, transient traffic, the use of mismatched platooned vehicles (van trailer mixed with flatbed trailer), and the platoon following another truck with adaptive cruise control (ACC). These scenarios are intended to address the possibility of “background aerodynamic platooning” impacting realized savings on public roads. Using calibrated J1939 fuel rate analysis, fuel savings for curved track sections versus straight track sections were also evaluated for these scenarios, highlighting differences in the implementation of the CACC control strategies compared to a stock ACC implementation. The use of different trailer types and the presence of passenger-vehicle traffic patterns showed a measurable impact on platoon performance in some conditions, but the basic fuel savings trends were retained.\",\"number\":\"3\",\"journal\":\"SAE International Journal of Advances and Current Practices in Mobility\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Brian\"],\"firstnames\":[\"McAuliffe\"],\"suffixes\":[]}],\"month\":\"April\",\"year\":\"2020\",\"pages\":\"1472 – 1496\",\"bibtex\":\"@article{brian_impact_2020,\\n\\ttitle = {Impact of {Mixed} {Traffic} on the {Energy} {Savings} of a {Truck} {Platoon}},\\n\\tvolume = {2},\\n\\tissn = {2641-9637, 2641-9645},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edsstp&AN=edsstp.2020.01.0679&site=eds-live&scope=site},\\n\\tabstract = {A two-truck platoon based on a prototype cooperative adaptive cruise control (CACC) system was tested on a closed test track in a variety of realistic traffic and transient operating scenarios - conditions that truck platoons are likely to face on real highways. The fuel consumption for both trucks in the platoon was measured using the SAE J1321 gravimetric procedure as well as calibrated J1939 instantaneous fuel rate, serving as proxies to evaluate the impact of aerodynamic drag reduction under constant-speed conditions. These measurements demonstrate the effects of: the presence of a multiple-passenger-vehicle pattern ahead of and adjacent to the platoon, cut-in and cut-out manoeuvres by other vehicles, transient traffic, the use of mismatched platooned vehicles (van trailer mixed with flatbed trailer), and the platoon following another truck with adaptive cruise control (ACC). These scenarios are intended to address the possibility of “background aerodynamic platooning” impacting realized savings on public roads. Using calibrated J1939 fuel rate analysis, fuel savings for curved track sections versus straight track sections were also evaluated for these scenarios, highlighting differences in the implementation of the CACC control strategies compared to a stock ACC implementation. The use of different trailer types and the presence of passenger-vehicle traffic patterns showed a measurable impact on platoon performance in some conditions, but the basic fuel savings trends were retained.},\\n\\tnumber = {3},\\n\\tjournal = {SAE International Journal of Advances and Current Practices in Mobility},\\n\\tauthor = {Brian, McAuliffe},\\n\\tmonth = apr,\\n\\tyear = {2020},\\n\\tpages = {1472 -- 1496},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Brian, M.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edsstp&AN=edsstp.2020.01.0679&site=eds-live&scope=site\",\"key\":\"brian_impact_2020\",\"id\":\"brian_impact_2020\",\"bibbaseid\":\"brian-impactofmixedtrafficontheenergysavingsofatruckplatoon-2020\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edsstp&AN=edsstp.2020.01.0679&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"techreport\",\"type\":\"techreport\",\"title\":\"Evaluation and Testing of Driver-Assistive Truck Platooning Phase 2 Final Results Authors: Bishop, Richard\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bishop\"],\"firstnames\":[\"Richard\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Humphreys\"],\"firstnames\":[\"Luke\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Boyd\"],\"firstnames\":[\"Stephen\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Murray\"],\"firstnames\":[\"Daniel\"],\"suffixes\":[]}],\"month\":\"January\",\"year\":\"2017\",\"pages\":\"11 – 18\",\"bibtex\":\"@techreport{bishop_evaluation_2017,\\n\\ttitle = {Evaluation and {Testing} of {Driver}-{Assistive} {Truck} {Platooning} {Phase} 2 {Final} {Results} {Authors}: {Bishop}, {Richard}},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000413456800002&site=eds-live&scope=site},\\n\\tauthor = {Bishop, Richard and Bevly, David and Humphreys, Luke and Boyd, Stephen and Murray, Daniel},\\n\\tmonth = jan,\\n\\tyear = {2017},\\n\\tpages = {11 -- 18},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Bishop, R.\",\"Bevly, D.\",\"Humphreys, L.\",\"Boyd, S.\",\"Murray, D.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000413456800002&site=eds-live&scope=site\",\"key\":\"bishop_evaluation_2017-1\",\"id\":\"bishop_evaluation_2017-1\",\"bibbaseid\":\"bishop-bevly-humphreys-boyd-murray-evaluationandtestingofdriverassistivetruckplatooningphase2finalresultsauthorsbishoprichard-2017\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000413456800002&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"Error Analysis of Carrier Phase Positioning Using Controlled Reception Pattern Antenna Arrays. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/5601\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Starling\"],\"firstnames\":[\"Joshua\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"year\":\"2017\",\"bibtex\":\"@phdthesis{starling_error_2017,\\n\\ttitle = {Error {Analysis} of {Carrier} {Phase} {Positioning} {Using} {Controlled} {Reception} {Pattern} {Antenna} {Arrays}. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/5601},\\n\\tauthor = {Starling, Joshua and Bevly, David M.},\\n\\tyear = {2017},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Starling, J.\",\"Bevly, D. M.\"],\"key\":\"starling_error_2017-1\",\"id\":\"starling_error_2017-1\",\"bibbaseid\":\"starling-bevly-erroranalysisofcarrierphasepositioningusingcontrolledreceptionpatternantennaarrayselectronicresource-2017\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/5601\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"On the observability of loosely coupled global positioning system/inertial navigation system integrations with five degree of freedom and four degree of freedom inertial measurement units\",\"volume\":\"136\",\"issn\":\"0022-0434\",\"abstract\":\"This article examines the observability of a modified loosely coupled global positioning system/inertial navigation system (GPSIINS) filter and analyzes the sideslip and attitude estimation capability of the filter. The modified filter is a loosely coupled integration which does not include a pitch rate gyro and which uses GPS course information as a measurement of heading when the vehicle is driving straight. Experimental tests are conducted which show that the modified filter has the same observability characteristics as a standard loosely coupled filter during turning events. The observability of a loosely coupled integration using only a four degree of freedom (DOF) inertial measurement unit (IMU) is also discussed and examined by experiment, as well as the sideslip and roll angle estimation performance. Finally, the error characteristics of the modified loosely coupled integration with the five DOF IMU when the filter is unobservable are studied. Monte Carlo simulations of long periods of straight driving with various sensor qualities are presented to show the worst case attitude errors when the filter is unobservable. [DOI: 10.1115/1.4025985]\",\"number\":\"2\",\"journal\":\"Journal of Dynamic Systems, Measurement, and Control\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Ryan\"],\"firstnames\":[\"Jonathan\",\"G.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"month\":\"March\",\"year\":\"2014\",\"keywords\":\"Digital filters – Research, Electronics in navigation – Research, Monte Carlo method – Usage\",\"pages\":\"21023\",\"bibtex\":\"@article{ryan_observability_2014,\\n\\ttitle = {On the observability of loosely coupled global positioning system/inertial navigation system integrations with five degree of freedom and four degree of freedom inertial measurement units},\\n\\tvolume = {136},\\n\\tissn = {0022-0434},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edsggo&AN=edsgcl.364957633&site=eds-live&scope=site},\\n\\tabstract = {This article examines the observability of a modified loosely coupled global positioning system/inertial navigation system (GPSIINS) filter and analyzes the sideslip and attitude estimation capability of the filter. The modified filter is a loosely coupled integration which does not include a pitch rate gyro and which uses GPS course information as a measurement of heading when the vehicle is driving straight. Experimental tests are conducted which show that the modified filter has the same observability characteristics as a standard loosely coupled filter during turning events. The observability of a loosely coupled integration using only a four degree of freedom (DOF) inertial measurement unit (IMU) is also discussed and examined by experiment, as well as the sideslip and roll angle estimation performance. Finally, the error characteristics of the modified loosely coupled integration with the five DOF IMU when the filter is unobservable are studied. Monte Carlo simulations of long periods of straight driving with various sensor qualities are presented to show the worst case attitude errors when the filter is unobservable. [DOI: 10.1115/1.4025985]},\\n\\tnumber = {2},\\n\\tjournal = {Journal of Dynamic Systems, Measurement, and Control},\\n\\tauthor = {Ryan, Jonathan G. and Bevly, David M.},\\n\\tmonth = mar,\\n\\tyear = {2014},\\n\\tkeywords = {Digital filters – Research, Electronics in navigation – Research, Monte Carlo method – Usage},\\n\\tpages = {21023},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Ryan, J. G.\",\"Bevly, D. M.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edsggo&AN=edsgcl.364957633&site=eds-live&scope=site\",\"key\":\"ryan_observability_2014\",\"id\":\"ryan_observability_2014\",\"bibbaseid\":\"ryan-bevly-ontheobservabilityoflooselycoupledglobalpositioningsysteminertialnavigationsystemintegrationswithfivedegreeoffreedomandfourdegreeoffreedominertialmeasurementunits-2014\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edsggo&AN=edsgcl.364957633&site=eds-live&scope=site\"},\"keyword\":[\"Digital filters – Research\",\"Electronics in navigation – Research\",\"Monte Carlo method – Usage\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Observer Design for Parameter Varying Differentiable Nonlinear Systems, With Application to Slip Angle Estimation\",\"volume\":\"62\",\"issn\":\"00189286\",\"number\":\"4\",\"journal\":\"IEEE TRANSACTIONS ON AUTOMATIC CONTROL\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Wang\"],\"firstnames\":[\"Yan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Rajamani\"],\"firstnames\":[\"Rajesh\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"month\":\"April\",\"year\":\"2017\",\"keywords\":\"Linear matrix inequalities, state estimation, time-varying systems, vehicle dynamics\",\"pages\":\"1940 – 1945\",\"bibtex\":\"@article{wang_observer_2017,\\n\\ttitle = {Observer {Design} for {Parameter} {Varying} {Differentiable} {Nonlinear} {Systems}, {With} {Application} to {Slip} {Angle} {Estimation}},\\n\\tvolume = {62},\\n\\tissn = {00189286},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000399033000029&site=eds-live&scope=site},\\n\\tnumber = {4},\\n\\tjournal = {IEEE TRANSACTIONS ON AUTOMATIC CONTROL},\\n\\tauthor = {Wang, Yan and Rajamani, Rajesh and Bevly, David M.},\\n\\tmonth = apr,\\n\\tyear = {2017},\\n\\tkeywords = {Linear matrix inequalities, state estimation, time-varying systems, vehicle dynamics},\\n\\tpages = {1940 -- 1945},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Wang, Y.\",\"Rajamani, R.\",\"Bevly, D. M.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000399033000029&site=eds-live&scope=site\",\"key\":\"wang_observer_2017\",\"id\":\"wang_observer_2017\",\"bibbaseid\":\"wang-rajamani-bevly-observerdesignforparametervaryingdifferentiablenonlinearsystemswithapplicationtoslipangleestimation-2017\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000399033000029&site=eds-live&scope=site\"},\"keyword\":[\"Linear matrix inequalities\",\"state estimation\",\"time-varying systems\",\"vehicle dynamics\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Interval observer design for LPV systems with parametric uncertainty\",\"volume\":\"60\",\"issn\":\"0005-1098\",\"journal\":\"Automatica\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Wang\"],\"firstnames\":[\"Yan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Rajamani\"],\"firstnames\":[\"Rajesh\"],\"suffixes\":[]}],\"month\":\"October\",\"year\":\"2015\",\"pages\":\"79 – 85\",\"bibtex\":\"@article{wang_interval_2015,\\n\\ttitle = {Interval observer design for {LPV} systems with parametric uncertainty},\\n\\tvolume = {60},\\n\\tissn = {0005-1098},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edselp&AN=S0005109815002770&site=eds-live&scope=site},\\n\\tjournal = {Automatica},\\n\\tauthor = {Wang, Yan and Bevly, David M. and Rajamani, Rajesh},\\n\\tmonth = oct,\\n\\tyear = {2015},\\n\\tpages = {79 -- 85},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Wang, Y.\",\"Bevly, D. M.\",\"Rajamani, R.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edselp&AN=S0005109815002770&site=eds-live&scope=site\",\"key\":\"wang_interval_2015\",\"id\":\"wang_interval_2015\",\"bibbaseid\":\"wang-bevly-rajamani-intervalobserverdesignforlpvsystemswithparametricuncertainty-2015\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edselp&AN=S0005109815002770&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Track-Based Aerodynamic Testing of a Two-Truck Platoon\",\"volume\":\"3\",\"issn\":\"2641-9637, 2641-9645\",\"abstract\":\"Fuel savings from truck platooning are generally attributed to an aerodynamic drag-reduction phenomena associated with close-proximity driving. The current paper is the third in a series of papers documenting track testing of a two-truck platoon with a Cooperative Adaptive Cruise Control (CACC) system where fuel savings and aerodynamics measurements were performed simultaneously. Constant-speed road-load measurements from instrumented driveshafts and on-board wind anemometry were combined with vehicle measurements to calculate the aerodynamic drag-area of the vehicles.The drag-area results are presented for each vehicle in the two-truck platoon, and the corresponding drag-area reductions are shown for a variety of conditions: gap separation distances (9 m to 87 m), lateral offsets (up to 1.3 m), dry-van and flatbed trailers, and in the presence of surrounding traffic. For the standard aligned platoon, the results demonstrate up to 8% drag reduction for the lead vehicle, with drag reductions exceeding 20% for the trailing vehicle at some yaw angles. Wind-velocity measurements on the following truck suggest that the drag-area reductions are due to a combined effect of reduced apparent wind speed and reduced effective yaw angle in the wake of the lead truck. In the presence of a three-vehicle traffic pattern forward of a single truck, drag-area reductions on the order of 10% were observed relative to the same truck travelling in isolation. When platooning with this surrounding-traffic pattern, the trends and magnitudes of aerodynamic drag reduction are shown to be retained, relative to the platoon in the absence of other traffic, corroborating observed trends in of fuel-savings performed simultaneously.As a supplement to the current study, a first-of-its-kind coast-down test was undertaken with the two-truck platoon where the CACC system was used to maintain a constant distance between the vehicles during each coast. The CACC system was used on the following vehicle when the lead vehicle was coasting and on the lead vehicle when the follower was coasting. Despite some scatter in the data from this proof-of-concept study, the results are consistent with those of the principal constant-speed measurement technique of this paper. This preliminary study demonstrates that the coast-down test method, which previously was only applied for single vehicles, is also applicable to vehicle platoons.\",\"number\":\"3\",\"journal\":\"SAE International Journal of Advances and Current Practices in Mobility\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Brian\"],\"firstnames\":[\"McAuliffe\"],\"suffixes\":[]}],\"month\":\"April\",\"year\":\"2021\",\"pages\":\"1450 – 1472\",\"bibtex\":\"@article{brian_track-based_2021,\\n\\ttitle = {Track-{Based} {Aerodynamic} {Testing} of a {Two}-{Truck} {Platoon}},\\n\\tvolume = {3},\\n\\tissn = {2641-9637, 2641-9645},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edsstp&AN=edsstp.2021.01.0941&site=eds-live&scope=site},\\n\\tabstract = {Fuel savings from truck platooning are generally attributed to an aerodynamic drag-reduction phenomena associated with close-proximity driving. The current paper is the third in a series of papers documenting track testing of a two-truck platoon with a Cooperative Adaptive Cruise Control (CACC) system where fuel savings and aerodynamics measurements were performed simultaneously. Constant-speed road-load measurements from instrumented driveshafts and on-board wind anemometry were combined with vehicle measurements to calculate the aerodynamic drag-area of the vehicles.The drag-area results are presented for each vehicle in the two-truck platoon, and the corresponding drag-area reductions are shown for a variety of conditions: gap separation distances (9 m to 87 m), lateral offsets (up to 1.3 m), dry-van and flatbed trailers, and in the presence of surrounding traffic. For the standard aligned platoon, the results demonstrate up to 8\\\\% drag reduction for the lead vehicle, with drag reductions exceeding 20\\\\% for the trailing vehicle at some yaw angles. Wind-velocity measurements on the following truck suggest that the drag-area reductions are due to a combined effect of reduced apparent wind speed and reduced effective yaw angle in the wake of the lead truck. In the presence of a three-vehicle traffic pattern forward of a single truck, drag-area reductions on the order of 10\\\\% were observed relative to the same truck travelling in isolation. When platooning with this surrounding-traffic pattern, the trends and magnitudes of aerodynamic drag reduction are shown to be retained, relative to the platoon in the absence of other traffic, corroborating observed trends in of fuel-savings performed simultaneously.As a supplement to the current study, a first-of-its-kind coast-down test was undertaken with the two-truck platoon where the CACC system was used to maintain a constant distance between the vehicles during each coast. The CACC system was used on the following vehicle when the lead vehicle was coasting and on the lead vehicle when the follower was coasting. Despite some scatter in the data from this proof-of-concept study, the results are consistent with those of the principal constant-speed measurement technique of this paper. This preliminary study demonstrates that the coast-down test method, which previously was only applied for single vehicles, is also applicable to vehicle platoons.},\\n\\tnumber = {3},\\n\\tjournal = {SAE International Journal of Advances and Current Practices in Mobility},\\n\\tauthor = {Brian, McAuliffe},\\n\\tmonth = apr,\\n\\tyear = {2021},\\n\\tpages = {1450 -- 1472},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Brian, M.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edsstp&AN=edsstp.2021.01.0941&site=eds-live&scope=site\",\"key\":\"brian_track-based_2021\",\"id\":\"brian_track-based_2021\",\"bibbaseid\":\"brian-trackbasedaerodynamictestingofatwotruckplatoon-2021\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edsstp&AN=edsstp.2021.01.0941&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Roll and Bank Estimation Using GPS/INS and Suspension Deflections\",\"volume\":\"4\",\"issn\":\"2079-9292\",\"abstract\":\"This article presents a method that provides an estimate of road bank by decoupling the vehicle roll due to the dynamics and the roll due to the road bank. Suspension deflection measurements were used to provide a measurement of the relative roll between the vehicle body frame and the axle frame or between the sprung mass and the unsprung mass, respectively. A deflection scaling parameter was found via suspension geometry and dynamic analysis. The relative roll measurement was then incorporated into two different kinematic navigation models based on extended Kalman filter (EKF) architectures. Each algorithm was tested and then verified on the Prowler ATV experimental platform at the National Center for Asphalt Technology (NCAT). Experimental data showed that both the cascaded and coupled approach performed well in providing estimates of the current vehicle roll and instantaneous road bank.\",\"number\":\"1\",\"journal\":\"Electronics\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Brown\"],\"firstnames\":[\"Lowell\",\"S.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"month\":\"January\",\"year\":\"2015\",\"keywords\":\"Electronics, GPS, INS/GNSS, TK7800-8360, extended Kalman filter (EKF), relative roll, road bank, rollover, state estimation, suspension deflections, vehicle dynamics\",\"pages\":\"118 – 149\",\"bibtex\":\"@article{brown_roll_2015,\\n\\ttitle = {Roll and {Bank} {Estimation} {Using} {GPS}/{INS} and {Suspension} {Deflections}},\\n\\tvolume = {4},\\n\\tissn = {2079-9292},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edsdoj&AN=edsdoj.92881a6202bb41fea45d8040e9d6a17b&site=eds-live&scope=site},\\n\\tabstract = {This article presents a method that provides an estimate of road bank by decoupling the vehicle roll due to the dynamics and the roll due to the road bank. Suspension deflection measurements were used to provide a measurement of the relative roll between the vehicle body frame and the axle frame or between the sprung mass and the unsprung mass, respectively. A deflection scaling parameter was found via suspension geometry and dynamic analysis. The relative roll measurement was then incorporated into two different kinematic navigation models based on extended Kalman filter (EKF) architectures. Each algorithm was tested and then verified on the Prowler ATV experimental platform at the National Center for Asphalt Technology (NCAT). Experimental data showed that both the cascaded and coupled approach performed well in providing estimates of the current vehicle roll and instantaneous road bank.},\\n\\tnumber = {1},\\n\\tjournal = {Electronics},\\n\\tauthor = {Brown, Lowell S. and Bevly, David M.},\\n\\tmonth = jan,\\n\\tyear = {2015},\\n\\tkeywords = {Electronics, GPS, INS/GNSS, TK7800-8360, extended Kalman filter (EKF), relative roll, road bank, rollover, state estimation, suspension deflections, vehicle dynamics},\\n\\tpages = {118 -- 149},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Brown, L. S.\",\"Bevly, D. M.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edsdoj&AN=edsdoj.92881a6202bb41fea45d8040e9d6a17b&site=eds-live&scope=site\",\"key\":\"brown_roll_2015\",\"id\":\"brown_roll_2015\",\"bibbaseid\":\"brown-bevly-rollandbankestimationusinggpsinsandsuspensiondeflections-2015\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edsdoj&AN=edsdoj.92881a6202bb41fea45d8040e9d6a17b&site=eds-live&scope=site\"},\"keyword\":[\"Electronics\",\"GPS\",\"INS/GNSS\",\"TK7800-8360\",\"extended Kalman filter (EKF)\",\"relative roll\",\"road bank\",\"rollover\",\"state estimation\",\"suspension deflections\",\"vehicle dynamics\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Evaluation of fractal terrain model for vehicle dynamic simulations\",\"volume\":\"49\",\"issn\":\"0022-4898\",\"number\":\"6\",\"journal\":\"Journal of Terramechanics\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Dawkins\"],\"firstnames\":[\"Jeremy\",\"J.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Jackson\"],\"firstnames\":[\"Robert\",\"L.\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2012\",\"pages\":\"299 – 307\",\"bibtex\":\"@article{dawkins_evaluation_2012,\\n\\ttitle = {Evaluation of fractal terrain model for vehicle dynamic simulations},\\n\\tvolume = {49},\\n\\tissn = {0022-4898},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edselp&AN=S0022489812000547&site=eds-live&scope=site},\\n\\tnumber = {6},\\n\\tjournal = {Journal of Terramechanics},\\n\\tauthor = {Dawkins, Jeremy J. and Bevly, David M. and Jackson, Robert L.},\\n\\tmonth = dec,\\n\\tyear = {2012},\\n\\tpages = {299 -- 307},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Dawkins, J. J.\",\"Bevly, D. M.\",\"Jackson, R. L.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edselp&AN=S0022489812000547&site=eds-live&scope=site\",\"key\":\"dawkins_evaluation_2012\",\"id\":\"dawkins_evaluation_2012\",\"bibbaseid\":\"dawkins-bevly-jackson-evaluationoffractalterrainmodelforvehicledynamicsimulations-2012\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edselp&AN=S0022489812000547&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"Enhancement and Defense of GPS Navigation Using Signal Processing Techniques. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/4987\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Carson\"],\"firstnames\":[\"Nathaniel\",\"R.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"year\":\"2015\",\"bibtex\":\"@phdthesis{carson_enhancement_2015,\\n\\ttitle = {Enhancement and {Defense} of {GPS} {Navigation} {Using} {Signal} {Processing} {Techniques}. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/4987},\\n\\tauthor = {Carson, Nathaniel R. and Bevly, David M.},\\n\\tyear = {2015},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Carson, N. R.\",\"Bevly, D. M.\"],\"key\":\"carson_enhancement_2015\",\"id\":\"carson_enhancement_2015\",\"bibbaseid\":\"carson-bevly-enhancementanddefenseofgpsnavigationusingsignalprocessingtechniqueselectronicresource-2015\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/4987\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"Development of a Multi-mode Adaptive Controller and Investigation of Gain Variations with Speed and Balance Changes. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/5951\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Jantz\"],\"firstnames\":[\"James\",\"W.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Flowers\"],\"firstnames\":[\"George\",\"T.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Choe\"],\"firstnames\":[\"Song-yul\"],\"suffixes\":[]}],\"year\":\"2017\",\"bibtex\":\"@phdthesis{jantz_development_2017,\\n\\ttitle = {Development of a {Multi}-mode {Adaptive} {Controller} and {Investigation} of {Gain} {Variations} with {Speed} and {Balance} {Changes}. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/5951},\\n\\tauthor = {Jantz, James W. and Flowers, George T. and Bevly, David M. and Choe, Song-yul},\\n\\tyear = {2017},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Jantz, J. W.\",\"Flowers, G. T.\",\"Bevly, D. M.\",\"Choe, S.\"],\"key\":\"jantz_development_2017\",\"id\":\"jantz_development_2017\",\"bibbaseid\":\"jantz-flowers-bevly-choe-developmentofamultimodeadaptivecontrollerandinvestigationofgainvariationswithspeedandbalancechangeselectronicresource-2017\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/5951\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"A System for Tracking an Autonomously Controlled Canine\",\"volume\":\"64\",\"number\":\"3\",\"journal\":\"The Journal of Navigation\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Miller\"],\"firstnames\":[\"J.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"M\"],\"firstnames\":[\"Bevly\",\"D.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Flowers\"],\"firstnames\":[\"G.\"],\"suffixes\":[]}],\"month\":\"July\",\"year\":\"2012\",\"keywords\":\"Canine, Extended Kalman Filter, Fuzzy Logic\",\"bibtex\":\"@article{miller_system_2012,\\n\\ttitle = {A {System} for {Tracking} an {Autonomously} {Controlled} {Canine}},\\n\\tvolume = {64},\\n\\tnumber = {3},\\n\\tjournal = {The Journal of Navigation},\\n\\tauthor = {Miller, J. and M, Bevly D. and Flowers, G.},\\n\\tmonth = jul,\\n\\tyear = {2012},\\n\\tkeywords = {Canine, Extended Kalman Filter, Fuzzy Logic},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Miller, J.\",\"M, B. D.\",\"Flowers, G.\"],\"key\":\"miller_system_2012\",\"id\":\"miller_system_2012\",\"bibbaseid\":\"miller-m-flowers-asystemfortrackinganautonomouslycontrolledcanine-2012\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Canine\",\"Extended Kalman Filter\",\"Fuzzy Logic\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"A Low-Cost Solution for an Integrated Multisensor Lane Departure Warning System\",\"volume\":\"10\",\"issn\":\"15249050\",\"number\":\"1\",\"journal\":\"IEEE TRANSACTIONS ON IN℡LIGENT TRANSPORTATION SYSTEMS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Clanton\"],\"firstnames\":[\"Joshua\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hodel\"],\"firstnames\":[\"A.\",\"Scottedward\"],\"suffixes\":[]}],\"month\":\"March\",\"year\":\"2009\",\"keywords\":\"GPS, Kalman filter, image processing, inertial measurement unit, inertial navigation sensor (INS), intelligent transportation system (ITS), lane departure warning (LDW), vision\",\"pages\":\"47 – 59\",\"bibtex\":\"@article{clanton_low-cost_2009,\\n\\ttitle = {A {Low}-{Cost} {Solution} for an {Integrated} {Multisensor} {Lane} {Departure} {Warning} {System}},\\n\\tvolume = {10},\\n\\tissn = {15249050},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000263919800006&site=eds-live&scope=site},\\n\\tnumber = {1},\\n\\tjournal = {IEEE TRANSACTIONS ON IN℡LIGENT TRANSPORTATION SYSTEMS},\\n\\tauthor = {Clanton, Joshua M. and Bevly, David M. and Hodel, A. Scottedward},\\n\\tmonth = mar,\\n\\tyear = {2009},\\n\\tkeywords = {GPS, Kalman filter, image processing, inertial measurement unit, inertial navigation sensor (INS), intelligent transportation system (ITS), lane departure warning (LDW), vision},\\n\\tpages = {47 -- 59},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Clanton, J. M.\",\"Bevly, D. M.\",\"Hodel, A. S.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000263919800006&site=eds-live&scope=site\",\"key\":\"clanton_low-cost_2009\",\"id\":\"clanton_low-cost_2009\",\"bibbaseid\":\"clanton-bevly-hodel-alowcostsolutionforanintegratedmultisensorlanedeparturewarningsystem-2009\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000263919800006&site=eds-live&scope=site\"},\"keyword\":[\"GPS\",\"Kalman filter\",\"image processing\",\"inertial measurement unit\",\"inertial navigation sensor (INS)\",\"intelligent transportation system (ITS)\",\"lane departure warning (LDW)\",\"vision\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"The use of GPS for vehicle stability control systems\",\"volume\":\"51\",\"issn\":\"0278-0046\",\"abstract\":\"This paper presents a method for using global positioning system (GPS) velocity measurements to improve vehicle lateral stability control systems. GPS can be used to calculate the sideslip angle of a vehicle without knowing the vehicle model. This measurement is combined with other traditional measurements to control the lateral motion of the vehicle. Noise estimates are provided for all measurement systems to allow the sensors to be accurately represented. Additionally, a method to calculate the lateral forces at the tires is presented. It is shown that the tire estimation algorithm performs well outside the linear region of the tire. Results for the controller and force calculations are shown using a nonlinear model to simulate the vehicle and the force calculations are validated with experimental measurements on a test vehicle. Index Terms–Global positioning system (GPS), lateral stability, road vehicle control, vehicle dynamic control.\",\"number\":\"2\",\"journal\":\"IEEE Transactions on Industrial Electronics\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Daily\"],\"firstnames\":[\"Robert\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"month\":\"April\",\"year\":\"2004\",\"keywords\":\"Global Positioning System, Global Positioning System – Research\",\"pages\":\"270\",\"bibtex\":\"@article{daily_use_2004,\\n\\ttitle = {The use of {GPS} for vehicle stability control systems},\\n\\tvolume = {51},\\n\\tissn = {0278-0046},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edsgao&AN=edsgcl.115903053&site=eds-live&scope=site},\\n\\tabstract = {This paper presents a method for using global positioning system (GPS) velocity measurements to improve vehicle lateral stability control systems. GPS can be used to calculate the sideslip angle of a vehicle without knowing the vehicle model. This measurement is combined with other traditional measurements to control the lateral motion of the vehicle. Noise estimates are provided for all measurement systems to allow the sensors to be accurately represented. Additionally, a method to calculate the lateral forces at the tires is presented. It is shown that the tire estimation algorithm performs well outside the linear region of the tire. Results for the controller and force calculations are shown using a nonlinear model to simulate the vehicle and the force calculations are validated with experimental measurements on a test vehicle. Index Terms–Global positioning system (GPS), lateral stability, road vehicle control, vehicle dynamic control.},\\n\\tnumber = {2},\\n\\tjournal = {IEEE Transactions on Industrial Electronics},\\n\\tauthor = {Daily, Robert and Bevly, David M.},\\n\\tmonth = apr,\\n\\tyear = {2004},\\n\\tkeywords = {Global Positioning System, Global Positioning System – Research},\\n\\tpages = {270},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Daily, R.\",\"Bevly, D. M.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edsgao&AN=edsgcl.115903053&site=eds-live&scope=site\",\"key\":\"daily_use_2004\",\"id\":\"daily_use_2004\",\"bibbaseid\":\"daily-bevly-theuseofgpsforvehiclestabilitycontrolsystems-2004\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edsgao&AN=edsgcl.115903053&site=eds-live&scope=site\"},\"keyword\":[\"Global Positioning System\",\"Global Positioning System – Research\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"A Simplified Cartesian-Computed Torque Controller for Highly Geared Systems and Its Application to an Experimental Climbing Robot\",\"volume\":\"122\",\"issn\":\"0022-0434\",\"abstract\":\"A simplified Cartesian computed torque (SCCT) control scheme and its application to an experimental climbing robot named LIBRA is presented. SCCT control is developed exploiting some of the characteristics of highly geared mobile robots. The effectiveness of the method is shown by simulation and experimental results using the LIBRA robot. SCCT control is shown to have improved performance, over traditional Jacobian transpose control, for the LIBRA multilimbed robot. [S0022-0434(00)03501-2]\",\"number\":\"1\",\"journal\":\"Journal of Dynamic Systems, Measurement, and Control\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Dubowsky\"],\"firstnames\":[\"Steven\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Mavroidis\"],\"firstnames\":[\"Constantinos\"],\"suffixes\":[]}],\"month\":\"March\",\"year\":\"2000\",\"keywords\":\"Computer simulation – Analysis, Dynamics – Research, Robots – Analysis, Torque – Analysis, United States\",\"pages\":\"27\",\"bibtex\":\"@article{bevly_simplified_2000,\\n\\ttitle = {A {Simplified} {Cartesian}-{Computed} {Torque} {Controller} for {Highly} {Geared} {Systems} and {Its} {Application} to an {Experimental} {Climbing} {Robot}},\\n\\tvolume = {122},\\n\\tissn = {0022-0434},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edsgao&AN=edsgcl.62195506&site=eds-live&scope=site},\\n\\tabstract = {A simplified Cartesian computed torque (SCCT) control scheme and its application to an experimental climbing robot named LIBRA is presented. SCCT control is developed exploiting some of the characteristics of highly geared mobile robots. The effectiveness of the method is shown by simulation and experimental results using the LIBRA robot. SCCT control is shown to have improved performance, over traditional Jacobian transpose control, for the LIBRA multilimbed robot. [S0022-0434(00)03501-2]},\\n\\tnumber = {1},\\n\\tjournal = {Journal of Dynamic Systems, Measurement, and Control},\\n\\tauthor = {Bevly, David and Dubowsky, Steven and Mavroidis, Constantinos},\\n\\tmonth = mar,\\n\\tyear = {2000},\\n\\tkeywords = {Computer simulation – Analysis, Dynamics – Research, Robots – Analysis, Torque – Analysis, United States},\\n\\tpages = {27},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Bevly, D.\",\"Dubowsky, S.\",\"Mavroidis, C.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edsgao&AN=edsgcl.62195506&site=eds-live&scope=site\",\"key\":\"bevly_simplified_2000-1\",\"id\":\"bevly_simplified_2000-1\",\"bibbaseid\":\"bevly-dubowsky-mavroidis-asimplifiedcartesiancomputedtorquecontrollerforhighlygearedsystemsanditsapplicationtoanexperimentalclimbingrobot-2000\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edsgao&AN=edsgcl.62195506&site=eds-live&scope=site\"},\"keyword\":[\"Computer simulation – Analysis\",\"Dynamics – Research\",\"Robots – Analysis\",\"Torque – Analysis\",\"United States\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"System Identification and Adaptive Steering of Tractors Utilizing Differential Global Positioning System\",\"volume\":\"22\",\"issn\":\"0731-5090, 1533-3884\",\"number\":\"5\",\"journal\":\"Journal of Guidance, Control, and Dynamics\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Rekow\"],\"firstnames\":[\"Andrew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bell\"],\"firstnames\":[\"Thomas\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Parkinson\"],\"firstnames\":[\"Bradford\"],\"suffixes\":[]}],\"month\":\"September\",\"year\":\"1999\",\"pages\":\"671 – 674\",\"bibtex\":\"@article{rekow_system_1999,\\n\\ttitle = {System {Identification} and {Adaptive} {Steering} of {Tractors} {Utilizing} {Differential} {Global} {Positioning} {System}},\\n\\tvolume = {22},\\n\\tissn = {0731-5090, 1533-3884},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edsare&AN=edsare.2.4456&site=eds-live&scope=site},\\n\\tnumber = {5},\\n\\tjournal = {Journal of Guidance, Control, and Dynamics},\\n\\tauthor = {Rekow, Andrew and Bell, Thomas and Bevly, David and Parkinson, Bradford},\\n\\tmonth = sep,\\n\\tyear = {1999},\\n\\tpages = {671 -- 674},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Rekow, A.\",\"Bell, T.\",\"Bevly, D.\",\"Parkinson, B.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edsare&AN=edsare.2.4456&site=eds-live&scope=site\",\"key\":\"rekow_system_1999\",\"id\":\"rekow_system_1999\",\"bibbaseid\":\"rekow-bell-bevly-parkinson-systemidentificationandadaptivesteeringoftractorsutilizingdifferentialglobalpositioningsystem-1999\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edsare&AN=edsare.2.4456&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Deep Learned Multi-Modal Traffic Agent Predictions for Truck Platooning Cut-Ins\",\"abstract\":\"Recent advances in Driver-Assisted Truck Platooning (DATP) have shown success in linking multiple trucks in leader-follower platoons using Cooperative Adaptive Cruise Control (CACC). Such set ups allow for closer spacing between trucks which leads to fuel savings. Given that frontal collisions are the most common type of highway accident for heavy trucks, one key issue to truck platooning is handling situations in which vehicles cut-in between platooning trucks. Having more accurate and quicker predictions would improve the safety and efficiency of truck platooning by allowing the control system to react to the intruder sooner and allow for proper spacing before the cutin occurs. Moreover, reduction in false-positives could prevent the CACC from reacting to cut-in vehicles too early, leading to increased benefit from DATP. In this paper, we implement a deep neural network that generates multimodal predictions of traffic agents around a truck platoon. The method uses Long Short-Term Memory networks in an ensemble architecture to predict possible future positions with attached probabilities of vehicles passing by a truck platoon for 5 second horizons. The network performance is compared to a baseline of common state-based predictors including the Constant Velocity Predictor, the Constant Acceleration Predictor, and the Constant Steer Predictor.\",\"publisher\":\"IEEE\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Douglass\"],\"firstnames\":[\"Samuel\",\"Paul\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Jennings\"],\"firstnames\":[\"Andrew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Chen\"],\"firstnames\":[\"Howard\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"month\":\"April\",\"year\":\"2020\",\"bibtex\":\"@inproceedings{douglass_deep_2020,\\n\\ttitle = {Deep {Learned} {Multi}-{Modal} {Traffic} {Agent} {Predictions} for {Truck} {Platooning} {Cut}-{Ins}},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.9109809&site=eds-live&scope=site},\\n\\tabstract = {Recent advances in Driver-Assisted Truck Platooning (DATP) have shown success in linking multiple trucks in leader-follower platoons using Cooperative Adaptive Cruise Control (CACC). Such set ups allow for closer spacing between trucks which leads to fuel savings. Given that frontal collisions are the most common type of highway accident for heavy trucks, one key issue to truck platooning is handling situations in which vehicles cut-in between platooning trucks. Having more accurate and quicker predictions would improve the safety and efficiency of truck platooning by allowing the control system to react to the intruder sooner and allow for proper spacing before the cutin occurs. Moreover, reduction in false-positives could prevent the CACC from reacting to cut-in vehicles too early, leading to increased benefit from DATP. In this paper, we implement a deep neural network that generates multimodal predictions of traffic agents around a truck platoon. The method uses Long Short-Term Memory networks in an ensemble architecture to predict possible future positions with attached probabilities of vehicles passing by a truck platoon for 5 second horizons. The network performance is compared to a baseline of common state-based predictors including the Constant Velocity Predictor, the Constant Acceleration Predictor, and the Constant Steer Predictor.},\\n\\tpublisher = {IEEE},\\n\\tauthor = {Douglass, Samuel Paul and Martin, Scott and Jennings, Andrew and Chen, Howard and Bevly, David M.},\\n\\tmonth = apr,\\n\\tyear = {2020},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Douglass, S. P.\",\"Martin, S.\",\"Jennings, A.\",\"Chen, H.\",\"Bevly, D. M.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.9109809&site=eds-live&scope=site\",\"key\":\"douglass_deep_2020\",\"id\":\"douglass_deep_2020\",\"bibbaseid\":\"douglass-martin-jennings-chen-bevly-deeplearnedmultimodaltrafficagentpredictionsfortruckplatooningcutins-2020\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.9109809&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Incorporating INS with Carrier-Phase Differential GPS for Automatic Steering Control of a Farm Tractor\",\"volume\":\"108\",\"issn\":\"0096736X, 25771531\",\"abstract\":\"This paper evaluates the use of a low cost inertial navigation system (INS) combined with Carrier-Phase Differential GPS (DGPS), to provide continuous position and attitude estimation for the control of a farm tractor. The INS system is used for dead-reckoning navigation to control the vehicle through short GPS outages. An Extended Kalman filter combines INS and Doppler radar measurements with cm-level Carrier-Phase Differential GPS measurements for continuous position and attitude estimation of the tractor. Results are given which verify the ability of the INS system to provide a heading accuracy within ±0.6° for control of the tractor. Additionally it is shown that the dead-reckoning system can provide position and attitude estimation to control the tractor to within ±0.3 meters through a short GPS outage.\",\"journal\":\"SAE Transactions\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Rekow\"],\"firstnames\":[\"Andrew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Parkinson\"],\"firstnames\":[\"Bradford\"],\"suffixes\":[]}],\"month\":\"January\",\"year\":\"1999\",\"pages\":\"339 – 345\",\"bibtex\":\"@article{bevly_incorporating_1999,\\n\\ttitle = {Incorporating {INS} with {Carrier}-{Phase} {Differential} {GPS} for {Automatic} {Steering} {Control} of a {Farm} {Tractor}},\\n\\tvolume = {108},\\n\\tissn = {0096736X, 25771531},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edsjsr&AN=edsjsr.44723056&site=eds-live&scope=site},\\n\\tabstract = {This paper evaluates the use of a low cost inertial navigation system (INS) combined with Carrier-Phase Differential GPS (DGPS), to provide continuous position and attitude estimation for the control of a farm tractor. The INS system is used for dead-reckoning navigation to control the vehicle through short GPS outages. An Extended Kalman filter combines INS and Doppler radar measurements with cm-level Carrier-Phase Differential GPS measurements for continuous position and attitude estimation of the tractor. Results are given which verify the ability of the INS system to provide a heading accuracy within ±0.6° for control of the tractor. Additionally it is shown that the dead-reckoning system can provide position and attitude estimation to control the tractor to within ±0.3 meters through a short GPS outage.},\\n\\tjournal = {SAE Transactions},\\n\\tauthor = {Bevly, David M. and Rekow, Andrew and Parkinson, Bradford},\\n\\tmonth = jan,\\n\\tyear = {1999},\\n\\tpages = {339 -- 345},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Bevly, D. M.\",\"Rekow, A.\",\"Parkinson, B.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edsjsr&AN=edsjsr.44723056&site=eds-live&scope=site\",\"key\":\"bevly_incorporating_1999\",\"id\":\"bevly_incorporating_1999\",\"bibbaseid\":\"bevly-rekow-parkinson-incorporatinginswithcarrierphasedifferentialgpsforautomaticsteeringcontrolofafarmtractor-1999\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edsjsr&AN=edsjsr.44723056&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Lane Change and Merge Maneuvers for Connected and Automated Vehicles: A Survey\",\"volume\":\"1\",\"issn\":\"23798858\",\"number\":\"1\",\"journal\":\"IEEE TRANSACTIONS ON IN℡LIGENT VEHICLES\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Cao\"],\"firstnames\":[\"Xiaolong\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Gordon\"],\"firstnames\":[\"Mikhail\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Ozbilgin\"],\"firstnames\":[\"Guchan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kari\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Nelson\"],\"firstnames\":[\"Brently\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Woodruff\"],\"firstnames\":[\"Jonathan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Barth\"],\"firstnames\":[\"Matthew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Murray\"],\"firstnames\":[\"Chase\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kurt\"],\"firstnames\":[\"Arda\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Redmill\"],\"firstnames\":[\"Keith\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Ozguner\"],\"firstnames\":[\"Umit\"],\"suffixes\":[]}],\"month\":\"March\",\"year\":\"2016\",\"keywords\":\"Cooperative adaptive cruise control (CACC), dedicated short range communications (DSRC), differential global positioning system (DGPS), lane change and merge, light detection and ranging (LiDAR), managed lanes, model predictive control (MPC), platooning, real time kinematic (RTK)\",\"pages\":\"105 – 120\",\"bibtex\":\"@article{bevly_lane_2016,\\n\\ttitle = {Lane {Change} and {Merge} {Maneuvers} for {Connected} and {Automated} {Vehicles}: {A} {Survey}},\\n\\tvolume = {1},\\n\\tissn = {23798858},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000722376200009&site=eds-live&scope=site},\\n\\tnumber = {1},\\n\\tjournal = {IEEE TRANSACTIONS ON IN℡LIGENT VEHICLES},\\n\\tauthor = {Bevly, David and Cao, Xiaolong and Gordon, Mikhail and Ozbilgin, Guchan and Kari, David and Nelson, Brently and Woodruff, Jonathan and Barth, Matthew and Murray, Chase and Kurt, Arda and Redmill, Keith and Ozguner, Umit},\\n\\tmonth = mar,\\n\\tyear = {2016},\\n\\tkeywords = {Cooperative adaptive cruise control (CACC), dedicated short range communications (DSRC), differential global positioning system (DGPS), lane change and merge, light detection and ranging (LiDAR), managed lanes, model predictive control (MPC), platooning, real time kinematic (RTK)},\\n\\tpages = {105 -- 120},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Bevly, D.\",\"Cao, X.\",\"Gordon, M.\",\"Ozbilgin, G.\",\"Kari, D.\",\"Nelson, B.\",\"Woodruff, J.\",\"Barth, M.\",\"Murray, C.\",\"Kurt, A.\",\"Redmill, K.\",\"Ozguner, U.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000722376200009&site=eds-live&scope=site\",\"key\":\"bevly_lane_2016\",\"id\":\"bevly_lane_2016\",\"bibbaseid\":\"bevly-cao-gordon-ozbilgin-kari-nelson-woodruff-barth-etal-lanechangeandmergemaneuversforconnectedandautomatedvehiclesasurvey-2016\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000722376200009&site=eds-live&scope=site\"},\"keyword\":[\"Cooperative adaptive cruise control (CACC)\",\"dedicated short range communications (DSRC)\",\"differential global positioning system (DGPS)\",\"lane change and merge\",\"light detection and ranging (LiDAR)\",\"managed lanes\",\"model predictive control (MPC)\",\"platooning\",\"real time kinematic (RTK)\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"Low-Bandwidth Three Dimensional Mapping and Latency Reducing Model Prediction to Improve Teleoperation of Robotic Vehicles. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/3264\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Woodall\"],\"firstnames\":[\"William\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Biaz\"],\"firstnames\":[\"Saad\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hung\"],\"firstnames\":[\"John\",\"Y.\"],\"suffixes\":[]}],\"year\":\"2012\",\"bibtex\":\"@phdthesis{woodall_low-bandwidth_2012,\\n\\ttitle = {Low-{Bandwidth} {Three} {Dimensional} {Mapping} and {Latency} {Reducing} {Model} {Prediction} to {Improve} {Teleoperation} of {Robotic} {Vehicles}. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/3264},\\n\\tauthor = {Woodall, William and Bevly, David M. and Biaz, Saad and Hung, John Y.},\\n\\tyear = {2012},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Woodall, W.\",\"Bevly, D. M.\",\"Biaz, S.\",\"Hung, J. Y.\"],\"key\":\"woodall_low-bandwidth_2012\",\"id\":\"woodall_low-bandwidth_2012\",\"bibbaseid\":\"woodall-bevly-biaz-hung-lowbandwidththreedimensionalmappingandlatencyreducingmodelpredictiontoimproveteleoperationofroboticvehicleselectronicresource-2012\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/3264\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"High-Dynamic Range Collision Detection using Piezoelectric Polymer Films for Planar and Non-planar Applications. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/3698\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Wooten\"],\"firstnames\":[\"James\",\"Michael\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hung\"],\"firstnames\":[\"John\",\"Y.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Marghitu\"],\"firstnames\":[\"Dan\",\"B.\"],\"suffixes\":[]}],\"year\":\"2013\",\"bibtex\":\"@phdthesis{wooten_high-dynamic_2013,\\n\\ttitle = {High-{Dynamic} {Range} {Collision} {Detection} using {Piezoelectric} {Polymer} {Films} for {Planar} and {Non}-planar {Applications}. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/3698},\\n\\tauthor = {Wooten, James Michael and Bevly, David M. and Hung, John Y. and Marghitu, Dan B.},\\n\\tyear = {2013},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Wooten, J. M.\",\"Bevly, D. M.\",\"Hung, J. Y.\",\"Marghitu, D. B.\"],\"key\":\"wooten_high-dynamic_2013\",\"id\":\"wooten_high-dynamic_2013\",\"bibbaseid\":\"wooten-bevly-hung-marghitu-highdynamicrangecollisiondetectionusingpiezoelectricpolymerfilmsforplanarandnonplanarapplicationselectronicresource-2013\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/3698\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"Magnetometer Aided Navigation Filters for Improved Observability and Estimation on Ground Vehicles. 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[electronic resource]},\\n\\turl = {https://etd.auburn.edu//handle/10415/7699},\\n\\tauthor = {Castleberry, Matthew and Roppel, Thaddeus Adam and Martin, Scott M. and Bevly, David M. and Reeves, Stan},\\n\\tyear = {2021},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Castleberry, M.\",\"Roppel, T. A.\",\"Martin, S. M.\",\"Bevly, D. M.\",\"Reeves, S.\"],\"key\":\"castleberry_methods_2021\",\"id\":\"castleberry_methods_2021\",\"bibbaseid\":\"castleberry-roppel-martin-bevly-reeves-methodsforimprovingvisualterrainrelativenavigationfordynamicaerialsystemselectronicresource-2021\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://etd.auburn.edu//handle/10415/7699\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"Investigation of Precise Relative Positioning through Varying Equipment Grades. [electronic resource]\",\"url\":\"https://etd.auburn.edu//handle/10415/8094\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Campos-Vega\"],\"firstnames\":[\"Christian\",\"J.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hoffman\"],\"firstnames\":[\"Mark\",\"A.\"],\"suffixes\":[]}],\"year\":\"2022\",\"bibtex\":\"@phdthesis{campos-vega_investigation_2022,\\n\\ttitle = {Investigation of {Precise} {Relative} {Positioning} through {Varying} {Equipment} {Grades}. [electronic resource]},\\n\\turl = {https://etd.auburn.edu//handle/10415/8094},\\n\\tauthor = {Campos-Vega, Christian J. and Martin, Scott M. and Bevly, David M. and Hoffman, Mark A.},\\n\\tyear = {2022},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Campos-Vega, C. J.\",\"Martin, S. M.\",\"Bevly, D. M.\",\"Hoffman, M. A.\"],\"key\":\"campos-vega_investigation_2022\",\"id\":\"campos-vega_investigation_2022\",\"bibbaseid\":\"camposvega-martin-bevly-hoffman-investigationofpreciserelativepositioningthroughvaryingequipmentgradeselectronicresource-2022\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://etd.auburn.edu//handle/10415/8094\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"Determination of the Allowable Parametric Uncertainty in the Closed Loop Via a Skew-μ Based Technique with an Application to the Yaw-Roll Vehicle Model. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/5935\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Brown\"],\"firstnames\":[\"Lowell\",\"S.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hung\"],\"firstnames\":[\"John\",\"Y.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Flowers\"],\"firstnames\":[\"George\",\"T.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Marghitu\"],\"firstnames\":[\"Dan\",\"B.\"],\"suffixes\":[]}],\"year\":\"2017\",\"bibtex\":\"@phdthesis{brown_determination_2017,\\n\\ttitle = {Determination of the {Allowable} {Parametric} {Uncertainty} in the {Closed} {Loop} {Via} a {Skew}-μ {Based} {Technique} with an {Application} to the {Yaw}-{Roll} {Vehicle} {Model}. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/5935},\\n\\tauthor = {Brown, Lowell S. and Bevly, David M. and Hung, John Y. and Flowers, George T. and Marghitu, Dan B.},\\n\\tyear = {2017},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Brown, L. S.\",\"Bevly, D. M.\",\"Hung, J. Y.\",\"Flowers, G. T.\",\"Marghitu, D. B.\"],\"key\":\"brown_determination_2017\",\"id\":\"brown_determination_2017\",\"bibbaseid\":\"brown-bevly-hung-flowers-marghitu-determinationoftheallowableparametricuncertaintyintheclosedloopviaaskewbasedtechniquewithanapplicationtotheyawrollvehiclemodelelectronicresource-2017\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/5935\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"Lane detection, calibration, and attitude determination with a multi-layer lidar for vehicle safety systems. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/2366\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Britt\"],\"firstnames\":[\"Jordan\",\"H.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hung\"],\"firstnames\":[\"John\",\"Y.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Roppel\"],\"firstnames\":[\"Thaddeus\",\"Adam\"],\"suffixes\":[]}],\"year\":\"2010\",\"bibtex\":\"@phdthesis{britt_lane_2010,\\n\\ttitle = {Lane detection, calibration, and attitude determination with a multi-layer lidar for vehicle safety systems. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/2366},\\n\\tauthor = {Britt, Jordan H. and Bevly, David M. and Hung, John Y. and Roppel, Thaddeus Adam},\\n\\tyear = {2010},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Britt, J. H.\",\"Bevly, D. M.\",\"Hung, J. Y.\",\"Roppel, T. A.\"],\"key\":\"britt_lane_2010\",\"id\":\"britt_lane_2010\",\"bibbaseid\":\"britt-bevly-hung-roppel-lanedetectioncalibrationandattitudedeterminationwithamultilayerlidarforvehiclesafetysystemselectronicresource-2010\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/2366\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"Detection and Removal of Erroneous GPS Signals Using Angle of Arrival. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/3888\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bitner\"],\"firstnames\":[\"Thomas\",\"L.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M\"],\"suffixes\":[]}],\"year\":\"2013\",\"bibtex\":\"@phdthesis{bitner_detection_2013,\\n\\ttitle = {Detection and {Removal} of {Erroneous} {GPS} {Signals} {Using} {Angle} of {Arrival}. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/3888},\\n\\tauthor = {Bitner, Thomas L. and Bevly, David M},\\n\\tyear = {2013},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Bitner, T. L.\",\"Bevly, D. M\"],\"key\":\"bitner_detection_2013\",\"id\":\"bitner_detection_2013\",\"bibbaseid\":\"bitner-bevly-detectionandremovaloferroneousgpssignalsusingangleofarrivalelectronicresource-2013\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/3888\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"Ultra-wideband Radio Aided Carrier Phase Ambiguity Resolution in Real-Time Kinematic GPS Relative Positioning. [electronic resource]\",\"url\":\"http://hdl.handle.net/10415/3704\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Broshears\"],\"firstnames\":[\"Eric\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Choe\"],\"firstnames\":[\"Song-Yul\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Roppel\"],\"firstnames\":[\"Thaddeus\",\"Adam\"],\"suffixes\":[]}],\"year\":\"2013\",\"bibtex\":\"@phdthesis{broshears_ultra-wideband_2013,\\n\\ttitle = {Ultra-wideband {Radio} {Aided} {Carrier} {Phase} {Ambiguity} {Resolution} in {Real}-{Time} {Kinematic} {GPS} {Relative} {Positioning}. [electronic resource]},\\n\\turl = {http://hdl.handle.net/10415/3704},\\n\\tauthor = {Broshears, Eric and Bevly, David M. and Choe, Song-Yul and Roppel, Thaddeus Adam},\\n\\tyear = {2013},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Broshears, E.\",\"Bevly, D. M.\",\"Choe, S.\",\"Roppel, T. A.\"],\"key\":\"broshears_ultra-wideband_2013-1\",\"id\":\"broshears_ultra-wideband_2013-1\",\"bibbaseid\":\"broshears-bevly-choe-roppel-ultrawidebandradioaidedcarrierphaseambiguityresolutioninrealtimekinematicgpsrelativepositioningelectronicresource-2013\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://hdl.handle.net/10415/3704\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Relative position of UGVs in constrained environments using low cost IMU and GPS augmented with ultrasonic sensors\",\"abstract\":\"This paper presents a low cost approach to improve the relative position accuracy of unmanned ground vehicles (UGV) in a constrained environment through the use of ultrasonic sensors. A low cost MEMS IMU is integrated with a low cost GPS module to estimate the absolute position of the UGVs using an Extended Kalman Filter. The inherent limitations of GPS and MEMS sensors limit the estimatepsilas utility for determining the relative position of a pair of UGVs in close proximity. The estimator is augmented with range and bearing measurements from the ultrasonic sensors to overcome these limitations. The PPS from the GPS provides a common time to the ultrasonic sensors on each of the UGVs. This approach removes the necessity to differentiate between multiple returns for measuring the distance between UGV. Experiments were performed with a pair of sensors in urban terrain to evaluate the accuracy of the relative position estimate using this method. The results display the accuracy and precision of the relative position achieved. The results are compared with estimates from a pair of navigation estimators to illustrate the performance gains.\",\"publisher\":\"IEEE\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Henderson\"],\"firstnames\":[\"Harold\",\"P.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2008\",\"bibtex\":\"@inproceedings{henderson_relative_2008,\\n\\ttitle = {Relative position of {UGVs} in constrained environments using low cost {IMU} and {GPS} augmented with ultrasonic sensors},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.4570080&site=eds-live&scope=site},\\n\\tabstract = {This paper presents a low cost approach to improve the relative position accuracy of unmanned ground vehicles (UGV) in a constrained environment through the use of ultrasonic sensors. A low cost MEMS IMU is integrated with a low cost GPS module to estimate the absolute position of the UGVs using an Extended Kalman Filter. The inherent limitations of GPS and MEMS sensors limit the estimatepsilas utility for determining the relative position of a pair of UGVs in close proximity. The estimator is augmented with range and bearing measurements from the ultrasonic sensors to overcome these limitations. The PPS from the GPS provides a common time to the ultrasonic sensors on each of the UGVs. This approach removes the necessity to differentiate between multiple returns for measuring the distance between UGV. Experiments were performed with a pair of sensors in urban terrain to evaluate the accuracy of the relative position estimate using this method. The results display the accuracy and precision of the relative position achieved. The results are compared with estimates from a pair of navigation estimators to illustrate the performance gains.},\\n\\tpublisher = {IEEE},\\n\\tauthor = {Henderson, Harold P. and Bevly, David M.},\\n\\tmonth = may,\\n\\tyear = {2008},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Henderson, H. P.\",\"Bevly, D. M.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.4570080&site=eds-live&scope=site\",\"key\":\"henderson_relative_2008-1\",\"id\":\"henderson_relative_2008-1\",\"bibbaseid\":\"henderson-bevly-relativepositionofugvsinconstrainedenvironmentsusinglowcostimuandgpsaugmentedwithultrasonicsensors-2008\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.4570080&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Using 3D road geometry to optimize heavy truck fuel efficiency\",\"abstract\":\"This paper investigates the benefit of using a 3D road geometry based optimal powertrain control system in reducing the fuel consumption of heavy trucks. The optimal control system, using constrained nonlinear programming, is designed to predict the optimal throttle, gear shifting and velocity trajectory, to minimize the fuel consumption and travel time. Computer simulations of a Class 8 truck model are conducted with Intermap 3D road geometry. Simulation results show that the optimal control system is able to reduce the fuel consumption with equal travel time, when compared to the defined baseline. Additionally, sensitivity analyses are conducted to investigate how the change of the terrain and the errors in the road map affect the gain of fuel economy and system behavior.\",\"publisher\":\"IEEE\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Huang\"],\"firstnames\":[\"Wei\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Schnick\"],\"firstnames\":[\"Steve\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Li\"],\"firstnames\":[\"Xiaopeng\"],\"suffixes\":[]}],\"month\":\"October\",\"year\":\"2008\",\"bibtex\":\"@inproceedings{huang_using_2008,\\n\\ttitle = {Using {3D} road geometry to optimize heavy truck fuel efficiency},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.4732656&site=eds-live&scope=site},\\n\\tabstract = {This paper investigates the benefit of using a 3D road geometry based optimal powertrain control system in reducing the fuel consumption of heavy trucks. The optimal control system, using constrained nonlinear programming, is designed to predict the optimal throttle, gear shifting and velocity trajectory, to minimize the fuel consumption and travel time. Computer simulations of a Class 8 truck model are conducted with Intermap 3D road geometry. Simulation results show that the optimal control system is able to reduce the fuel consumption with equal travel time, when compared to the defined baseline. Additionally, sensitivity analyses are conducted to investigate how the change of the terrain and the errors in the road map affect the gain of fuel economy and system behavior.},\\n\\tpublisher = {IEEE},\\n\\tauthor = {Huang, Wei and Bevly, David M. and Schnick, Steve and Li, Xiaopeng},\\n\\tmonth = oct,\\n\\tyear = {2008},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Huang, W.\",\"Bevly, D. M.\",\"Schnick, S.\",\"Li, X.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.4732656&site=eds-live&scope=site\",\"key\":\"huang_using_2008\",\"id\":\"huang_using_2008\",\"bibbaseid\":\"huang-bevly-schnick-li-using3droadgeometrytooptimizeheavytruckfuelefficiency-2008\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.4732656&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Cooperative Vector Tracking for Localization of Vehicles in Challenging GNSS Signal Environments\",\"abstract\":\"This paper presents a robust method of processing GNSS data for vehicle localization in degraded signal environments where conventional receivers struggle to accurately position. The method relies on cooperation between receivers that use vector tracking, an advanced signal processing architecture for GNSS. Cooperation is performed through an EKF algorithm that can be employed for standalone or cooperative navigation by coupling stochastic receiver dynamics together. Simulation results are presented that demonstrate vehicle positioning is accurately achieved with cooperation under low C/N 0 ratio conditions where standalone vector tracking is not stable and improved by including more collaborating receivers to the algorithm. The simulation claims are validated experimentally with GPS test data from a four-vehicle platoon traveling on an interstate exchange that incurs signal blockages from bridges.\",\"booktitle\":\"2021 IEEE International Intelligent Transportation Systems Conference (ITSC) Intelligent Transportation Systems Conference (ITSC),2021\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Watts\"],\"firstnames\":[\"Tanner\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"month\":\"September\",\"year\":\"2021\",\"bibtex\":\"@inproceedings{watts_cooperative_2021,\\n\\ttitle = {Cooperative {Vector} {Tracking} for {Localization} of {Vehicles} in {Challenging} {GNSS} {Signal} {Environments}},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.9564468&site=eds-live&scope=site},\\n\\tabstract = {This paper presents a robust method of processing GNSS data for vehicle localization in degraded signal environments where conventional receivers struggle to accurately position. The method relies on cooperation between receivers that use vector tracking, an advanced signal processing architecture for GNSS. Cooperation is performed through an EKF algorithm that can be employed for standalone or cooperative navigation by coupling stochastic receiver dynamics together. Simulation results are presented that demonstrate vehicle positioning is accurately achieved with cooperation under low C/N 0 ratio conditions where standalone vector tracking is not stable and improved by including more collaborating receivers to the algorithm. The simulation claims are validated experimentally with GPS test data from a four-vehicle platoon traveling on an interstate exchange that incurs signal blockages from bridges.},\\n\\tbooktitle = {2021 {IEEE} {International} {Intelligent} {Transportation} {Systems} {Conference} ({ITSC}) {Intelligent} {Transportation} {Systems} {Conference} ({ITSC}),2021},\\n\\tauthor = {Watts, Tanner and Martin, Scott and Bevly, David},\\n\\tmonth = sep,\\n\\tyear = {2021},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Watts, T.\",\"Martin, S.\",\"Bevly, D.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.9564468&site=eds-live&scope=site\",\"key\":\"watts_cooperative_2021\",\"id\":\"watts_cooperative_2021\",\"bibbaseid\":\"watts-martin-bevly-cooperativevectortrackingforlocalizationofvehiclesinchallenginggnsssignalenvironments-2021\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.9564468&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Piezoelectric Polymer-Based Collision Detection Sensor for Robotic Applications\",\"volume\":\"4\",\"issn\":\"20799292\",\"number\":\"1\",\"journal\":\"ELECTRONICS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Wooten\"],\"firstnames\":[\"J.\",\"Michael\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hung\"],\"firstnames\":[\"John\",\"Y.\"],\"suffixes\":[]}],\"month\":\"March\",\"year\":\"2015\",\"keywords\":\"collision detection, collision sensor robotic manipulator, piezoelectricity, polymer film, polyvinylidene\",\"pages\":\"204 – 220\",\"bibtex\":\"@article{wooten_piezoelectric_2015,\\n\\ttitle = {Piezoelectric {Polymer}-{Based} {Collision} {Detection} {Sensor} for {Robotic} {Applications}},\\n\\tvolume = {4},\\n\\tissn = {20799292},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000355795900010&site=eds-live&scope=site},\\n\\tnumber = {1},\\n\\tjournal = {ELECTRONICS},\\n\\tauthor = {Wooten, J. Michael and Bevly, David M. and Hung, John Y.},\\n\\tmonth = mar,\\n\\tyear = {2015},\\n\\tkeywords = {collision detection, collision sensor robotic manipulator, piezoelectricity, polymer film, polyvinylidene},\\n\\tpages = {204 -- 220},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Wooten, J. M.\",\"Bevly, D. M.\",\"Hung, J. Y.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000355795900010&site=eds-live&scope=site\",\"key\":\"wooten_piezoelectric_2015\",\"id\":\"wooten_piezoelectric_2015\",\"bibbaseid\":\"wooten-bevly-hung-piezoelectricpolymerbasedcollisiondetectionsensorforroboticapplications-2015\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000355795900010&site=eds-live&scope=site\"},\"keyword\":[\"collision detection\",\"collision sensor robotic manipulator\",\"piezoelectricity\",\"polymer film\",\"polyvinylidene\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"GNSS for vehicle control.\",\"volume\":\"65\",\"issn\":\"00368059\",\"abstract\":\"The article reviews the book \\\"GNSS for Vehicle Control,\\\" by David M. Bevly and Stewart Cobb.\",\"number\":\"1\",\"journal\":\"Sci-Tech News\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Fingerman\"],\"firstnames\":[\"Susan\"],\"suffixes\":[]}],\"year\":\"2011\",\"keywords\":\"Bevly, Cobb, David M., GNSS for Vehicle Control (Book), Global Positioning System, Nonfiction, Stewart\",\"pages\":\"27 – 27\",\"bibtex\":\"@article{fingerman_gnss_2011,\\n\\ttitle = {{GNSS} for vehicle control.},\\n\\tvolume = {65},\\n\\tissn = {00368059},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=lxh&AN=60657903&site=eds-live&scope=site},\\n\\tabstract = {The article reviews the book \\\"GNSS for Vehicle Control,\\\" by David M. Bevly and Stewart Cobb.},\\n\\tnumber = {1},\\n\\tjournal = {Sci-Tech News},\\n\\tauthor = {Fingerman, Susan},\\n\\tyear = {2011},\\n\\tkeywords = {Bevly, Cobb, David M., GNSS for Vehicle Control (Book), Global Positioning System, Nonfiction, Stewart},\\n\\tpages = {27 -- 27},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Fingerman, S.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=lxh&AN=60657903&site=eds-live&scope=site\",\"key\":\"fingerman_gnss_2011\",\"id\":\"fingerman_gnss_2011\",\"bibbaseid\":\"fingerman-gnssforvehiclecontrol-2011\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=lxh&AN=60657903&site=eds-live&scope=site\"},\"keyword\":[\"Bevly\",\"Cobb\",\"David M.\",\"GNSS for Vehicle Control (Book)\",\"Global Positioning System\",\"Nonfiction\",\"Stewart\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"misc\",\"type\":\"misc\",\"title\":\"Auburn University, Ford team up to improve stability in vehicles\",\"publisher\":\"Opelika-Auburn News (AL)\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Enoch\"],\"firstnames\":[\"Ed\"],\"suffixes\":[]}],\"month\":\"October\",\"year\":\"2009\",\"bibtex\":\"@misc{enoch_auburn_2009,\\n\\ttitle = {Auburn {University}, {Ford} team up to improve stability in vehicles},\\n\\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=pwh&AN=2W62259199668&site=eds-live&scope=site},\\n\\tpublisher = {Opelika-Auburn News (AL)},\\n\\tauthor = {Enoch, Ed},\\n\\tmonth = oct,\\n\\tyear = {2009},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Enoch, E.\"],\"urlhttp://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=pwh&AN=2W62259199668&site=eds-live&scope=site\",\"key\":\"enoch_auburn_2009\",\"id\":\"enoch_auburn_2009\",\"bibbaseid\":\"enoch-auburnuniversityfordteamuptoimprovestabilityinvehicles-2009\",\"role\":\"author\",\"urls\":{\"Http://spot.lib.auburn.edu/login?url\":\"https://search.ebscohost.com/login.aspx?direct=true&db=pwh&AN=2W62259199668&site=eds-live&scope=site\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Keynote: Radar Probabilistic Data Association Filter with GPS Aiding for Target Selection and Relative Position Determination\",\"shorttitle\":\"Keynote\",\"doi\":\"10.33012/2017.15069\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Sherer\"],\"firstnames\":[\"Tyler\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"month\":\"June\",\"year\":\"2017\",\"pages\":\"419–428\",\"bibtex\":\"@inproceedings{sherer_keynote_2017,\\n\\ttitle = {Keynote: {Radar} {Probabilistic} {Data} {Association} {Filter} with {GPS} {Aiding} for {Target} {Selection} and {Relative} {Position} {Determination}},\\n\\tshorttitle = {Keynote},\\n\\tdoi = {10.33012/2017.15069},\\n\\tauthor = {Sherer, Tyler and Martin, Scott and Bevly, David},\\n\\tmonth = jun,\\n\\tyear = {2017},\\n\\tpages = {419--428},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Sherer, T.\",\"Martin, S.\",\"Bevly, D.\"],\"key\":\"sherer_keynote_2017\",\"id\":\"sherer_keynote_2017\",\"bibbaseid\":\"sherer-martin-bevly-keynoteradarprobabilisticdataassociationfilterwithgpsaidingfortargetselectionandrelativepositiondetermination-2017\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Proportional Navigation and Model Predictive Control of an Unmanned Autonomous Vehicle for Obstacle Avoidance\",\"doi\":\"10.1115/DSCC2018-9080\",\"abstract\":\"This paper presents a new approach for the guidance and control of a UGV (Unmanned Ground Vehicle). An obstacle avoidance algorithm was developed using an integrated system involving proportional navigation (PN) and a nonlinear model predictive controller (NMPC). An obstacle avoidance variant of the classical proportional navigation law generates command lateral accelerations to avoid obstacles, while the NMPC is used to track the reference trajectory given by the PN. The NMPC utilizes a lateral vehicle dynamic model. Obstacle avoidance has become a popular area of research for both unmanned aerial vehicles and unmanned ground vehicles. In this application an obstacle avoidance algorithm can take over the control of a vehicle until the obstacle is no longer a threat. The performance of the obstacle avoidance algorithm is evaluated through simulation. Simulation results show a promising approach to conditionally implemented obstacle avoidance.\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Shaw\"],\"firstnames\":[\"Ryan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"month\":\"September\",\"year\":\"2018\",\"pages\":\"V003T37A004\",\"bibtex\":\"@inproceedings{shaw_proportional_2018,\\n\\ttitle = {Proportional {Navigation} and {Model} {Predictive} {Control} of an {Unmanned} {Autonomous} {Vehicle} for {Obstacle} {Avoidance}},\\n\\tdoi = {10.1115/DSCC2018-9080},\\n\\tabstract = {This paper presents a new approach for the guidance and control of a UGV (Unmanned Ground Vehicle). An obstacle avoidance algorithm was developed using an integrated system involving proportional navigation (PN) and a nonlinear model predictive controller (NMPC). An obstacle avoidance variant of the classical proportional navigation law generates command lateral accelerations to avoid obstacles, while the NMPC is used to track the reference trajectory given by the PN. The NMPC utilizes a lateral vehicle dynamic model. Obstacle avoidance has become a popular area of research for both unmanned aerial vehicles and unmanned ground vehicles. In this application an obstacle avoidance algorithm can take over the control of a vehicle until the obstacle is no longer a threat. The performance of the obstacle avoidance algorithm is evaluated through simulation. Simulation results show a promising approach to conditionally implemented obstacle avoidance.},\\n\\tauthor = {Shaw, Ryan and Bevly, David},\\n\\tmonth = sep,\\n\\tyear = {2018},\\n\\tpages = {V003T37A004},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Shaw, R.\",\"Bevly, D.\"],\"key\":\"shaw_proportional_2018\",\"id\":\"shaw_proportional_2018\",\"bibbaseid\":\"shaw-bevly-proportionalnavigationandmodelpredictivecontrolofanunmannedautonomousvehicleforobstacleavoidance-2018\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"St. Louis, MO\",\"title\":\"Navigation through the Processing of Android Data with a High-Order Kalman Filter\",\"abstract\":\"This paper presents a fourth order Extended Kalman Filter (EKF) that processes Android smartphone data for positioning and navigation. The EKF utilizes GNSS, IMU, and magnetometer sensor outputs for correction to its states. Unlike traditional GPS/INS error state recursions, the EKF processes the IMU outputs through the measurement observation matrix. The high-order EKF includes Fault Detection and Exclusion (FDE) to remove erroneous measurements. The navigation algorithm was evaluated with Pixel 4 and Pixel 4XL training data provided by the Google Smartphone Decimeter Challenge. The experimental results indicate the smartphones’ GNSS chip receivers provide positions with accuracies of roughly 1.5 meters at a rate of 1 Hz. The high-order EKF provides positions with accuracies of roughly 3 meters at a rate of 100 Hz. Furthermore, the high-order EKF can accurately navigate under motion with the IMU and magnetometer sensors for 5 to 10 seconds without GNSS. In cases when the GNSS has position faults, the EKF successfully rejects the outliers with FDE and continues to navigate. Future work includes augmenting the EKF with an adaptive process noise tuning algorithm, including sensor bia\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Campos-Vega\"],\"firstnames\":[\"Christian\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Watts\"],\"firstnames\":[\"Tanner\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Chen\"],\"firstnames\":[\"Howard\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"year\":\"2021\",\"bibtex\":\"@inproceedings{campos-vega_navigation_2021,\\n\\taddress = {St. Louis, MO},\\n\\ttitle = {Navigation through the {Processing} of {Android} {Data} with a {High}-{Order} {Kalman} {Filter}},\\n\\tabstract = {This paper presents a fourth order Extended Kalman Filter (EKF) that processes Android smartphone data for positioning and navigation. The EKF utilizes GNSS, IMU, and magnetometer sensor outputs for correction to its states. Unlike traditional GPS/INS error state recursions, the EKF processes the IMU outputs through the measurement observation matrix. The high-order EKF includes Fault Detection and Exclusion (FDE) to remove erroneous measurements. The navigation algorithm was evaluated with Pixel 4 and Pixel 4XL training data provided by the Google Smartphone Decimeter Challenge. The experimental results indicate the smartphones’ GNSS chip receivers provide positions with accuracies of roughly 1.5 meters at a rate of 1 Hz. The high-order EKF provides positions with accuracies of roughly 3 meters at a rate of 100 Hz. Furthermore, the high-order EKF can accurately navigate under motion with the IMU and magnetometer sensors for 5 to 10 seconds without GNSS. In cases when the GNSS has position faults, the EKF successfully rejects the outliers with FDE and continues to navigate. Future work includes augmenting the EKF with an adaptive process noise tuning algorithm, including sensor bia},\\n\\tauthor = {Campos-Vega, Christian and Watts, Tanner and Martin, Scott and Chen, Howard and Bevly, David},\\n\\tyear = {2021},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Campos-Vega, C.\",\"Watts, T.\",\"Martin, S.\",\"Chen, H.\",\"Bevly, D.\"],\"key\":\"campos-vega_navigation_2021\",\"id\":\"campos-vega_navigation_2021\",\"bibbaseid\":\"camposvega-watts-martin-chen-bevly-navigationthroughtheprocessingofandroiddatawithahighorderkalmanfilter-2021\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"St. Louis, MO\",\"title\":\"Autonomous Direct Calibration of an Inertial Measurement Unit\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Mifflin\"],\"firstnames\":[\"Greg\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"year\":\"2021\",\"bibtex\":\"@inproceedings{mifflin_autonomous_2021,\\n\\taddress = {St. Louis, MO},\\n\\ttitle = {Autonomous {Direct} {Calibration} of an {Inertial} {Measurement} {Unit}},\\n\\tauthor = {Mifflin, Greg and Bevly, David},\\n\\tyear = {2021},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Mifflin, G.\",\"Bevly, D.\"],\"key\":\"mifflin_autonomous_2021\",\"id\":\"mifflin_autonomous_2021\",\"bibbaseid\":\"mifflin-bevly-autonomousdirectcalibrationofaninertialmeasurementunit-2021\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"UT Austin, USA\",\"title\":\"Automatic Extrinsic Rotational Calibration of LiDAR Sensors and Vehicle Orientation Estimation\",\"abstract\":\"Whether a vehicle is being used for an autonomous mission or in support of data collection and research, extrinsic calibration to align the vehicle’s sensors to a reference point on the vehicle is integral to ensuring that quality data is available to the system. This is particularly true for vision and distance sensors, such as LiDAR, which must be well-located with respect to the vehicle body before they can provide meaningful localization or environmental modeling assistance. This paper outlines an automatic approach for calibrating a LiDAR to the body of a ground vehicle using only the data from the LiDAR itself. This approach assumes that the LiDAR is able to sample at least a one meter square section of level ground, and that the vehicle travels along a straight section of roadway with a well-marked road edge at some point during the calibration, while closely following the trajectory of the road edge. This method has been able to automatically calibrate a LiDAR to yield 0.08 and 0.12 degrees of error in roll and pitch respectively when comparing estimated ground pitch and roll to the orientation estimates from a truth sensor.\",\"booktitle\":\"Advanced Signal Processing, Estimation and Control in Automotive Applications\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Meyer\"],\"firstnames\":[\"Stephanie\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Chen\"],\"firstnames\":[\"Howard\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"month\":\"October\",\"year\":\"2021\",\"bibtex\":\"@inproceedings{meyer_automatic_2021,\\n\\taddress = {UT Austin, USA},\\n\\ttitle = {Automatic {Extrinsic} {Rotational} {Calibration} of {LiDAR} {Sensors} and {Vehicle} {Orientation} {Estimation}},\\n\\tabstract = {Whether a vehicle is being used for an autonomous mission or in support of data collection and\\nresearch, extrinsic calibration to align the vehicle’s sensors to a reference point on the vehicle is integral\\nto ensuring that quality data is available to the system. This is particularly true for vision and distance\\nsensors, such as LiDAR, which must be well-located with respect to the vehicle body before they can\\nprovide meaningful localization or environmental modeling assistance. This paper outlines an automatic\\napproach for calibrating a LiDAR to the body of a ground vehicle using only the data from the LiDAR\\nitself. This approach assumes that the LiDAR is able to sample at least a one meter square section of\\nlevel ground, and that the vehicle travels along a straight section of roadway with a well-marked road\\nedge at some point during the calibration, while closely following the trajectory of the road edge. This\\nmethod has been able to automatically calibrate a LiDAR to yield 0.08 and 0.12 degrees of error in roll\\nand pitch respectively when comparing estimated ground pitch and roll to the orientation estimates from\\na truth sensor.},\\n\\tbooktitle = {Advanced {Signal} {Processing}, {Estimation} and {Control} in {Automotive} {Applications}},\\n\\tauthor = {Meyer, Stephanie and Chen, Howard and Bevly, David},\\n\\tmonth = oct,\\n\\tyear = {2021},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Meyer, S.\",\"Chen, H.\",\"Bevly, D.\"],\"key\":\"meyer_automatic_2021\",\"id\":\"meyer_automatic_2021\",\"bibbaseid\":\"meyer-chen-bevly-automaticextrinsicrotationalcalibrationoflidarsensorsandvehicleorientationestimation-2021\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"A Method of Optimal Control for Class 8 Vehicle Platoons Over Hilly Terrain\",\"volume\":\"144\",\"issn\":\"0022-0434, 1528-9028\",\"url\":\"https://asmedigitalcollection.asme.org/dynamicsystems/article/144/1/011108/1128821/A-Method-of-Optimal-Control-for-Class-8-Vehicle\",\"doi\":\"10.1115/1.4053087\",\"abstract\":\"Abstract This work develops and implements a nonlinear model predictive control (NMPC) control system to facilitate fuel-optimal platooning of class 8 vehicles over challenging terrain. Prior research has shown that cooperative adaptive cruise control (CACC), which allows multiple class 8 vehicles to follow in close succession, can save between 3% and 8% in overall fuel consumption on flat terrain. However, on more challenging terrain, e.g., rolling hills, platooning vehicles can experience diminished fuel savings, and, in some cases, an increase in fuel consumption relative to individual vehicle operation. This research explores the use of NMPC with predefined route grade profiles to allow platooning vehicles to generate an optimal velocity trajectory with respect to fuel consumption. In order to successfully implement the NMPC system, a model relating vehicle velocity to fuel consumption was generated and validated using experimental data. Additionally, the predefined route grade profiles were created by using the vehicle's GPS velocity over the desired terrain. The real-time NMPC system was then implemented on a two-truck platoon operating over challenging terrain, with a reference vehicle running individually. The results from NMPC platooning are compared against fuel results from a classical proportional-integral-derivative (PID) headway control method. This comparison yields the comparative fuel savings and energy efficiency benefit of the NMPC system. In the final analysis, significant fuel savings of greater than 14 and 20% were seen for the lead and following vehicles relative to their respective traditional cruise control and platooning architectures.\",\"language\":\"en\",\"number\":\"1\",\"urldate\":\"2022-09-20\",\"journal\":\"Journal of Dynamic Systems, Measurement, and Control\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Ward\"],\"firstnames\":[\"Jacob\",\"W.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Stegner\"],\"firstnames\":[\"Evan\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hoffman\"],\"firstnames\":[\"Mark\",\"A.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"month\":\"January\",\"year\":\"2022\",\"pages\":\"011108\",\"bibtex\":\"@article{ward_method_2022,\\n\\ttitle = {A {Method} of {Optimal} {Control} for {Class} 8 {Vehicle} {Platoons} {Over} {Hilly} {Terrain}},\\n\\tvolume = {144},\\n\\tissn = {0022-0434, 1528-9028},\\n\\turl = {https://asmedigitalcollection.asme.org/dynamicsystems/article/144/1/011108/1128821/A-Method-of-Optimal-Control-for-Class-8-Vehicle},\\n\\tdoi = {10.1115/1.4053087},\\n\\tabstract = {Abstract\\n            This work develops and implements a nonlinear model predictive control (NMPC) control system to facilitate fuel-optimal platooning of class 8 vehicles over challenging terrain. Prior research has shown that cooperative adaptive cruise control (CACC), which allows multiple class 8 vehicles to follow in close succession, can save between 3\\\\% and 8\\\\% in overall fuel consumption on flat terrain. However, on more challenging terrain, e.g., rolling hills, platooning vehicles can experience diminished fuel savings, and, in some cases, an increase in fuel consumption relative to individual vehicle operation. This research explores the use of NMPC with predefined route grade profiles to allow platooning vehicles to generate an optimal velocity trajectory with respect to fuel consumption. In order to successfully implement the NMPC system, a model relating vehicle velocity to fuel consumption was generated and validated using experimental data. Additionally, the predefined route grade profiles were created by using the vehicle's GPS velocity over the desired terrain. The real-time NMPC system was then implemented on a two-truck platoon operating over challenging terrain, with a reference vehicle running individually. The results from NMPC platooning are compared against fuel results from a classical proportional-integral-derivative (PID) headway control method. This comparison yields the comparative fuel savings and energy efficiency benefit of the NMPC system. In the final analysis, significant fuel savings of greater than 14 and 20\\\\% were seen for the lead and following vehicles relative to their respective traditional cruise control and platooning architectures.},\\n\\tlanguage = {en},\\n\\tnumber = {1},\\n\\turldate = {2022-09-20},\\n\\tjournal = {Journal of Dynamic Systems, Measurement, and Control},\\n\\tauthor = {Ward, Jacob W. and Stegner, Evan M. and Hoffman, Mark A. and Bevly, David M.},\\n\\tmonth = jan,\\n\\tyear = {2022},\\n\\tpages = {011108},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Ward, J. W.\",\"Stegner, E. M.\",\"Hoffman, M. A.\",\"Bevly, D. M.\"],\"key\":\"ward_method_2022\",\"id\":\"ward_method_2022\",\"bibbaseid\":\"ward-stegner-hoffman-bevly-amethodofoptimalcontrolforclass8vehicleplatoonsoverhillyterrain-2022\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://asmedigitalcollection.asme.org/dynamicsystems/article/144/1/011108/1128821/A-Method-of-Optimal-Control-for-Class-8-Vehicle\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Detroit, MI\",\"title\":\"Vehicle Load Estimation Using Recursive Total Least Squares for Rollover Detection\",\"doi\":\"10.4271/2022-01-0914\",\"abstract\":\"This paper will describe the development of a load estimation algorithm that is used to estimate the load parameters necessary to detect a vehicle’s proximity to rollover. When operating a vehicle near its handling limits or with large loads, vehicle rollover must be considered for safe operation. Vehicle mass and center of gravity (CG) height play a large role in a vehicle’s rollover propensity. Cargo and passenger vehicles operate under a range of load configurations; therefore, changes in load should be estimated. Researchers have often developed load estimation and rollover detection algorithms separately. This paper will develop a load estimation algorithm and use the load estimates and vehicle states to detect rollover. The load estimation algorithm uses total least squares and is broken into two parts. First, mass is estimated based on a “full-car” dynamic ride model. Next, the CG height and inertia are estimated using the previously estimated mass and a dynamic roll model. Least squares is a popular method for load estimation. Least Squares (LS) assumes that there is no measurement noise which is violated in this application. Total Least Squares (TLS) accounts for measurement noise and provides more accurate estimates when measurement noise is present. Simulated data from CarSim is used to produce sensor measurements. Inertial measurement unit (IMU) and suspension defection sensors are used to measure the appropriate vehicle states. Noise is added to each measurement. Accuracy of the load estimation will be discussed and compared to the least squares approach. Rollover detection using load estimates will be analyzed and compared to rollover detection that does not account for changes in load.\",\"booktitle\":\"SAE International\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Hilyer\"],\"firstnames\":[\"Trenton\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"month\":\"January\",\"year\":\"2022\",\"bibtex\":\"@inproceedings{hilyer_vehicle_2022,\\n\\taddress = {Detroit, MI},\\n\\ttitle = {Vehicle {Load} {Estimation} {Using} {Recursive} {Total} {Least} {Squares} for {Rollover} {Detection}},\\n\\tdoi = {10.4271/2022-01-0914},\\n\\tabstract = {This paper will describe the development of a load estimation\\nalgorithm that is used to estimate the load parameters\\nnecessary to detect a vehicle’s proximity to rollover.\\nWhen operating a vehicle near its handling limits or with large\\nloads, vehicle rollover must be considered for safe operation.\\nVehicle mass and center of gravity (CG) height play a large role\\nin a vehicle’s rollover propensity. Cargo and passenger vehicles\\noperate under a range of load configurations; therefore,\\nchanges in load should be estimated. Researchers have often\\ndeveloped load estimation and rollover detection algorithms\\nseparately. This paper will develop a load estimation algorithm\\nand use the load estimates and vehicle states to detect rollover.\\nThe load estimation algorithm uses total least squares and is\\nbroken into two parts. First, mass is estimated based on a\\n“full-car” dynamic ride model. Next, the CG height and inertia\\nare estimated using the previously estimated mass and a\\ndynamic roll model. Least squares is a popular method for load\\nestimation. Least Squares (LS) assumes that there is no\\nmeasurement noise which is violated in this application. Total\\nLeast Squares (TLS) accounts for measurement noise and\\nprovides more accurate estimates when measurement noise is\\npresent. Simulated data from CarSim is used to produce sensor\\nmeasurements. Inertial measurement unit (IMU) and suspension\\ndefection sensors are used to measure the appropriate\\nvehicle states. Noise is added to each measurement. Accuracy\\nof the load estimation will be discussed and compared to the\\nleast squares approach. Rollover detection using load estimates\\nwill be analyzed and compared to rollover detection that does\\nnot account for changes in load.},\\n\\tbooktitle = {{SAE} {International}},\\n\\tauthor = {Hilyer, Trenton and Bevly, David},\\n\\tmonth = jan,\\n\\tyear = {2022},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Hilyer, T.\",\"Bevly, D.\"],\"key\":\"hilyer_vehicle_2022\",\"id\":\"hilyer_vehicle_2022\",\"bibbaseid\":\"hilyer-bevly-vehicleloadestimationusingrecursivetotalleastsquaresforrolloverdetection-2022\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":4,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"New Metrics for Quantifying the Energy Efficiency of Platoons in the Presence of Disturbances\",\"url\":\"https://doi.org/10.4271/2022-01-0526\",\"doi\":\"https://doi.org/10.4271/2022-01-0526\",\"booktitle\":\"SAE Technical Paper Series\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Stegner\"],\"firstnames\":[\"Evan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Snitzer\"],\"firstnames\":[\"Phillip\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hoffman\"],\"firstnames\":[\"Mark\"],\"suffixes\":[]}],\"month\":\"March\",\"year\":\"2022\",\"bibtex\":\"@inproceedings{stegner_new_2022,\\n\\ttitle = {New {Metrics} for {Quantifying} the {Energy} {Efficiency} of {Platoons} in the {Presence} of {Disturbances}},\\n\\turl = {https://doi.org/10.4271/2022-01-0526},\\n\\tdoi = {https://doi.org/10.4271/2022-01-0526},\\n\\tbooktitle = {{SAE} {Technical} {Paper} {Series}},\\n\\tauthor = {Stegner, Evan and Snitzer, Phillip and Bevly, David and Hoffman, Mark},\\n\\tmonth = mar,\\n\\tyear = {2022},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Stegner, E.\",\"Snitzer, P.\",\"Bevly, D.\",\"Hoffman, M.\"],\"key\":\"stegner_new_2022\",\"id\":\"stegner_new_2022\",\"bibbaseid\":\"stegner-snitzer-bevly-hoffman-newmetricsforquantifyingtheenergyefficiencyofplatoonsinthepresenceofdisturbances-2022\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://doi.org/10.4271/2022-01-0526\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":1,\"html\":\"\"},{\"bibtype\":\"incollection\",\"type\":\"incollection\",\"address\":\"Cham\",\"series\":\"Lecture Notes in Intelligent Transportation and Infrastructure\",\"title\":\"Semi-autonomous Truck Platooning with a Lean Sensor Package\",\"isbn\":\"978-3-031-06780-8\",\"url\":\"https://doi.org/10.1007/978-3-031-06780-8_2\",\"abstract\":\"This chapter describes one method of approaching fuel-efficient truck platooning using a system called Cooperative Adaptive Cruise Control (CACC). The principal innovation in the system is its lean sensor package, including factory-ready standard ACC system utilizing a dual-beam radar, precision Global Positioning System (GPS), and a Vehicle-to-Vehicle (V2V) communication system. In other words, no imaging sensors such as camera or lidar, and no associated high-performance computing hardware such as Graphics Processing Units (GPU). Extensive test track and public road testing on class-8 semi-trucks, including edge case testing, reveals the efficacy and robustness of this system despite its leanness. Quantitative results are included in this chapter that trace cause and effect through the CACC system.\",\"language\":\"en\",\"urldate\":\"2023-06-06\",\"booktitle\":\"AI-enabled Technologies for Autonomous and Connected Vehicles\",\"publisher\":\"Springer International Publishing\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Lakshmanan\"],\"firstnames\":[\"Sridhar\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Adam\"],\"firstnames\":[\"Cristian\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kleinow\"],\"firstnames\":[\"Timothy\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Richardson\"],\"firstnames\":[\"Paul\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Ward\"],\"firstnames\":[\"Jacob\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Stegner\"],\"firstnames\":[\"Evan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hoffman\"],\"firstnames\":[\"Mark\"],\"suffixes\":[]}],\"editor\":[{\"propositions\":[],\"lastnames\":[\"Murphey\"],\"firstnames\":[\"Yi\",\"Lu\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kolmanovsky\"],\"firstnames\":[\"Ilya\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Watta\"],\"firstnames\":[\"Paul\"],\"suffixes\":[]}],\"year\":\"2023\",\"doi\":\"10.1007/978-3-031-06780-8_2\",\"pages\":\"19–59\",\"bibtex\":\"@incollection{lakshmanan_semi-autonomous_2023,\\n\\taddress = {Cham},\\n\\tseries = {Lecture {Notes} in {Intelligent} {Transportation} and {Infrastructure}},\\n\\ttitle = {Semi-autonomous {Truck} {Platooning} with a {Lean} {Sensor} {Package}},\\n\\tisbn = {978-3-031-06780-8},\\n\\turl = {https://doi.org/10.1007/978-3-031-06780-8_2},\\n\\tabstract = {This chapter describes one method of approaching fuel-efficient truck platooning using a system called Cooperative Adaptive Cruise Control (CACC). The principal innovation in the system is its lean sensor package, including factory-ready standard ACC system utilizing a dual-beam radar, precision Global Positioning System (GPS), and a Vehicle-to-Vehicle (V2V) communication system. In other words, no imaging sensors such as camera or lidar, and no associated high-performance computing hardware such as Graphics Processing Units (GPU). Extensive test track and public road testing on class-8 semi-trucks, including edge case testing, reveals the efficacy and robustness of this system despite its leanness. Quantitative results are included in this chapter that trace cause and effect through the CACC system.},\\n\\tlanguage = {en},\\n\\turldate = {2023-06-06},\\n\\tbooktitle = {{AI}-enabled {Technologies} for {Autonomous} and {Connected} {Vehicles}},\\n\\tpublisher = {Springer International Publishing},\\n\\tauthor = {Lakshmanan, Sridhar and Adam, Cristian and Kleinow, Timothy and Richardson, Paul and Ward, Jacob and Stegner, Evan and Bevly, David and Hoffman, Mark},\\n\\teditor = {Murphey, Yi Lu and Kolmanovsky, Ilya and Watta, Paul},\\n\\tyear = {2023},\\n\\tdoi = {10.1007/978-3-031-06780-8_2},\\n\\tpages = {19--59},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Lakshmanan, S.\",\"Adam, C.\",\"Kleinow, T.\",\"Richardson, P.\",\"Ward, J.\",\"Stegner, E.\",\"Bevly, D.\",\"Hoffman, M.\"],\"editor_short\":[\"Murphey, Y. L.\",\"Kolmanovsky, I.\",\"Watta, P.\"],\"key\":\"lakshmanan_semi-autonomous_2023\",\"id\":\"lakshmanan_semi-autonomous_2023\",\"bibbaseid\":\"lakshmanan-adam-kleinow-richardson-ward-stegner-bevly-hoffman-semiautonomoustruckplatooningwithaleansensorpackage-2023\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://doi.org/10.1007/978-3-031-06780-8_2\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Essential PoseSLAM: An Efficient Landmark-Free Approach to Visual-Inertial Navigation\",\"abstract\":\"This paper presents an efficient method of fusing visual and inertial data for navigation using the two-view tensor, also known as the essential matrix. The essential matrix encodes the up-to-scale geometric relationship between two camera poses and contains the relative rotation and direction-of-translation between them. A dense network of up-to-scale relative pose measurements is constructed by computing essential matrices between incoming images and a collection of past states which observed the same scene. As the essential matrix is computed online in many visual-inertial navigation systems (VINS) as part of the image processing front end, the proposed method introduces little computational overhead while avoiding all computations related to feature estimation. This approach can be viewed as a modification of the classical pose-graph simultaneous localization and mapping (SLAM) problem. This paper further presents a dynamic initialization method to bootstrap the velocity, orientation, and biases of an IMU. The initialization method makes use of the same modified pose-graph SLAM approach to solve for the up-to-scale relative poses of a window of camera frames before solving for orientation, velocity, and sensor biases. We validate the proposed methods by implementing them in Extended Kalman Filter (EKF) and nonlinear optimization forms and testing them on public datasets.\",\"language\":\"en\",\"booktitle\":\"IEEE/ION PLANS 2023\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Boler\"],\"firstnames\":[\"Matthew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]}],\"month\":\"April\",\"year\":\"2023\",\"bibtex\":\"@inproceedings{boler_essential_2023,\\n\\ttitle = {Essential {PoseSLAM}: {An} {Efficient} {Landmark}-{Free} {Approach} to {Visual}-{Inertial} {Navigation}},\\n\\tabstract = {This paper presents an efficient method of fusing visual and inertial data for navigation using the two-view tensor, also known as the essential matrix. The essential matrix encodes the up-to-scale geometric relationship between two camera poses and contains the relative rotation and direction-of-translation between them. A dense network of up-to-scale relative pose measurements is constructed by computing essential matrices between incoming images and a collection of past states which observed the same scene. As the essential matrix is computed online in many visual-inertial navigation systems (VINS) as part of the image processing front end, the proposed method introduces little computational overhead while avoiding all computations related to feature estimation. This approach can be viewed as a modification of the classical pose-graph simultaneous localization and mapping (SLAM) problem. This paper further presents a dynamic initialization method to bootstrap the velocity, orientation, and biases of an IMU. The initialization method makes use of the same modified pose-graph SLAM approach to solve for the up-to-scale relative poses of a window of camera frames before solving for orientation, velocity, and sensor biases. We validate the proposed methods by implementing them in Extended Kalman Filter (EKF) and nonlinear optimization forms and testing them on public datasets.},\\n\\tlanguage = {en},\\n\\tbooktitle = {{IEEE}/{ION} {PLANS} 2023},\\n\\tauthor = {Boler, Matthew and Martin, Scott},\\n\\tmonth = apr,\\n\\tyear = {2023},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Boler, M.\",\"Martin, S.\"],\"key\":\"boler_essential_2023\",\"id\":\"boler_essential_2023\",\"bibbaseid\":\"boler-martin-essentialposeslamanefficientlandmarkfreeapproachtovisualinertialnavigation-2023\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"SNAP: A Xona Space Systems and GPS Software-Defined Receiver\",\"abstract\":\"This paper proposes the Satellite Navigation Applied Processor (SNAP), a Software Defined Receiver (SDR) for the Xona Space Systems Pulsar constellation and legacy Global Navigation Satellite Systems (GNSS). The novelty of this paper is found in the creation of an SDR that serves to explore the capabilities of a new Low Earth Orbit (LEO) satellite navigation constellation. The modularity of SNAP allows both industry professionals and students to investigate their own Pulsar and legacy GNSS signal processing techniques.\",\"language\":\"en\",\"booktitle\":\"IEEE/ION PLANS 2023\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Miller\"],\"firstnames\":[\"Noah\",\"S\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Koza\"],\"firstnames\":[\"J\",\"Tanner\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Morgan\"],\"firstnames\":[\"Samuel\",\"C\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\",\"M\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Neish\"],\"firstnames\":[\"Andrew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Grayson\"],\"firstnames\":[\"Robert\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Reid\"],\"firstnames\":[\"Tyler\"],\"suffixes\":[]}],\"month\":\"April\",\"year\":\"2023\",\"bibtex\":\"@inproceedings{miller_snap_2023,\\n\\ttitle = {{SNAP}: {A} {Xona} {Space} {Systems} and {GPS} {Software}-{Defined} {Receiver}},\\n\\tabstract = {This paper proposes the Satellite Navigation Applied Processor (SNAP), a Software Defined Receiver (SDR) for the Xona Space Systems Pulsar constellation and legacy Global Navigation Satellite Systems (GNSS). The novelty of this paper is found in the creation of an SDR that serves to explore the capabilities of a new Low Earth Orbit (LEO) satellite navigation constellation. The modularity of SNAP allows both industry professionals and students to investigate their own Pulsar and legacy GNSS signal processing techniques.},\\n\\tlanguage = {en},\\n\\tbooktitle = {{IEEE}/{ION} {PLANS} 2023},\\n\\tauthor = {Miller, Noah S and Koza, J Tanner and Morgan, Samuel C and Martin, Scott M and Neish, Andrew and Grayson, Robert and Reid, Tyler},\\n\\tmonth = apr,\\n\\tyear = {2023},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Miller, N. S\",\"Koza, J T.\",\"Morgan, S. C\",\"Martin, S. M\",\"Neish, A.\",\"Grayson, R.\",\"Reid, T.\"],\"key\":\"miller_snap_2023\",\"id\":\"miller_snap_2023\",\"bibbaseid\":\"miller-koza-morgan-martin-neish-grayson-reid-snapaxonaspacesystemsandgpssoftwaredefinedreceiver-2023\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Correlation Between Sensor Performance and Fuel-Efficiency in Semi-Truck Platoons\",\"author\":[{\"firstnames\":[],\"propositions\":[],\"lastnames\":[\"C. Lakshmanan Adam\"],\"suffixes\":[]},{\"firstnames\":[],\"propositions\":[],\"lastnames\":[\"Richardson S.\"],\"suffixes\":[]},{\"firstnames\":[],\"propositions\":[],\"lastnames\":[\"Stegner P.\"],\"suffixes\":[]},{\"firstnames\":[],\"propositions\":[],\"lastnames\":[\"Ward E.\"],\"suffixes\":[]},{\"firstnames\":[],\"propositions\":[],\"lastnames\":[\"Hoffman J.\"],\"suffixes\":[]},{\"firstnames\":[],\"propositions\":[],\"lastnames\":[\"Bevly D.\"],\"suffixes\":[]}],\"year\":\"2021\",\"bibtex\":\"@inproceedings{c_lakshmanan_adam_correlation_2021,\\n\\ttitle = {Correlation {Between} {Sensor} {Performance} and {Fuel}-{Efficiency} in {Semi}-{Truck} {Platoons}},\\n\\tauthor = {{C. Lakshmanan Adam} and {Richardson S.} and {Stegner P.} and {Ward E.} and {Hoffman J.} and {Bevly D.}},\\n\\tyear = {2021},\\n}\\n\\n\\n\\n\",\"author_short\":[\"C. Lakshmanan Adam\",\"Richardson S.\",\"Stegner P.\",\"Ward E.\",\"Hoffman J.\",\"Bevly D.\"],\"key\":\"c_lakshmanan_adam_correlation_2021\",\"id\":\"c_lakshmanan_adam_correlation_2021\",\"bibbaseid\":\"clakshmananadam-richardsons-stegnerp-warde-hoffmanj-bevlyd-correlationbetweensensorperformanceandfuelefficiencyinsemitruckplatoons-2021\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Single-Antenna Low Earth Orbit Signal Simulator for Hardware in the Loop Testing \\\\textbar Technical Program - ION GNSS+ 2022\",\"url\":\"https://www.ion.org/gnss/abstracts.cfm?paperID=11519\",\"urldate\":\"2022-04-20\",\"author\":[{\"propositions\":[],\"lastnames\":[\"McDougal\"],\"firstnames\":[\"Samuel\"],\"suffixes\":[]}],\"year\":\"2021\",\"bibtex\":\"@inproceedings{mcdougal_single-antenna_2021,\\n\\ttitle = {Single-{Antenna} {Low} {Earth} {Orbit} {Signal} {Simulator} for {Hardware} in the {Loop} {Testing} {\\\\textbar} {Technical} {Program} - {ION} {GNSS}+ 2022},\\n\\turl = {https://www.ion.org/gnss/abstracts.cfm?paperID=11519},\\n\\turldate = {2022-04-20},\\n\\tauthor = {McDougal, Samuel},\\n\\tyear = {2021},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"McDougal, S.\"],\"key\":\"mcdougal_single-antenna_2021\",\"id\":\"mcdougal_single-antenna_2021\",\"bibbaseid\":\"mcdougal-singleantennalowearthorbitsignalsimulatorforhardwareinthelooptestingtextbartechnicalprogramiongnss2022-2021\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.ion.org/gnss/abstracts.cfm?paperID=11519\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":3,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Ph.D.\",\"address\":\"United States – Alabama\",\"title\":\"Modeling and performance analysis of GPS vector tracking algorithms\",\"copyright\":\"Database copyright ProQuest LLC; ProQuest does not claim copyright in the individual underlying works.\",\"url\":\"https://www.proquest.com/docview/304830161/abstract/D637655D4F56458EPQ/1\",\"abstract\":\"This dissertation provides a detailed analysis of GPS vector tracking algorithms and the advantages they have over traditional receiver architectures. Standard GPS receivers use a decentralized architecture that separates the tasks of signal tracking and position/velocity estimation. Vector tracking algorithms combine the two tasks into a single algorithm. The signals from the various satellites are processed collectively through a Kalman filter. The advantages of vector tracking over traditional, scalar tracking methods are thoroughly investigated. A method for making a valid comparison between vector and scalar tracking loops is developed. This technique avoids the ambiguities encountered when attempting to make a valid comparison between tracking loops (which are characterized by noise bandwidths and loop order) and the Kalman filters (which are characterized by process and measurement noise covariance matrices) that are used by vector tracking algorithms. The improvement in performance offered by vector tracking is calculated in multiple different scenarios. Rule of thumb analysis techniques for scalar Frequency Lock Loops (FLL) are extended to the vector tracking case. The analysis tools provide a simple method for analyzing the performance of vector tracking loops. The analysis tools are verified using Monte Carlo simulations. Monte Carlo simulations are also used to study the effects of carrier to noise power density (C/N0) ratio estimation and the advantage offered by vector tracking over scalar tracking. The improvement from vector tracking ranges from 2.4 to 6.2 dB in various scenarios. The difference in the performance of the three vector tracking architectures is analyzed. The effects of using a federated architecture with and without information sharing between the receiver’s channels are studied. A combination of covariance analysis and Monte Carlo simulation is used to analyze the performance of the three algorithms. The federated algorithm without information sharing performs poorer than the other two architectures. However, at low C/N0 ratios the difference in the performance of the three algorithms becomes virtually zero. The analysis of different vector tracking architectures is then extended to an analysis of different Deeply Integrated (DI) architectures. The effects of using a federated filtering architecture on DI’s performance are investigated. Covariance analysis and Monte Carlo simulation are also used to study the performance of the different DI algorithms. The results from the DI analysis mirror the results from the analysis of different vector tracking algorithms. The different DI architectures exhibit the same performance at low C/N0 ratios. The vector tracking algorithms are also implemented in MATLAB. The algorithms are tested using data collected from an environment with dense foliage (having widely fluctuating signal levels) and from an urban canyon type environment. The performance of the vector tracking algorithms is compared to that of a NovAtel ProPak-V3 receiver in the same scenarios. The vector tracking algorithms provide near continuous coverage through both environments while the NovAtel receiver exhibits periods of prolonged outages.\",\"language\":\"English\",\"urldate\":\"2022-04-21\",\"school\":\"Auburn University\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Lashley\"],\"firstnames\":[\"Matthew\"],\"suffixes\":[]}],\"note\":\"ISBN: 9781109626452\",\"keywords\":\"Applied sciences, Delay lock loops, Ultratight coupling, Vector tracking\",\"bibtex\":\"@phdthesis{lashley_modeling_nodate,\\n\\taddress = {United States -- Alabama},\\n\\ttype = {Ph.{D}.},\\n\\ttitle = {Modeling and performance analysis of {GPS} vector tracking algorithms},\\n\\tcopyright = {Database copyright ProQuest LLC; ProQuest does not claim copyright in the individual underlying works.},\\n\\turl = {https://www.proquest.com/docview/304830161/abstract/D637655D4F56458EPQ/1},\\n\\tabstract = {This dissertation provides a detailed analysis of GPS vector tracking algorithms and the advantages they have over traditional receiver architectures. Standard GPS receivers use a decentralized architecture that separates the tasks of signal tracking and position/velocity estimation. Vector tracking algorithms combine the two tasks into a single algorithm. The signals from the various satellites are processed collectively through a Kalman filter.\\nThe advantages of vector tracking over traditional, scalar tracking methods are thoroughly investigated. A method for making a valid comparison between vector and scalar tracking loops is developed. This technique avoids the ambiguities encountered when attempting to make a valid comparison between tracking loops (which are characterized by noise bandwidths and loop order) and the Kalman filters (which are characterized by process and measurement noise covariance matrices) that are used by vector tracking algorithms. The improvement in performance offered by vector tracking is calculated in multiple different scenarios.\\nRule of thumb analysis techniques for scalar Frequency Lock Loops (FLL) are extended to the vector tracking case. The analysis tools provide a simple method for analyzing the performance of vector tracking loops. The analysis tools are verified using Monte Carlo simulations. Monte Carlo simulations are also used to study the effects of carrier to noise power density (C/N0) ratio estimation and the advantage offered by vector tracking over scalar tracking. The improvement from vector tracking ranges from 2.4 to 6.2 dB in various scenarios.\\nThe difference in the performance of the three vector tracking architectures is analyzed. The effects of using a federated architecture with and without information sharing between the receiver’s channels are studied. A combination of covariance analysis and Monte Carlo simulation is used to analyze the performance of the three algorithms. The federated algorithm without information sharing performs poorer than the other two architectures. However, at low C/N0 ratios the difference in the performance of the three algorithms becomes virtually zero.\\nThe analysis of different vector tracking architectures is then extended to an analysis of different Deeply Integrated (DI) architectures. The effects of using a federated filtering architecture on DI’s performance are investigated. Covariance analysis and Monte Carlo simulation are also used to study the performance of the different DI algorithms. The results from the DI analysis mirror the results from the analysis of different vector tracking algorithms. The different DI architectures exhibit the same performance at low C/N0 ratios.\\nThe vector tracking algorithms are also implemented in MATLAB. The algorithms are tested using data collected from an environment with dense foliage (having widely fluctuating signal levels) and from an urban canyon type environment. The performance of the vector tracking algorithms is compared to that of a NovAtel ProPak-V3 receiver in the same scenarios. The vector tracking algorithms provide near continuous coverage through both environments while the NovAtel receiver exhibits periods of prolonged outages.},\\n\\tlanguage = {English},\\n\\turldate = {2022-04-21},\\n\\tschool = {Auburn University},\\n\\tauthor = {Lashley, Matthew},\\n\\tnote = {ISBN: 9781109626452},\\n\\tkeywords = {Applied sciences, Delay lock loops, Ultratight coupling, Vector tracking},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Lashley, M.\"],\"key\":\"lashley_modeling_nodate\",\"id\":\"lashley_modeling_nodate\",\"bibbaseid\":\"lashley-modelingandperformanceanalysisofgpsvectortrackingalgorithms\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.proquest.com/docview/304830161/abstract/D637655D4F56458EPQ/1\"},\"keyword\":[\"Applied sciences\",\"Delay lock loops\",\"Ultratight coupling\",\"Vector tracking\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"Relative Positioning of Unmanned Ground Vehicles Using Ultrasonic Sensors\",\"url\":\"https://etd.auburn.edu//handle/10415/9\",\"abstract\":\"In this thesis, a Global Positioning System/Inertial Navigation System (GPS/INS) is developed and applied to a tracked Unmanned Ground Vehicle (UGV) to provide estimates of position, heading, and velocity. The navigation estimator is then augmented with ultrasonic sensors to accurately determine the relative position of a pair of tracked UGVs. The estimator provides estimates on critical system parameters to allow for automation or collaboration. The capabilities of UGVs can be greatly increased through automation and collaboration of multiple UGVs. Automation reduces the operator workload and allows the UGV to continue operations during a loss of communication. Collaboration allows multiple small UGVs to accomplish tasks previously requiring a single large UGV. A microcontroller uses the ultra-precise Pulse Per Second (PPS) from the GPS to trigger the ultrasonic sensors. This configuration minimizes the problems traditionally encountered with use of ultrasonic sensors in an outdoor environment while providing additional information to the navigation estimator. Small, low cost sensors using MEMS technology are employed to minimize size and cost, providing a solution that can be implemented on current UGVs. Experimental results are presented to compare the performance using GPS alone, GPS/INS, and GPS/INS/Ultrasonic sensors for estimating relative positions and headings of multiple UGVs.\",\"language\":\"en_US\",\"urldate\":\"2022-04-20\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Henderson\"],\"firstnames\":[\"Harold\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2008\",\"note\":\"Accepted: 2008-09-09T21:12:42Z\",\"bibtex\":\"@phdthesis{henderson_relative_2008,\\n\\ttype = {Thesis},\\n\\ttitle = {Relative {Positioning} of {Unmanned} {Ground} {Vehicles} {Using} {Ultrasonic} {Sensors}},\\n\\turl = {https://etd.auburn.edu//handle/10415/9},\\n\\tabstract = {In this thesis, a Global Positioning System/Inertial Navigation System (GPS/INS) is developed and applied to a tracked Unmanned Ground Vehicle (UGV) to provide estimates of position, heading, and velocity.  The navigation estimator is then augmented with ultrasonic sensors to accurately determine the relative position of a pair of tracked UGVs.  The estimator provides estimates on critical system parameters to allow for automation or collaboration.  The capabilities of UGVs can be greatly increased through automation and collaboration of multiple UGVs.  Automation reduces the operator workload and allows the UGV to continue operations during a loss of communication.  Collaboration allows multiple small UGVs to accomplish tasks previously requiring a single large UGV. A microcontroller uses the ultra-precise Pulse Per Second (PPS) from the GPS to trigger the ultrasonic sensors.  This configuration minimizes the problems traditionally encountered with use of ultrasonic sensors in an outdoor environment while providing additional information to the navigation estimator.  Small, low cost sensors using MEMS technology are employed to minimize size and cost, providing a solution that can be implemented on current UGVs.  Experimental results are presented to compare the performance using GPS alone, GPS/INS, and GPS/INS/Ultrasonic sensors for estimating relative positions and headings of multiple UGVs.},\\n\\tlanguage = {en\\\\_US},\\n\\turldate = {2022-04-20},\\n\\tauthor = {Henderson, Harold},\\n\\tmonth = may,\\n\\tyear = {2008},\\n\\tnote = {Accepted: 2008-09-09T21:12:42Z},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Henderson, H.\"],\"key\":\"henderson_relative_2008-1-1\",\"id\":\"henderson_relative_2008-1-1\",\"bibbaseid\":\"henderson-relativepositioningofunmannedgroundvehiclesusingultrasonicsensors-2008\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://etd.auburn.edu//handle/10415/9\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"Parameter Estimation Techniques for Determining Safe Vehicle Speeds in UGVs\",\"url\":\"https://etd.auburn.edu//handle/10415/10\",\"abstract\":\"This thesis develops simplified equations to predict a velocity in which vehicle rollover or tire saturation occurs. These equations are functions of different vehicle parameters that are important to vehicle handling characteristics. Therefore, various algorithms are developed to estimate parameters such as vehicle tire stiffness, peak tire force, and center of gravity position on-line. A number of vehicle control systems have been developed in order to reduce rollover and help maintain vehicle stability. However, many of these control systems do not take into account changing vehicle parameters. Therefore using the on-line estimates of these parameters, the control systems could be more effective in decreasing the number of vehicle accidents. The thesis first explains the fundamentals of lateral vehicle dynamics. Basic vehicle dynamic models are derived and validated to show the effectiveness and shortcomings of the different models. Many assumptions are used to simplify the models. The assumptions leads to simplified equations that predict a velocity in which vehicle rollover or tire saturation occur. An equation to predict the vehicle stopping distance is also derived. Experiments are run to control the vehicle speed to the predictive velocity. This velocity is updated with the identified parameters from the estimation algorithms. By providing the updated velocity to the steering controller, a vehicle is able to transverse a maneuver at a safe speed.\",\"language\":\"en_US\",\"urldate\":\"2022-04-20\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Edwards\"],\"firstnames\":[\"Dustin\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2008\",\"note\":\"Accepted: 2008-09-09T21:12:43Z\",\"bibtex\":\"@phdthesis{edwards_parameter_2008,\\n\\ttype = {Thesis},\\n\\ttitle = {Parameter {Estimation} {Techniques} for {Determining} {Safe} {Vehicle} {Speeds} in {UGVs}},\\n\\turl = {https://etd.auburn.edu//handle/10415/10},\\n\\tabstract = {This thesis develops simplified equations to predict a velocity in which vehicle rollover or tire saturation occurs. These equations are functions of different vehicle parameters that are important to vehicle handling characteristics. Therefore, various algorithms are developed to estimate parameters such as vehicle tire stiffness, peak tire force, and center of gravity position on-line. A number of vehicle control systems have been developed in order to reduce rollover and help maintain vehicle stability. However, many of these control systems do not take into account changing vehicle parameters. Therefore using the on-line estimates of these parameters, the control systems could be more effective in decreasing the number of vehicle accidents. \\n    The thesis first explains the fundamentals of lateral vehicle dynamics. Basic vehicle dynamic models are derived and validated to show the effectiveness and shortcomings of the different models. Many assumptions are used to simplify the models. The assumptions leads to simplified equations that predict a velocity in which vehicle rollover or tire saturation occur. An equation to predict the vehicle stopping distance is also derived. Experiments are run to control the vehicle speed to the predictive velocity. This velocity is updated with the identified parameters from the estimation algorithms. By providing the updated velocity to the steering controller, a vehicle is able to transverse a maneuver at a safe speed.},\\n\\tlanguage = {en\\\\_US},\\n\\turldate = {2022-04-20},\\n\\tauthor = {Edwards, Dustin},\\n\\tmonth = may,\\n\\tyear = {2008},\\n\\tnote = {Accepted: 2008-09-09T21:12:43Z},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Edwards, D.\"],\"key\":\"edwards_parameter_2008-1\",\"id\":\"edwards_parameter_2008-1\",\"bibbaseid\":\"edwards-parameterestimationtechniquesfordeterminingsafevehiclespeedsinugvs-2008\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://etd.auburn.edu//handle/10415/10\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Adaptive control of a farm tractor with varying yaw dynamics accounting for actuator dynamics and saturations\",\"doi\":\"10.1109/CCA.2008.4629591\",\"abstract\":\"This paper presents an adaptive control system implemented on an automatically steered farm tractor. The yaw dynamics of the tractor are time varying due to different attached implements and soil conditions; therefore, a model reference adaptive control (MRAC) system is developed to automatically adjust the feed-forward yaw rate controller to changes in the current yaw plant. The MRAC algorithm is next modified from itpsilas original form to account for steering actuator dynamics and nonlinearities. Simulated results are presented that demonstrate the algorithmpsilas performance under ideal conditions. Experimental results are presented that show that the algorithm performs well on a real system with changing yaw dynamics. Finally, experimental results are shown that demonstrate improved tracking performance verses a fixed-gain configuration.\",\"booktitle\":\"2008 IEEE International Conference on Control Applications\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Derrick\"],\"firstnames\":[\"J.\",\"Benton\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"month\":\"September\",\"year\":\"2008\",\"note\":\"ISSN: 1085-1992\",\"keywords\":\"Conferences, Control systems, USA Councils\",\"pages\":\"547–552\",\"bibtex\":\"@inproceedings{derrick_adaptive_2008,\\n\\ttitle = {Adaptive control of a farm tractor with varying yaw dynamics accounting for actuator dynamics and saturations},\\n\\tdoi = {10.1109/CCA.2008.4629591},\\n\\tabstract = {This paper presents an adaptive control system implemented on an automatically steered farm tractor. The yaw dynamics of the tractor are time varying due to different attached implements and soil conditions; therefore, a model reference adaptive control (MRAC) system is developed to automatically adjust the feed-forward yaw rate controller to changes in the current yaw plant. The MRAC algorithm is next modified from itpsilas original form to account for steering actuator dynamics and nonlinearities. Simulated results are presented that demonstrate the algorithmpsilas performance under ideal conditions. Experimental results are presented that show that the algorithm performs well on a real system with changing yaw dynamics. Finally, experimental results are shown that demonstrate improved tracking performance verses a fixed-gain configuration.},\\n\\tbooktitle = {2008 {IEEE} {International} {Conference} on {Control} {Applications}},\\n\\tauthor = {Derrick, J. Benton and Bevly, David M.},\\n\\tmonth = sep,\\n\\tyear = {2008},\\n\\tnote = {ISSN: 1085-1992},\\n\\tkeywords = {Conferences, Control systems, USA Councils},\\n\\tpages = {547--552},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Derrick, J. B.\",\"Bevly, D. M.\"],\"key\":\"derrick_adaptive_2008-1\",\"id\":\"derrick_adaptive_2008-1\",\"bibbaseid\":\"derrick-bevly-adaptivecontrolofafarmtractorwithvaryingyawdynamicsaccountingforactuatordynamicsandsaturations-2008\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Conferences\",\"Control systems\",\"USA Councils\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"Development of an Autonomous Mobile Robot-Trailer System for UXO Detection\",\"url\":\"https://etd.auburn.edu//handle/10415/888\",\"abstract\":\"The process of finding and removing unexploded ordnance (UXO) from contaminated sites is an expensive and time consuming task. In this thesis, an autonomous mobile robot-trailer system is developed for this purpose. It is proposed that an autonomous robot can perform the task of UXO detected more efficiently and safely than current methods. In this thesis, a method of complete coverage path planning is developed that allows a path for surveying a field to be automatically generated. Simple methods of obstacle avoidance are given that allow isolated, known obstacles in the field to be avoided. A feedback control law is designed to guide a towed trailer to precisely follow a given path. An experimental platform is designed consisting of a Segway RMP robot towing a trailer, guided by a GPS/INS positioning system. Simulation and experimental results are provided to validate the control law. The effects of hitch angle measurement errors and noise in the GPS measurements on path tracking performance are analyzed. The effects are examined for different sensor placements. Guidelines are provided for where the positioning sensors should be placed based on expected sensor errors and controller tunings.\",\"language\":\"en_US\",\"urldate\":\"2022-04-18\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Hodo\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2007\",\"note\":\"Accepted: 2008-09-09T21:24:41Z\",\"bibtex\":\"@phdthesis{hodo_development_2007,\\n\\ttype = {Thesis},\\n\\ttitle = {Development of an {Autonomous} {Mobile} {Robot}-{Trailer} {System} for {UXO} {Detection}},\\n\\turl = {https://etd.auburn.edu//handle/10415/888},\\n\\tabstract = {The process of finding and removing unexploded ordnance (UXO) from contaminated sites is an expensive and time consuming task.  In this thesis, an autonomous mobile robot-trailer system is developed for this purpose.  It is proposed that an autonomous robot can perform the task of UXO detected more efficiently and safely than current methods. \\n \\nIn this thesis, a method of complete coverage path planning is developed that allows a path for surveying a field to be automatically generated.  Simple methods of obstacle avoidance are given that allow isolated, known obstacles in the field to be avoided.  A feedback control law is designed to guide a towed trailer to precisely follow a given path.  An experimental platform is designed consisting of a Segway RMP robot towing a trailer, guided by a GPS/INS positioning system.  Simulation and experimental results are provided to validate the control law. \\n \\nThe effects of hitch angle measurement errors and noise in the GPS measurements on path tracking performance are analyzed.  The effects are examined for different sensor placements. Guidelines are provided for where the positioning sensors should be placed based on expected sensor errors and controller tunings.},\\n\\tlanguage = {en\\\\_US},\\n\\turldate = {2022-04-18},\\n\\tauthor = {Hodo, David},\\n\\tmonth = aug,\\n\\tyear = {2007},\\n\\tnote = {Accepted: 2008-09-09T21:24:41Z},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Hodo, D.\"],\"key\":\"hodo_development_2007\",\"id\":\"hodo_development_2007\",\"bibbaseid\":\"hodo-developmentofanautonomousmobilerobottrailersystemforuxodetection-2007\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://etd.auburn.edu//handle/10415/888\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Effects of Sensor Placement and Errors on Path Following Control of a Mobile Robot-Trailer System\",\"doi\":\"10.1109/ACC.2007.4282739\",\"abstract\":\"In this paper, effects of sensor location and measurement errors on path tracking control of a mobile robot pulling a trailer are reported. A model for a two-wheeled robot towing a trailer is presented, followed by a state feedback controller designed to position the trailer along a path consisting of lines and circular arcs. An incremental encoder is used to measure the hitch angle between the robot and trailer. A combined GPS/IMU system is used to measure position and orientation of either the robot or the trailer (but not both). The choice of mounting location for the GPS/IMU system, and consequent effects on trailer path tracking performance are explored. The sensitivity of the system to hitch angle errors is also examined for both cases. It is shown that the system is less sensitive to errors in the hitch angle measurement when the GPS/IMU system is located on the trailer.\",\"booktitle\":\"2007 American Control Conference\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Hodo\"],\"firstnames\":[\"David\",\"W.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hung\"],\"firstnames\":[\"John\",\"Y.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Millhouse\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]}],\"month\":\"July\",\"year\":\"2007\",\"note\":\"ISSN: 2378-5861\",\"keywords\":\"Control systems, Error correction, Global Positioning System, Goniometers, Measurement errors, Mobile robots, Position measurement, Robot sensing systems, Sensor systems, State feedback\",\"pages\":\"2165–2170\",\"bibtex\":\"@inproceedings{hodo_effects_2007,\\n\\ttitle = {Effects of {Sensor} {Placement} and {Errors} on {Path} {Following} {Control} of a {Mobile} {Robot}-{Trailer} {System}},\\n\\tdoi = {10.1109/ACC.2007.4282739},\\n\\tabstract = {In this paper, effects of sensor location and measurement errors on path tracking control of a mobile robot pulling a trailer are reported. A model for a two-wheeled robot towing a trailer is presented, followed by a state feedback controller designed to position the trailer along a path consisting of lines and circular arcs. An incremental encoder is used to measure the hitch angle between the robot and trailer. A combined GPS/IMU system is used to measure position and orientation of either the robot or the trailer (but not both). The choice of mounting location for the GPS/IMU system, and consequent effects on trailer path tracking performance are explored. The sensitivity of the system to hitch angle errors is also examined for both cases. It is shown that the system is less sensitive to errors in the hitch angle measurement when the GPS/IMU system is located on the trailer.},\\n\\tbooktitle = {2007 {American} {Control} {Conference}},\\n\\tauthor = {Hodo, David W. and Hung, John Y. and Bevly, David M. and Millhouse, Scott},\\n\\tmonth = jul,\\n\\tyear = {2007},\\n\\tnote = {ISSN: 2378-5861},\\n\\tkeywords = {Control systems, Error correction, Global Positioning System, Goniometers, Measurement errors, Mobile robots, Position measurement, Robot sensing systems, Sensor systems, State feedback},\\n\\tpages = {2165--2170},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Hodo, D. W.\",\"Hung, J. Y.\",\"Bevly, D. M.\",\"Millhouse, S.\"],\"key\":\"hodo_effects_2007\",\"id\":\"hodo_effects_2007\",\"bibbaseid\":\"hodo-hung-bevly-millhouse-effectsofsensorplacementanderrorsonpathfollowingcontrolofamobilerobottrailersystem-2007\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Control systems\",\"Error correction\",\"Global Positioning System\",\"Goniometers\",\"Measurement errors\",\"Mobile robots\",\"Position measurement\",\"Robot sensing systems\",\"Sensor systems\",\"State feedback\"],\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"Design and Development of a GPS Intermediate Frequency and IMU Data Acquisition System for Advanced Integrated Architectures\",\"url\":\"https://etd.auburn.edu//handle/10415/614\",\"abstract\":\"Advanced levels of GPS and INS integration, including Deeply Integrated and Ultra- Tightly Coupled, have been reported to provide significant gains in anti-jamming capa- bility and reduced susceptibility to loss of GPS signal lock. This thesis provides the design and development of a GPS intermediate frequency and IMU data acquisition system that can be used for the implementation of these advanced GPS and INS inte- grated algorithms. Details of the design of the system are covered, including GPS chip set selection, signal conditioning, and data collection. The system is capable of syn- chronizing IMU measurement collection to the collection of digitized GPS intermediate frequency in real-time using a derivative of the GPS IF sampling clock to sample the IMU measurements. This synchronization is necessary for proper integrated algorithm implementation. The system was installed on a moving platform and the results of the experiment are shown using a GPS software receiver for the validation of the digitized GPS IF and the plotting of the IMU measurements.\",\"language\":\"en_US\",\"urldate\":\"2022-04-18\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Newlin\"],\"firstnames\":[\"Michael\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2006\",\"note\":\"Accepted: 2008-09-09T21:20:30Z\",\"bibtex\":\"@phdthesis{newlin_design_2006,\\n\\ttype = {Thesis},\\n\\ttitle = {Design and {Development} of a {GPS} {Intermediate} {Frequency} and {IMU} {Data} {Acquisition} {System} for {Advanced} {Integrated} {Architectures}},\\n\\turl = {https://etd.auburn.edu//handle/10415/614},\\n\\tabstract = {Advanced levels of GPS and INS integration, including Deeply Integrated and Ultra- \\nTightly Coupled, have been reported to provide significant gains in anti-jamming capa- \\nbility and reduced susceptibility to loss of GPS signal lock. This thesis provides the \\ndesign and development of a GPS intermediate frequency and IMU data acquisition \\nsystem that can be used for the implementation of these advanced GPS and INS inte- \\ngrated algorithms. Details of the design of the system are covered, including GPS chip \\nset selection, signal conditioning, and data collection. The system is capable of syn- \\nchronizing IMU measurement collection to the collection of digitized GPS intermediate \\nfrequency in real-time using a derivative of the GPS IF sampling clock to sample the \\nIMU measurements. This synchronization is necessary for proper integrated algorithm \\nimplementation. The system was installed on a moving platform and the results of the \\nexperiment are shown using a GPS software receiver for the validation of the digitized \\nGPS IF and the plotting of the IMU measurements.},\\n\\tlanguage = {en\\\\_US},\\n\\turldate = {2022-04-18},\\n\\tauthor = {Newlin, Michael},\\n\\tmonth = dec,\\n\\tyear = {2006},\\n\\tnote = {Accepted: 2008-09-09T21:20:30Z},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Newlin, M.\"],\"key\":\"newlin_design_2006-1\",\"id\":\"newlin_design_2006-1\",\"bibbaseid\":\"newlin-designanddevelopmentofagpsintermediatefrequencyandimudataacquisitionsystemforadvancedintegratedarchitectures-2006\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://etd.auburn.edu//handle/10415/614\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"Simulation, Estimation, and Experimentation of Vehicle Longitudinal Dynamics That Effect Fuel Economy\",\"url\":\"https://etd.auburn.edu//handle/10415/239\",\"abstract\":\"In this thesis, longitudinal vehicle dynamics are researched with an emphasis on heavy trucks and fuel economy. Commercial vehicles display large variations in their parameters, and due to many current trends in transportation systems, estimating these parameters has been the subject of much research. Additionally, fuel economy enhancement has become a major issue due to man-kind’s reliance on oil. In this research a longitudinal truck model is developed and the longitudinal dynamics are simulated in various conditions. Algorithms are developed to estimate vehicle parameters and are used in simulation to perform an analysis of their accuracy. Simulated results show the difficulty of estimating individual vehicle parameters in the presence of sensor noise and low levels of vehicle excitation, such as with the heavy trucks at the Auburn University National Center for Asphalt Technology facility. Finally, a class 8 commercial vehicle is instrumented as a test-bed. Estimation results from the test bed support the simulation, while simple parameters are shown to be identified with reasonable accuracy. Road load data for fuel economy evaluation was also collected on the trucks and variations over the asphalt sections are shown.\",\"language\":\"en_US\",\"urldate\":\"2022-04-18\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Heffernan\"],\"firstnames\":[\"Matthew\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2006\",\"note\":\"Accepted: 2008-09-09T21:15:31Z\",\"bibtex\":\"@phdthesis{heffernan_simulation_2006,\\n\\ttype = {Thesis},\\n\\ttitle = {Simulation, {Estimation}, and {Experimentation} of {Vehicle} {Longitudinal} {Dynamics} {That} {Effect} {Fuel} {Economy}},\\n\\turl = {https://etd.auburn.edu//handle/10415/239},\\n\\tabstract = {In this thesis, longitudinal vehicle dynamics are researched with an emphasis on heavy trucks and fuel economy. Commercial vehicles display large variations in their parameters, and due to many current trends in transportation systems, estimating these parameters has been the subject of much research. Additionally, fuel economy enhancement has become a major issue due to man-kind’s reliance on oil. In this research a longitudinal truck model is developed and the longitudinal dynamics are simulated in various conditions. Algorithms are developed to estimate vehicle parameters and are used in simulation to perform an analysis of their accuracy. Simulated results show the difficulty of estimating individual vehicle parameters in the presence of sensor noise and low levels of vehicle excitation, such as with the heavy trucks at the Auburn University National Center for Asphalt Technology facility. Finally, a class 8 commercial vehicle is instrumented as a test-bed. Estimation results from the test bed support the simulation, while simple parameters are shown to be identified with reasonable accuracy. Road load data for fuel economy evaluation was also collected on the trucks and variations over the asphalt sections are shown.},\\n\\tlanguage = {en\\\\_US},\\n\\turldate = {2022-04-18},\\n\\tauthor = {Heffernan, Matthew},\\n\\tmonth = aug,\\n\\tyear = {2006},\\n\\tnote = {Accepted: 2008-09-09T21:15:31Z},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Heffernan, M.\"],\"key\":\"heffernan_simulation_2006-1\",\"id\":\"heffernan_simulation_2006-1\",\"bibbaseid\":\"heffernan-simulationestimationandexperimentationofvehiclelongitudinaldynamicsthateffectfueleconomy-2006\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://etd.auburn.edu//handle/10415/239\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Highway Lane Tracking Using GPS in Conjunction With Onboard IMU and Vision-based Lane Tracking Measurements\",\"url\":\"http://www.ion.org/publications/abstract.cfm?jp=p&articleID=6777\",\"abstract\":\"When a vehicle’s Lane Departure Warning (LDW) system fails to detect lane markers on the roadway ahead of the vehicle, it loses its ability to alert the driver of an unintended lane departure. Therefore, it has been a recent trend in LDW research to explore the use of use multiple sensors, such as GPS and inertial measurement units (IMU) to assist the LDW vision system in the event of a lane detection failure [5][7]. These multi-sensor systems typically use differential GPS or even real-time kinematic (RTK) GPS combined with high accuracy maps to locate the vehicle to within a particular lane on a roadway. Although these advanced positioning systems are highly accurate, they are currently not deployed in the consumer automobile market, so therefore, are currently not cost effective solutions. The goal of this research is to use regular GPS, combined with inertial sensors and a high accuracy map to assist a vision-based lane departure warning system. In-car GPS navigation systems are available in many automobiles, as well as automotive grade inertial sensors. The low accuracy of a typical GPS receiver found in an automotive navigation system is largely attributed to a position error. This error is too large to allow the GPS receiver to locate a vehicle in a particular lane on a roadway. This work will present a method to measure this error using a vision-based lane departure warning system together with a high-accuracy map. With the error known, the accuracy of the GPS receiver is increased to a high-enough level to localize the vehicle on a particular lane. Next, this work will present a method fusing GPS/INS/Vision and a high accuracy map for highway lane tracking. The goal of this method is to provide a backup lateral offset measurement that can be used for lane departure warning, when the LDW vision system loses track of the lane markings.\",\"language\":\"en\",\"urldate\":\"2022-04-11\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Clanton\"],\"firstnames\":[\"J.\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hodel\"],\"firstnames\":[\"A.\",\"S.\"],\"suffixes\":[]}],\"month\":\"September\",\"year\":\"2006\",\"pages\":\"1076–1084\",\"bibtex\":\"@inproceedings{clanton_highway_2006,\\n\\ttitle = {Highway {Lane} {Tracking} {Using} {GPS} in {Conjunction} {With} {Onboard} {IMU} and {Vision}-based {Lane} {Tracking} {Measurements}},\\n\\turl = {http://www.ion.org/publications/abstract.cfm?jp=p&articleID=6777},\\n\\tabstract = {When a vehicle’s Lane Departure Warning (LDW) system fails to detect lane markers on the roadway ahead of the vehicle, it loses its ability to alert the driver of an unintended lane departure. Therefore, it has been a recent trend in LDW research to explore the use of use multiple sensors, such as GPS and inertial measurement units (IMU) to assist the LDW vision system in the event of a lane detection failure [5][7]. These multi-sensor systems typically use differential GPS or even real-time kinematic (RTK) GPS combined with high accuracy maps to locate the vehicle to within a particular lane on a roadway. Although these advanced positioning systems are highly accurate, they are currently not deployed in the consumer automobile market, so therefore, are currently not cost effective solutions. The goal of this research is to use regular GPS, combined with inertial sensors and a high accuracy map to assist a vision-based lane departure warning system. In-car GPS navigation systems are available in many automobiles, as well as automotive grade inertial sensors. The low accuracy of a typical GPS receiver found in an automotive navigation system is largely attributed to a position error. This error is too large to allow the GPS receiver to locate a vehicle in a particular lane on a roadway. This work will present a method to measure this error using a vision-based lane departure warning system together with a high-accuracy map. With the error known, the accuracy of the GPS receiver is increased to a high-enough level to localize the vehicle on a particular lane. Next, this work will present a method fusing GPS/INS/Vision and a high accuracy map for highway lane tracking. The goal of this method is to provide a backup lateral offset measurement that can be used for lane departure warning, when the LDW vision system loses track of the lane markings.},\\n\\tlanguage = {en},\\n\\turldate = {2022-04-11},\\n\\tauthor = {Clanton, J. M. and Bevly, D. M. and Hodel, A. S.},\\n\\tmonth = sep,\\n\\tyear = {2006},\\n\\tpages = {1076--1084},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Clanton, J. M.\",\"Bevly, D. M.\",\"Hodel, A. S.\"],\"key\":\"clanton_highway_2006\",\"id\":\"clanton_highway_2006\",\"bibbaseid\":\"clanton-bevly-hodel-highwaylanetrackingusinggpsinconjunctionwithonboardimuandvisionbasedlanetrackingmeasurements-2006\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://www.ion.org/publications/abstract.cfm?jp=p&articleID=6777\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"On-Line Adaptive Control of a Farm Tractor by Compensation of Parameter Variations\",\"url\":\"https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2005/42169/977/311905\",\"doi\":\"10.1115/IMECE2005-81344\",\"language\":\"en\",\"urldate\":\"2022-04-11\",\"publisher\":\"American Society of Mechanical Engineers Digital Collection\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Gartley\"],\"firstnames\":[\"Evan\",\"R.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"month\":\"February\",\"year\":\"2008\",\"pages\":\"977–985\",\"bibtex\":\"@inproceedings{gartley_-line_2008,\\n\\ttitle = {On-{Line} {Adaptive} {Control} of a {Farm} {Tractor} by {Compensation} of {Parameter} {Variations}},\\n\\turl = {https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2005/42169/977/311905},\\n\\tdoi = {10.1115/IMECE2005-81344},\\n\\tlanguage = {en},\\n\\turldate = {2022-04-11},\\n\\tpublisher = {American Society of Mechanical Engineers Digital Collection},\\n\\tauthor = {Gartley, Evan R. and Bevly, David M.},\\n\\tmonth = feb,\\n\\tyear = {2008},\\n\\tpages = {977--985},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Gartley, E. R.\",\"Bevly, D. M.\"],\"key\":\"gartley_-line_2008\",\"id\":\"gartley_-line_2008\",\"bibbaseid\":\"gartley-bevly-onlineadaptivecontrolofafarmtractorbycompensationofparametervariations-2008\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2005/42169/977/311905\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Comparative Performance Analysis of Aided Carrier Tracking Loop Algorithms in High Noise/High Dynamic Environments\",\"url\":\"http://www.ion.org/publications/abstract.cfm?jp=p&articleID=5728\",\"abstract\":\"Five different approaches to GPS carrier tracking loops were compared in a simulated environment for their performance against a high dynamic/high noise environment. The loops tested were a second order loop, a third order loop, an aided second order loop, a Kalman filter, and an adaptive order loop. The simulation varied the jammer-to-signal (J/S) while holding inertial quality and acceleration profile constant. Similarly, the acceleration profile was varied with other factors constant. In a final test, the quality of inertial measurements was varied such as to resemble various qualities of available sensors and the other parameters held constant. Under high dynamics and high noise, the aided second order tracking loop provided the least amount of phase error. The adaptive order provides a good measured response under these configurations and does not requiring highly accurate accelerometer measurements.\",\"language\":\"en\",\"urldate\":\"2022-04-11\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Hamm\"],\"firstnames\":[\"Christopher\",\"R.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Iv\"],\"firstnames\":[\"Warren\",\"S.\",\"Flenniken\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Lawerence\"],\"firstnames\":[\"Daniel\",\"E.\"],\"suffixes\":[]}],\"month\":\"September\",\"year\":\"2004\",\"pages\":\"523–532\",\"bibtex\":\"@inproceedings{hamm_comparative_2004,\\n\\ttitle = {Comparative {Performance} {Analysis} of {Aided} {Carrier} {Tracking} {Loop} {Algorithms} in {High} {Noise}/{High} {Dynamic} {Environments}},\\n\\turl = {http://www.ion.org/publications/abstract.cfm?jp=p&articleID=5728},\\n\\tabstract = {Five different approaches to GPS carrier tracking loops were compared in a simulated environment for their performance against a high dynamic/high noise environment. The loops tested were a second order loop, a third order loop, an aided second order loop, a Kalman filter, and an adaptive order loop. The simulation varied the jammer-to-signal (J/S) while holding inertial quality and acceleration profile constant. Similarly, the acceleration profile was varied with other factors constant. In a final test, the quality of inertial measurements was varied such as to resemble various qualities of available sensors and the other parameters held constant. Under high dynamics and high noise, the aided second order tracking loop provided the least amount of phase error. The adaptive order provides a good measured response under these configurations and does not requiring highly accurate accelerometer measurements.},\\n\\tlanguage = {en},\\n\\turldate = {2022-04-11},\\n\\tauthor = {Hamm, Christopher R. and Iv, Warren S. Flenniken and Bevly, David M. and Lawerence, Daniel E.},\\n\\tmonth = sep,\\n\\tyear = {2004},\\n\\tpages = {523--532},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Hamm, C. R.\",\"Iv, W. S. F.\",\"Bevly, D. M.\",\"Lawerence, D. E.\"],\"key\":\"hamm_comparative_2004\",\"id\":\"hamm_comparative_2004\",\"bibbaseid\":\"hamm-iv-bevly-lawerence-comparativeperformanceanalysisofaidedcarriertrackingloopalgorithmsinhighnoisehighdynamicenvironments-2004\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://www.ion.org/publications/abstract.cfm?jp=p&articleID=5728\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Boston, MA, USA\",\"title\":\"Control of a ground vehicle using quadratic programming based control allocation techniques\",\"isbn\":\"978-0-7803-8335-7\",\"url\":\"https://ieeexplore.ieee.org/document/1384055/\",\"doi\":\"10.23919/ACC.2004.1384055\",\"abstract\":\"This paper examines the use of control allocation techniques for the control of multiple inputs to a ground vehicle to track a desired yaw rate trajectory while minimizing vehicle sideslip. The proposed controller uses quadratic programming accompanied by linear quadratic regulator gains designed around a linear vehicle model to arrive at a combination of vehicle commands. Several failure scenarios are examined and the results for two different quadratic programming approaches are presented along with a discussion of the advantages each method has to offer.\",\"language\":\"en\",\"urldate\":\"2022-04-11\",\"booktitle\":\"Proceedings of the 2004 American Control Conference\",\"publisher\":\"IEEE\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Plumlee\"],\"firstnames\":[\"J.H.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hodel\"],\"firstnames\":[\"A.S.\"],\"suffixes\":[]}],\"year\":\"2004\",\"pages\":\"4704–4709 vol.5\",\"bibtex\":\"@inproceedings{plumlee_control_2004,\\n\\taddress = {Boston, MA, USA},\\n\\ttitle = {Control of a ground vehicle using quadratic programming based control allocation techniques},\\n\\tisbn = {978-0-7803-8335-7},\\n\\turl = {https://ieeexplore.ieee.org/document/1384055/},\\n\\tdoi = {10.23919/ACC.2004.1384055},\\n\\tabstract = {This paper examines the use of control allocation techniques for the control of multiple inputs to a ground vehicle to track a desired yaw rate trajectory while minimizing vehicle sideslip. The proposed controller uses quadratic programming accompanied by linear quadratic regulator gains designed around a linear vehicle model to arrive at a combination of vehicle commands. Several failure scenarios are examined and the results for two different quadratic programming approaches are presented along with a discussion of the advantages each method has to offer.},\\n\\tlanguage = {en},\\n\\turldate = {2022-04-11},\\n\\tbooktitle = {Proceedings of the 2004 {American} {Control} {Conference}},\\n\\tpublisher = {IEEE},\\n\\tauthor = {Plumlee, J.H. and Bevly, D.M. and Hodel, A.S.},\\n\\tyear = {2004},\\n\\tpages = {4704--4709 vol.5},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Plumlee, J.\",\"Bevly, D.\",\"Hodel, A.\"],\"key\":\"plumlee_control_2004\",\"id\":\"plumlee_control_2004\",\"bibbaseid\":\"plumlee-bevly-hodel-controlofagroundvehicleusingquadraticprogrammingbasedcontrolallocationtechniques-2004\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/1384055/\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Correlation between Sensor Performance, Autonomy Performance and Fuel-Efficiency in Semi-Truck Platoons\",\"url\":\"https://doi.org/10.4271/2021-01-0064\",\"doi\":\"https://doi.org/10.4271/2021-01-0064\",\"journal\":\"SAE Technical Paper Series\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Adam\"],\"firstnames\":[\"Cristian\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Lakshmanan\"],\"firstnames\":[\"Sridhar\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Richardson\"],\"firstnames\":[\"Paul\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Stegner\"],\"firstnames\":[\"Evan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Ward\"],\"firstnames\":[\"Jacob\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hoffman\"],\"firstnames\":[\"Mark\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"year\":\"2021\",\"bibtex\":\"@article{adam_correlation_2021,\\n\\ttitle = {Correlation between {Sensor} {Performance}, {Autonomy} {Performance} and {Fuel}-{Efficiency} in {Semi}-{Truck} {Platoons}},\\n\\turl = {https://doi.org/10.4271/2021-01-0064},\\n\\tdoi = {https://doi.org/10.4271/2021-01-0064},\\n\\tjournal = {SAE Technical Paper Series},\\n\\tauthor = {Adam, Cristian and Lakshmanan, Sridhar and Richardson, Paul and Stegner, Evan and Ward, Jacob and Hoffman, Mark and Bevly, David M.},\\n\\tyear = {2021},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Adam, C.\",\"Lakshmanan, S.\",\"Richardson, P.\",\"Stegner, E.\",\"Ward, J.\",\"Hoffman, M.\",\"Bevly, D. M.\"],\"key\":\"adam_correlation_2021\",\"id\":\"adam_correlation_2021\",\"bibbaseid\":\"adam-lakshmanan-richardson-stegner-ward-hoffman-bevly-correlationbetweensensorperformanceautonomyperformanceandfuelefficiencyinsemitruckplatoons-2021\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://doi.org/10.4271/2021-01-0064\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":1,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Multispectral Visual-Inertial Navigation Using a Dual-Layer Estimator and Targeted Histogram Equalization\",\"url\":\"https://doi.org/10.33012/2021.18082\",\"doi\":\"https://doi.org/10.33012/2021.18082\",\"booktitle\":\"Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Boler\"],\"firstnames\":[\"Matthew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]}],\"year\":\"2021\",\"bibtex\":\"@inproceedings{boler_multispectral_2021,\\n\\ttitle = {Multispectral {Visual}-{Inertial} {Navigation} {Using} a {Dual}-{Layer} {Estimator} and {Targeted} {Histogram} {Equalization}},\\n\\turl = {https://doi.org/10.33012/2021.18082},\\n\\tdoi = {https://doi.org/10.33012/2021.18082},\\n\\tbooktitle = {Proceedings of the 34th {International} {Technical} {Meeting} of the {Satellite} {Division} of {The} {Institute} of {Navigation}},\\n\\tauthor = {Boler, Matthew and Martin, Scott},\\n\\tyear = {2021},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Boler, M.\",\"Martin, S.\"],\"key\":\"boler_multispectral_2021\",\"id\":\"boler_multispectral_2021\",\"bibbaseid\":\"boler-martin-multispectralvisualinertialnavigationusingaduallayerestimatorandtargetedhistogramequalization-2021\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://doi.org/10.33012/2021.18082\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"downloads\":1,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"An Evaluation of the Fuel Economy Benefits of a Driver Assistive Truck Platooning Prototype Using Simulation\",\"url\":\"https://doi.org/10.4271/2016-01-0167\",\"doi\":\"https://doi.org/10.4271/2016-01-0167\",\"journal\":\"SAE Technical Paper Series\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Humphreys\"],\"firstnames\":[\"Hugh\",\"Luke\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Batterson\"],\"firstnames\":[\"Joshua\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Schubert\"],\"firstnames\":[\"Raymond\"],\"suffixes\":[]}],\"year\":\"2016\",\"bibtex\":\"@article{humphreys_evaluation_2016,\\n\\ttitle = {An {Evaluation} of the {Fuel} {Economy} {Benefits} of a {Driver} {Assistive} {Truck} {Platooning} {Prototype} {Using} {Simulation}},\\n\\turl = {https://doi.org/10.4271/2016-01-0167},\\n\\tdoi = {https://doi.org/10.4271/2016-01-0167},\\n\\tjournal = {SAE Technical Paper Series},\\n\\tauthor = {Humphreys, Hugh Luke and Batterson, Joshua and Bevly, David and Schubert, Raymond},\\n\\tyear = {2016},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Humphreys, H. L.\",\"Batterson, J.\",\"Bevly, D.\",\"Schubert, R.\"],\"key\":\"humphreys_evaluation_2016\",\"id\":\"humphreys_evaluation_2016\",\"bibbaseid\":\"humphreys-batterson-bevly-schubert-anevaluationofthefueleconomybenefitsofadriverassistivetruckplatooningprototypeusingsimulation-2016\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://doi.org/10.4271/2016-01-0167\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Magnetic Localization through INS Integration and Improvements in Map Matching\",\"booktitle\":\"Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation\",\"author\":[{\"propositions\":[],\"lastnames\":[\"McWilliams\"],\"firstnames\":[\"Ryan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Chen\"],\"firstnames\":[\"Howard\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kamrath\"],\"firstnames\":[\"Luke\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"month\":\"September\",\"year\":\"2021\",\"bibtex\":\"@inproceedings{mcwilliams_magnetic_2021,\\n\\ttitle = {Magnetic {Localization} through {INS} {Integration} and {Improvements} in {Map} {Matching}},\\n\\tbooktitle = {Proceedings of the 34th {International} {Technical} {Meeting} of the {Satellite} {Division} of {The} {Institute} of {Navigation}},\\n\\tauthor = {McWilliams, Ryan and Chen, Howard and Kamrath, Luke and Bevly, David},\\n\\tmonth = sep,\\n\\tyear = {2021},\\n}\\n\\n\\n\\n\",\"author_short\":[\"McWilliams, R.\",\"Chen, H.\",\"Kamrath, L.\",\"Bevly, D.\"],\"key\":\"mcwilliams_magnetic_2021\",\"id\":\"mcwilliams_magnetic_2021\",\"bibbaseid\":\"mcwilliams-chen-kamrath-bevly-magneticlocalizationthroughinsintegrationandimprovementsinmapmatching-2021\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"An Integrated CFD and Truck Simulation for 4 Vehicle Platoons\",\"url\":\"https://doi.org/10.4271/2018-01-0797\",\"doi\":\"https://doi.org/10.4271/2018-01-0797\",\"journal\":\"SAE Technical Paper Series\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Siemon\"],\"firstnames\":[\"Michael\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Smith\"],\"firstnames\":[\"Patrick\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Nichols\"],\"firstnames\":[\"Dudley\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Heim\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]}],\"year\":\"2018\",\"bibtex\":\"@article{siemon_integrated_2018,\\n\\ttitle = {An {Integrated} {CFD} and {Truck} {Simulation} for 4 {Vehicle} {Platoons}},\\n\\turl = {https://doi.org/10.4271/2018-01-0797},\\n\\tdoi = {https://doi.org/10.4271/2018-01-0797},\\n\\tjournal = {SAE Technical Paper Series},\\n\\tauthor = {Siemon, Michael and Smith, Patrick and Nichols, Dudley and Bevly, David and Heim, Scott},\\n\\tyear = {2018},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Siemon, M.\",\"Smith, P.\",\"Nichols, D.\",\"Bevly, D.\",\"Heim, S.\"],\"key\":\"siemon_integrated_2018\",\"id\":\"siemon_integrated_2018\",\"bibbaseid\":\"siemon-smith-nichols-bevly-heim-anintegratedcfdandtrucksimulationfor4vehicleplatoons-2018\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://doi.org/10.4271/2018-01-0797\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"A Vehicle-Independent Autonomous Lane Keeping and Path Tracking System\",\"volume\":\"2\",\"journal\":\"IFAC-PapersOnLine 54, no. 2\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bryan\"],\"firstnames\":[\"William\",\"T.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Boler\"],\"firstnames\":[\"Matthew\",\"E.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]}],\"year\":\"2021\",\"bibtex\":\"@article{bryan_vehicle-independent_2021,\\n\\ttitle = {A {Vehicle}-{Independent} {Autonomous} {Lane} {Keeping} and {Path} {Tracking} {System}},\\n\\tvolume = {2},\\n\\tjournal = {IFAC-PapersOnLine 54, no. 2},\\n\\tauthor = {Bryan, William T. and Boler, Matthew E. and Bevly, David M.},\\n\\tyear = {2021},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Bryan, W. T.\",\"Boler, M. E.\",\"Bevly, D. M.\"],\"key\":\"bryan_vehicle-independent_2021\",\"id\":\"bryan_vehicle-independent_2021\",\"bibbaseid\":\"bryan-boler-bevly-avehicleindependentautonomouslanekeepingandpathtrackingsystem-2021\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"misc\",\"type\":\"misc\",\"title\":\"A Vision-Based Lane Keeping System Using a Cascaded Adaptive Controller\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bryan\"],\"firstnames\":[\"William\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Boler\"],\"firstnames\":[\"Matthew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]}],\"year\":\"2020\",\"bibtex\":\"@misc{bryan_vision-based_2020,\\n\\ttitle = {A {Vision}-{Based} {Lane} {Keeping} {System} {Using} a {Cascaded} {Adaptive} {Controller}},\\n\\tauthor = {Bryan, William and Boler, Matthew and Bevly, David and Martin, Scott},\\n\\tyear = {2020},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Bryan, W.\",\"Boler, M.\",\"Bevly, D.\",\"Martin, S.\"],\"key\":\"bryan_vision-based_2020\",\"id\":\"bryan_vision-based_2020\",\"bibbaseid\":\"bryan-boler-bevly-martin-avisionbasedlanekeepingsystemusingacascadedadaptivecontroller-2020\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Austin, TX\",\"title\":\"Utilizing Hidden Markov Models to Classify Maneuvers and Improve Estimates of an Unmanned Aerial Vehicle\",\"volume\":\"54\",\"abstract\":\"Estimating the states of a Unmanned Aerial Vehicle (UAV) without the use of on- board sensors can be diffcult, particularly if the UAV is performing high dynamic maneuvers. This paper examines if data driven modelling can assist in estimating UAV states, as well as classiffcation of UAV maneuvers. A standard Extended Kalman Filter (EKF) that uses radar measurements and a constant acceleration dynamic model is used as the baseline estimation technique for dynamic UAV maneuvers. The UAV maneuvers are then modelled as Hidden Markov Models (HMM), which classify maneuvers and generate additional state information in the form of acceleration and jerk estimates. These HMM estimates are incorporated into an EKF to create a fusion EKF+HMM. This paper evaluates the robustness of the HMM classifcation accuracy and compares the EKF+HMM to a standard EKF using both simulated and experimental data.\",\"booktitle\":\"Modeling, Estimation, and Control Conference\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Strong\"],\"firstnames\":[\"Amy\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"month\":\"October\",\"year\":\"2021\",\"bibtex\":\"@inproceedings{strong_utilizing_2021,\\n\\taddress = {Austin, TX},\\n\\ttitle = {Utilizing {Hidden} {Markov} {Models} to {Classify} {Maneuvers} and {Improve} {Estimates} of an {Unmanned} {Aerial} {Vehicle}},\\n\\tvolume = {54},\\n\\tabstract = {Estimating the states of a Unmanned Aerial Vehicle (UAV) without the use of on-\\nboard sensors can be diffcult, particularly if the UAV is performing high dynamic maneuvers.\\nThis paper examines if data driven modelling can assist in estimating UAV states, as well as\\nclassiffcation of UAV maneuvers. A standard Extended Kalman Filter (EKF) that uses radar\\nmeasurements and a constant acceleration dynamic model is used as the baseline estimation\\ntechnique for dynamic UAV maneuvers. The UAV maneuvers are then modelled as Hidden\\nMarkov Models (HMM), which classify maneuvers and generate additional state information\\nin the form of acceleration and jerk estimates. These HMM estimates are incorporated into\\nan EKF to create a fusion EKF+HMM. This paper evaluates the robustness of the HMM\\nclassifcation accuracy and compares the EKF+HMM to a standard EKF using both simulated\\nand experimental data.},\\n\\tbooktitle = {Modeling, {Estimation}, and {Control} {Conference}},\\n\\tauthor = {Strong, Amy and Martin, Scott and Bevly, David},\\n\\tmonth = oct,\\n\\tyear = {2021},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Strong, A.\",\"Martin, S.\",\"Bevly, D.\"],\"key\":\"strong_utilizing_2021-1\",\"id\":\"strong_utilizing_2021-1\",\"bibbaseid\":\"strong-martin-bevly-utilizinghiddenmarkovmodelstoclassifymaneuversandimproveestimatesofanunmannedaerialvehicle-2021\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"St. Louis, MO\",\"title\":\"Localization Through INS Integration and Improvements in Mapping\",\"abstract\":\"Navigation by means of magnetic map-based particle filters has already been proven feasible in specific conditions and under strict adherance to mapped areas. Ambiguties inherent to the magnetic signal may be mitigated by fusing the filter with additional measurements, most accessibly from an accelerometer. Acceleration measurements can be used to improve the measurement update step by providing additional information for likelihood estimation. This approach was tested against a magnetometer-only filter and found improvements in the best-case and average performance, but greater variability in maximum error and decreased filter stability. Additionally, it was used to help gauge navigability and recoverability in instances of attempted localization not on the mapped route. Both approaches could recover from brief diversions from the map but could not overcome longer diversions that skipped segments of the map. Also introduced to help positioning estimation is spatial correlation analysis, a likelihood technique that takes into account multiple navigation samples and signal scaling. This technique is found to be competitive in accuracy but much more computationally demanding than the traditional aggregate bin likelihood technique.\",\"author\":[{\"propositions\":[],\"lastnames\":[\"McWilliams\"],\"firstnames\":[\"Ryan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Chen\"],\"firstnames\":[\"Howard\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kamrath\"],\"firstnames\":[\"Luke\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"year\":\"2021\",\"bibtex\":\"@inproceedings{mcwilliams_localization_2021,\\n\\taddress = {St. Louis, MO},\\n\\ttitle = {Localization {Through} {INS} {Integration} and {Improvements} in {Mapping}},\\n\\tabstract = {Navigation by means of magnetic map-based particle filters has already been proven feasible in specific conditions and under\\nstrict adherance to mapped areas. Ambiguties inherent to the magnetic signal may be mitigated by fusing the filter with additional\\nmeasurements, most accessibly from an accelerometer. Acceleration measurements can be used to improve the measurement\\nupdate step by providing additional information for likelihood estimation. This approach was tested against a magnetometer-only\\nfilter and found improvements in the best-case and average performance, but greater variability in maximum error and decreased\\nfilter stability. Additionally, it was used to help gauge navigability and recoverability in instances of attempted localization\\nnot on the mapped route. Both approaches could recover from brief diversions from the map but could not overcome longer\\ndiversions that skipped segments of the map. Also introduced to help positioning estimation is spatial correlation analysis,\\na likelihood technique that takes into account multiple navigation samples and signal scaling. This technique is found to be\\ncompetitive in accuracy but much more computationally demanding than the traditional aggregate bin likelihood technique.},\\n\\tauthor = {McWilliams, Ryan and Chen, Howard and Kamrath, Luke and Bevly, David},\\n\\tyear = {2021},\\n}\\n\\n\\n\\n\",\"author_short\":[\"McWilliams, R.\",\"Chen, H.\",\"Kamrath, L.\",\"Bevly, D.\"],\"key\":\"mcwilliams_localization_2021\",\"id\":\"mcwilliams_localization_2021\",\"bibbaseid\":\"mcwilliams-chen-kamrath-bevly-localizationthroughinsintegrationandimprovementsinmapping-2021\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Single Differenced Doppler Positioning with Low Earth Orbit Signals of Opportunity and Angle of Arrival Estimation\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Thompson\"],\"firstnames\":[\"Sterling\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"Scott\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"month\":\"January\",\"year\":\"2021\",\"bibtex\":\"@inproceedings{thompson_single_2021,\\n\\ttitle = {Single {Differenced} {Doppler} {Positioning} with {Low} {Earth} {Orbit} {Signals} of {Opportunity} and {Angle} of {Arrival} {Estimation}},\\n\\tauthor = {Thompson, Sterling and Martin, Scott and Bevly, David},\\n\\tmonth = jan,\\n\\tyear = {2021},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Thompson, S.\",\"Martin, S.\",\"Bevly, D.\"],\"key\":\"thompson_single_2021\",\"id\":\"thompson_single_2021\",\"bibbaseid\":\"thompson-martin-bevly-singledifferenceddopplerpositioningwithlowearthorbitsignalsofopportunityandangleofarrivalestimation-2021\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Lateral Tire Force Estimation with Unknown Input Observer\",\"volume\":\"8712.\",\"url\":\"https://asmedigitalcollection.asme.org/DSCC/proceedings-abstract/DSCC2012-MOVIC2012/531/228798\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Wang\"],\"firstnames\":[\"Y.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Chen\"],\"firstnames\":[\"S.\",\"-K.\"],\"suffixes\":[]}],\"month\":\"October\",\"year\":\"2012\",\"bibtex\":\"@inproceedings{wang_lateral_2012,\\n\\ttitle = {Lateral {Tire} {Force} {Estimation} with {Unknown} {Input} {Observer}},\\n\\tvolume = {8712.},\\n\\turl = {https://asmedigitalcollection.asme.org/DSCC/proceedings-abstract/DSCC2012-MOVIC2012/531/228798},\\n\\tauthor = {Wang, Y. and Bevly, D. M. and Chen, S. -K.},\\n\\tmonth = oct,\\n\\tyear = {2012},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Wang, Y.\",\"Bevly, D. M.\",\"Chen, S. -.\"],\"key\":\"wang_lateral_2012\",\"id\":\"wang_lateral_2012\",\"bibbaseid\":\"wang-bevly-chen-lateraltireforceestimationwithunknowninputobserver-2012\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://asmedigitalcollection.asme.org/DSCC/proceedings-abstract/DSCC2012-MOVIC2012/531/228798\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Longitudinal Tire Force Estimation with Unknown Input Observer\",\"volume\":\"8710\",\"url\":\"http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.1053.1517&rep=rep1&type=pdf\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Wang\"],\"firstnames\":[\"Y.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Chen\"],\"firstnames\":[\"S.\",\"-K.\"],\"suffixes\":[]}],\"month\":\"October\",\"year\":\"2012\",\"bibtex\":\"@inproceedings{wang_longitudinal_2012,\\n\\ttitle = {Longitudinal {Tire} {Force} {Estimation} with {Unknown} {Input} {Observer}},\\n\\tvolume = {8710},\\n\\turl = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.1053.1517&rep=rep1&type=pdf},\\n\\tauthor = {Wang, Y. and Bevly, D. M. and Chen, S. -K.},\\n\\tmonth = oct,\\n\\tyear = {2012},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Wang, Y.\",\"Bevly, D. M.\",\"Chen, S. -.\"],\"key\":\"wang_longitudinal_2012\",\"id\":\"wang_longitudinal_2012\",\"bibbaseid\":\"wang-bevly-chen-longitudinaltireforceestimationwithunknowninputobserver-2012\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.1053.1517&rep=rep1&type=pdf\"},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Sensor Auto-Calibration on Dynamic Platforms in 3D\",\"booktitle\":\"Proc\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Britt\"],\"firstnames\":[\"J.\",\"H.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]}],\"year\":\"2013\",\"bibtex\":\"@inproceedings{britt_sensor_2013,\\n\\ttitle = {Sensor {Auto}-{Calibration} on {Dynamic} {Platforms} in {3D}},\\n\\tbooktitle = {Proc},\\n\\tauthor = {Britt, J. H. and Bevly, D. M.},\\n\\tyear = {2013},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Britt, J. H.\",\"Bevly, D. M.\"],\"key\":\"britt_sensor_2013\",\"id\":\"britt_sensor_2013\",\"bibbaseid\":\"britt-bevly-sensorautocalibrationondynamicplatformsin3d-2013\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Fully Automated Calibration of Multiple 3D Sensors During Vehicle Maneuvers\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Britt\"],\"firstnames\":[\"J.\",\"H.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]}],\"year\":\"2013\",\"bibtex\":\"@inproceedings{britt_fully_2013,\\n\\ttitle = {Fully {Automated} {Calibration} of {Multiple} {3D} {Sensors} {During} {Vehicle} {Maneuvers}},\\n\\tauthor = {Britt, J. H. and Bevly, D. M.},\\n\\tyear = {2013},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Britt, J. H.\",\"Bevly, D. M.\"],\"key\":\"britt_fully_2013\",\"id\":\"britt_fully_2013\",\"bibbaseid\":\"britt-bevly-fullyautomatedcalibrationofmultiple3dsensorsduringvehiclemaneuvers-2013\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Performance Evaluation of Range Information Provided by Dedicated Short Range Communication (DSRC) Radios\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Allen\"],\"firstnames\":[\"J.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]}],\"year\":\"2010\",\"bibtex\":\"@inproceedings{allen_performance_2010,\\n\\ttitle = {Performance {Evaluation} of {Range} {Information} {Provided} by {Dedicated} {Short} {Range} {Communication} ({DSRC}) {Radios}},\\n\\tauthor = {Allen, J. and Bevly, D. M.},\\n\\tyear = {2010},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Allen, J.\",\"Bevly, D. M.\"],\"key\":\"allen_performance_2010\",\"id\":\"allen_performance_2010\",\"bibbaseid\":\"allen-bevly-performanceevaluationofrangeinformationprovidedbydedicatedshortrangecommunicationdsrcradios-2010\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Performance analysis of a scalable navigation solution using vehicle safety sensors\",\"volume\":\"931\",\"journal\":\"Intelligent Vehicles Symposium (IV)\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"S.\",\";\",\"Rose\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Britt\"],\"firstnames\":[\"C.\",\";\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"J.\",\";\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Popovic\"],\"firstnames\":[\"D.\",\";\"],\"suffixes\":[]},{\"firstnames\":[],\"propositions\":[],\"lastnames\":[\"Z.\"],\"suffixes\":[]}],\"month\":\"June\",\"year\":\"2012\",\"pages\":\"926\",\"bibtex\":\"@article{martin_performance_2012,\\n\\ttitle = {Performance analysis of a scalable navigation solution using vehicle safety sensors},\\n\\tvolume = {931},\\n\\tjournal = {Intelligent Vehicles Symposium (IV)},\\n\\tauthor = {Martin, S. ; Rose and Britt, C. ; and Bevly, J. ; and Popovic, D. ; and {Z.}},\\n\\tmonth = jun,\\n\\tyear = {2012},\\n\\tpages = {926},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Martin, S. ; R.\",\"Britt, C. ;\",\"Bevly, J. ;\",\"Popovic, D. ;\",\"Z.\"],\"key\":\"martin_performance_2012\",\"id\":\"martin_performance_2012\",\"bibbaseid\":\"martin-britt-bevly-popovic-z-performanceanalysisofascalablenavigationsolutionusingvehiclesafetysensors-2012\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Non Line of Sight Automated Vehicle Following Using a Dynamic Base RTK System\",\"volume\":\"58\",\"number\":\"4\",\"journal\":\"Navigation: Journal of the Institute of Navigation\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Travis\"],\"firstnames\":[\"W.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"S.\",\"Hodo\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"W\"],\"firstnames\":[\"D.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]}],\"year\":\"2011\",\"pages\":\"241–255\",\"bibtex\":\"@article{travis_non_2011,\\n\\ttitle = {Non {Line} of {Sight} {Automated} {Vehicle} {Following} {Using} a {Dynamic} {Base} {RTK} {System}},\\n\\tvolume = {58},\\n\\tnumber = {4},\\n\\tjournal = {Navigation: Journal of the Institute of Navigation},\\n\\tauthor = {Travis, W. and Martin, S. Hodo and W, D. and Bevly, D. M.},\\n\\tyear = {2011},\\n\\tpages = {241--255},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Travis, W.\",\"Martin, S. H.\",\"W, D.\",\"Bevly, D. M.\"],\"key\":\"travis_non_2011\",\"id\":\"travis_non_2011\",\"bibbaseid\":\"travis-martin-w-bevly-nonlineofsightautomatedvehiclefollowingusingadynamicbasertksystem-2011\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Automated Short Distance Vehicle Following Using a Dynamic Base RTK System\",\"volume\":\"9\",\"number\":\"1/2\",\"journal\":\"International Journal of Vehicle Autonomous Systems\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Travis\"],\"firstnames\":[\"W.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"S.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]}],\"year\":\"2011\",\"pages\":\"126–141\",\"bibtex\":\"@article{travis_automated_2011,\\n\\ttitle = {Automated {Short} {Distance} {Vehicle} {Following} {Using} a {Dynamic} {Base} {RTK} {System}},\\n\\tvolume = {9},\\n\\tnumber = {1/2},\\n\\tjournal = {International Journal of Vehicle Autonomous Systems},\\n\\tauthor = {Travis, W. and Martin, S. and Bevly, D. M.},\\n\\tyear = {2011},\\n\\tpages = {126--141},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Travis, W.\",\"Martin, S.\",\"Bevly, D. M.\"],\"key\":\"travis_automated_2011\",\"id\":\"travis_automated_2011\",\"bibbaseid\":\"travis-martin-bevly-automatedshortdistancevehiclefollowingusingadynamicbasertksystem-2011\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Compensation of Vehicle Dynamic Induced Navigation Errors with Dual Antenna GPS Attitude Measurements\",\"volume\":\"8\",\"number\":\"3\",\"journal\":\"International Journal of Measurement\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Travis\"],\"firstnames\":[\"W.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]}],\"year\":\"2008\",\"pages\":\"212–224\",\"bibtex\":\"@article{travis_compensation_2008,\\n\\ttitle = {Compensation of {Vehicle} {Dynamic} {Induced} {Navigation} {Errors} with {Dual} {Antenna} {GPS} {Attitude} {Measurements}},\\n\\tvolume = {8},\\n\\tnumber = {3},\\n\\tjournal = {International Journal of Measurement},\\n\\tauthor = {Travis, W. and Bevly, D. M.},\\n\\tyear = {2008},\\n\\tpages = {212--224},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Travis, W.\",\"Bevly, D. M.\"],\"key\":\"travis_compensation_2008\",\"id\":\"travis_compensation_2008\",\"bibbaseid\":\"travis-bevly-compensationofvehicledynamicinducednavigationerrorswithdualantennagpsattitudemeasurements-2008\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"A Split-Crank Bicycle Ergometer Uses Servomotors to Provide Programmable Pedal Forces for Studies in Human Biomechanics\",\"volume\":\"4\",\"journal\":\"IEEE Transactions on Neural Systems & Rehabilitation Engineering, Vol 18, No\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Loos\"],\"firstnames\":[\"H.\",\"F.\",\"Machiel\",\"Van\",\"der\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kautz\"],\"firstnames\":[\"Steven\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Schwandt\"],\"firstnames\":[\"Douglas\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Anderson\"],\"firstnames\":[\"James\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Chen\"],\"firstnames\":[\"George\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Ting\"],\"firstnames\":[\"Lena\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2010\",\"pages\":\"445–452\",\"bibtex\":\"@article{loos_split-crank_2010,\\n\\ttitle = {A {Split}-{Crank} {Bicycle} {Ergometer} {Uses} {Servomotors} to {Provide} {Programmable} {Pedal} {Forces} for {Studies} in {Human} {Biomechanics}},\\n\\tvolume = {4},\\n\\tjournal = {IEEE Transactions on Neural Systems \\\\& Rehabilitation Engineering, Vol 18, No},\\n\\tauthor = {Loos, H. F. Machiel Van der and Kautz, Steven and Schwandt, Douglas and Anderson, James and Chen, George and Bevly, David M. and Ting, Lena},\\n\\tmonth = aug,\\n\\tyear = {2010},\\n\\tpages = {445--452},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Loos, H. F. M. V. d.\",\"Kautz, S.\",\"Schwandt, D.\",\"Anderson, J.\",\"Chen, G.\",\"Bevly, D. M.\",\"Ting, L.\"],\"key\":\"loos_split-crank_2010\",\"id\":\"loos_split-crank_2010\",\"bibbaseid\":\"loos-kautz-schwandt-anderson-chen-bevly-ting-asplitcrankbicycleergometerusesservomotorstoprovideprogrammablepedalforcesforstudiesinhumanbiomechanics-2010\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Comparison of GPS-based autonomous vehicle following using global and relative positioning\",\"volume\":\"10\",\"number\":\"3\",\"journal\":\"International Journal of Autonomous Vehicle Systems\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Martin\"],\"firstnames\":[\"S.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]}],\"year\":\"2012\",\"pages\":\"229–255\",\"bibtex\":\"@article{martin_comparison_2012,\\n\\ttitle = {Comparison of {GPS}-based autonomous vehicle following using global and relative positioning},\\n\\tvolume = {10},\\n\\tnumber = {3},\\n\\tjournal = {International Journal of Autonomous Vehicle Systems},\\n\\tauthor = {Martin, S. and Bevly, D. M.},\\n\\tyear = {2012},\\n\\tpages = {229--255},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Martin, S.\",\"Bevly, D. M.\"],\"key\":\"martin_comparison_2012\",\"id\":\"martin_comparison_2012\",\"bibbaseid\":\"martin-bevly-comparisonofgpsbasedautonomousvehiclefollowingusingglobalandrelativepositioning-2012\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\",\"downloads\":1},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Set terrain based optimal speed limits for heavy trucks energy saving\",\"volume\":\"1\",\"number\":\"4\",\"journal\":\"International Journal of. Powertrains, Vol. 1, No\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Huang\"],\"firstnames\":[\"W.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]}],\"year\":\"2012\",\"pages\":\"335–350\",\"bibtex\":\"@article{huang_set_2012,\\n\\ttitle = {Set terrain based optimal speed limits for heavy trucks energy saving},\\n\\tvolume = {1},\\n\\tnumber = {4},\\n\\tjournal = {International Journal of. Powertrains, Vol. 1, No},\\n\\tauthor = {Huang, W. and Bevly, D. M.},\\n\\tyear = {2012},\\n\\tpages = {335--350},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Huang, W.\",\"Bevly, D. M.\"],\"key\":\"huang_set_2012\",\"id\":\"huang_set_2012\",\"bibbaseid\":\"huang-bevly-setterrainbasedoptimalspeedlimitsforheavytrucksenergysaving-2012\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Evaluation of 3D road geometry based heavy truck fuel optimization\",\"volume\":\"8\",\"number\":\"1\",\"journal\":\"International Journal of Vehicle Autonomous Systems\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Huang\"],\"firstnames\":[\"W.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]}],\"year\":\"2010\",\"pages\":\"39–55\",\"bibtex\":\"@article{huang_evaluation_2010,\\n\\ttitle = {Evaluation of {3D} road geometry based heavy truck fuel optimization},\\n\\tvolume = {8},\\n\\tnumber = {1},\\n\\tjournal = {International Journal of Vehicle Autonomous Systems},\\n\\tauthor = {Huang, W. and Bevly, D. M.},\\n\\tyear = {2010},\\n\\tpages = {39--55},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Huang, W.\",\"Bevly, D. M.\"],\"key\":\"huang_evaluation_2010\",\"id\":\"huang_evaluation_2010\",\"bibbaseid\":\"huang-bevly-evaluationof3droadgeometrybasedheavytruckfueloptimization-2010\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"On-line Estimation of Implement Dynamics for Adaptive Steering Control of a Farm Tractor\",\"volume\":\"13\",\"number\":\"4\",\"journal\":\"IEEE/ASME Transactions on Mechatronics\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Gartley\"],\"firstnames\":[\"E.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2008\",\"pages\":\"429–440\",\"bibtex\":\"@article{gartley_-line_2008,\\n\\ttitle = {On-line {Estimation} of {Implement} {Dynamics} for {Adaptive} {Steering} {Control} of a {Farm} {Tractor}},\\n\\tvolume = {13},\\n\\tnumber = {4},\\n\\tjournal = {IEEE/ASME Transactions on Mechatronics},\\n\\tauthor = {Gartley, E. and Bevly, D. M.},\\n\\tmonth = aug,\\n\\tyear = {2008},\\n\\tpages = {429--440},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Gartley, E.\",\"Bevly, D. M.\"],\"key\":\"gartley_-line_2008-1\",\"id\":\"gartley_-line_2008-1\",\"bibbaseid\":\"gartley-bevly-onlineestimationofimplementdynamicsforadaptivesteeringcontrolofafarmtractor-2008\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Comparison of Terrain Roughness Characterization Methods\",\"volume\":\"20\",\"number\":\"1\",\"journal\":\"Journal of Terramechanics\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Dawkins\"],\"firstnames\":[\"J.\",\"J.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Jackson\"],\"firstnames\":[\"R.\",\"L.\"],\"suffixes\":[]}],\"year\":\"2013\",\"pages\":\"33–46\",\"bibtex\":\"@article{dawkins_comparison_2013,\\n\\ttitle = {Comparison of {Terrain} {Roughness} {Characterization} {Methods}},\\n\\tvolume = {20},\\n\\tnumber = {1},\\n\\tjournal = {Journal of Terramechanics},\\n\\tauthor = {Dawkins, J. J. and Bevly, D. M and Jackson, R. L.},\\n\\tyear = {2013},\\n\\tpages = {33--46},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Dawkins, J. J.\",\"Bevly, D. M\",\"Jackson, R. L.\"],\"key\":\"dawkins_comparison_2013\",\"id\":\"dawkins_comparison_2013\",\"bibbaseid\":\"dawkins-bevly-jackson-comparisonofterrainroughnesscharacterizationmethods-2013\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Fractal Terrain Generation for Vehicle Simulation\",\"volume\":\"10\",\"number\":\"1/2\",\"journal\":\"International Journal of Vehicle Autonomous Systems\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Dawkins\"],\"firstnames\":[\"J.\",\"J.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Jackson\"],\"firstnames\":[\"R.\"],\"suffixes\":[]}],\"year\":\"2012\",\"pages\":\"3–18\",\"bibtex\":\"@article{dawkins_fractal_2012,\\n\\ttitle = {Fractal {Terrain} {Generation} for {Vehicle} {Simulation}},\\n\\tvolume = {10},\\n\\tnumber = {1/2},\\n\\tjournal = {International Journal of Vehicle Autonomous Systems},\\n\\tauthor = {Dawkins, J. J. and Bevly, D. M and Jackson, R.},\\n\\tyear = {2012},\\n\\tpages = {3--18},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Dawkins, J. J.\",\"Bevly, D. M\",\"Jackson, R.\"],\"key\":\"dawkins_fractal_2012\",\"id\":\"dawkins_fractal_2012\",\"bibbaseid\":\"dawkins-bevly-jackson-fractalterraingenerationforvehiclesimulation-2012\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Comparison of an INS vs Carrier Phase DGPS Attitude in the Control of Off-Road Vehicles\",\"volume\":\"42\",\"number\":\"4\",\"journal\":\"Journal of Navigation\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Rekow\"],\"firstnames\":[\"A.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Parkinson\"],\"firstnames\":[\"B.\"],\"suffixes\":[]}],\"year\":\"2000\",\"bibtex\":\"@article{bevly_comparison_2000,\\n\\ttitle = {Comparison of an {INS} vs {Carrier} {Phase} {DGPS} {Attitude} in the {Control} of {Off}-{Road} {Vehicles}},\\n\\tvolume = {42},\\n\\tnumber = {4},\\n\\tjournal = {Journal of Navigation},\\n\\tauthor = {Bevly, D. M. and Rekow, A. and Parkinson, B.},\\n\\tyear = {2000},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Bevly, D. M.\",\"Rekow, A.\",\"Parkinson, B.\"],\"key\":\"bevly_comparison_2000\",\"id\":\"bevly_comparison_2000\",\"bibbaseid\":\"bevly-rekow-parkinson-comparisonofaninsvscarrierphasedgpsattitudeinthecontrolofoffroadvehicles-2000\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Cascaded Estimators to Improve Lateral Vehicle State and Tire Parameter Estimates\",\"volume\":\"5\",\"number\":\"3-4\",\"journal\":\"International Journal of Vehicle Autonomous Systems\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Daily\"],\"firstnames\":[\"R.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Travis\"],\"firstnames\":[\"W.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M\"],\"suffixes\":[]}],\"year\":\"2007\",\"pages\":\"230–255\",\"bibtex\":\"@article{daily_cascaded_2007,\\n\\ttitle = {Cascaded {Estimators} to {Improve} {Lateral} {Vehicle} {State} and {Tire} {Parameter} {Estimates}},\\n\\tvolume = {5},\\n\\tnumber = {3-4},\\n\\tjournal = {International Journal of Vehicle Autonomous Systems},\\n\\tauthor = {Daily, R. and Travis, W. and Bevly, D. M},\\n\\tyear = {2007},\\n\\tpages = {230--255},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Daily, R.\",\"Travis, W.\",\"Bevly, D. M\"],\"key\":\"daily_cascaded_2007\",\"id\":\"daily_cascaded_2007\",\"bibbaseid\":\"daily-travis-bevly-cascadedestimatorstoimprovelateralvehiclestateandtireparameterestimates-2007\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"GPS: A Low Cost Velocity Sensor for Correcting Inertial Sensor Errors on Ground Vehicles\",\"volume\":\"126\",\"number\":\"2\",\"journal\":\"Journal of Dynamic Systems, Measurement, and Control\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]}],\"month\":\"June\",\"year\":\"2004\",\"pages\":\"255–264\",\"bibtex\":\"@article{bevly_gps_2004,\\n\\ttitle = {{GPS}: {A} {Low} {Cost} {Velocity} {Sensor} for {Correcting} {Inertial} {Sensor} {Errors} on {Ground} {Vehicles}},\\n\\tvolume = {126},\\n\\tnumber = {2},\\n\\tjournal = {Journal of Dynamic Systems, Measurement, and Control},\\n\\tauthor = {Bevly, D. M.},\\n\\tmonth = jun,\\n\\tyear = {2004},\\n\\tpages = {255--264},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Bevly, D. M.\"],\"key\":\"bevly_gps_2004\",\"id\":\"bevly_gps_2004\",\"bibbaseid\":\"bevly-gpsalowcostvelocitysensorforcorrectinginertialsensorerrorsongroundvehicles-2004\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Control Allocation in Ground Vehicles\",\"volume\":\"42\",\"number\":\"3\",\"journal\":\"International Journal of Vehicle Design\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Plumlee\"],\"firstnames\":[\"J.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hodel\"],\"firstnames\":[\"S.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]}],\"year\":\"2006\",\"pages\":\"215–243\",\"bibtex\":\"@article{plumlee_control_2006,\\n\\ttitle = {Control {Allocation} in {Ground} {Vehicles}},\\n\\tvolume = {42},\\n\\tnumber = {3},\\n\\tjournal = {International Journal of Vehicle Design},\\n\\tauthor = {Plumlee, J. and Hodel, S. and Bevly, D. M.},\\n\\tyear = {2006},\\n\\tpages = {215--243},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Plumlee, J.\",\"Hodel, S.\",\"Bevly, D. M.\"],\"key\":\"plumlee_control_2006\",\"id\":\"plumlee_control_2006\",\"bibbaseid\":\"plumlee-hodel-bevly-controlallocationingroundvehicles-2006\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Error Analysis of a Dead Reckoning Navigator for Ground Vehicle Guidance and Control\",\"volume\":\"53\",\"number\":\"3\",\"journal\":\"Journal of Navigation\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"D.\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Gebre-Egziabher\"],\"firstnames\":[\"D.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Parkinson\"],\"firstnames\":[\"B.\",\"W.\"],\"suffixes\":[]}],\"year\":\"2006\",\"bibtex\":\"@article{bevly_error_2006,\\n\\ttitle = {Error {Analysis} of a {Dead} {Reckoning} {Navigator} for {Ground} {Vehicle} {Guidance} and {Control}},\\n\\tvolume = {53},\\n\\tnumber = {3},\\n\\tjournal = {Journal of Navigation},\\n\\tauthor = {Bevly, D. M. and Gebre-Egziabher, D. and Parkinson, B. W.},\\n\\tyear = {2006},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Bevly, D. M.\",\"Gebre-Egziabher, D.\",\"Parkinson, B. W.\"],\"key\":\"bevly_error_2006\",\"id\":\"bevly_error_2006\",\"bibbaseid\":\"bevly-gebreegziabher-parkinson-erroranalysisofadeadreckoningnavigatorforgroundvehicleguidanceandcontrol-2006\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"What are vector tracking loops and what are their benefits and drawbacks\",\"journal\":\"Inside GNSS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Lashley\"],\"firstnames\":[\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"month\":\"June\",\"year\":\"2009\",\"pages\":\"16–21\",\"bibtex\":\"@article{lashley_what_2009,\\n\\ttitle = {What are vector tracking loops and what are their benefits and drawbacks},\\n\\tjournal = {Inside GNSS},\\n\\tauthor = {Lashley, M. and Bevly, David},\\n\\tmonth = jun,\\n\\tyear = {2009},\\n\\tpages = {16--21},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Lashley, M.\",\"Bevly, D.\"],\"key\":\"lashley_what_2009\",\"id\":\"lashley_what_2009\",\"bibbaseid\":\"lashley-bevly-whatarevectortrackingloopsandwhataretheirbenefitsanddrawbacks-2009\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"How do vector delay lock loops predict the satellite signals?\",\"journal\":\"Inside GNSS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Lashley\"],\"firstnames\":[\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]}],\"month\":\"October\",\"year\":\"2012\",\"pages\":\"28–34\",\"bibtex\":\"@article{lashley_how_2012,\\n\\ttitle = {How do vector delay lock loops predict the satellite signals?},\\n\\tjournal = {Inside GNSS},\\n\\tauthor = {Lashley, M. and Bevly, David},\\n\\tmonth = oct,\\n\\tyear = {2012},\\n\\tpages = {28--34},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Lashley, M.\",\"Bevly, D.\"],\"key\":\"lashley_how_2012\",\"id\":\"lashley_how_2012\",\"bibbaseid\":\"lashley-bevly-howdovectordelaylockloopspredictthesatellitesignals-2012\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"incollection\",\"type\":\"incollection\",\"address\":\"Norwood, MA\",\"title\":\"Error Analysis of a Dead Reckoning Navigator for Ground Vehicle Guidance and Control\",\"booktitle\":\"Volume VII of the GPS Red Book: Integrated 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B.\"],\"key\":\"bevly_error_2010\",\"id\":\"bevly_error_2010\",\"bibbaseid\":\"bevly-gebraegziabher-parkinson-erroranalysisofadeadreckoningnavigatorforgroundvehicleguidanceandcontrol-2010\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{\"bevly, d\":\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\"}},\"html\":\"\"},{\"bibtype\":\"book\",\"type\":\"book\",\"address\":\"Norwood, MA\",\"title\":\"GNSS For Vehicle Control\",\"publisher\":\"Artech\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bevly\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Cobb\"],\"firstnames\":[\"Steward\"],\"suffixes\":[]}],\"year\":\"2010\",\"bibtex\":\"@book{bevly_gnss_2010,\\n\\taddress = {Norwood, MA},\\n\\ttitle = {{GNSS} {For} {Vehicle} {Control}},\\n\\tpublisher = {Artech},\\n\\tauthor = {Bevly, David and Cobb, Steward},\\n\\tyear = {2010},\\n}\\n\",\"author_short\":[\"Bevly, D.\",\"Cobb, 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year\"><a onclick=\"groupby('year')\">\n            Year</a>\n        </li>\n        <li class=\"groupby author\"><a onclick=\"groupby('author_short')\">\n            Author</a>\n        </li>\n        <li class=\"groupby type\"><a onclick=\"groupby('type')\">\n            Type</a>\n        </li>\n        <li class=\"groupby keyword\"><a onclick=\"groupby('keyword')\">\n            Keyword</a>\n        </li>\n        <li class=\"groupby downloads\"><a onclick=\"groupby('downloads')\">\n            Downloads</a>\n        </li>\n      </ul>\n      </li>\n\n\n      <li class=\"dropdown\" id=\"menu_dropdown\">\n      <a class=\"dropdown-toggle\"\n         data-toggle=\"dropdown\"\n         href=\"#\" alt=\"controls\">\n          <i class=\"fa fa-reorder\" alt=\"controls\"></i>\n          <b class=\"caret\"></b>\n      </a>\n      <ul class=\"dropdown-menu\">\n        <li>\n          <a onclick=\"toggleAll()\">\n            <i class=\"fa fa-chevron-down fa-fw\"></i> Expand/Collapse All\n          </a>\n        </li>\n        <li>\n          <a download=\"keb0115\" href=\"data:text/bibtex;base64,@incollection{bevly_navigation_nodate,
	title = {Navigation in {Advanced} {Driver}-{Assisted} {Systems} and {Automated} {Driving}},
	booktitle = {Position, {Navigation}, and {Timing} {Technologies} in the 21st {Century}: {Integrated} {Satellite} {Navigation}, {Sensor} {Systems}, and {Civil} {Applications}},
	author = {Bevly, David and Martin, Scott},
	editor = {Morton, Y. Jade and van Diffelen, Frank and Spilker Jr., James and Parkinson, Brad},
	collaborator = {Lo, Sherman and Gao, Grace},
}





@incollection{bevly_integration_2009,
	address = {Norwood, MA},
	title = {Integration of {GNSS} and {INS}: {Part} 2},
	booktitle = {{GNSS} {Applications} and {Methods}},
	publisher = {Artech House},
	author = {Bevly, David and Gebra-Egziabher, Demoz and Petovello, Mark},
	year = {2009},
	pages = {177--189},
}





@incollection{bevly_integration_2009,
	address = {Norwood, MA},
	title = {Integration of {GNSS} and {INS}: {Part} {I}},
	booktitle = {{GNSS} {Applications} and {Methods}},
	publisher = {Artech House},
	author = {Bevly, David and Gebra-Egziabher, Demoz and Petovello, Mark},
	year = {2009},
	pages = {149--176},
}





@inproceedings{jones_ground-vehicle_2022,
	series = {2nd {Modeling}, {Estimation} and {Control} {Conference} {MECC} 2022},
	title = {Ground-{Vehicle} {Relative} {Position} {Estimation} with {UWB} {Ranges} and a {Vehicle} {Dynamics} {Model}},
	volume = {55},
	url = {https://www.sciencedirect.com/science/article/pii/S2405896322029044},
	doi = {10.1016/j.ifacol.2022.11.261},
	abstract = {An accurate relative position vector (RPV) solution between local vehicles is critical in numerous autonomous vehicle applications from cooperative cruise control (CACC) to commercial truck platooning. Relative GPS solutions can deliver sufficient accuracy for such applications, but resiliency and availability can suffer in cluttered environments; thus, relative position solutions independent of GPS are necessary. Ultra-wideband (UWB) radios can provide accurate and robust range, and have gathered attention in recent decades for use in navigation. Prior work has shown that relative position estimation of dynamic vehicles is possible without a GPS reference through UWB-ranging and a constant-velocity Extended Kalman Filter (EKF). Through a kinematic bicycle model, this work modifies the state vector to include direct estimates of the lead vehicle's longitudinal speed and effective steer angle. This improves estimation quality and robustness in the presence of UWB measurement errors, unfavorable relative geometry, and dynamic maneuvers. The algorithm has been compared to previous methods in simulation and experimental testing environments and exhibits both superior accuracy as well as improved robustness during periods of difficult relative geometry.},
	language = {en},
	urldate = {2023-06-06},
	booktitle = {{IFAC}-{PapersOnLine}},
	author = {Jones, Ben and Thompson, Kyle and Pierce, Dan and Martin, Scott and Bevly, David},
	month = jan,
	year = {2022},
	keywords = {Kalman filtering, Relative position estimation, ultra-wideband radios, vehicle dynamics},
	pages = {681--687},
}









@inproceedings{wood_gps_2020,
	title = {{GPS} {Positioning} in {Reduced} {Coverage} {Environments} {Using} {Batched} {Doppler} and {Pseudorange} {Measurements}},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.9110186&site=eds-live&scope=site},
	abstract = {This paper summarizes Doppler positioning and clock modeling. A combined pseudorange and Doppler measurement model is discussed, as well as implications of using Doppler for positioning with the GPS constellation. The combined Doppler and pseudorange algorithm is compared to the standard GPS positioning method, and the constraints on the Doppler positioning will be analyzed. The accuracy of the batched results is compared to GPS positioning. Results for various scenarios with varying satellite visibility are shown. The results of the batched solutions are compared to the performance of standard GPS positioning in different environments.},
	publisher = {IEEE},
	author = {Wood, Joshua and Thompson, Sterling and Martin, Scott and Bevly, David},
	month = apr,
	year = {2020},
}





@inproceedings{whitehead_study_2004,
	title = {A {Study} of the {Effect} of {Various} {Vehicle} {Properties} on {Rollover} {Propensity}},
	abstract = {Copyright © 2004 SAE International This paper investigates the effect of various vehicle parameters on rollover propensity using computer simulation. The computer simulation’s accuracy is verified by comparing it to experimental data from NHTSA’s Phase IV testing on rollover of passenger vehicles. The vehicle model used in the simulation study considers the non-linear, transient dynamics of both yaw and roll motion. The vehicle model is subjected to a specific steering input defined by NHTSA, the Fishhook 1a. A correlation between the vehicle parameter of center of gravity location and rollover propensity is found using the validated vehicle simulation.},
	publisher = {SAE International},
	author = {Whitehead, Y. and Travis, William and Bevly, David M. and Flowers, George},
	year = {2004},
}





@inproceedings{ward_design_2023,
	title = {Design and {Implementation} of an {SAE} {Level}-2 {Lane} {Keeping} {System} for {Class} 8 {Trucks} {Using} {Nonlinear} {Model} {Predictive} {Control}},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.10253308&site=eds-live&scope=site},
	abstract = {This paper focuses on the design and evaluation of a lateral Nonlinear Model Predictive Control (NMPC) path following algorithm for Class 8 vehicles. While NMPC allows for the inclusion of constraints such as obstacle avoidance or rollover prevention, this work is primarily focused on testing the path following capabilities of the NMPC controller without the consideration of constraints. Although many lateral controllers for tractor-trailer systems use either fully linear or fully nonlinear Equations of Motion (EOMs), this paper presents a hybrid model. This hybrid model uses a linear model to describe the dynamics of the tractor-trailer while using nonlinear equations to describe the global position of the system. This model is then implemented in a NMPC architecture. The controller is first designed and tested in MATLAB to yield a controller that can follow a lane change maneuver. This controller is then implemented in a real-time format using ROS and C++. The objective of the real-time controller was to replicate the path of a Kia Optima which was driving in front of the test vehicle. To accomplish this, an estimator was developed to calculate the relative path between the vehicles with enough accuracy to stay within the standard road lane. This estimation algorithm was able to produce lateral position errors with a standard deviation of 1.96 cm. Finally, the lateral controller was shown to track the generated reference path with a mean error of 1.47 cm and a RMS error of under 27 cm.},
	publisher = {IEEE},
	author = {Ward, Jacob W. and Pierce, J. Daniel and Brown, Lowell and Bevly, David M.},
	month = aug,
	year = {2023},
}





@inproceedings{carson_gps_2016,
	title = {{GPS} spoofing detection and mitigation using {Cooperative} {Adaptive} {Cruise} {Control} system},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.7535525&site=eds-live&scope=site},
	abstract = {Global Navigation Satellite Systems (GNSS) like the Global Positioning System (GPS) are susceptible to electronic interference which threatens the reliability of the systems outputs, precise time and localization. Interference comes from natural and predatory sources in the form of increased in-band noise and structured attacks. The structured attack, called spoofing, is designed to trick the receiver into reporting an incorrect navigation solution as if it were accurate. Modern automobiles are becoming more reliant on GPS for localization, automation, and safety. Vehicles are also equipped with a variety of sensors (e.g. Radars, Lidars, wheel encoders) that provide situational awareness which may be leveraged in a GPS spoofing detection scheme. The proposed spoofing detection and mitigation system relies on an existing Cooperative Adaptive Cruise Control (CACC) system to provide inter-vehicle ranging and data sharing. The inter-vehicle ranges are used to detect a spoofing attack, and the mitigation system removes the attacking signal from the incoming data stream. The spoofing detection and removal system is tested using data recorded with a fielded CACC system on two commercial trucks. Intermediate frequency (IF) GPS data is collected during the test. Since live sky spoofing is legal, the IF data recording allows for post process spoofing injection in a controlled environment. In post process, the spoofing signal is shown to “capture” the onboard GPS receiver. The proposed system uses the spoofed IF GPS data along with recorded observables from the CACC system to detection and remove the attack.},
	publisher = {IEEE},
	author = {Carson, Nathaniel and Martin, Scott M. and Starling, Joshua and Bevly, David M.},
	month = jun,
	year = {2016},
}





@inproceedings{britt_dynamic_2011,
	title = {Dynamic {Testing} and {Calibration} of {Gaussian} {Processes} for {Vehicle} {Attitude} {Estimation}.},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=86968314&site=eds-live&scope=site},
	abstract = {A method of estimating a vehicle's attitude in relation to the road surface using only light detection and ranging (lidar) measurements is presented. Gaussian processes, a machine learning technique, is used to relate the measurements of the road surface to the pitch and roll of the vehicle. Testing was performed under normal driving conditions on a test track as well as under high dynamic maneuvers on a skid-pad to assess performance of the algorithm. On-vehicle results show that the attitude calculations are capable of being implemented in a real-time system and have been compared against a multi-antenna GPS attitude measurement for accuracy. [ABSTRACT FROM PUBLISHER], Copyright of 2011 10th International Conference on Machine Learning \& Applications \& Workshops is the property of IEEE and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles )},
	booktitle = {2011 10th {International} {Conference} on {Machine} {Learning} \& {Applications} \& {Workshops}},
	author = {Britt, Jordan and Broderick, David J. and Bevly, David M. and Hung, John Y.},
	year = {2011},
	keywords = {Estimation, Gaussian processes, Laser radar, Roads, Testing, Training, Training data, Vehicles, attitude, lidar},
	pages = {124 -- 128},
}





@inproceedings{wang_mobility_2015,
	title = {Mobility improves {LMI}-based cooperative indoor localization.},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=108577088&site=eds-live&scope=site},
	booktitle = {2015 {IEEE} {Wireless} {Communications} \& {Networking} {Conference} ({WCNC})},
	author = {Wang, Xuyu and Zhou, Hui and Mao, Shiwen and Pandey, Santosh and Agrawal, Prathima and Bevly, David M.},
	year = {2015},
	pages = {2215 -- 2220},
}





@inproceedings{edwards_implementation_2010,
	title = {Implementation details of a deeply integrated {GPS}/{INS} software receiver.},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=81644261&site=eds-live&scope=site},
	booktitle = {2010 {IEEE}/{ION} {Position} {Location} \& {Navigation} {Symposium} ({PLANS})},
	author = {Edwards, W. Luke and Clark, Benjamin J. and Bevly, David M.},
	year = {2010},
	pages = {1137 -- 1146},
}





@inproceedings{payne_control_2012,
	title = {Control of a robot-trailer system using a single non-collocated sensor.},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=86613713&site=eds-live&scope=site},
	abstract = {In this paper, the authors develop an observer and controller for a robot and trailer system in which only a single non-collocated position measurement is used. A linearized state-space model of the system is derived using kinematic equations that have previously proven sufficient for state feedback control. Optimal observer gains (LQG) and controller gains (LQR) are calculated using known process and measurement noise variances. Simulations and experiments both confirm that the LQG/LQR system controls the nonlinear system in path tracking. Control based on state estimation yields performance that is comparable to a more heavily-instrumented full-state feedback system previously used on the robot-trailer system. [ABSTRACT FROM PUBLISHER], Copyright of IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society is the property of IEEE and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written perm)},
	booktitle = {{IECON} 2012 - 38th {Annual} {Conference} on {IEEE} {Industrial} {Electronics} {Society}},
	author = {Payne, Michael L. and Hung, John Y. and Bevly, David M. and Selfridge, Bob J.},
	year = {2012},
	pages = {2674 -- 2679},
}





@inproceedings{hennigar_error_2014,
	title = {Error analysis of {GPS} signals from {USRP} using {GPS} receivers.},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=98457190&site=eds-live&scope=site},
	booktitle = {2014 {IEEE}/{ION} {Position}, {Location} \& {Navigation} {Symposium} - {PLANS} 2014},
	author = {Hennigar, Andrew and Bevly, David M.},
	year = {2014},
	pages = {1041 -- 1047},
}





@inproceedings{wang_observer_2014,
	title = {Observer design for differentiable {Lipschitz} nonlinear systems with time-varying parameters.},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=102539927&site=eds-live&scope=site},
	booktitle = {53rd {IEEE} {Conference} on {Decision} \& {Control}},
	author = {Wang, Yan and Rajamani, Rajesh and Bevly, David M.},
	year = {2014},
	pages = {145 -- 152},
}





@inproceedings{martin_performance_2010,
	title = {Performance comparison of single and dual frequency closely coupled {GPS}/{INS} relative positioning systems.},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=81644321&site=eds-live&scope=site},
	booktitle = {2010 {IEEE}/{ION} {Position} {Location} \& {Navigation} {Symposium} ({PLANS})},
	author = {Martin, Scott and Travis, William and Bevly, David},
	year = {2010},
	pages = {544 -- 551},
}





@inproceedings{ray_comparison_2018,
	title = {A {Comparison} of {Particle} {Propagation} and {Weight} {Update} {Methods} for {Indoor} {Positioning} {Systems}},
	doi = {10.33012/2018.16075},
	author = {Ray, Tanner and Pierce, J. and Bevly, David},
	month = oct,
	year = {2018},
	pages = {3398--3408},
}





@inproceedings{stegner_experimental_2021,
	title = {Experimental {Fuel} {Consumption} {Results} from a {Heterogeneous} {Four}-{Truck} {Platoon}},
	url = {https://doi.org/10.4271/2021-01-0071.},
	doi = {https://doi.org/10.4271/2021-01-0071.},
	booktitle = {{SAE} {Technical} {Paper} {Series}},
	author = {Stegner, Evan and Ward, Jacob and Siefert, Jan and Hoffman, Mark and Bevly, David M.},
	month = apr,
	year = {2021},
}





@inproceedings{allen_relating_2010,
	address = {Palm Springs, CA},
	title = {Relating {Local} {Vision} {Measurements} to {Global} {Navigation} {Satellite} {Systems} {Using} {Waypoint} {Based} {Maps}},
	author = {Allen, J. W. and Bevly, D. M.},
	year = {2010},
}





@inproceedings{ryan_robust_2012,
	title = {Robust {Ground} {Vehicle} {Constraints} for {Aiding} {Stand} {Alone} {INS} and {Determining} {Inertial} {Sensor} {Errors}},
	author = {Ryan, J. and Bevly, D.},
	month = jan,
	year = {2012},
}





@inproceedings{ryan_tire_2012,
	title = {Tire {Radius} {Determination} and {Press} {Loss} {Detection} {Using} {GPS} and {Vehicle} {Stability} {Control} {Sensors}},
	author = {Ryan, J. and Bevly, D. M.},
	month = aug,
	year = {2012},
}





@inproceedings{wang_robust_2012,
	title = {Robust {Observer} {Design} for {Lipschitz} {Nonlinear} {Systems} using {Quadratic} {Polynomial} {Constraints}},
	url = {https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6426517},
	author = {Wang, Y. and Bevly, D. M.},
	month = dec,
	year = {2012},
	keywords = {Asymptotic stability, Mathematical model, Observers, Polynomials, Stability criteria, Vectors},
}





@inproceedings{cofield_-line_2013,
	title = {An {On}-{Line} {Visual} {Driver} {Aid} for {Safe} and {Precise} {Convoy} {Following} in {Visibility}-{Impaired} {Conditions}},
	author = {Cofield, R. and Martin, S. and Bevly, D.},
	year = {2013},
}





@inproceedings{pierce_opportunistic_2017,
	title = {Opportunistic {Landmark} {Registration} for {Long} {Distance} {Relative} {Path} {Following}},
	author = {Pierce, Dan and Martin, Scott and Bevly, David M.},
	month = sep,
	year = {2017},
}





@inproceedings{thopay_initialization_2019,
	title = {Initialization of a {Pedestrian} {Navigation} {System}: {A} {Transfer} {Alignment} {Approach}},
	author = {Thopay, Archit and Bevly, David and Martin, Scott and Chen, Howard},
	month = apr,
	year = {2019},
}





@techreport{bishop_evaluation_2017,
	title = {Evaluation and {Testing} of {Driver}-{Assistive} {Truck} {Platooning}: {Phase} 2 {Final} {Results}},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edo&AN=ejs46779707&site=eds-live&scope=site},
	abstract = {Phase 2 final results are described for the FHWA Exploratory Advanced Research project titled Heavy Truck Cooperative Adaptive Cruise Control: Evaluation, Testing, and Stakeholder Engagement for Near Term Deployment, which evaluates the commercial feasibility of driver-assistive truck platooning (DATP). The project was led by Auburn University, in partnership with Peloton Technology, Peterbilt Trucks, Meritor WABCO, and the American Transportation Research Institute. DATP is a form of cooperative adaptive cruise control for heavy trucks (two-truck platoons). It takes advantage of the increasing maturity of vehicle-to-vehicle (V2V) communications (and the expected widespread deployment of V2V connectivity based on dedicated short-range communications over the next decade) to improve freight efficiency, fleet efficiency, safety, and highway mobility as well as reduce emissions. Notably, truck fleets can implement DATP regardless of the regulatory timeline for dedicated short-range communications. The Phase 2 analysis built on Phase 1 and included a testing program of a DATP prototype (with detailed SAE Type 2 fuel economy testing), wireless communications optimization, traffic modeling to understand the impact on roadways at various levels of market penetration, and additional analysis of methods to find DATP partners as well as aerodynamic simulations to understand drag on the vehicles. Detailed analysis of the fuel economy testing data is provided.},
	author = {Bishop, Richard and Bevly, David and Humphreys, Luke and Boyd, Stephen and Murray, Daniel},
	month = jan,
	year = {2017},
	pages = {11 -- 18},
}





@inproceedings{woodall_using_2012,
	title = {Using the microsoft kinect for {3D} map building and teleoperation.},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=86626968&site=eds-live&scope=site},
	abstract = {This paper describes the use of the Microsoft Kinect for building three dimensional maps for use in teleoperation. Though these maps are being used for teleoperation in this paper, these map building techniques could also be applied in localization for navigation or robot path planning. The Kinect is a relatively new depth sensor that has become popular in the field of robotics, often replacing significantly more expensive systems like tilting laser range finders and stereoscopic vision systems. Two main sources of error in the map making are investigated, random and systematic error from the depth sensor and uncertainty in the navigation solution of the vehicle. Systematic and random error in the Kinect has previously been described in the literature [1] and this paper looks at how these errors affect the users ability to do mapping and offers some practical solutions. The teleoperation system design around this map making process is presented, and it builds on existing work [2] usin)},
	booktitle = {Proceedings of the 2012 {IEEE}/{ION} {Position}, {Location} \& {Navigation} {Symposium}},
	author = {Woodall, William J. and Bevly, David},
	year = {2012},
	keywords = {Artificial neural networks, Indium phosphide, Kinect, Mapping, Octree, Robotics, Robots, Stereo image processing, Teleoperation},
	pages = {1054 -- 1061},
}













@inproceedings{meyer_cluster-based_2022,
	title = {Cluster-{Based} {Wall} {Curvature} {Detection} and {Parameterization} for {Autonomous} {Racing} using {LiDAR} {Point} {Clouds}},
	abstract = {Auotonomous driving and robotic operations often involve and rely upon road edge detection from perception sensor data. In autonomous racing, an emerging application which is currently driving high-dynamic algorithm development in the field of autonomy, edge detection provides safety for the system by making impending wall collisions detectable and offering an aid to on-track localization and guidance. An algorithm is here proposed for the detection of curved and straight wall sections from LiDAR data in race track environments. This method is unique in leveraging point clustering for wall detections, and is designed to provide mid-process results to be used both in this wall detection task as well as in further object detection processes as part of a cohesive perception stack. Position-aware outlier reduction and a least-squares parabolic line fit are used to clean and parameterize the wall position, orientation, and curvature results within individual frames of point cloud data. The algorithm was tested over 200 frames of data with an RMS lateral offset error of the parameterized wall of 0.11 meters.},
	language = {en},
	author = {Meyer, Stephanie W and Bevly, David M},
	month = oct,
	year = {2022},
	pages = {6},
}





@inproceedings{wooten_robust_2013,
	title = {Robust large-area piezoelectric polymer-based collision detection sensor.},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=94548864&site=eds-live&scope=site},
	abstract = {Complex high speed autonomous articulations associated with modern large-scale high degree-of-freedom (DOF) robotic arms have a high possibility of collision when integrated into human cooperative environments for human-aid, task automation, and biomedical interfacing. This paper proposes a large area collision detection system utilizing the piezoelectric effect of polyvinylidene fluoride film. The proposed system provides high dynamic range for sensation and robust adaptability to achieve collision detection on complex surfaces in order to augment robotic systems with collision perception. The design allows for increased cohabitation of human and high DOF robotic arms in cooperative environments requiring advanced and robust collision detection systems capable of retrofitting onto deployed and operating robotic arms in the commercial world. [ABSTRACT FROM PUBLISHER], Copyright of IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society is the property of IEEE an)},
	booktitle = {{IECON} 2013 - 39th {Annual} {Conference} of the {IEEE} {Industrial} {Electronics} {Society}},
	author = {Wooten, J. Michael and Bevly, David M. and Hung, John Y.},
	year = {2013},
	pages = {3994 -- 3999},
}





@inproceedings{berkemeier_suitability_2014,
	title = {On the suitability of {Nonlinear} {Model} {Predictive} {Control} for {Unmanned} {Ground} {Vehicles}},
	isbn = {978-1-4799-3274-0},
	doi = {10.1109/ACC.2014.6858827},
	abstract = {Nonlinear Model Predictive Control (NMPC) has great appeal for vehicle path control due to its ability to easily handle nonlinear dynamic models with constraints while achieving near-optimal control. The drawback is that a straight-forward application results in computations that take too long for real-time use. In this paper, we explore these issues in the use of NMPC for vehicle control. Methods for speeding up the computations are discussed.},
	author = {Berkemeier, Matthew and Perez, Sostenes and Bevly, David},
	month = jun,
	year = {2014},
	pages = {4605--4610},
}





@article{lashley_performance_2013,
	title = {Performance {Comparison} of {Deep} {Integration} and {Tight} {Coupling}.},
	volume = {60},
	issn = {00281522},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=aph&AN=90398662&site=eds-live&scope=site},
	abstract = {ABSTRACT This paper presents a comparative analysis of tight coupling and deep integration. Three deeply integrated and two tightly coupled architectures are analyzed. The analysis of the different architectures is performed using the same grade inertial measurement units, satellite constellations, and GPS signal processing techniques (i.e., identical discriminators, coherent integration times, and C ∕ N0 ratio estimators). Three aspects of the architectures are studied. The first is the general performance improvement offered by deep integration over tight coupling. The second is the effect of using a federated filtering architecture instead of using a single, centralized filter. The third aspect analyzed is the performance of the algorithms when operated with and without vector tracking. The analysis shows that the architectures with vector tracking perform virtually identically. The algorithms using scalar tracking loops perform worse in comparison. However, all the architectures )},
	number = {3},
	journal = {Navigation (Wiley-Blackwell)},
	author = {Lashley, Matthew and Bevly, David M.},
	year = {2013},
	keywords = {AIR traffic control, ALGORITHMS, ARTIFICIAL satellites, CONS℡LATIONS, GLOBAL Positioning System, SIGNAL filtering},
	pages = {159 -- 178},
}





@phdthesis{lambert_study_2007,
	type = {Thesis},
	title = {A {Study} of {Vehicle} {Properties} {That} {Influence} {Rollover} and {Their} {Effect} on {Electronic} {Stability} {Controllers}},
	url = {https://etd.auburn.edu//handle/10415/112},
	abstract = {In this thesis, the vehicle properties that most influence rollover are investigated, and methods to improve stability are examined. Every year, vehicle rollover is the cause of thousands of fatalities on US highways. Electronic Stability Controllers (ESC) have been proven to reduce the incidence of rollover; however, improvement is still possible and necessary. With the development of a detailed vehicle model that includes roll and individual wheel dynamics, research has been done to investigate the properties that most affect rollover. Using these key vehicle properties, equations are developed to estimate the maximum lateral acceleration and velocity allowed before rollover. With a good knowledge of the stability limits, ESC systems are developed in simulation, and testing is done to investigate how these controllers can be optimized to greater ensure stability during evasive maneuvers. Results prove that stability can be improved and that rollover can be averted with correct execution of ESC limits and outputs.},
	language = {en\_US},
	urldate = {2022-04-20},
	author = {Lambert, Kenneth},
	month = dec,
	year = {2007},
	note = {Accepted: 2008-09-09T21:14:07Z},
}





@techreport{bevly_vehicle_2013,
	title = {Vehicle positioning, navigation, and timing : leveraging results from {EAR} program-sponsored research.},
	url = {http://purl.fdlp.gov/GPO/gpo45296},
	institution = {U.S. Department of Transportation, Federal Highway Administration},
	author = {Bevly, David M. and Farrell, Jay},
	year = {2013},
}





@article{sherer_radar_2019,
	title = {Radar probabilistic data association filter/{DGPS} fusion for target selection and relative range determination for a ground vehicle convoy.},
	volume = {66},
	issn = {00281522},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=aph&AN=137054739&site=eds-live&scope=site},
	abstract = {As navigation systems are being developed, it is apparent that cost‐effective accurate and precise positioning is an imperative for both military and civilian ground vehicle guidance. As this need increases, navigation systems incorporating multiple sensors have been developed and relied upon in many navigation situations. In this work, radar and global positioning system (GPS) measurements are utilized in a multi‐sensor fusion scheme allowing for a robust ranging solution utilizing the accuracy of a differential GPS (DGPS) solution and higher update rate of the radar solution in a Kalman filter. A probabilistic data association filter (PDAF) is utilized to determine a weighted mean of the radar channels' solutions that fall within a validation region set in the algorithm. In this work, radar was used to track vehicles and not surrounding landmarks. This paper intends to evaluate the accuracy and availability of a GPS/radar fusion algorithm in vehicle convoying scenarios. [ABSTRACT FR)},
	number = {2},
	journal = {Navigation (Wiley-Blackwell)},
	author = {Sherer, Tyler P. and Martin, Scott M. and Bevly, David M.},
	year = {2019},
	keywords = {FILTERS \& filtration, GLOBAL Positioning System, KALMAN filtering, MULTISENSOR data fusion, NAVIGATION, RADAR},
	pages = {441 -- 450},
}





@article{pearson_modeling_2007,
	title = {Modeling and validation of hitch loading effects on tractor yaw dynamics},
	volume = {44},
	issn = {00224898},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=aph&AN=32497685&site=eds-live&scope=site},
	abstract = {Abstract: This paper develops a yaw dynamic model for a farm tractor with a hitched implement, which can be used to understand the effect of tractor handling characteristics for design applications and for new automated steering control systems. Dynamic equations which use a tire-like model to capture the characteristics of the implement are found to adequately describe the tractor implement yaw dynamics. This model is termed the “3-wheeled” Bicycle Model since it uses an additional wheel (from the traditional bicycle model used to capture lateral dynamics of passenger vehicles) to account for the implement forces. The model only includes effects of lateral forces as it neglects differential longitudinal or draft forces between inner and outer sides of the vehicle. Experiments are taken to verify the hitch model using a three-dimensional force dynamometer. This data shows the implement forces are indeed proportional to lateral velocity and that differential draft forces can be neglect)},
	number = {6},
	journal = {Journal of Terramechanics},
	author = {Pearson, Paul and Bevly, David M.},
	year = {2007},
	keywords = {AGRICULTURAL equipment, EXPERIMENTS, FARM tractors, TRACTORS, Tractor implement modeling, Tractor yaw dynamics, VEHICLES},
	pages = {439 -- 450},
}





@article{travis_sciautonics-auburn_2006,
	title = {{SciAutonics}-{Auburn} {Engineering}'s low-cost high-speed {ATV} for the 2005 {DARPA} grand challenge.},
	volume = {23},
	issn = {15564959},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=23643055&site=eds-live&scope=site},
	abstract = {This paper presents a summary of SciAutonics-Auburn Engineering's efforts in the 2005 DARPA Grand Challenge. The areas discussed in detail include the team makeup and strategy, vehicle choice, software architecture, vehicle control, navigation, path planning, and obstacle detection. In particular, the advantages and complications involved in fielding a low budget all-terrain vehicle are presented. Emphasis is placed on detailing the methods used for high-speed control, customized navigation, and a novel stereo vision system. The platform chosen required a highly accurate model and a well-tuned navigation system in order to meet the demands of the Grand Challenge. Overall, the vehicle completed three out of four runs at the National Qualification Event and traveled 16 miles in the Grand Challenge before a hardware failure disabled operation. The performance in the events is described, along with a success and failure analysis. © 2006 Wiley Periodicals, Inc. [ABSTRACT FROM AUTHOR], Copy)},
	number = {8},
	journal = {Journal of Field Robotics},
	author = {Travis, William and Daily, Robert and Bevly, David M. and Knoedler, Kevin and Behringer, Reinhold and Hemetsberger, Hannes and Kogler, Jürgen and Kubinger, Wilfried and Alefs, Bram},
	year = {2006},
	keywords = {ALL terrain vehicles, AUTOMOTIVE electronics, AUTOMOTIVE engineering, FAILURE analysis},
	pages = {579 -- 597},
}





@article{derrick_adaptive_2009,
	title = {Adaptive steering control of a farm tractor with varying yaw rate properties.},
	volume = {26},
	issn = {15564959},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=39055443&site=eds-live&scope=site},
	abstract = {This paper presents a novel application of a model reference adaptive control (MRAC) system to control the lateral position of a farm tractor tracking a straight path. Farm tractors can be configured with various implements, and the tractor yaw rate dynamics vary with each implement. It is desired that the lateral position response of the farm tractor remain consistent with respect to different implement configurations. Therefore, a MRAC system is implemented on the farm tractor to compensate for yaw rate plant variations by adapting the feed-forward yaw rate controller. Simulation results of the algorithm are shown that display poor performance due to neglected steering actuator dynamics and saturation. Modifications are made to the algorithm to account for the steering actuator properties, and more simulated results are presented that display ideal performance. Finally, the MRAC algorithm is implemented on a John Deere 8420 farm tractor, and experimental results are presented. © 200)},
	number = {6/7},
	journal = {Journal of Field Robotics},
	author = {Derrick, J. Benton and Bevly, David M.},
	year = {2009},
	keywords = {ACTUATORS, ADAPTIVE control systems, AGRICULTURAL development, AGRICULTURAL equipment, CULTIVARS, FARM tractors, GENETIC algorithms, GLOBAL Positioning System},
	pages = {519 -- 536},
}





@article{britt_embedded_2011,
	title = {An embedded system for real-time navigation and remote command of a trained canine},
	volume = {15},
	issn = {16174909},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000286002100008&site=eds-live&scope=site},
	number = {1},
	journal = {PERSONAL AND UBIQUITOUS COMPUTING},
	author = {Britt, Winard R. and Miller, Jeffrey and Waggoner, Paul and Bevly, David M. and Hamilton, John A., Jr.},
	month = jan,
	year = {2011},
	keywords = {Canine augmentation technology, Canine guidance, DETECTORS, DOG behavior, EMBEDDED computer systems, Embedded systems, GLOBAL Positioning System, NAVIGATION, REAL-time computing, REMOTE control, Sensor aggregation, Sensor navigation},
	pages = {61 -- 74},
}





@article{lashley_performance_2009,
	title = {Performance {Analysis} of {Vector} {Tracking} {Algorithms} for {Weak} {GPS} {Signals} in {High} {Dynamics}},
	volume = {3},
	issn = {19324553},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000268377200011&site=eds-live&scope=site},
	number = {4},
	journal = {IEEE JOURNAL OF SELECTED TOPICS IN SIGNAL PROCESSING},
	author = {Lashley, Matthew and Bevly, David M. and Hung, John Y.},
	month = aug,
	year = {2009},
	keywords = {Delay lock loop, Global Positioning System, Global Positioning System (GPS), Kalman filter, Performance analysis, Satellite broadcasting, Satellite navigation systems, Signal processing, Signal processing algorithms, Signal to noise ratio, Tracking loops, Vehicle dynamics, Working environment noise, frequency lock loop, vector tracking},
	pages = {661 -- 673},
}





@article{gao_empirical_2016,
	title = {An empirical study of {DSRC} {V2V} performance in truck platooning scenarios},
	volume = {2},
	issn = {2352-8648},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edsdoj&AN=edsdoj.3a694505148c4518800249ed58217fa9&site=eds-live&scope=site},
	abstract = {Among many safety applications enabled by Dedicated Short Range Communication (DSRC), truck platooning provides many incentives to commercial companies. This paper studies DSRC Vehicle-to-Vehicle (V2V) performance in truck platooning scenarios through real-world experiments. Commercial DSRC equipments and semi-trailer trucks are used in this study. We mount one DSRC antenna on each side of the truck. One set of dynamic tests and a few sets of static tests are conducted to explore DSRC behaviors under different situations. From the test results, we verified some of our speculations. For example, hilly roads can affect delivery ratio and antennas mounted on opposite sides of a truck can suffer from low delivery ratio at curved roads. In addition, we also found that antennas can sometimes suffer from low delivery ratio even when the trucks are on straight roads, possibly due to reflections from the nearby terrain. Fortunately, the delivery ratio can be greatly improved by using the two side antennas alternately.},
	number = {4},
	journal = {Digital Communications and Networks},
	author = {Gao, Song and Lim, Alvin and Bevly, David},
	month = nov,
	year = {2016},
	keywords = {DSRC V2V performance, Delivery ratio, Empirical study, Information technology, T58.5-58.64, Truck platooning},
	pages = {233 -- 244},
}





@inproceedings{salmon_exploration_2014,
	title = {An exploration of low-cost sensor and vehicle model {Solutions} for ground vehicle navigation.},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=98457126&site=eds-live&scope=site},
	booktitle = {2014 {IEEE}/{ION} {Position}, {Location} \& {Navigation} {Symposium} - {PLANS} 2014},
	author = {Salmon, Daniel C. and Bevly, David M.},
	year = {2014},
	pages = {462 -- 471},
}





@inproceedings{lashley_analysis_2010,
	title = {Analysis of {Deeply} {Integrated} and {Tightly} {Coupled} {Architectures}},
	author = {Lashley, M. Bevly and M, D. and Hung, J. W.},
	year = {2010},
}





@inproceedings{britt_lidar_2010,
	title = {{LiDAR} {Attitude} {Estimation} for {Vehicle} {Safety} {Systems}},
	author = {Britt, Jordan Hugh and Bevly, David},
	month = apr,
	year = {2010},
}





@inproceedings{ryan_state_2010,
	title = {State {Estimation} for {Vehicle} {Stability} {Control}: {A} {Kinematic} {Approach} {Using} {Only} {GPS} and {VSC} {Sensors}},
	author = {Ryan, J. ; Bevly and {D.} and Lu, J.},
	month = sep,
	year = {2010},
}





@inproceedings{brown_road_2010,
	address = {Boston, MA},
	title = {Road {Bank} {Estimation} on {Uneven} {Terrain} for {Unmanned} {Ground} {Vehicles}},
	author = {Brown, L. S. and Dawkins, J. J. Hill and S, R. and Bevly, D. M.},
	month = sep,
	year = {2010},
}





@inproceedings{lyles_evolution_2009,
	title = {Evolution of {Parameters} for an {Autonomous} {Canine} {Control} {Algorithm}},
	author = {Lyles, W. ; Britt and Bevly, W. ; and D. ;},
	month = dec,
	year = {2009},
}





@inproceedings{broderick_modeling_2010,
	address = {Boston, MA},
	title = {Modeling {Vehicle} {Lateral} {Dynamics} by {Gaussian} {Processes}},
	author = {Broderick, D. J. ; Bevly and M, D. and Hung, J. Y.},
	month = sep,
	year = {2010},
}





@inproceedings{broderick_simple_2011,
	address = {San Diego},
	title = {Simple {Calibration} for {Vehicle} {Pose} {Estimation} {Using} {Gaussian} {Processes},},
	author = {Broderick, Britt and {Ryan} and Bevly, D. M.},
	year = {2011},
}





@inproceedings{lashley_comparison_2011,
	title = {Comparison in the {Performance} of the {Vector} {Delay}/{Frequency} {Lock} {Loop} and {Equivalent} {Scalar} {Tracking} {Loops} in {Dense} {Foliage} and {Urban} {Canyon}},
	author = {Lashley, M. Bevly and M, D.},
	year = {2011},
}





@inproceedings{britt_comparative_2011,
	title = {A {Comparative} {Study} of {Lidar} and {Camera}-based {Lane} {Departure} {Warning} {Systems}},
	author = {Britt, Jordan and Rose, Christopher and Bevly, David M.},
	year = {2011},
}





@inproceedings{britt_state_2010,
	title = {A {State} {Machine} {Controller} for the {Autonomous} {Guidance} of a {Trained} {Canine}},
	author = {Britt, W. R. ; Lyles and L, W. and Bevly, D. M.},
	month = sep,
	year = {2010},
}





@inproceedings{martin_terrain_2010,
	title = {Terrain {Characterization} and {Feature} {Extraction} for {Automated} {Convoys}},
	author = {Martin, S. and Dawkins, J. and Travis, W. E. and Bevly, D. M.},
	year = {2010},
}





@inproceedings{lashley_performance_2011,
	title = {Performance {Comparisons} of {Deep} {Integration} and {Tight} {Coupling}},
	author = {Lashley, M. Bevly and M, D.},
	year = {2011},
}





@techreport{bishop_results_2014,
	title = {Results of initial test and evaluation of a {Driver}-{Assistive} {Truck} {Platooning} prototype},
	author = {Bishop, R. and Bevly, D. and Switkes, J. and Park, L.},
	year = {2014},
}





@inproceedings{preston_csac-aided_2014,
	address = {Boston, Massachusetts},
	title = {{CSAC}-{Aided} {GPS} {Multipath} {Mitigation}},
	author = {Preston, S. and Bevly, D. M.},
	month = dec,
	year = {2014},
}





@inproceedings{broshears_ultra-wideband_2013,
	title = {Ultra-wideband {Radio} {Aided} {Carrier} {Phase} {Ambiguity} {Resolution} in {Real}-{Time} {Kinematic} {GPS} {Relative} {Positioning}},
	author = {Broshears, E. and Martin, S. and Bevly, D.},
	year = {2013},
}





@inproceedings{wang_robust_2013,
	title = {Robust {Observer} {Design} for {Lipschitz} {Nonlinear} systems with parametric uncertainty},
	url = {https://asmedigitalcollection.asme.org/DSCC/proceedings-abstract/DSCC2013/V003T35A006/228856},
	author = {Wang, Y. and Bevly, D. M.},
	month = oct,
	year = {2013},
}





@inproceedings{salmon_guidance_2013,
	title = {Guidance of a {Robotic} {Off}-{Road} {Tractor}-{Trailer} {System} using {Model} {Predictive} {Control}},
	author = {Salmon, Jim and Bevly, David M. and Hung, John Y.},
	month = oct,
	year = {2013},
}





@inproceedings{keyser_implementation_2014,
	title = {Implementation {Details} of a {Real}-{Time} {SoC}-{Based} {Vector} {Tracking} {Receiver}},
	author = {Keyser, B. and Hodo, D. and Martin, S. and Bevly, D.},
	year = {2014},
}





@inproceedings{pierce_centralized_2015,
	title = {A {Centralized} {Approach} to {Pedestrian} {Localization} {Using} {Multiple} {Odometry} {Sources}},
	author = {Pierce, J. D. and Bevly, D. M.},
	month = jan,
	year = {2015},
}





@inproceedings{carson_n_r_robust_2015,
	title = {A {Robust} {Method} for {Spoofing} {Prevention} and {Position} {Recovery} in {Attacks} against {Networked} {GPS} {Receivers}},
	author = {{Carson N. R} and Bevly, D. M.},
	month = jan,
	year = {2015},
}





@inproceedings{bitner_multipath_2015,
	title = {Multipath and {Spoofing} {Detection} {Using} {Angle} of {Arrival} in a {Multi}-{Antenna} {System}},
	author = {Bitner, T. and Preston, S. and Bevly, D. M.},
	month = jan,
	year = {2015},
}





@inproceedings{bevly_testing_2015,
	title = {Testing of {Driver} {Assistive} {Truck} {Platooning}: {Phase} 1},
	author = {Bevly, D. M. and Murray, D. and Boyd, S. and Smith, S. and Bishop, R.},
	year = {2015},
}





@inproceedings{martin_performance_2017,
	title = {Performance {Analysis} of a {RTK} {Vector} {Phase} {Locked} {Loop} {Architecture} in {Degraded} {Environments}},
	author = {Martin, S. and Bevly, D.},
	month = may,
	year = {2017},
}





@inproceedings{williams_radar-aided_2018,
	title = {Radar-{Aided} {INS} with {Magnetometer} {Attitude} {Determination}},
	url = {https://www.ion.org/publications/abstract.cfm?articleID=16015},
	author = {Williams, J. and Martin, S. and Bevly, D.},
	month = sep,
	year = {2018},
}





@inproceedings{smith_experimental_2019,
	title = {Experimental {Results} and {Analysis} of a {Longitudinal} {Controlled} {Cooperative} {Adaptive} {Cruise} {Cruise} ({CACC}) {Truck} {Platoon}},
	author = {Smith, P. and Ward, J. and Pierce, J. and Bevly, D. and Daily, R.},
	year = {2019},
}





@inproceedings{smith_analysis_2019,
	title = {Analysis of {On}-{Road} {Highway} {Testing} for a {Two} {Truck} {Controlled} {Cooperative} {Adaptive} {Cruise} {Cruise} ({CACC}) {Platoon}},
	author = {Smith, P. and Bevly, D.},
	year = {2019},
}





@inproceedings{starling_error_2017,
	title = {Error {Analysis} of {Carrier} {Phase} {Positioning} {Using} {Controlled} {Reception} {Pattern} {Array} {Antennas}},
	author = {Starling, J. and Bevly, D. M.},
	month = jan,
	year = {2017},
}





@inproceedings{powell_multiple-antenna_2017,
	title = {A {Multiple}-{Antenna} {Software} {GPS} {Signal} {Simulator} for {Rapid} {Testing} of {Interference} {Mitigation} {Techniques}},
	author = {Powell, R. and Starling, J. and Bevly, D. M.},
	month = jan,
	year = {2017},
}





@inproceedings{sherer_radar_2017,
	title = {Radar {Probabilistic} {Data} {Association} {Filter} with {GPS} {Aiding} for {Target} {Selection} and {Relative} {Position} {Determination}},
	author = {Sherer, T. and Martin, S. and Bevly, D.},
	month = may,
	year = {2017},
}





@inproceedings{selikoff_collaborative_2018,
	title = {Collaborative {Ground} {Vehicle} {Navigation} {Utilizing} an {IMM} {Radar} {Tracking} {Algorithm}, {Proceedings} of the 2018 {ION} {GNSS}+ {Conference}, {Miami}, {Florida}, {September}},
	author = {Selikoff, J. and Bevly, D. M.},
	year = {2018},
}





@inproceedings{watts_gps_2019,
	title = {A {GPS} and {GLONASS} {L1} {Vector} {Tracking} {Software}-{Defined} {Receiver}},
	url = {https://www.ion.org/publications/abstract.cfm?articleID=16686},
	author = {Watts, Tanner and Martin, Scott and Bevly, David},
	month = jan,
	year = {2019},
}





@inproceedings{burchfield_performance_2020,
	title = {Performance {Analysis} of {Low} {SWaP}-{C} {Jamming} {Mitigation} {Methods} for {Commercial} {Applications}},
	author = {Burchfield, Scott and Martin, Scott and Bevly, David and Starling, Joshua},
	month = sep,
	year = {2020},
}





@inproceedings{lammert_impact_2020,
	title = {Impact of {Lateral} {Alignment} on the {Energy} {Savings} of a {Truck} {Platoon}},
	author = {Lammert, M. and McAuliffe, B. and Smith, P. and {others}},
	year = {2020},
}









@inproceedings{lashley_valid_2010,
	title = {A valid comparison of vector and scalar tracking loops.},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=81644244&site=eds-live&scope=site},
	booktitle = {2010 {IEEE}/{ION} {Position} {Location} \& {Navigation} {Symposium} ({PLANS})},
	author = {Lashley, Matthew and Bevly, David M. and Hung, John Y.},
	year = {2010},
	pages = {464 -- 474},
}





@article{dudzik_automated_2019,
	title = {Automated platoon manipulation in merging scenarios using trajectory estimation of connected vehicles},
	volume = {11009},
	issn = {0277786X},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edo&AN=ejs50893868&site=eds-live&scope=site},
	number = {1},
	journal = {Proceedings of SPIE},
	author = {Dudzik, Michael C. and Ricklin, Jennifer C. and Alston, Rory and Pierce, Daniel and Smith, Patrick and Bevly, David and Heim, Scott},
	month = jul,
	year = {2019},
	pages = {110090N -- 110090N--14},
}









@article{rose_integrated_2014,
	title = {An {Integrated} {Vehicle} {Navigation} {System} {Utilizing} {Lane}-{Detection} and {Lateral} {Position} {Estimation} {Systems} in {Difficult} {Environments} for {GPS}},
	volume = {15},
	issn = {15249050},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000345572900023&site=eds-live&scope=site},
	number = {6},
	journal = {IEEE TRANSACTIONS ON IN℡LIGENT TRANSPORTATION SYSTEMS},
	author = {Rose, Christopher and Britt, Jordan and Allen, John and Bevly, David},
	month = dec,
	year = {2014},
	keywords = {Camera, Cameras, Global Navigation Satellite System, Global Positioning System, Global Positioning System (GPS), Image edge detection, Kalman filter, Kalman filters, Sensor fusion, inertial measurement unit (IMU), lane detection, light detection and ranging (lidar), outages, sensor fusion},
	pages = {2615 -- 2629},
}





@article{bevly_use_2002,
	title = {The {Use} of {GPS} {Based} {Velocity} {Measurements} for {Measurement} of {Sideslip} and {Wheel} {Slip}.},
	volume = {38},
	issn = {00423114},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edb&AN=7266436&site=eds-live&scope=site},
	abstract = {Discusses a global positioning system (GPS)-based method for measuring wheel slip, body sideslip angle and tire sideslip angle. Velocity measurement; Stochastic noise in GPS; State estimation.},
	number = {2},
	journal = {Vehicle System Dynamics},
	author = {Bevly, David M. and Gerdes, J. Christian and Wilson, Christopher},
	year = {2002},
	keywords = {GLOBAL Positioning System, VEHICLES, WHEELS},
	pages = {127},
}





@article{bevly_cascaded_2007,
	title = {Cascaded {Kalman} filters for accurate estimation of multiple biases, dead-reckoning navigation, and full state feedback control of ground vehicles},
	volume = {15},
	issn = {10636536},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000245247800001&site=eds-live&scope=site},
	number = {2},
	journal = {IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY},
	author = {Bevly, David M. and Parkinson, Bradford},
	month = mar,
	year = {2007},
	keywords = {AIR traffic control, CONTROL theory (Engineering), Cascaded estimation, FARM tractors, FEEDBACK control systems, GLOBAL Positioning System, KALMAN filtering, cascaded estimation, dead-reckoning navigation, decentralized Kalman filters, ground vehicle navigation},
	pages = {199 -- 208},
}





@article{bevly_global_2004,
	title = {Global {Positioning} {System} ({GPS}): a low-cost velocity sensor for correcting inertial sensor errors on ground vehicles},
	volume = {126},
	issn = {0022-0434},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edsgao&AN=edsgcl.121647052&site=eds-live&scope=site},
	abstract = {This paper demonstrates the ability of a standard low-cost Global Positioning System (GPS) receiver to reduce errors inherent in low-cost accelerometers and rate gyroscopes used on ground vehicles. Specifically GPS velocity is used to obtain vehicle course, velocity, and road grade, as well as to correct inertial sensors errors, providing accurate longitudinal and lateral acceleration, and pitch, roll, and yaw angular velocities. Additionally, it is shown that transient changes in sideslip (or lateral velocity), roll, and pitch angles can be measured. The method utilizes GPS velocity measurements to determine the inertial sensor errors using a kinematic Kalman Filter estimator. Simple models of the inertial sensors, which take into account the sensor noise and bias drift properties, are developed and used to design the estimator. Based on the characteristics of low-cost GPS receivers and IMU sensors, this paper presents the achievable performance of the combined system using the covariance analysis from the Kalman filter. Subsequent simulations and experiments validate both the error analysis and the methodology for utilizing GPS as a velocity sensor for correcting low-cost inertial sensor errors and providing critical vehicle state measurements. [DOI: 10.1115/1.1766027]},
	number = {2},
	journal = {Journal of Dynamic Systems, Measurement, and Control},
	author = {Bevly, David M.},
	month = jun,
	year = {2004},
	keywords = {ACCELEROMETERS, AUTOMATIC control systems, DETECTORS, GLOBAL Positioning System, GYROSCOPES, Global Positioning System, Global Positioning System – Analysis, Motor vehicles – Analysis, United States, VEHICLES},
	pages = {255},
}





@article{anderson_using_2010,
	title = {Using {GPS} with a model-based estimator to estimate critical vehicle states.},
	volume = {48},
	issn = {00423114},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=aph&AN=55028346&site=eds-live&scope=site},
	abstract = {This paper demonstrates a method to estimate the vehicle states sideslip, yaw rate, and heading using GPS and yaw rate gyroscope measurements in a model-based estimator. The model-based estimator using GPS measurements provides accurate and observable estimates of sideslip, yaw rate, and heading even if the vehicle model is in neutral steer or if the gyro fails. This method also reduces estimation errors introduced by gyroscope errors such as the gyro bias and gyro scale factor. The GPS and Inertial Navigation System measurements are combined using a Kalman filter to generate estimates of the vehicle states. The residuals of the Kalman filter provide insight to determine if the estimator model is correct and therefore providing accurate state estimates. Additionally, a method to predict the estimation error due to errors in the estimator model is presented. The algorithms are tested in simulation with a correct and incorrect model as well as with sensor errors. Finally, the estimation)},
	number = {12},
	journal = {Vehicle System Dynamics},
	author = {Anderson, Rusty and Bevly, David M.},
	year = {2010},
	keywords = {CHEVROLET Blazer truck, GLOBAL Positioning System, GPS, GYROSCOPES, INERTIAL navigation systems, KALMAN filtering, Kalman filter, estimation, sideslip, vehicle},
	pages = {1413 -- 1438},
}













@phdthesis{williams_radar_2018,
	title = {Radar {Aided} {INS} {Navigation} {Filter} with {Magnetometer} {Based} {Attitude} {Measurements}. [electronic resource]},
	url = {http://hdl.handle.net/10415/6548},
	author = {Williams, John and Bevly, David M. and Martin, Scott M. and Riggs, Lloyd Stephen},
	year = {2018},
}





@phdthesis{whitehead_study_2005,
	title = {A study of the properties that influence vehicle rollover propensity. [electronic resource]},
	url = {http://hdl.handle.net/10415/379},
	author = {Whitehead, Randall John and Bevly, David M.},
	year = {2005},
}





@phdthesis{wang_robust_2014,
	title = {Robust {Gain}-{Scheduled} {Observer} {Design} with {Application} to {Vehicle} {State} {Estimation}. [electronic resource]},
	url = {http://hdl.handle.net/10415/4351},
	author = {Wang, Yan and Bevly, David M. and Flowers, George T. and Hung, John Y. and Sinha, S. C.},
	year = {2014},
}





@phdthesis{wang_adaptive_2017,
	title = {An {Adaptive} {Control} {System} for an {Accelerating} {Rotor} {Supported} by {Active} {Magnetic} {Bearings} under {Unbalance} {Disturbances}. [electronic resource]},
	url = {http://hdl.handle.net/10415/5954},
	author = {Wang, Xianglin and Flowers, George T. and Bevly, David M. and Hung, John Y.},
	year = {2017},
}





@phdthesis{travis_path_2010,
	title = {Path duplication using {GPS} carrier based relative position for automated ground vehicle convoys. [electronic resource]},
	url = {http://hdl.handle.net/10415/2109},
	author = {Travis, William E. and Bevly, David M. and Flowers, George T. and Sinclair, Andrew J.},
	year = {2010},
}





@phdthesis{thompson_collaborative_2022,
	title = {Collaborative {Simultaneous} {Tracking} and {Navigation} with {Low} {Earth} {Orbit} {Satellite} {Signals} of {Opportunity} and {Inertial} {Navigation} {System}. [electronic resource]},
	url = {https://etd.auburn.edu/handle/10415/8332},
	author = {Thompson, Sterling and Martin, Scott M. and Bevly, David M. and Rose, Chad A.},
	year = {2022},
}





@phdthesis{tabb_multi-antenna_2019,
	title = {Multi-{Antenna} {GPS} for {Improved} {Carrier} {Phase} {Positioning} in {Autonomous} {Convoys}. [electronic resource]},
	url = {http://hdl.handle.net/10415/6900},
	author = {Tabb, Thomas Troupe and Bevly, David M.},
	year = {2019},
}





@phdthesis{strong_utilizing_2021,
	title = {Utilizing {Hidden} {Markov} {Models} to {Classify} {Maneuvers} and {Improve} {Estimates} of an {Unmanned} {Aerial} {Vehicle} {During} {High} {Dynamic} {Flight}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/7886},
	author = {Strong, Amy and Martin, Scott M. and Bevly, David M. and Liu, Bo},
	year = {2021},
}





@phdthesis{sprunk_utilization_2023,
	title = {The {Utilization} of {Geometric} {Hashing} {Techniques} for {Feature} {Association} during {Ground} {Vehicle} {Localization}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/8682},
	author = {Sprunk, Michael and Bevly, David M. and Martin, Scott M. and Oeding, Luke A.},
	year = {2023},
}





@phdthesis{snitzer_utilization_2022,
	title = {Utilization of {Vehicle}-{Specific} {Power} as a {Powertrain} {Independent} {Platoon} {Controller} {Performance} {Metric}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/8517},
	author = {Snitzer, Richard Philip and Hoffman, Mark A. and Silva Izquierdo, Daniel F. and Bevly, David M.},
	year = {2022},
}





@phdthesis{sherer_radar_2017,
	title = {Radar {Probabilistic} {Data} {Association} {Filter} with {GPS} {Aiding} for {Target} {Selection} and {Relative} {Position} {Determination}. [electronic resource]},
	url = {http://hdl.handle.net/10415/5686},
	author = {Sherer, Tyler P. and Bevly, David M. and Flowers, George and Hung, John Y.},
	year = {2017},
}





@phdthesis{smith_timing_2023,
	title = {Timing {Evaluation} of {Iridium} {Satellite} {Time} and {Location} {Signal}. [electronic resource] : {Measurement}-{Level} {Implementation} and {Receiver} {Hardware} {Time} {Interval} {Comparison}.},
	url = {https://etd.auburn.edu//handle/10415/9082},
	author = {Smith, Austin M. and Bevly, David M. and Martin, Scott M. and Rose, Chad A.},
	year = {2023},
}





@phdthesis{shaw_obstacle_2018,
	title = {Obstacle {Avoidance} of an {Unmanned} {Ground} {Vehicle} using a {Combined} {Approach} of {Model} {Predictive} {Control} and {Proportional} {Navigation}. [electronic resource]},
	url = {https://etd.auburn.edu/handle/10415/6538},
	author = {Shaw, Ryan and Bevly, David M. and Martin, Scott M. and Hung, John Y.},
	year = {2018},
}





@phdthesis{selikoff_coupling_2018,
	title = {Coupling {GPS}/{INS} and {IMM} {Radar} {Tracking} {Algorithms} for {Precise} {Collaborative} {Ground} {Vehicle} {Navigation}. [electronic resource]},
	url = {http://hdl.handle.net/10415/6541},
	author = {Selikoff, Joseph M. and Bevly, David M. and Marghitu, Dan B. and Hung, John Y.},
	year = {2018},
}





@phdthesis{salmon_experimental_2015,
	title = {An {Experimental} {Exploration} of {Low}-{Cost} {Sensor} and {Vehicle} {Model} {Solutions} for {Precision} {Ground} {Vehicle} {Navigation}. [electronic resource]},
	url = {http://hdl.handle.net/10415/4912},
	author = {Salmon, Daniel Cody and Bevly, David M. and Hung, John Y. and Jones, Peter D.},
	year = {2015},
}





@phdthesis{ryan_classification_2016,
	title = {Classification of {Ego} {Platform} {Motion} for {Platform} {Independent} {Plug} and {Play} {Navigation}. [electronic resource]},
	url = {http://hdl.handle.net/10415/5142},
	author = {Ryan, Jonathan and Bevly, David M.},
	year = {2016},
}





@phdthesis{payne_non-collocated_2012,
	title = {Non-collocated {Control} of an {Autonomous} {Robot}-{Trailer} {System} {Using} {State} {Estimation}. [electronic resource]},
	url = {http://hdl.handle.net/10415/3001},
	author = {Payne, Michael L. and Bevly, David M. and Hung, John Y. (John York) and Roppel, Thaddeus Adam},
	year = {2012},
}





@phdthesis{newlin_design_2006,
	title = {Design and development of a {GPS} intermediate frequency and {IMU} data acquisition system for advanced integrated architectures. [electronic resource]},
	url = {http://hdl.handle.net/10415/614},
	author = {Newlin, Michael Linton and Bevly, David M. and Hung, John Y.},
	year = {2006},
}





@phdthesis{moomaw_decentralized_2023,
	title = {Decentralized {Collaborative} {Navigation} in {Limited} {Observability} {Environments} with {Low} {Earth} {Orbit} {Satellite} {Signals} of {Opportunity} between {Aerial} and {Ground} {Vehicles}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/8839},
	author = {Moomaw, Christian D. and Martin, Scott M. and Bevly, David M. and Rose, Chad A.},
	year = {2023},
}





@phdthesis{meyer_online_2021,
	title = {Online {Rotational} {Self}-{Calibration} of {LiDAR} {Sensors} when {Mounted} on a {Ground} {Vehicle}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/7938},
	author = {Meyer, Stephanie W. and Bevly, David M. and Martin, Scott M. and Roppel, Thaddeus Adam and Chen, Howard},
	year = {2021},
}





@phdthesis{mcdougal_software_2023,
	title = {A {Software} {Signal} {Simulation} of {Low} {Earth} {Orbit} {Satellites} for {Investigative} {Analysis}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/8697},
	author = {McDougal, Samuel A. and Martin, Scott M. and Bevly, David M. and Allen, Brendon},
	year = {2023},
}





@phdthesis{mcintyre_study_2015,
	title = {A {Study} of {Lateral} and {Longitudinal} {Tire} {Forces} {Produced} on a {Deformable} {Surface} with {Applied} {Traction} and {Braking}. [electronic resource]},
	url = {http://etd.auburn.edu/handle/10415/4630},
	author = {McIntyre, David Michael and Jones, Peter D. and Beale, David G. and Bevly, David M. and Choe, Song-yul},
	year = {2015},
}





@phdthesis{martin_closely_2011,
	title = {Closely coupled {GPS}/{INS} relative positioning for automated vehicle convoys. [electronic resource]},
	url = {http://hdl.handle.net/10415/2533},
	author = {Martin, Scott M. and Bevly, David M. and Hung, John Y. and Marghitu, Dan B.},
	year = {2011},
}





@phdthesis{lashley_modeling_2009,
	title = {Modeling and performance analysis of {GPS} vector tracking algorithms. [electronic resource]},
	url = {http://hdl.handle.net/10415/2009},
	author = {Lashley, Matthew and Bevly, David M. and Hung, John Y.},
	year = {2009},
}





@phdthesis{keyser_design_2015,
	title = {Design and {Implementation} of a {SoC}-{Based} {Real}-{Time} {Vector} {Tracking} {GPS} {Receiver}. [electronic resource]},
	url = {http://hdl.handle.net/10415/4580},
	author = {Keyser, Brian A. and Bevly, David M. and Jones, Peter D. and Nelson, Victor P.},
	year = {2015},
}





@phdthesis{yu_optimization_2015,
	title = {Optimization {Approaches} for a {Dubins} {Vehicle} in {Coverage} {Planning} {Problem} and {Traveling} {Salesman} {Problems}. [electronic resource]},
	url = {http://hdl.handle.net/10415/4599},
	author = {Yu, Xin and Hung, John Y. and Bevly, David M. and Roppel, Thaddeus Adam and Wilamowski, Bogdan M.},
	year = {2015},
}





@phdthesis{martin_gps_2017,
	title = {{GPS} {Carrier} {Phase} {Tracking} in {Difficult} {Environments} {Using} {Vector} {Tracking} {For} {Precise} {Positioning} and {Vehicle} {Attitude} {Estimation}. [electronic resource]},
	url = {http://hdl.handle.net/10415/5692},
	author = {Martin, Scott M. and Bevly, David M.},
	year = {2017},
}





@phdthesis{li_modelling_2016,
	title = {Modelling, {Control} and {Estimation} {Techniques} for {Micromachined} {Electrostatic} {Actuators} {Using} {Macro} {Magnetic} {Actuators}. [electronic resource]},
	url = {http://hdl.handle.net/10415/5321},
	author = {Li, Chong and Flowers, George T. and Dean, Robert Neal and Hung, John Y. and Bevly, David M.},
	year = {2016},
}





@phdthesis{kennedy_adaptive_2023,
	title = {Adaptive {Steering} {Actuator} {Delay} {Compensation} for a {Vehicle} {Lateral} {Control} {System}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/8690},
	author = {Kennedy, William and Bevly, David M. and Martin, Scott M. and Allen, Brendon},
	year = {2023},
}





@phdthesis{kamrath_ambiguous_2021,
	title = {Ambiguous {Energy} {Suppression} in {Encryption} {Derived} {Pseudo}-{Random} {BPSK} {Radar} {Signals}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/8008},
	author = {Kamrath, Luke J. and Baginski, Michael E. and Martin, Scott M. and Bevly, David M.},
	year = {2021},
}





@phdthesis{kamrath_computer_2022,
	title = {Computer {Vision} {Based} {Cooperative} {Navigation} for {UAVs} and {Ground} {Vehicles}. [electronic resource]},
	url = {https://etd.auburn.edu/handle/10415/8268},
	author = {Kamrath, Daniel and Dozier, Gerry V. and Martin, Scott M. and Bevly, David M.},
	year = {2022},
}





@phdthesis{jones_collaborative_2022,
	title = {Collaborative {Architectures} for {Relative} {Position} {Estimation} of {Ground} {Vehicles} with {UWB} {Ranging} and {Vehicle} {Dynamic} {Models}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/8556},
	author = {Jones, Benjamin and Martin, Scott M. and Bevly, David M. and Flowers, George T.},
	year = {2022},
}





@phdthesis{jantz_controlling_2011,
	title = {Controlling the speed of a magnetically-suspended rotor with compressed air. [electronic resource]},
	url = {http://hdl.handle.net/10415/2521},
	author = {Jantz, Robert P. and Bevly, David M. and Choe, Song-yul and Flowers, George T. and Marghitu, Dan B.},
	year = {2011},
}





@phdthesis{huang_design_2010,
	title = {Design and evaluation of a {3D} road geometry based heavy truck fuel optimization system. [electronic resource]},
	url = {http://hdl.handle.net/10415/2252},
	author = {Huang, Wei and Beale, David G. and Bevly, David M. and Choe, Song-yul and Sinclair, Andrew J.},
	year = {2010},
}





@phdthesis{hennigar_analysis_2014,
	title = {Analysis of {Record} and {Playback} {Errors} of {GPS} {Signals} {Caused} by the {USRP}. [electronic resource]},
	url = {http://hdl.handle.net/10415/4442},
	author = {Hennigar, Andrew and Bevly, David M. and Mao, Shiwen and Riggs, Lloyd Stephen},
	year = {2014},
}





@phdthesis{hill_tire_2012,
	title = {Tire {Force} {Estimation} in {Off}-{Road} {Vehicles} {Using} {Suspension} {Strain} and {Deflection} {Measurements}. [electronic resource]},
	url = {http://hdl.handle.net/10415/2966},
	author = {Hill, Ryan Sessions and Beale, David G. and Bevly, David M. and Choe, Song-Yul},
	year = {2012},
}





@phdthesis{henderson_relative_2008,
	title = {Relative positioning of unmanned ground vehicles using ultrasonic sensors. [electronic resource]},
	url = {http://hdl.handle.net/10415/9},
	author = {Henderson, Harold P. and Bevly, David M.},
	year = {2008},
}





@phdthesis{hamm_analysis_2005,
	title = {Analysis of simulated performance of integrated vector tracking and navigation loops for {GPS}. [electronic resource]},
	url = {http://hdl.handle.net/10415/378},
	author = {Hamm, Christopher Robert and Bevly, David M. and Hodel, A. Scottedward},
	year = {2005},
}





@phdthesis{heffernan_simulation_2006,
	title = {Simulation, estimation, and experimentation of vehicle longitudinal dynamics that effect fuel economy. [electronic resource]},
	url = {http://hdl.handle.net/10415/239},
	author = {Heffernan, Matthew Evan and Bevly, David M.},
	year = {2006},
}





@phdthesis{gartley_-line_2005,
	title = {On-line estimation of implement dynamics for adaptive steering control of farm tractors. [electronic resource]},
	url = {http://hdl.handle.net/10415/354},
	author = {Gartley, Evan Robert and Bevly, David M.},
	year = {2005},
}





@phdthesis{flenniken_modeling_2005,
	title = {Modeling inertial measurement units and analyzing the effect of their errors in navigation applications. [electronic resource]},
	url = {http://hdl.handle.net/10415/329},
	author = {Flenniken, Warren S. and Bevly, David M.},
	year = {2005},
}





@phdthesis{edwards_parameter_2008,
	title = {Parameter estimation techniques for determining safe vehicle speeds in {UGVs}. [electronic resource]},
	url = {http://hdl.handle.net/10415/10},
	author = {Edwards, Dustin L. and Bevly, David M.},
	year = {2008},
}





@phdthesis{derrick_adaptive_2008,
	title = {Adaptive control of a farm tractor with varying yaw properties accounting for actuator dynamics and nonlinearities. [electronic resource]},
	url = {http://hdl.handle.net/10415/6},
	author = {Derrick, J. Benton and Bevly, David M.},
	year = {2008},
}





@phdthesis{cofield_visual_2013,
	title = {Visual driver aids for convoy following using dynamic base real-time kinematic positioning.},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=cat07161a&AN=aul.4324001&site=eds-live&scope=site},
	author = {Cofield, Robert Grissom and Bevly, David M.},
	year = {2013},
}





@phdthesis{daily_stream_2008,
	title = {Stream function path planning and control for unmanned ground vehicles. [electronic resource]},
	url = {http://hdl.handle.net/10415/1222},
	author = {Daily, Robert L. and Bevly, David M.},
	year = {2008},
}





@phdthesis{cao_design_2015,
	title = {Design and {Experimental} {Validation} of {Longitudinal} {Controller} of {Connected} {Vehicles} using {Model} {Predictive} {Control}. [electronic resource]},
	url = {http://hdl.handle.net/10415/4989},
	author = {Cao, Xiaolong and Bevly, David M.},
	year = {2015},
}





@phdthesis{bryan_staying_2020,
	title = {Staying {Inside} the {Lines}. [electronic resource] : {Vehicle} {Agnostic} {Path} {Following} {Using} {Cascaded} {Adaptive} {Control}.},
	url = {http://hdl.handle.net/10415/7527},
	author = {Bryan, William and Bevly, David M.},
	year = {2020},
}





@phdthesis{brown_roll_2012,
	title = {Roll \& {Bank} {Estimation} {Using} {GPS}/{INS} and {Suspension} {Deflections}. [electronic resource]},
	url = {http://hdl.handle.net/10415/3263},
	author = {Brown, Lowell S. and Beale, David G. and Bevly, David M. and Sinha, S. C. (Subhash Chandra), 1947-},
	year = {2012},
}





@phdthesis{brothers_path_2020,
	title = {Path {Following} and {Obstacle} {Avoidance} for {Autonomous} {Ground} {Vehicles} {Using} {Nonlinear} {Model} {Predictive} {Control}. [electronic resource]},
	url = {http://hdl.handle.net/10415/7236},
	author = {Brothers, Robert and Bevly, David M. and Flowers, George T. and Hung, John Y.},
	year = {2020},
}





@phdthesis{britt_software_2009,
	title = {A software and hardware system for the autonomous control and navigation of a trained canine. [electronic resource]},
	url = {http://hdl.handle.net/10415/1800},
	author = {Britt, Winard and Bevly, David M. and Hamilton, John A.},
	year = {2009},
}





@phdthesis{britt_simultaneous_2016,
	title = {Simultaneous {Localization} {Auto}-{Calibration} and {Mapping} of {Ground} {Vehicles}. [electronic resource]},
	url = {http://hdl.handle.net/10415/5232},
	author = {Britt, Jordan H. and Bevly, David M. and Flowers, George T. and Sinha, S. C. and Marghitu, Dan B.},
	year = {2016},
}





@phdthesis{boler_observability-informed_2022,
	title = {Observability-{Informed} {Measurement} {Validation} for {Visual}-{Inertial} {Navigation}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/8218},
	author = {Boler, Matthew and Martin, Scott M. and Bevly, David M. and Roppel, Thaddeus Adam and Reeves, Stan},
	year = {2022},
}





@phdthesis{apperson_design_2019,
	title = {Design and {Evaluation} of {Cooperative} {Adaptive} {Cruise} {Control} {System} for {Heavy} {Freight} {Vehicles}. [electronic resource]},
	url = {http://hdl.handle.net/10415/7069},
	author = {Apperson, William Grant and Bevly, David M. and Hung, John Y. and Jones, Peter D.},
	year = {2019},
}





@phdthesis{allen_use_2011,
	title = {Use of {Vision} {Sensors} and {Lane} {Maps} to {Aid} {GPS}-{INS} {Navigation}. [electronic resource]},
	url = {http://hdl.handle.net/10415/2807},
	author = {Allen, John W. and Beale, David G. and Bevly, David M. and Sinclair, Andrew J.},
	year = {2011},
}





@phdthesis{park_reduced_2017,
	title = {A {Reduced} {Element} {Map} {Representation} and {Applications}. [electronic resource] : {Map} {Merging}, {Path} {Planning}, and {Target} {Interception}.},
	url = {http://hdl.handle.net/10415/5849},
	author = {Park, Jinyoung and Sinclair, Andrew J. and Cicci, David A. and Hung, John Y. and Bevly, David M. and Sherrill, Ryan Edward},
	year = {2017},
}





@phdthesis{rose_real-time_2017,
	title = {A {Real}-time {Implementation} of {Rendering} {Light} {Field} {Imagery} for {Generating} {Point} {Clouds} in {Vision} {Navigation}. [electronic resource]},
	url = {http://hdl.handle.net/10415/6059},
	author = {Rose, Christopher and Bevly, David M. and Thurow, Brian S. and Sinha, S. C. (Subhash Chandra) and Marghitu, Dan B. and Flowers, George T.},
	year = {2017},
}





@phdthesis{siemon_numerical_2018,
	title = {A {Numerical} {Analysis} of {Heterogeneous} and {Homogeneous} {Truck} {Platoon} {Aerodynamic} {Drag} {Reduction}. [electronic resource]},
	url = {http://hdl.handle.net/10415/6405},
	author = {Siemon, Michael and Nichols, Stephen G. and Bevly, David M. and Raghav, Vrishank},
	year = {2018},
}





@phdthesis{eick_nonlinear_2016,
	title = {A {Nonlinear} {Model} {Predictive} {Control} {Algorithm} for an {Unmanned} {Ground} {Vehicle} on {Variable} {Terrain}. [electronic resource]},
	url = {http://hdl.handle.net/10415/5517},
	author = {Eick, Andrew and Bevly, David M.},
	year = {2016},
}





@article{bevly_new_2002,
	title = {A new yaw dynamic model for improved high speed control of a farm tractor},
	volume = {124},
	issn = {0022-0434},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edsgao&AN=edsgcl.96645722&site=eds-live&scope=site},
	abstract = {This paper presents the system identification of a new model for the farm tractor yaw dynamics in order to improve automatic control at higher speeds and understand controller limitations from neglecting these dynamics. As speed increases, higher order models are required to maintain accurate lateral control of the vehicle. Neglecting these dynamics can cause the controller to become unstable at the bandwidths required for accurate control at higher speeds. The yaw dynamic model, which is found to be dominated by a second order response, is identified for multiple speeds to determine the effect of velocity on the model. The second order yaw dynamics cannot be represented by the traditional bicycle model. An analytical derivation shows that the model characteristics can, however, be captured by a model consisting of a significant (non-negligible) relaxation length in the front tire. Experimental results are presented showing that the new yaw dynamic model can provide lateral control of the tractor to within 4 cm (1[sigma]) at speeds up to 8 m/s. These results are shown to be an improvement, at high speeds, over controllers based on models (such as a kinematic model) previously used for control of farm equipment. [DOI: 10.1115/1.1515329]},
	number = {4},
	journal = {Journal of Dynamic Systems, Measurement, and Control},
	author = {Bevly, David M. and Gerdes, J. Christian and Parkinson, Bradford W.},
	month = dec,
	year = {2002},
	keywords = {Control equipment – Models, SYSTEM identification, TRACTOR dynamics, Yawing (Aerodynamics) – Equipment and supplies, Yawing (Aerodynamics) – Models, Yawing (Aerodynamics) – Prevention},
	pages = {659},
}





@phdthesis{powell_multiple-antenna_2016,
	title = {A {Multiple}-{Antenna} {Software} {GPS} {Signal} {Simulator} for {Rapid} {Testing} of {Interference} {Mitigation} {Techniques}. [electronic resource]},
	url = {http://hdl.handle.net/10415/5520},
	author = {Powell, Russell and Bevly, David M.},
	year = {2016},
}





@phdthesis{burchfield_multi-antenna_2022,
	title = {A {Multi}-{Antenna} {Vector} {Tracking} {Beamsteering} {GPS} {Receiver} for {Robust} {Positioning}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/8243},
	author = {Burchfield, Scott and Martin, Scott M. and Bevly, David M. and Reeves, Stan},
	year = {2022},
}





@phdthesis{jones_loosely_2023,
	title = {A {Loosely} {Coupled} {GNSS}/{PDR} {Integration} {Approach} for {Pedestrian} {Navigation}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/8840},
	author = {Jones, Connor Steele and Bevly, David M. and Chen, Howard and Rose, Chad A.},
	year = {2023},
}





@phdthesis{miller_maximum_2010,
	title = {A maximum effort control system for the tracking and control of a guided canine. [electronic resource]},
	url = {http://hdl.handle.net/10415/2400},
	author = {Miller, Jeffrey David and Bevly, David M.},
	year = {2010},
}





@phdthesis{givhan_gps_2021,
	title = {A {GPS} {L5} {Software} {Defined} {Vector} {Tracking} {Receiver}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/7943},
	author = {Givhan, Charles Anderson and Martin, Scott M. and Bevly, David M. and Reeves, Stan},
	year = {2021},
}





@phdthesis{morgan_gps_2023,
	title = {A {GPS} {L1} and {Cellular} {4G} {LTE} {Vector} {Tracking} {Software}-{Defined} {Receiver}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/9005},
	author = {Morgan, Samuel C. and Martin, Scott M. and Bevly, David M. and Tugnait, Jitendra K.},
	year = {2023},
}





@phdthesis{watts_gps_2019,
	title = {A {GPS} and {GLONASS} {L1} {Vector} {Tracking} {Software}-{Defined} {Receiver}. [electronic resource]},
	url = {http://hdl.handle.net/10415/6899},
	author = {Watts, Tanner M. and Bevly, David M.},
	year = {2019},
}





@phdthesis{ryan_fully_2011,
	title = {A fully integrated sensor fusion method combining a single antenna {GPS} unit with electronic stability control sensors. [electronic resource]},
	url = {http://hdl.handle.net/10415/2655},
	author = {Ryan, Jonathan and Bevly, David M. and Hung, John Y. and Sinha, S. C.},
	year = {2011},
}









@inproceedings{ward_cooperative_2019,
	address = {Novi, MI},
	title = {Cooperative {Adaptive} {Cruise} {Control} ({CACC}) in {Controlled} and {Real}-{World} {Environments}: {Testing} and {Results}},
	url = {http://gvsets.ndia-mich.org/documents/AAIR/2019/CACC_in_Cntrolled_and_Real_World_Environments_Ward_Jacob_6_30_2019.pdf},
	booktitle = {In {Proceedings} of the {Ground} {Vehicle} {Systems} {Engineering} and {Technology} {Symposium} ({GVSETS}), {NDIA}},
	author = {Ward, J. and Smith, P. and Pierce, D. and Bevly, D. and {others}},
	year = {2019},
}









@inproceedings{steadman_teleoperated_2022,
	title = {Teleoperated {Ground} {Vehicle} {Rollover} {Prevention} via {Haptic} {Feedback} of the {Zero}-{Moment} {Point} {Index}},
	abstract = {Many rollover prevention algorithms rely on vehicle models which are difficult to develop and require extensive knowledge of the vehicle. The Zero-Moment Point (ZMP) combines a simple vehicle model with IMU-only sensor measurements. When used in conjunction with haptic feedback, ground vehicle rollover can be prevented. This paper investigates IMU grade requirements for an accurate rollover prediction. This paper also discusses a haptic feedback design that delivers operator alerts to prevent rollover. An experiment was conducted using a Gazebo simulation to assess the capabilities of the ZMP method to predict vehicle wheel lift-off and demonstrate the potential for haptic communication of the ZMP index to prevent rollover.},
	author = {Steadman, Kathleen and Stubbs, Chandler and Baskaran, Avinash and Rose, Chad and Bevly, David},
	month = aug,
	year = {2022},
}





@inproceedings{brothers_comparison_2018,
	title = {A {COMPARISON} {OF} {VEHICLE} {HANDLING} {FIDELITY} {BETWEEN} {THE} {GAZEBO} {AND} {ANVEL} {SIMULATORS}},
	abstract = {This paper provides a comparison of the Gazebo and ANVEL simulators and analyzes the aspects of vehicle modeling fidelity that are critical to the design of unmanned ground vehicle (UGV) control and estimation algorithms. The robotic simulators Gazebo [1], from the Open Source Robotics Foundation (OSRF), and Autonomous Navigation Virtual Environment Laboratory (ANVEL) [2], from Quantum Signal, are two popular new tools that are being used extensively in academic, commercial, and military development of perception, navigation, and control algorithms for UGVs. Despite the similarities between Gazebo and ANVEL there has been no direct comparison between the two simulators with respect to their validity as vehicle dynamics simulators.},
	language = {en},
	author = {Brothers, Robert},
	year = {2018},
}





@inproceedings{bentley_comparing_2023,
	address = {Detroit, Michigan, United States},
	title = {Comparing the {Performance} of {Different} {Heavy} {Duty} {Platooning} {Control} {Strategies}},
	url = {https://www.sae.org/content/2023-01-0895},
	doi = {10.4271/2023-01-0895},
	abstract = {{\textless}div class="section abstract"{\textgreater}{\textless}div class="htmlview paragraph"{\textgreater}Platooning is a promising technology which can mitigate greenhouse gas impacts and reduce transportation energy consumption. Platooning is a coordinated driving strategy where trucks align themselves in order to realize aerodynamic benefits to reduce required motive force. The aerodynamic benefit is seen as either a “pull” effect experienced by the following vehicles or a “push” effect experienced by the leader. The energy savings magnitude increases nonlinearly as headway (following distance) is reduced [{\textless}span class="xref"{\textgreater}1{\textless}/span{\textgreater}]. In efforts to maximize energy savings, cooperative adaptive cruise control (CACC) is utilized to maintain relatively short headways. However, when platooning is attempted in the real world, small transient accelerations caused by imperfect control result in observed energy savings being less than expected values.{\textless}/div{\textgreater}{\textless}div class="htmlview paragraph"{\textgreater}This study analyzes the performance of a recently developed nonlinear model predictive control (NMPC) platooning strategy over challenging terrain. The NMPC strategy is compared to the previous proportional-integral-derivative (PID) control scheme in terms of headway, commanded torque, and fuel rate variances along with the total fuel consumed per lap. These comparisons reveal that the NMPC based controller’s ability to optimize headway variation while considering upcoming grade disturbances reduces the harshness of commanded torque and fuel rate transients. These platoon behavior changes result in significant fuel energy consumption reductions. In all platooning configurations analyzed, the NMPC strategy consumed less fuel than the comparable PID based data. This is best exemplified by findings from platoons with increased headway spacing. When compared to PID platoon control, the NMPC produced 25.5\% and 31.6\% fuel consumption decreases for the final truck in four-truck platoon configurations when targeting 50 foot and 100 foot follow distances, respectively. These results suggest that the NMPC implementation minimizes extraneous acceleration events associated with rigid PID headway adherence.{\textless}/div{\textgreater}{\textless}/div{\textgreater}},
	language = {en},
	urldate = {2024-02-07},
	author = {Bentley, John William and Snitzer, Philip and Stegner, Evan and Bevly, David M. and Hoffman, Mark},
	month = apr,
	year = {2023},
	pages = {2023--01--0895},
}













@inproceedings{kennedy_adaptive_2023,
	address = {Detroit, Michigan, United States},
	title = {Adaptive {Actuator} {Delay} {Compensation} for a {Vehicle} {Lateral} {Control} {System}},
	url = {https://www.sae.org/content/2023-01-0677},
	doi = {10.4271/2023-01-0677},
	abstract = {{\textless}div class="section abstract"{\textgreater}{\textless}div class="htmlview paragraph"{\textgreater}Steering actuator lag is detrimental to the performance of lateral control systems and often leads to oscillation, reduced stability margins, and in some cases, instability. If the actuator lag is significant, compensation is required to maintain stability and meet performance specifications. Many recent works use a high-level approach to compensate for delay by utilizing model-based methods such as model predictive control (MPC). While these methods are effective when accurate models of both the vehicle and the actuator are available, they are susceptible to model errors. This work presents a low-level, adaptive control architecture to compensate for unknown or varying steering delay and dynamics. Using an inner-loop controller to regulate steer angle commands, oscillation can be reduced, and stability margins can be maintained without the need for an accurate vehicle model. The Smith Predictor (SP) control scheme is implemented in the inner-loop to mitigate the effects of the communication delay between the controller and the steering actuator. An algorithm will be presented to estimate both the communication delay between the controller and actuator and the steering dynamics. These estimates will be used to adapt the inner-loop SP to maintain gain and phase margins while reducing oscillation. Estimating the steering lag allows the algorithm to compensate for unknown or changing steering dynamics and communication delay. Results are presented both from simulation and from real-time experiments on a vehicle outfitted with drive-by-wire (DBW) hardware.{\textless}/div{\textgreater}{\textless}/div{\textgreater}},
	language = {en},
	urldate = {2024-02-07},
	author = {Kennedy, William Thomas and Bevly, David M.},
	month = apr,
	year = {2023},
	pages = {2023--01--0677},
}





@inproceedings{snitzer_new_2023,
	address = {Detroit, Michigan, United States},
	title = {New {Controller} {Evaluation} {Techniques} for {Autonomously} {Driven} {Heavy}-{Duty} {Convoys}},
	url = {https://www.sae.org/content/2023-01-0688},
	doi = {10.4271/2023-01-0688},
	abstract = {{\textless}div class="section abstract"{\textgreater}{\textless}div class="htmlview paragraph"{\textgreater}Platooning vehicles present novel pathways to saving fuel during transportation. With the rise of autonomous solutions, platooning becomes an increasingly apparent sector requiring the application of this new technology. Platooning vehicles travel together intending to reduce aerodynamic resistance during operation. Drafting allows following vehicles to increase fuel economy and save money on refueling, whether that be at the pump or at a charging station. However, autonomous solutions are still in infancy, and controller evaluation is an exciting challenge proposed to researchers. This work brings forth a new application of an emissions quantification metric called vehicle-specific power (VSP). Rather than utilize its emissions investigative benefits, the present work applies VSP to heterogeneous Class 8 Heavy-Duty truck platoons as a means of evaluating the efficacy of Cooperative Adaptive Cruise Control (CACC). VSP creates a bridge between types of passenger vehicles to compare emission rates via estimating powertrain effort to maintain current conditions (speed, acceleration, road grade, etc.). In this study, different controller strategies and platoon configurations are examined to determine the applicability of VSP to controller evaluation. Experiments were completed at the National Center for Asphalt Technology (NCAT) circuitous track, the American Center for Mobility’s (ACM) freeway loop, and a straight section of NCAT’s track dubbed “ideal” for platooning efficiency. One truck is analyzed and compared to a lead truck, where VSP traces are calculated at each time step of experimentation. The influence of road grade, platoon size, and platooning position is considered in this study. Because the calculation of VSP considers an isolated driving environment, it effectively assesses the controller’s ability to reduce energy consumption for platooning vehicles.{\textless}/div{\textgreater}{\textless}/div{\textgreater}},
	language = {en},
	urldate = {2024-02-07},
	author = {Snitzer, Philip and Stegner, Evan and Bentley, John and Bevly, David M. and Hoffman, Mark},
	month = apr,
	year = {2023},
	pages = {2023--01--0688},
}









@inproceedings{stegner_quantifying_2023,
	address = {Detroit, Michigan, United States},
	title = {Quantifying the {Energy} {Impact} of {Autonomous} {Platooning}-{Imposed} {Longitudinal} {Dynamics}},
	url = {https://www.sae.org/content/2023-01-0896},
	doi = {10.4271/2023-01-0896},
	abstract = {{\textless}div class="section abstract"{\textgreater}{\textless}div class="htmlview paragraph"{\textgreater}Platooning has produced significant energy savings for vehicles in a controlled environment. However, the impact of real-world disturbances, such as grade and interactions with passenger vehicles, has not been sufficiently characterized. Follower vehicles in a platoon operate with both different aerodynamic drag and different velocity traces than while driving alone. While aerodynamic drag reduction usually dominates the change in energy consumption for platooning vehicles, the dynamics imposed on the follow vehicle by the lead vehicle and exogenous disturbances impacting the platoon can negate aerodynamic energy savings. In this paper, a methodology is proposed to link the change in longitudinal platooning dynamics with the energy consumption of a platoon follower in real time. This is accomplished by subtracting a predicted acceleration from measured longitudinal acceleration. The real-time consumption calculation methodology is evaluated using data from simulated and experimental platoons. The proposed methodology allows active deceleration losses to be calculated for a platoon follower in real time and is a development of the active deceleration theory presented by the authors in SAE Paper 2022-01-0526. In simulation, energy losses calculated by the method were within 5\% of the true value and were robust to errors in modeled aerodynamic drag. As for the experimental results, the method agreed with the prior procedure of SAE Paper 2022-01-0526, which required extensive datasets and could only be completed as a post-processing routine. This novel methodology provides an important new feedback metric for platoon operators, and makes it possible to analyze real-time platooning benefit while the platoon is on the road.{\textless}/div{\textgreater}{\textless}/div{\textgreater}},
	language = {en},
	urldate = {2024-02-07},
	author = {Stegner, Evan and Snitzer, Philip and Bentley, John and Bevly, David M. and Hoffman, Mark},
	month = apr,
	year = {2023},
	pages = {2023--01--0896},
}









@inproceedings{stamenov_robust_2017,
	title = {Robust {Vehicle} {Stability} {Based} on {Non}-{Linear} {Model} {Predictive} {Control} and {Environmental} {Characterization}},
	abstract = {A Non-linear Model Predictive Controller (NMPC) was developed for an unmanned ground vehicle (UGV). The NMPC uses a particle swarm pattern search algorithm to optimize the control input, which contains a desired steer angle and a desired longitudinal velocity. The NMPC is designed to approach a target whilst avoiding obstacles that are detected using a light detection and ranging sensor (lidar). Since not all obstacles are stationary, an obstacle tracking algorithm is employed to track obstacles. Two point cluster detection algorithms were reviewed, and a constant velocity Kalman filter-based tracking loop was developed. The tracked obstacles’ positions are predicted using a constant velocity model in the NMPC; this allows for avoidance of both stationary and dynamic obstacles.},
	author = {Stamenov, Velislav and Geiger, Stephen and Bevly, David and Balas, Christian},
	year = {2017},
}









@inproceedings{tabb_improved_2018,
	title = {{IMPROVED} {RELATIVE} {POSITIONING} {FOR} {PATH} {FOLLOWING} {IN} {AUTONOMOUS} {CONVOYS}},
	abstract = {This work presents the development of an algorithm to incorporate measurements from multiple antennas to improve the relative position solution between convoying vehicles provided by Global Positioning System (GPS) measurements. The technique presented, incorporates measurements from multiple antennas with a known fixed-baseline between a base antenna and auxiliary antenna on a base vehicle, and a rover antenna on a rover vehicle. The additional information provided by the fixed-baseline distance is used to provide an additional measurement with low uncertainty for improved integer ambiguity resolution between the base and auxiliary receiver, which in turn, provides additional measurements for determining the integer ambiguity difference between the base and rover receivers for the computation of a high-precision relative position vector (HPRPV).},
	language = {en},
	author = {Tabb, Thomas T and Martin, Scott and Bevly, David and Ratowski, Jeff},
	year = {2018},
}









@inproceedings{thompson_gps-independent_2022,
	title = {{GPS}-{INDEPENDENT} {AUTONOMOUS} {VEHICLE} {CONVOYING} {WITH} {UWB} {RANGING} {AND} {VEHICLE} {MODELS}},
	abstract = {Leader-follower autonomous vehicle systems have a vast range of applications which can increase efﬁciency, reliability, and safety by only requiring one manned-vehicle to lead a ﬂeet of unmanned followers. The proper estimation and duplication of a manned-vehicle’s path is a critical component of the ongoing development of convoying systems. Auburn University’s GAVLAB has developed a UWB-ranging based leader-follower GNC system which does not require an external GPS reference or communication between the vehicles in the convoy. Experimental results have shown path-duplication accuracy between 1-5 meters for following distances of 10 to 50 meters.},
	language = {en},
	author = {Thompson, Kyle and Jones, Ben and Martin, Scott and Bevly, David},
	year = {2022},
}









@inproceedings{nelson_anvel_2017,
	title = {{ANVEL} {HIL}/{SIL} {ADDITIONS} {FOR} {NAVIGATION} {ALGORITHM} {DEVELOPMENT}},
	abstract = {This work presents the development of a high fidelity Simulation In the Loop/Hardware In the Loop simulation environment using add-ons to Autonomous Navigation Virtual Environment Laboratory (ANVEL) and a navigation unit developed by Auburn University’s GPS and Vehicle Dynamics Lab (GAVLAB) in support of the United States Army’s Autonomous Ground Resupply Science Technology Objective. The developed add-ons include a real time interface for ANVEL, Inertial Measurement Unit module, Wheel Speed Sensor module, and a GPS module that allows simulated signals or generated Radio Frequency signals. The developed add-ons allow for faster development of navigation algorithms and controllers due to a readily available, highly accurate truth from ANVEL and can be configured to introduce realistic errors from sensors, hardware, and GPS signals such that algorithm and controller robustness can be easily examined.},
	language = {en},
	author = {Nelson, Brently and Bevly, David and Ratowski, Jeff and Theisen, Bernard},
	year = {2017},
}









@inproceedings{bunderson_automated_2020,
	title = {Automated {Tuning} and {Calibration} for {Unmanned} {Ground} {Vehicles}},
	abstract = {A critical and time-consuming part of commissioning an unmanned ground vehicle (UGV) is tuning and calibrating the navigation and control systems. This involves selecting and modifying parameters for these systems to obtain a desired response. Tuning these parameters often requires experience or technical expertise that may not be readily available in a time of need. Even the simple task of measuring the mounting location of the sensors introduce opportunities for user error. In addition, the tuning parameters for these systems may change significantly between UGVs. These challenges motivate the need for automated tuning and calibration algorithms to set parameters without the interaction from a user. This work presents automated tuning and calibration approaches for UGVs.},
	language = {en},
	author = {Bunderson, Nate and Bevly, David and Costley, Austin and Bryan, William and Mifflin, Gregory and Balas, Cristian},
	year = {2020},
}













@article{bevly_simplified_2000,
	title = {A {Simplified} {Cartesian}-{Computed} {Torque} {Controller} for {Highly} {Geared} {Systems} and its {Application}...},
	volume = {122},
	issn = {00220434},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=aph&AN=3092584&site=eds-live&scope=site},
	abstract = {Presents a simplified Cartesian computed torque control scheme for mobile robots. Application to an experimental climbing robot called Limbed Intelligent Basic Robot Acender; Block diagram of the control scheme; Cartesian control of manipulators.},
	number = {1},
	journal = {Journal of Dynamic Systems, Measurement, \& Control},
	author = {Bevly, David and Dubowsky, Steven},
	year = {2000},
	keywords = {CONTROL theory (Engineering), MANIPULATORS (Machinery), MOBILE robots},
	pages = {27},
}





@phdthesis{sprunger_maintaining_2018,
	title = {Maintaining the {Security} and {Availability} of a {Stream} of {Time}-{Dependent} {Secret} {Information} in an {Ad}-{Hoc} {Network}. [electronic resource]},
	url = {http://hdl.handle.net/10415/6465},
	author = {Sprunger, John David S. and Lim, Alvin S. and Bevly, David M. and Qin, Xiao and Umphress, David},
	year = {2018},
}





@phdthesis{smith_evaluation_2020,
	title = {Evaluation of {Platooning} {Efficiency} for {Heavy} {Duty} {Trucks} using {Cooperative} {Adaptive} {Cruise} {Control}. [electronic resource]},
	url = {http://hdl.handle.net/10415/7241},
	author = {Smith, Patrick and Bevly, David M. and Hoffman, Mark A. and McAuliffe, Brian},
	year = {2020},
}





@phdthesis{preston_gps_2015,
	title = {{GPS} {Multipath} {Detection} and {Mitigation} {Timing} {Bias} {Techniques}. [electronic resource]},
	url = {http://hdl.handle.net/10415/4611},
	author = {Preston, Sarah and Bevly, David M. and Riggs, Lloyd Stephen},
	year = {2015},
}





@phdthesis{pryor_evaluation_2021,
	title = {Evaluation of {Cooperative} {Navigation} {Strategies} with {Maneuvering} {UAVs}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/7871},
	author = {Pryor, Jacob and Martin, Scott M. and Bevly, David M. and Hung, John Y.},
	year = {2021},
}





@phdthesis{pierce_graph-based_2022,
	title = {Graph-{Based} {Relative} {Path} {Estimation} {Using} {Landmarks} for {Long} {Distance} {Ground} {Vehicle} {Following}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/8542},
	author = {Pierce, Dan and Bevly, David M. and Martin, Scott M. and Hung, John Y. and Marghitu, Dan B.},
	year = {2022},
}





@phdthesis{robertson_design_2016,
	title = {Design of a {Guidance} {Controller} {Using} {Network} {Topology}. [electronic resource]},
	url = {http://hdl.handle.net/10415/5392},
	author = {Robertson, Clay Jackson and Sinclair, Andrew J. and Bevly, David M. and Cicci, David A. and Cochran, John E. and Doucette, Emily A.},
	year = {2016},
}





@phdthesis{thopay_initialization_2020,
	title = {Initialization of a {Pedestrian} {Navigation} {System} {Using} a {Transfer} {Alignment} {Approach}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/7438},
	author = {Thopay, Archit Sudarsan and Bevly, David M.},
	year = {2020},
}





@phdthesis{travis_methods_2006,
	title = {Methods for minimizing navigation errors induced by ground vehicle dynamics. [electronic resource]},
	url = {http://hdl.handle.net/10415/400},
	author = {Travis, William E. and Bevly, David M.},
	year = {2006},
}





@phdthesis{stubbs_improving_2023,
	title = {Improving {Semi}-autonomous {Unmanned} {Ground} {Vehicle} {Operator} {Performance} via {Haptics}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/8645},
	author = {Stubbs, Chandler and Rose, Chad A. and Bevly, David M. and Allen, Brendon},
	year = {2023},
}





@phdthesis{pierce_incorporation_2016,
	title = {Incorporation of a {Foot}-{Mounted} {IMU} for {Multi}-{Sensor} {Pedestrian} {Navigation}. [electronic resource]},
	url = {http://hdl.handle.net/10415/5074},
	author = {Pierce, Daniel and Bevly, David M. and Hung, John Y. and Marghitu, Dan B.},
	year = {2016},
}





@phdthesis{ward_methods_2022,
	title = {Methods of {Optimal} {Control} for {Fuel} {Efficient} {Class}-8 {Vehicle} {Platoons} {Over} {Uneven} {Terrain}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/8431},
	author = {Ward, Jacob and Bevly, David M.},
	year = {2022},
}





@phdthesis{williams_evaluation_2014,
	title = {Evaluation of {Beam} {Load} {Cell} {Use} for {Base} {Reaction} {Force} {Collision} {Detection} on {Industrial} {Robots}. [electronic resource]},
	url = {http://hdl.handle.net/10415/4355},
	author = {Williams, Robert M. and Bevly, David M. and Flowers, George T. and Marghitu, Dan B.},
	year = {2014},
}





@phdthesis{wood_detection_2021,
	title = {Detection of {GNSS} {Faults} {Using} {Receiver} {Clock} {Drift} {Estimates}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/7749},
	author = {Wood, Joshua and Martin, Scott M. and Bevly, David M. and Rose, Chad A.},
	year = {2021},
}





@phdthesis{nevin_registration_2009,
	title = {Registration and tracking of objects with computer vision for autonomous vehicles. [electronic resource]},
	url = {http://hdl.handle.net/10415/1633},
	author = {Nevin, Andrew and Bevly, David M. and Hodel, A. Scottedward and Roppel, Thaddeus Adam},
	year = {2009},
}





@phdthesis{nelson_development_2018,
	title = {Development of {ANVEL} {HIL}/{SIL} {Simulation} {Environment} for {Rapid} {Prototyping} of {Navigation} {Algorithms}. [electronic resource]},
	url = {http://hdl.handle.net/10415/6219},
	author = {Nelson, Brently and Bevly, David M. and Hung, John Y. and Marghitu, Dan B.},
	year = {2018},
}





@inproceedings{mcauliffe_impact_2020,
	title = {Impact of {Mixed} {Traffic} on the {Energy} {Savings} of a {Truck} {Platoon}},
	author = {McAuliffe, B. and Raeesi, A. and Lammert, M. and Smith, P. and {others}},
	year = {2020},
}





@inproceedings{carter_baseline_2019,
	title = {Baseline {Impact} on {Geolocation}},
	author = {Carter, Patrick R. and Starling, Josh and Martin, Scott and Bevly, David},
	month = sep,
	year = {2019},
}





@inproceedings{rose_blind_2016,
	title = {Blind {Pedestrian} {Body}-{Worn} {Navigation} {Aid} {Based} on {Pedometry} and {Smart} {Intersection} {Connectivity}},
	author = {Rose, C. and Pierce, D. and Gao, S. and Cofield, R. and Bevly, D. M. and Bishop, R.},
	year = {2016},
}





@inproceedings{givhan_performance_2020,
	title = {Performance {Analysis} of a {Vector} {Tracking} {Software} {Defined} {Receiver} for {GPS} {L5}},
	author = {Givhan, Charles Anderson and Bevly, David M. and Martin, Scott M.},
	month = sep,
	year = {2020},
}





@inproceedings{watts_implementation_2020,
	title = {Implementation and {Analysis} of a {GPS} {Differential} {Vector} {Delay}/{Frequency} {Lock} {Loop}},
	url = {https://www.ion.org/publications/abstract.cfm?articleID=17144},
	author = {Watts, Tanner M. and Martin, Scott M. and Bevly, David M.},
	month = jan,
	year = {2020},
}





@inproceedings{siefert_using_2021,
	title = {Using {Demanded} {Power} and {RDE} {Aggressiveness} {Metrics} to {Analyze} the {Impact} of {CACC} {Aggressiveness} on {Heavy} {Duty} {Platooning} {Power} {Consumption}},
	author = {Siefert, J. and Stegner, E. and Snitzer, P. and Ward, J. and Bevly, D. and Hoffman, M.},
	year = {2021},
}





@inproceedings{snitzer_experimentally_2022,
	title = {Experimentally {Establishing} {Ideal} {Platooning} {Performance} as a {Metric} for {Real}-{World} {Platooning} {Assessment}},
	url = {doi.org/10.4271/2022-01-0069},
	doi = {doi.org/10.4271/2022-01-0069},
	booktitle = {{SAE} {Technical} {Paper} {Series}},
	author = {Snitzer, Philip and Stegner, Evan and Siefert, Jan and Bevly, David M. and Hoffman, Mark},
	year = {2022},
}









@article{bevly_integrating_2006,
	title = {Integrating {INS} {Sensors} with {GPS} {Velocity} {Measurements} for {Continuous} {Estimation} of {Vehicle} {Side}-{Slip} and {Tire} {Cornering} {Stiffness}},
	volume = {7},
	number = {4},
	journal = {IEEE Transactions on Intelligent Transportation Systems},
	author = {Bevly, D. M. and Ryu, J. and Gerdes, J. C},
	month = dec,
	year = {2006},
	keywords = {GPS sideslip measurements, Global Positioning System (GPS)/Inertial Navigation System (INS) vehicle state estimation, roll estimation, sideslip estimation},
	pages = {483--493},
}





@phdthesis{thopay_initialization_2020,
	title = {Initialization of a {Pedestrian} {Navigation} {System} {Using} a {Transfer} {Alignment} {Approach}},
	url = {https://etd.auburn.edu//handle/10415/7438},
	abstract = {Pedestrian navigation techniques are used to provide positioning information in lieu of or to supplement more traditional systems such as GNSS. A challenge facing users of pedestrian navigation algorithms is the acquisition of initialization data. Existing initialization methods for pedestrian navigation methods assume the availability of GNSS position and velocity and of standstill periods that can be used to provide attitude information. This thesis presents a method that performs the attitude initialization for a pedestrian navigation system (PNS) while the pedestrian is riding inside a vehicle. An algorithm is presented which uses data from a vehicle-mounted IMU and a pedestrian-mounted IMU to detect when the two sensors form a rigid body. Once rigidity has been established, a solution to Wahba’s Problem is used to solve for the misalignment between the two systems. The misalignment is used in conjunction with the vehicle’s attitude to initialize the PNS before the pedestrian leaves the vehicle. Performance analyses of the rigidity detector and misalignment estimation are shown using both simulated and real data, while a performance analysis for the PNS initialization procedure is shown using real data. The method is implemented using IMU data gathered using a Vectornav VN-300 GPS/INS and a Lincoln MKZ instrumented with a KVH 1750 IMU. Results show that the proposed method can initialize a PNS with a mean initial heading error of 7.3 degrees, with the error being attributable to violations of the rigidity condition.},
	language = {en},
	urldate = {2022-04-27},
	author = {Thopay, Archit},
	month = aug,
	year = {2020},
	note = {Accepted: 2020-08-11T18:03:13Z},
}





@article{brian_impact_2020,
	title = {Impact of {Mixed} {Traffic} on the {Energy} {Savings} of a {Truck} {Platoon}},
	volume = {2},
	issn = {2641-9637, 2641-9645},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edsstp&AN=edsstp.2020.01.0679&site=eds-live&scope=site},
	abstract = {A two-truck platoon based on a prototype cooperative adaptive cruise control (CACC) system was tested on a closed test track in a variety of realistic traffic and transient operating scenarios - conditions that truck platoons are likely to face on real highways. The fuel consumption for both trucks in the platoon was measured using the SAE J1321 gravimetric procedure as well as calibrated J1939 instantaneous fuel rate, serving as proxies to evaluate the impact of aerodynamic drag reduction under constant-speed conditions. These measurements demonstrate the effects of: the presence of a multiple-passenger-vehicle pattern ahead of and adjacent to the platoon, cut-in and cut-out manoeuvres by other vehicles, transient traffic, the use of mismatched platooned vehicles (van trailer mixed with flatbed trailer), and the platoon following another truck with adaptive cruise control (ACC). These scenarios are intended to address the possibility of “background aerodynamic platooning” impacting realized savings on public roads. Using calibrated J1939 fuel rate analysis, fuel savings for curved track sections versus straight track sections were also evaluated for these scenarios, highlighting differences in the implementation of the CACC control strategies compared to a stock ACC implementation. The use of different trailer types and the presence of passenger-vehicle traffic patterns showed a measurable impact on platoon performance in some conditions, but the basic fuel savings trends were retained.},
	number = {3},
	journal = {SAE International Journal of Advances and Current Practices in Mobility},
	author = {Brian, McAuliffe},
	month = apr,
	year = {2020},
	pages = {1472 -- 1496},
}





@techreport{bishop_evaluation_2017,
	title = {Evaluation and {Testing} of {Driver}-{Assistive} {Truck} {Platooning} {Phase} 2 {Final} {Results} {Authors}: {Bishop}, {Richard}},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000413456800002&site=eds-live&scope=site},
	author = {Bishop, Richard and Bevly, David and Humphreys, Luke and Boyd, Stephen and Murray, Daniel},
	month = jan,
	year = {2017},
	pages = {11 -- 18},
}





@phdthesis{starling_error_2017,
	title = {Error {Analysis} of {Carrier} {Phase} {Positioning} {Using} {Controlled} {Reception} {Pattern} {Antenna} {Arrays}. [electronic resource]},
	url = {http://hdl.handle.net/10415/5601},
	author = {Starling, Joshua and Bevly, David M.},
	year = {2017},
}













@article{ryan_observability_2014,
	title = {On the observability of loosely coupled global positioning system/inertial navigation system integrations with five degree of freedom and four degree of freedom inertial measurement units},
	volume = {136},
	issn = {0022-0434},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edsggo&AN=edsgcl.364957633&site=eds-live&scope=site},
	abstract = {This article examines the observability of a modified loosely coupled global positioning system/inertial navigation system (GPSIINS) filter and analyzes the sideslip and attitude estimation capability of the filter. The modified filter is a loosely coupled integration which does not include a pitch rate gyro and which uses GPS course information as a measurement of heading when the vehicle is driving straight. Experimental tests are conducted which show that the modified filter has the same observability characteristics as a standard loosely coupled filter during turning events. The observability of a loosely coupled integration using only a four degree of freedom (DOF) inertial measurement unit (IMU) is also discussed and examined by experiment, as well as the sideslip and roll angle estimation performance. Finally, the error characteristics of the modified loosely coupled integration with the five DOF IMU when the filter is unobservable are studied. Monte Carlo simulations of long periods of straight driving with various sensor qualities are presented to show the worst case attitude errors when the filter is unobservable. [DOI: 10.1115/1.4025985]},
	number = {2},
	journal = {Journal of Dynamic Systems, Measurement, and Control},
	author = {Ryan, Jonathan G. and Bevly, David M.},
	month = mar,
	year = {2014},
	keywords = {Digital filters – Research, Electronics in navigation – Research, Monte Carlo method – Usage},
	pages = {21023},
}





@article{wang_observer_2017,
	title = {Observer {Design} for {Parameter} {Varying} {Differentiable} {Nonlinear} {Systems}, {With} {Application} to {Slip} {Angle} {Estimation}},
	volume = {62},
	issn = {00189286},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000399033000029&site=eds-live&scope=site},
	number = {4},
	journal = {IEEE TRANSACTIONS ON AUTOMATIC CONTROL},
	author = {Wang, Yan and Rajamani, Rajesh and Bevly, David M.},
	month = apr,
	year = {2017},
	keywords = {Linear matrix inequalities, state estimation, time-varying systems, vehicle dynamics},
	pages = {1940 -- 1945},
}









@article{wang_interval_2015,
	title = {Interval observer design for {LPV} systems with parametric uncertainty},
	volume = {60},
	issn = {0005-1098},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edselp&AN=S0005109815002770&site=eds-live&scope=site},
	journal = {Automatica},
	author = {Wang, Yan and Bevly, David M. and Rajamani, Rajesh},
	month = oct,
	year = {2015},
	pages = {79 -- 85},
}









@article{brian_track-based_2021,
	title = {Track-{Based} {Aerodynamic} {Testing} of a {Two}-{Truck} {Platoon}},
	volume = {3},
	issn = {2641-9637, 2641-9645},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edsstp&AN=edsstp.2021.01.0941&site=eds-live&scope=site},
	abstract = {Fuel savings from truck platooning are generally attributed to an aerodynamic drag-reduction phenomena associated with close-proximity driving. The current paper is the third in a series of papers documenting track testing of a two-truck platoon with a Cooperative Adaptive Cruise Control (CACC) system where fuel savings and aerodynamics measurements were performed simultaneously. Constant-speed road-load measurements from instrumented driveshafts and on-board wind anemometry were combined with vehicle measurements to calculate the aerodynamic drag-area of the vehicles.The drag-area results are presented for each vehicle in the two-truck platoon, and the corresponding drag-area reductions are shown for a variety of conditions: gap separation distances (9 m to 87 m), lateral offsets (up to 1.3 m), dry-van and flatbed trailers, and in the presence of surrounding traffic. For the standard aligned platoon, the results demonstrate up to 8\% drag reduction for the lead vehicle, with drag reductions exceeding 20\% for the trailing vehicle at some yaw angles. Wind-velocity measurements on the following truck suggest that the drag-area reductions are due to a combined effect of reduced apparent wind speed and reduced effective yaw angle in the wake of the lead truck. In the presence of a three-vehicle traffic pattern forward of a single truck, drag-area reductions on the order of 10\% were observed relative to the same truck travelling in isolation. When platooning with this surrounding-traffic pattern, the trends and magnitudes of aerodynamic drag reduction are shown to be retained, relative to the platoon in the absence of other traffic, corroborating observed trends in of fuel-savings performed simultaneously.As a supplement to the current study, a first-of-its-kind coast-down test was undertaken with the two-truck platoon where the CACC system was used to maintain a constant distance between the vehicles during each coast. The CACC system was used on the following vehicle when the lead vehicle was coasting and on the lead vehicle when the follower was coasting. Despite some scatter in the data from this proof-of-concept study, the results are consistent with those of the principal constant-speed measurement technique of this paper. This preliminary study demonstrates that the coast-down test method, which previously was only applied for single vehicles, is also applicable to vehicle platoons.},
	number = {3},
	journal = {SAE International Journal of Advances and Current Practices in Mobility},
	author = {Brian, McAuliffe},
	month = apr,
	year = {2021},
	pages = {1450 -- 1472},
}





@article{brown_roll_2015,
	title = {Roll and {Bank} {Estimation} {Using} {GPS}/{INS} and {Suspension} {Deflections}},
	volume = {4},
	issn = {2079-9292},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edsdoj&AN=edsdoj.92881a6202bb41fea45d8040e9d6a17b&site=eds-live&scope=site},
	abstract = {This article presents a method that provides an estimate of road bank by decoupling the vehicle roll due to the dynamics and the roll due to the road bank. Suspension deflection measurements were used to provide a measurement of the relative roll between the vehicle body frame and the axle frame or between the sprung mass and the unsprung mass, respectively. A deflection scaling parameter was found via suspension geometry and dynamic analysis. The relative roll measurement was then incorporated into two different kinematic navigation models based on extended Kalman filter (EKF) architectures. Each algorithm was tested and then verified on the Prowler ATV experimental platform at the National Center for Asphalt Technology (NCAT). Experimental data showed that both the cascaded and coupled approach performed well in providing estimates of the current vehicle roll and instantaneous road bank.},
	number = {1},
	journal = {Electronics},
	author = {Brown, Lowell S. and Bevly, David M.},
	month = jan,
	year = {2015},
	keywords = {Electronics, GPS, INS/GNSS, TK7800-8360, extended Kalman filter (EKF), relative roll, road bank, rollover, state estimation, suspension deflections, vehicle dynamics},
	pages = {118 -- 149},
}





@article{dawkins_evaluation_2012,
	title = {Evaluation of fractal terrain model for vehicle dynamic simulations},
	volume = {49},
	issn = {0022-4898},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edselp&AN=S0022489812000547&site=eds-live&scope=site},
	number = {6},
	journal = {Journal of Terramechanics},
	author = {Dawkins, Jeremy J. and Bevly, David M. and Jackson, Robert L.},
	month = dec,
	year = {2012},
	pages = {299 -- 307},
}





@phdthesis{carson_enhancement_2015,
	title = {Enhancement and {Defense} of {GPS} {Navigation} {Using} {Signal} {Processing} {Techniques}. [electronic resource]},
	url = {http://hdl.handle.net/10415/4987},
	author = {Carson, Nathaniel R. and Bevly, David M.},
	year = {2015},
}





@phdthesis{jantz_development_2017,
	title = {Development of a {Multi}-mode {Adaptive} {Controller} and {Investigation} of {Gain} {Variations} with {Speed} and {Balance} {Changes}. [electronic resource]},
	url = {http://hdl.handle.net/10415/5951},
	author = {Jantz, James W. and Flowers, George T. and Bevly, David M. and Choe, Song-yul},
	year = {2017},
}





@article{miller_system_2012,
	title = {A {System} for {Tracking} an {Autonomously} {Controlled} {Canine}},
	volume = {64},
	number = {3},
	journal = {The Journal of Navigation},
	author = {Miller, J. and M, Bevly D. and Flowers, G.},
	month = jul,
	year = {2012},
	keywords = {Canine, Extended Kalman Filter, Fuzzy Logic},
}





@article{clanton_low-cost_2009,
	title = {A {Low}-{Cost} {Solution} for an {Integrated} {Multisensor} {Lane} {Departure} {Warning} {System}},
	volume = {10},
	issn = {15249050},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000263919800006&site=eds-live&scope=site},
	number = {1},
	journal = {IEEE TRANSACTIONS ON IN℡LIGENT TRANSPORTATION SYSTEMS},
	author = {Clanton, Joshua M. and Bevly, David M. and Hodel, A. Scottedward},
	month = mar,
	year = {2009},
	keywords = {GPS, Kalman filter, image processing, inertial measurement unit, inertial navigation sensor (INS), intelligent transportation system (ITS), lane departure warning (LDW), vision},
	pages = {47 -- 59},
}













@article{daily_use_2004,
	title = {The use of {GPS} for vehicle stability control systems},
	volume = {51},
	issn = {0278-0046},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edsgao&AN=edsgcl.115903053&site=eds-live&scope=site},
	abstract = {This paper presents a method for using global positioning system (GPS) velocity measurements to improve vehicle lateral stability control systems. GPS can be used to calculate the sideslip angle of a vehicle without knowing the vehicle model. This measurement is combined with other traditional measurements to control the lateral motion of the vehicle. Noise estimates are provided for all measurement systems to allow the sensors to be accurately represented. Additionally, a method to calculate the lateral forces at the tires is presented. It is shown that the tire estimation algorithm performs well outside the linear region of the tire. Results for the controller and force calculations are shown using a nonlinear model to simulate the vehicle and the force calculations are validated with experimental measurements on a test vehicle. Index Terms–Global positioning system (GPS), lateral stability, road vehicle control, vehicle dynamic control.},
	number = {2},
	journal = {IEEE Transactions on Industrial Electronics},
	author = {Daily, Robert and Bevly, David M.},
	month = apr,
	year = {2004},
	keywords = {Global Positioning System, Global Positioning System – Research},
	pages = {270},
}





@article{bevly_simplified_2000,
	title = {A {Simplified} {Cartesian}-{Computed} {Torque} {Controller} for {Highly} {Geared} {Systems} and {Its} {Application} to an {Experimental} {Climbing} {Robot}},
	volume = {122},
	issn = {0022-0434},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edsgao&AN=edsgcl.62195506&site=eds-live&scope=site},
	abstract = {A simplified Cartesian computed torque (SCCT) control scheme and its application to an experimental climbing robot named LIBRA is presented. SCCT control is developed exploiting some of the characteristics of highly geared mobile robots. The effectiveness of the method is shown by simulation and experimental results using the LIBRA robot. SCCT control is shown to have improved performance, over traditional Jacobian transpose control, for the LIBRA multilimbed robot. [S0022-0434(00)03501-2]},
	number = {1},
	journal = {Journal of Dynamic Systems, Measurement, and Control},
	author = {Bevly, David and Dubowsky, Steven and Mavroidis, Constantinos},
	month = mar,
	year = {2000},
	keywords = {Computer simulation – Analysis, Dynamics – Research, Robots – Analysis, Torque – Analysis, United States},
	pages = {27},
}









@article{rekow_system_1999,
	title = {System {Identification} and {Adaptive} {Steering} of {Tractors} {Utilizing} {Differential} {Global} {Positioning} {System}},
	volume = {22},
	issn = {0731-5090, 1533-3884},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edsare&AN=edsare.2.4456&site=eds-live&scope=site},
	number = {5},
	journal = {Journal of Guidance, Control, and Dynamics},
	author = {Rekow, Andrew and Bell, Thomas and Bevly, David and Parkinson, Bradford},
	month = sep,
	year = {1999},
	pages = {671 -- 674},
}









@inproceedings{douglass_deep_2020,
	title = {Deep {Learned} {Multi}-{Modal} {Traffic} {Agent} {Predictions} for {Truck} {Platooning} {Cut}-{Ins}},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.9109809&site=eds-live&scope=site},
	abstract = {Recent advances in Driver-Assisted Truck Platooning (DATP) have shown success in linking multiple trucks in leader-follower platoons using Cooperative Adaptive Cruise Control (CACC). Such set ups allow for closer spacing between trucks which leads to fuel savings. Given that frontal collisions are the most common type of highway accident for heavy trucks, one key issue to truck platooning is handling situations in which vehicles cut-in between platooning trucks. Having more accurate and quicker predictions would improve the safety and efficiency of truck platooning by allowing the control system to react to the intruder sooner and allow for proper spacing before the cutin occurs. Moreover, reduction in false-positives could prevent the CACC from reacting to cut-in vehicles too early, leading to increased benefit from DATP. In this paper, we implement a deep neural network that generates multimodal predictions of traffic agents around a truck platoon. The method uses Long Short-Term Memory networks in an ensemble architecture to predict possible future positions with attached probabilities of vehicles passing by a truck platoon for 5 second horizons. The network performance is compared to a baseline of common state-based predictors including the Constant Velocity Predictor, the Constant Acceleration Predictor, and the Constant Steer Predictor.},
	publisher = {IEEE},
	author = {Douglass, Samuel Paul and Martin, Scott and Jennings, Andrew and Chen, Howard and Bevly, David M.},
	month = apr,
	year = {2020},
}





@article{bevly_incorporating_1999,
	title = {Incorporating {INS} with {Carrier}-{Phase} {Differential} {GPS} for {Automatic} {Steering} {Control} of a {Farm} {Tractor}},
	volume = {108},
	issn = {0096736X, 25771531},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edsjsr&AN=edsjsr.44723056&site=eds-live&scope=site},
	abstract = {This paper evaluates the use of a low cost inertial navigation system (INS) combined with Carrier-Phase Differential GPS (DGPS), to provide continuous position and attitude estimation for the control of a farm tractor. The INS system is used for dead-reckoning navigation to control the vehicle through short GPS outages. An Extended Kalman filter combines INS and Doppler radar measurements with cm-level Carrier-Phase Differential GPS measurements for continuous position and attitude estimation of the tractor. Results are given which verify the ability of the INS system to provide a heading accuracy within ±0.6° for control of the tractor. Additionally it is shown that the dead-reckoning system can provide position and attitude estimation to control the tractor to within ±0.3 meters through a short GPS outage.},
	journal = {SAE Transactions},
	author = {Bevly, David M. and Rekow, Andrew and Parkinson, Bradford},
	month = jan,
	year = {1999},
	pages = {339 -- 345},
}





@article{bevly_lane_2016,
	title = {Lane {Change} and {Merge} {Maneuvers} for {Connected} and {Automated} {Vehicles}: {A} {Survey}},
	volume = {1},
	issn = {23798858},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000722376200009&site=eds-live&scope=site},
	number = {1},
	journal = {IEEE TRANSACTIONS ON IN℡LIGENT VEHICLES},
	author = {Bevly, David and Cao, Xiaolong and Gordon, Mikhail and Ozbilgin, Guchan and Kari, David and Nelson, Brently and Woodruff, Jonathan and Barth, Matthew and Murray, Chase and Kurt, Arda and Redmill, Keith and Ozguner, Umit},
	month = mar,
	year = {2016},
	keywords = {Cooperative adaptive cruise control (CACC), dedicated short range communications (DSRC), differential global positioning system (DGPS), lane change and merge, light detection and ranging (LiDAR), managed lanes, model predictive control (MPC), platooning, real time kinematic (RTK)},
	pages = {105 -- 120},
}





@phdthesis{woodall_low-bandwidth_2012,
	title = {Low-{Bandwidth} {Three} {Dimensional} {Mapping} and {Latency} {Reducing} {Model} {Prediction} to {Improve} {Teleoperation} of {Robotic} {Vehicles}. [electronic resource]},
	url = {http://hdl.handle.net/10415/3264},
	author = {Woodall, William and Bevly, David M. and Biaz, Saad and Hung, John Y.},
	year = {2012},
}





@phdthesis{wooten_high-dynamic_2013,
	title = {High-{Dynamic} {Range} {Collision} {Detection} using {Piezoelectric} {Polymer} {Films} for {Planar} and {Non}-planar {Applications}. [electronic resource]},
	url = {http://hdl.handle.net/10415/3698},
	author = {Wooten, James Michael and Bevly, David M. and Hung, John Y. and Marghitu, Dan B.},
	year = {2013},
}





@phdthesis{morales_magnetometer_2016,
	title = {Magnetometer {Aided} {Navigation} {Filters} for {Improved} {Observability} and {Estimation} on {Ground} {Vehicles}. [electronic resource]},
	url = {http://hdl.handle.net/10415/5317},
	author = {Morales, Gabriel and Bevly, David M.},
	year = {2016},
}





@phdthesis{mcwilliams_improving_2022,
	title = {Improving {Magnetic} {Map}-{Based} {Navigation} using {Vehicle} {Motion} {Information}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/8082},
	author = {McWilliams, Ryan Scott and Bevly, David M. and Martin, Scott M. and Chen, Howard},
	year = {2022},
}





@phdthesis{lashley_kalman_2006,
	title = {Kalman filter based tracking algorithms for software {GPS} receivers. [electronic resource]},
	url = {http://hdl.handle.net/10415/611},
	author = {Lashley, Matthew and Bevly, David M. and Hung, John Y.},
	year = {2006},
}





@phdthesis{keefer_real-time_2023,
	title = {Real-{Time} {Graph}-{Based} {Path} {Planning} for {Autonomous} {Racecars}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/8803},
	author = {Keefer, Sarah Elizabeth and Bevly, David M.},
	year = {2023},
}





@phdthesis{humphreys_computational_2017,
	title = {A {Computational} {Fluid} {Dynamics} {Analysis} of a {Driver}-{Assistive} {Truck} {Platooning} {System} with {Lateral} {Offset}. [electronic resource]},
	url = {http://hdl.handle.net/10415/5624},
	author = {Humphreys, Hugh and Nichols, Dudley Stephen and Bevly, David M. and Scarborough, David E.},
	year = {2017},
}





@phdthesis{gurley_enabling_2017,
	title = {Enabling {Shape} {Memory} {Alloys} as {Actuators} for {Robotics}. [electronic resource]},
	url = {http://hdl.handle.net/10415/6000},
	author = {Gurley, Austin Russell and Beale, David G. and Broughton, Royall M. and Bevly, David M. and Hung, John Y.},
	year = {2017},
}





@phdthesis{geiger_laterally_2018,
	title = {Laterally {String} {Stable} {Control} at {Large} {Following} {Distances} {Using} {DRTK} and {TDCP}. [electronic resource]},
	url = {https://etd.auburn.edu/handle/10415/6415},
	author = {Geiger, Stephen Andrew and Bevly, David M. and Flowers, George T. and Hung, John Y.},
	year = {2018},
}





@phdthesis{edwards_development_2010,
	title = {Development of a {GPS} software receiver on an {FPGA} for testing advanced tracking algorithms. [electronic resource]},
	url = {http://hdl.handle.net/10415/2239},
	author = {Edwards, W. Luke and Bevly, David M. and Hung, John Y.},
	year = {2010},
}





@phdthesis{colbert_development_2014,
	title = {Development of a {Custom} {Data} {Acquisition} {System} for the {Study} of {Vehicle} {Dynamics} in {Longer} {Combination} {Vehicles}. [electronic resource]},
	url = {http://hdl.handle.net/10415/4262},
	author = {Colbert, Jameson and Bevly, David M.},
	year = {2014},
}





@phdthesis{cofield_macn_2020,
	title = {{MACN}. [electronic resource] : {Map}-{Aided} {Cooperative} {Inertial} {Navigation}.},
	url = {http://hdl.handle.net/10415/7230},
	author = {Cofield, Robert Grisson and Bevly, David M.},
	year = {2020},
}





@phdthesis{clark_fault_2012,
	title = {Fault {Detection} and {Exclusion} in {Deeply} {Integrated} {GPS}/{INS} {Navigation}. [electronic resource]},
	url = {http://hdl.handle.net/10415/3416},
	author = {Clark, Benjamin J. and Bevly, David M. and Flowers, George T. and Marghitu, Dan B. and Sinclair, Andrew J.},
	year = {2012},
}





@phdthesis{clark_gpsins_2008,
	title = {{GPS}/{INS} operation in shadowed environments. [electronic resource]},
	url = {http://hdl.handle.net/10415/1223},
	author = {Clark, Benjamin J. and Bevly, David M.},
	year = {2008},
}





@phdthesis{clanton_gps_2006,
	title = {{GPS} and {Inertial} sensor enhancements for vision-based highway lane tracking. [electronic resource]},
	url = {http://hdl.handle.net/10415/324},
	author = {Clanton, Joshua M. and Bevly, David M. and Hodel, A. Scottedward},
	year = {2006},
}





@phdthesis{castleberry_methods_2021,
	title = {Methods for {Improving} {Visual} {Terrain} {Relative} {Navigation} for {Dynamic} {Aerial} {Systems}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/7699},
	author = {Castleberry, Matthew and Roppel, Thaddeus Adam and Martin, Scott M. and Bevly, David M. and Reeves, Stan},
	year = {2021},
}





@phdthesis{campos-vega_investigation_2022,
	title = {Investigation of {Precise} {Relative} {Positioning} through {Varying} {Equipment} {Grades}. [electronic resource]},
	url = {https://etd.auburn.edu//handle/10415/8094},
	author = {Campos-Vega, Christian J. and Martin, Scott M. and Bevly, David M. and Hoffman, Mark A.},
	year = {2022},
}





@phdthesis{brown_determination_2017,
	title = {Determination of the {Allowable} {Parametric} {Uncertainty} in the {Closed} {Loop} {Via} a {Skew}-μ {Based} {Technique} with an {Application} to the {Yaw}-{Roll} {Vehicle} {Model}. [electronic resource]},
	url = {http://hdl.handle.net/10415/5935},
	author = {Brown, Lowell S. and Bevly, David M. and Hung, John Y. and Flowers, George T. and Marghitu, Dan B.},
	year = {2017},
}





@phdthesis{britt_lane_2010,
	title = {Lane detection, calibration, and attitude determination with a multi-layer lidar for vehicle safety systems. [electronic resource]},
	url = {http://hdl.handle.net/10415/2366},
	author = {Britt, Jordan H. and Bevly, David M. and Hung, John Y. and Roppel, Thaddeus Adam},
	year = {2010},
}





@phdthesis{bitner_detection_2013,
	title = {Detection and {Removal} of {Erroneous} {GPS} {Signals} {Using} {Angle} of {Arrival}. [electronic resource]},
	url = {http://hdl.handle.net/10415/3888},
	author = {Bitner, Thomas L. and Bevly, David M},
	year = {2013},
}





@phdthesis{broshears_ultra-wideband_2013,
	title = {Ultra-wideband {Radio} {Aided} {Carrier} {Phase} {Ambiguity} {Resolution} in {Real}-{Time} {Kinematic} {GPS} {Relative} {Positioning}. [electronic resource]},
	url = {http://hdl.handle.net/10415/3704},
	author = {Broshears, Eric and Bevly, David M. and Choe, Song-Yul and Roppel, Thaddeus Adam},
	year = {2013},
}





@inproceedings{henderson_relative_2008,
	title = {Relative position of {UGVs} in constrained environments using low cost {IMU} and {GPS} augmented with ultrasonic sensors},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.4570080&site=eds-live&scope=site},
	abstract = {This paper presents a low cost approach to improve the relative position accuracy of unmanned ground vehicles (UGV) in a constrained environment through the use of ultrasonic sensors. A low cost MEMS IMU is integrated with a low cost GPS module to estimate the absolute position of the UGVs using an Extended Kalman Filter. The inherent limitations of GPS and MEMS sensors limit the estimatepsilas utility for determining the relative position of a pair of UGVs in close proximity. The estimator is augmented with range and bearing measurements from the ultrasonic sensors to overcome these limitations. The PPS from the GPS provides a common time to the ultrasonic sensors on each of the UGVs. This approach removes the necessity to differentiate between multiple returns for measuring the distance between UGV. Experiments were performed with a pair of sensors in urban terrain to evaluate the accuracy of the relative position estimate using this method. The results display the accuracy and precision of the relative position achieved. The results are compared with estimates from a pair of navigation estimators to illustrate the performance gains.},
	publisher = {IEEE},
	author = {Henderson, Harold P. and Bevly, David M.},
	month = may,
	year = {2008},
}





@inproceedings{huang_using_2008,
	title = {Using {3D} road geometry to optimize heavy truck fuel efficiency},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.4732656&site=eds-live&scope=site},
	abstract = {This paper investigates the benefit of using a 3D road geometry based optimal powertrain control system in reducing the fuel consumption of heavy trucks. The optimal control system, using constrained nonlinear programming, is designed to predict the optimal throttle, gear shifting and velocity trajectory, to minimize the fuel consumption and travel time. Computer simulations of a Class 8 truck model are conducted with Intermap 3D road geometry. Simulation results show that the optimal control system is able to reduce the fuel consumption with equal travel time, when compared to the defined baseline. Additionally, sensitivity analyses are conducted to investigate how the change of the terrain and the errors in the road map affect the gain of fuel economy and system behavior.},
	publisher = {IEEE},
	author = {Huang, Wei and Bevly, David M. and Schnick, Steve and Li, Xiaopeng},
	month = oct,
	year = {2008},
}





@inproceedings{watts_cooperative_2021,
	title = {Cooperative {Vector} {Tracking} for {Localization} of {Vehicles} in {Challenging} {GNSS} {Signal} {Environments}},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edseee&AN=edseee.9564468&site=eds-live&scope=site},
	abstract = {This paper presents a robust method of processing GNSS data for vehicle localization in degraded signal environments where conventional receivers struggle to accurately position. The method relies on cooperation between receivers that use vector tracking, an advanced signal processing architecture for GNSS. Cooperation is performed through an EKF algorithm that can be employed for standalone or cooperative navigation by coupling stochastic receiver dynamics together. Simulation results are presented that demonstrate vehicle positioning is accurately achieved with cooperation under low C/N 0 ratio conditions where standalone vector tracking is not stable and improved by including more collaborating receivers to the algorithm. The simulation claims are validated experimentally with GPS test data from a four-vehicle platoon traveling on an interstate exchange that incurs signal blockages from bridges.},
	booktitle = {2021 {IEEE} {International} {Intelligent} {Transportation} {Systems} {Conference} ({ITSC}) {Intelligent} {Transportation} {Systems} {Conference} ({ITSC}),2021},
	author = {Watts, Tanner and Martin, Scott and Bevly, David},
	month = sep,
	year = {2021},
}





@article{wooten_piezoelectric_2015,
	title = {Piezoelectric {Polymer}-{Based} {Collision} {Detection} {Sensor} for {Robotic} {Applications}},
	volume = {4},
	issn = {20799292},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=edswsc&AN=000355795900010&site=eds-live&scope=site},
	number = {1},
	journal = {ELECTRONICS},
	author = {Wooten, J. Michael and Bevly, David M. and Hung, John Y.},
	month = mar,
	year = {2015},
	keywords = {collision detection, collision sensor robotic manipulator, piezoelectricity, polymer film, polyvinylidene},
	pages = {204 -- 220},
}





@article{fingerman_gnss_2011,
	title = {{GNSS} for vehicle control.},
	volume = {65},
	issn = {00368059},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=lxh&AN=60657903&site=eds-live&scope=site},
	abstract = {The article reviews the book "GNSS for Vehicle Control," by David M. Bevly and Stewart Cobb.},
	number = {1},
	journal = {Sci-Tech News},
	author = {Fingerman, Susan},
	year = {2011},
	keywords = {Bevly, Cobb, David M., GNSS for Vehicle Control (Book), Global Positioning System, Nonfiction, Stewart},
	pages = {27 -- 27},
}





@misc{enoch_auburn_2009,
	title = {Auburn {University}, {Ford} team up to improve stability in vehicles},
	url = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&db=pwh&AN=2W62259199668&site=eds-live&scope=site},
	publisher = {Opelika-Auburn News (AL)},
	author = {Enoch, Ed},
	month = oct,
	year = {2009},
}













@inproceedings{sherer_keynote_2017,
	title = {Keynote: {Radar} {Probabilistic} {Data} {Association} {Filter} with {GPS} {Aiding} for {Target} {Selection} and {Relative} {Position} {Determination}},
	shorttitle = {Keynote},
	doi = {10.33012/2017.15069},
	author = {Sherer, Tyler and Martin, Scott and Bevly, David},
	month = jun,
	year = {2017},
	pages = {419--428},
}





@inproceedings{shaw_proportional_2018,
	title = {Proportional {Navigation} and {Model} {Predictive} {Control} of an {Unmanned} {Autonomous} {Vehicle} for {Obstacle} {Avoidance}},
	doi = {10.1115/DSCC2018-9080},
	abstract = {This paper presents a new approach for the guidance and control of a UGV (Unmanned Ground Vehicle). An obstacle avoidance algorithm was developed using an integrated system involving proportional navigation (PN) and a nonlinear model predictive controller (NMPC). An obstacle avoidance variant of the classical proportional navigation law generates command lateral accelerations to avoid obstacles, while the NMPC is used to track the reference trajectory given by the PN. The NMPC utilizes a lateral vehicle dynamic model. Obstacle avoidance has become a popular area of research for both unmanned aerial vehicles and unmanned ground vehicles. In this application an obstacle avoidance algorithm can take over the control of a vehicle until the obstacle is no longer a threat. The performance of the obstacle avoidance algorithm is evaluated through simulation. Simulation results show a promising approach to conditionally implemented obstacle avoidance.},
	author = {Shaw, Ryan and Bevly, David},
	month = sep,
	year = {2018},
	pages = {V003T37A004},
}













@inproceedings{campos-vega_navigation_2021,
	address = {St. Louis, MO},
	title = {Navigation through the {Processing} of {Android} {Data} with a {High}-{Order} {Kalman} {Filter}},
	abstract = {This paper presents a fourth order Extended Kalman Filter (EKF) that processes Android smartphone data for positioning and navigation. The EKF utilizes GNSS, IMU, and magnetometer sensor outputs for correction to its states. Unlike traditional GPS/INS error state recursions, the EKF processes the IMU outputs through the measurement observation matrix. The high-order EKF includes Fault Detection and Exclusion (FDE) to remove erroneous measurements. The navigation algorithm was evaluated with Pixel 4 and Pixel 4XL training data provided by the Google Smartphone Decimeter Challenge. The experimental results indicate the smartphones’ GNSS chip receivers provide positions with accuracies of roughly 1.5 meters at a rate of 1 Hz. The high-order EKF provides positions with accuracies of roughly 3 meters at a rate of 100 Hz. Furthermore, the high-order EKF can accurately navigate under motion with the IMU and magnetometer sensors for 5 to 10 seconds without GNSS. In cases when the GNSS has position faults, the EKF successfully rejects the outliers with FDE and continues to navigate. Future work includes augmenting the EKF with an adaptive process noise tuning algorithm, including sensor bia},
	author = {Campos-Vega, Christian and Watts, Tanner and Martin, Scott and Chen, Howard and Bevly, David},
	year = {2021},
}





@inproceedings{mifflin_autonomous_2021,
	address = {St. Louis, MO},
	title = {Autonomous {Direct} {Calibration} of an {Inertial} {Measurement} {Unit}},
	author = {Mifflin, Greg and Bevly, David},
	year = {2021},
}





@inproceedings{meyer_automatic_2021,
	address = {UT Austin, USA},
	title = {Automatic {Extrinsic} {Rotational} {Calibration} of {LiDAR} {Sensors} and {Vehicle} {Orientation} {Estimation}},
	abstract = {Whether a vehicle is being used for an autonomous mission or in support of data collection and
research, extrinsic calibration to align the vehicle’s sensors to a reference point on the vehicle is integral
to ensuring that quality data is available to the system. This is particularly true for vision and distance
sensors, such as LiDAR, which must be well-located with respect to the vehicle body before they can
provide meaningful localization or environmental modeling assistance. This paper outlines an automatic
approach for calibrating a LiDAR to the body of a ground vehicle using only the data from the LiDAR
itself. This approach assumes that the LiDAR is able to sample at least a one meter square section of
level ground, and that the vehicle travels along a straight section of roadway with a well-marked road
edge at some point during the calibration, while closely following the trajectory of the road edge. This
method has been able to automatically calibrate a LiDAR to yield 0.08 and 0.12 degrees of error in roll
and pitch respectively when comparing estimated ground pitch and roll to the orientation estimates from
a truth sensor.},
	booktitle = {Advanced {Signal} {Processing}, {Estimation} and {Control} in {Automotive} {Applications}},
	author = {Meyer, Stephanie and Chen, Howard and Bevly, David},
	month = oct,
	year = {2021},
}





@article{ward_method_2022,
	title = {A {Method} of {Optimal} {Control} for {Class} 8 {Vehicle} {Platoons} {Over} {Hilly} {Terrain}},
	volume = {144},
	issn = {0022-0434, 1528-9028},
	url = {https://asmedigitalcollection.asme.org/dynamicsystems/article/144/1/011108/1128821/A-Method-of-Optimal-Control-for-Class-8-Vehicle},
	doi = {10.1115/1.4053087},
	abstract = {Abstract
            This work develops and implements a nonlinear model predictive control (NMPC) control system to facilitate fuel-optimal platooning of class 8 vehicles over challenging terrain. Prior research has shown that cooperative adaptive cruise control (CACC), which allows multiple class 8 vehicles to follow in close succession, can save between 3\% and 8\% in overall fuel consumption on flat terrain. However, on more challenging terrain, e.g., rolling hills, platooning vehicles can experience diminished fuel savings, and, in some cases, an increase in fuel consumption relative to individual vehicle operation. This research explores the use of NMPC with predefined route grade profiles to allow platooning vehicles to generate an optimal velocity trajectory with respect to fuel consumption. In order to successfully implement the NMPC system, a model relating vehicle velocity to fuel consumption was generated and validated using experimental data. Additionally, the predefined route grade profiles were created by using the vehicle's GPS velocity over the desired terrain. The real-time NMPC system was then implemented on a two-truck platoon operating over challenging terrain, with a reference vehicle running individually. The results from NMPC platooning are compared against fuel results from a classical proportional-integral-derivative (PID) headway control method. This comparison yields the comparative fuel savings and energy efficiency benefit of the NMPC system. In the final analysis, significant fuel savings of greater than 14 and 20\% were seen for the lead and following vehicles relative to their respective traditional cruise control and platooning architectures.},
	language = {en},
	number = {1},
	urldate = {2022-09-20},
	journal = {Journal of Dynamic Systems, Measurement, and Control},
	author = {Ward, Jacob W. and Stegner, Evan M. and Hoffman, Mark A. and Bevly, David M.},
	month = jan,
	year = {2022},
	pages = {011108},
}

















@inproceedings{hilyer_vehicle_2022,
	address = {Detroit, MI},
	title = {Vehicle {Load} {Estimation} {Using} {Recursive} {Total} {Least} {Squares} for {Rollover} {Detection}},
	doi = {10.4271/2022-01-0914},
	abstract = {This paper will describe the development of a load estimation
algorithm that is used to estimate the load parameters
necessary to detect a vehicle’s proximity to rollover.
When operating a vehicle near its handling limits or with large
loads, vehicle rollover must be considered for safe operation.
Vehicle mass and center of gravity (CG) height play a large role
in a vehicle’s rollover propensity. Cargo and passenger vehicles
operate under a range of load configurations; therefore,
changes in load should be estimated. Researchers have often
developed load estimation and rollover detection algorithms
separately. This paper will develop a load estimation algorithm
and use the load estimates and vehicle states to detect rollover.
The load estimation algorithm uses total least squares and is
broken into two parts. First, mass is estimated based on a
“full-car” dynamic ride model. Next, the CG height and inertia
are estimated using the previously estimated mass and a
dynamic roll model. Least squares is a popular method for load
estimation. Least Squares (LS) assumes that there is no
measurement noise which is violated in this application. Total
Least Squares (TLS) accounts for measurement noise and
provides more accurate estimates when measurement noise is
present. Simulated data from CarSim is used to produce sensor
measurements. Inertial measurement unit (IMU) and suspension
defection sensors are used to measure the appropriate
vehicle states. Noise is added to each measurement. Accuracy
of the load estimation will be discussed and compared to the
least squares approach. Rollover detection using load estimates
will be analyzed and compared to rollover detection that does
not account for changes in load.},
	booktitle = {{SAE} {International}},
	author = {Hilyer, Trenton and Bevly, David},
	month = jan,
	year = {2022},
}





@inproceedings{stegner_new_2022,
	title = {New {Metrics} for {Quantifying} the {Energy} {Efficiency} of {Platoons} in the {Presence} of {Disturbances}},
	url = {https://doi.org/10.4271/2022-01-0526},
	doi = {https://doi.org/10.4271/2022-01-0526},
	booktitle = {{SAE} {Technical} {Paper} {Series}},
	author = {Stegner, Evan and Snitzer, Phillip and Bevly, David and Hoffman, Mark},
	month = mar,
	year = {2022},
}





















@incollection{lakshmanan_semi-autonomous_2023,
	address = {Cham},
	series = {Lecture {Notes} in {Intelligent} {Transportation} and {Infrastructure}},
	title = {Semi-autonomous {Truck} {Platooning} with a {Lean} {Sensor} {Package}},
	isbn = {978-3-031-06780-8},
	url = {https://doi.org/10.1007/978-3-031-06780-8_2},
	abstract = {This chapter describes one method of approaching fuel-efficient truck platooning using a system called Cooperative Adaptive Cruise Control (CACC). The principal innovation in the system is its lean sensor package, including factory-ready standard ACC system utilizing a dual-beam radar, precision Global Positioning System (GPS), and a Vehicle-to-Vehicle (V2V) communication system. In other words, no imaging sensors such as camera or lidar, and no associated high-performance computing hardware such as Graphics Processing Units (GPU). Extensive test track and public road testing on class-8 semi-trucks, including edge case testing, reveals the efficacy and robustness of this system despite its leanness. Quantitative results are included in this chapter that trace cause and effect through the CACC system.},
	language = {en},
	urldate = {2023-06-06},
	booktitle = {{AI}-enabled {Technologies} for {Autonomous} and {Connected} {Vehicles}},
	publisher = {Springer International Publishing},
	author = {Lakshmanan, Sridhar and Adam, Cristian and Kleinow, Timothy and Richardson, Paul and Ward, Jacob and Stegner, Evan and Bevly, David and Hoffman, Mark},
	editor = {Murphey, Yi Lu and Kolmanovsky, Ilya and Watta, Paul},
	year = {2023},
	doi = {10.1007/978-3-031-06780-8_2},
	pages = {19--59},
}





@inproceedings{boler_essential_2023,
	title = {Essential {PoseSLAM}: {An} {Efficient} {Landmark}-{Free} {Approach} to {Visual}-{Inertial} {Navigation}},
	abstract = {This paper presents an efficient method of fusing visual and inertial data for navigation using the two-view tensor, also known as the essential matrix. The essential matrix encodes the up-to-scale geometric relationship between two camera poses and contains the relative rotation and direction-of-translation between them. A dense network of up-to-scale relative pose measurements is constructed by computing essential matrices between incoming images and a collection of past states which observed the same scene. As the essential matrix is computed online in many visual-inertial navigation systems (VINS) as part of the image processing front end, the proposed method introduces little computational overhead while avoiding all computations related to feature estimation. This approach can be viewed as a modification of the classical pose-graph simultaneous localization and mapping (SLAM) problem. This paper further presents a dynamic initialization method to bootstrap the velocity, orientation, and biases of an IMU. The initialization method makes use of the same modified pose-graph SLAM approach to solve for the up-to-scale relative poses of a window of camera frames before solving for orientation, velocity, and sensor biases. We validate the proposed methods by implementing them in Extended Kalman Filter (EKF) and nonlinear optimization forms and testing them on public datasets.},
	language = {en},
	booktitle = {{IEEE}/{ION} {PLANS} 2023},
	author = {Boler, Matthew and Martin, Scott},
	month = apr,
	year = {2023},
}





@inproceedings{miller_snap_2023,
	title = {{SNAP}: {A} {Xona} {Space} {Systems} and {GPS} {Software}-{Defined} {Receiver}},
	abstract = {This paper proposes the Satellite Navigation Applied Processor (SNAP), a Software Defined Receiver (SDR) for the Xona Space Systems Pulsar constellation and legacy Global Navigation Satellite Systems (GNSS). The novelty of this paper is found in the creation of an SDR that serves to explore the capabilities of a new Low Earth Orbit (LEO) satellite navigation constellation. The modularity of SNAP allows both industry professionals and students to investigate their own Pulsar and legacy GNSS signal processing techniques.},
	language = {en},
	booktitle = {{IEEE}/{ION} {PLANS} 2023},
	author = {Miller, Noah S and Koza, J Tanner and Morgan, Samuel C and Martin, Scott M and Neish, Andrew and Grayson, Robert and Reid, Tyler},
	month = apr,
	year = {2023},
}

































@inproceedings{c_lakshmanan_adam_correlation_2021,
	title = {Correlation {Between} {Sensor} {Performance} and {Fuel}-{Efficiency} in {Semi}-{Truck} {Platoons}},
	author = {{C. Lakshmanan Adam} and {Richardson S.} and {Stegner P.} and {Ward E.} and {Hoffman J.} and {Bevly D.}},
	year = {2021},
}





@inproceedings{mcdougal_single-antenna_2021,
	title = {Single-{Antenna} {Low} {Earth} {Orbit} {Signal} {Simulator} for {Hardware} in the {Loop} {Testing} {\textbar} {Technical} {Program} - {ION} {GNSS}+ 2022},
	url = {https://www.ion.org/gnss/abstracts.cfm?paperID=11519},
	urldate = {2022-04-20},
	author = {McDougal, Samuel},
	year = {2021},
}

















@phdthesis{lashley_modeling_nodate,
	address = {United States -- Alabama},
	type = {Ph.{D}.},
	title = {Modeling and performance analysis of {GPS} vector tracking algorithms},
	copyright = {Database copyright ProQuest LLC; ProQuest does not claim copyright in the individual underlying works.},
	url = {https://www.proquest.com/docview/304830161/abstract/D637655D4F56458EPQ/1},
	abstract = {This dissertation provides a detailed analysis of GPS vector tracking algorithms and the advantages they have over traditional receiver architectures. Standard GPS receivers use a decentralized architecture that separates the tasks of signal tracking and position/velocity estimation. Vector tracking algorithms combine the two tasks into a single algorithm. The signals from the various satellites are processed collectively through a Kalman filter.
The advantages of vector tracking over traditional, scalar tracking methods are thoroughly investigated. A method for making a valid comparison between vector and scalar tracking loops is developed. This technique avoids the ambiguities encountered when attempting to make a valid comparison between tracking loops (which are characterized by noise bandwidths and loop order) and the Kalman filters (which are characterized by process and measurement noise covariance matrices) that are used by vector tracking algorithms. The improvement in performance offered by vector tracking is calculated in multiple different scenarios.
Rule of thumb analysis techniques for scalar Frequency Lock Loops (FLL) are extended to the vector tracking case. The analysis tools provide a simple method for analyzing the performance of vector tracking loops. The analysis tools are verified using Monte Carlo simulations. Monte Carlo simulations are also used to study the effects of carrier to noise power density (C/N0) ratio estimation and the advantage offered by vector tracking over scalar tracking. The improvement from vector tracking ranges from 2.4 to 6.2 dB in various scenarios.
The difference in the performance of the three vector tracking architectures is analyzed. The effects of using a federated architecture with and without information sharing between the receiver’s channels are studied. A combination of covariance analysis and Monte Carlo simulation is used to analyze the performance of the three algorithms. The federated algorithm without information sharing performs poorer than the other two architectures. However, at low C/N0 ratios the difference in the performance of the three algorithms becomes virtually zero.
The analysis of different vector tracking architectures is then extended to an analysis of different Deeply Integrated (DI) architectures. The effects of using a federated filtering architecture on DI’s performance are investigated. Covariance analysis and Monte Carlo simulation are also used to study the performance of the different DI algorithms. The results from the DI analysis mirror the results from the analysis of different vector tracking algorithms. The different DI architectures exhibit the same performance at low C/N0 ratios.
The vector tracking algorithms are also implemented in MATLAB. The algorithms are tested using data collected from an environment with dense foliage (having widely fluctuating signal levels) and from an urban canyon type environment. The performance of the vector tracking algorithms is compared to that of a NovAtel ProPak-V3 receiver in the same scenarios. The vector tracking algorithms provide near continuous coverage through both environments while the NovAtel receiver exhibits periods of prolonged outages.},
	language = {English},
	urldate = {2022-04-21},
	school = {Auburn University},
	author = {Lashley, Matthew},
	note = {ISBN: 9781109626452},
	keywords = {Applied sciences, Delay lock loops, Ultratight coupling, Vector tracking},
}













@phdthesis{henderson_relative_2008,
	type = {Thesis},
	title = {Relative {Positioning} of {Unmanned} {Ground} {Vehicles} {Using} {Ultrasonic} {Sensors}},
	url = {https://etd.auburn.edu//handle/10415/9},
	abstract = {In this thesis, a Global Positioning System/Inertial Navigation System (GPS/INS) is developed and applied to a tracked Unmanned Ground Vehicle (UGV) to provide estimates of position, heading, and velocity.  The navigation estimator is then augmented with ultrasonic sensors to accurately determine the relative position of a pair of tracked UGVs.  The estimator provides estimates on critical system parameters to allow for automation or collaboration.  The capabilities of UGVs can be greatly increased through automation and collaboration of multiple UGVs.  Automation reduces the operator workload and allows the UGV to continue operations during a loss of communication.  Collaboration allows multiple small UGVs to accomplish tasks previously requiring a single large UGV. A microcontroller uses the ultra-precise Pulse Per Second (PPS) from the GPS to trigger the ultrasonic sensors.  This configuration minimizes the problems traditionally encountered with use of ultrasonic sensors in an outdoor environment while providing additional information to the navigation estimator.  Small, low cost sensors using MEMS technology are employed to minimize size and cost, providing a solution that can be implemented on current UGVs.  Experimental results are presented to compare the performance using GPS alone, GPS/INS, and GPS/INS/Ultrasonic sensors for estimating relative positions and headings of multiple UGVs.},
	language = {en\_US},
	urldate = {2022-04-20},
	author = {Henderson, Harold},
	month = may,
	year = {2008},
	note = {Accepted: 2008-09-09T21:12:42Z},
}













@phdthesis{edwards_parameter_2008,
	type = {Thesis},
	title = {Parameter {Estimation} {Techniques} for {Determining} {Safe} {Vehicle} {Speeds} in {UGVs}},
	url = {https://etd.auburn.edu//handle/10415/10},
	abstract = {This thesis develops simplified equations to predict a velocity in which vehicle rollover or tire saturation occurs. These equations are functions of different vehicle parameters that are important to vehicle handling characteristics. Therefore, various algorithms are developed to estimate parameters such as vehicle tire stiffness, peak tire force, and center of gravity position on-line. A number of vehicle control systems have been developed in order to reduce rollover and help maintain vehicle stability. However, many of these control systems do not take into account changing vehicle parameters. Therefore using the on-line estimates of these parameters, the control systems could be more effective in decreasing the number of vehicle accidents. 
    The thesis first explains the fundamentals of lateral vehicle dynamics. Basic vehicle dynamic models are derived and validated to show the effectiveness and shortcomings of the different models. Many assumptions are used to simplify the models. The assumptions leads to simplified equations that predict a velocity in which vehicle rollover or tire saturation occur. An equation to predict the vehicle stopping distance is also derived. Experiments are run to control the vehicle speed to the predictive velocity. This velocity is updated with the identified parameters from the estimation algorithms. By providing the updated velocity to the steering controller, a vehicle is able to transverse a maneuver at a safe speed.},
	language = {en\_US},
	urldate = {2022-04-20},
	author = {Edwards, Dustin},
	month = may,
	year = {2008},
	note = {Accepted: 2008-09-09T21:12:43Z},
}









@inproceedings{derrick_adaptive_2008,
	title = {Adaptive control of a farm tractor with varying yaw dynamics accounting for actuator dynamics and saturations},
	doi = {10.1109/CCA.2008.4629591},
	abstract = {This paper presents an adaptive control system implemented on an automatically steered farm tractor. The yaw dynamics of the tractor are time varying due to different attached implements and soil conditions; therefore, a model reference adaptive control (MRAC) system is developed to automatically adjust the feed-forward yaw rate controller to changes in the current yaw plant. The MRAC algorithm is next modified from itpsilas original form to account for steering actuator dynamics and nonlinearities. Simulated results are presented that demonstrate the algorithmpsilas performance under ideal conditions. Experimental results are presented that show that the algorithm performs well on a real system with changing yaw dynamics. Finally, experimental results are shown that demonstrate improved tracking performance verses a fixed-gain configuration.},
	booktitle = {2008 {IEEE} {International} {Conference} on {Control} {Applications}},
	author = {Derrick, J. Benton and Bevly, David M.},
	month = sep,
	year = {2008},
	note = {ISSN: 1085-1992},
	keywords = {Conferences, Control systems, USA Councils},
	pages = {547--552},
}





























@phdthesis{hodo_development_2007,
	type = {Thesis},
	title = {Development of an {Autonomous} {Mobile} {Robot}-{Trailer} {System} for {UXO} {Detection}},
	url = {https://etd.auburn.edu//handle/10415/888},
	abstract = {The process of finding and removing unexploded ordnance (UXO) from contaminated sites is an expensive and time consuming task.  In this thesis, an autonomous mobile robot-trailer system is developed for this purpose.  It is proposed that an autonomous robot can perform the task of UXO detected more efficiently and safely than current methods. 
 
In this thesis, a method of complete coverage path planning is developed that allows a path for surveying a field to be automatically generated.  Simple methods of obstacle avoidance are given that allow isolated, known obstacles in the field to be avoided.  A feedback control law is designed to guide a towed trailer to precisely follow a given path.  An experimental platform is designed consisting of a Segway RMP robot towing a trailer, guided by a GPS/INS positioning system.  Simulation and experimental results are provided to validate the control law. 
 
The effects of hitch angle measurement errors and noise in the GPS measurements on path tracking performance are analyzed.  The effects are examined for different sensor placements. Guidelines are provided for where the positioning sensors should be placed based on expected sensor errors and controller tunings.},
	language = {en\_US},
	urldate = {2022-04-18},
	author = {Hodo, David},
	month = aug,
	year = {2007},
	note = {Accepted: 2008-09-09T21:24:41Z},
}













@inproceedings{hodo_effects_2007,
	title = {Effects of {Sensor} {Placement} and {Errors} on {Path} {Following} {Control} of a {Mobile} {Robot}-{Trailer} {System}},
	doi = {10.1109/ACC.2007.4282739},
	abstract = {In this paper, effects of sensor location and measurement errors on path tracking control of a mobile robot pulling a trailer are reported. A model for a two-wheeled robot towing a trailer is presented, followed by a state feedback controller designed to position the trailer along a path consisting of lines and circular arcs. An incremental encoder is used to measure the hitch angle between the robot and trailer. A combined GPS/IMU system is used to measure position and orientation of either the robot or the trailer (but not both). The choice of mounting location for the GPS/IMU system, and consequent effects on trailer path tracking performance are explored. The sensitivity of the system to hitch angle errors is also examined for both cases. It is shown that the system is less sensitive to errors in the hitch angle measurement when the GPS/IMU system is located on the trailer.},
	booktitle = {2007 {American} {Control} {Conference}},
	author = {Hodo, David W. and Hung, John Y. and Bevly, David M. and Millhouse, Scott},
	month = jul,
	year = {2007},
	note = {ISSN: 2378-5861},
	keywords = {Control systems, Error correction, Global Positioning System, Goniometers, Measurement errors, Mobile robots, Position measurement, Robot sensing systems, Sensor systems, State feedback},
	pages = {2165--2170},
}









@phdthesis{newlin_design_2006,
	type = {Thesis},
	title = {Design and {Development} of a {GPS} {Intermediate} {Frequency} and {IMU} {Data} {Acquisition} {System} for {Advanced} {Integrated} {Architectures}},
	url = {https://etd.auburn.edu//handle/10415/614},
	abstract = {Advanced levels of GPS and INS integration, including Deeply Integrated and Ultra- 
Tightly Coupled, have been reported to provide significant gains in anti-jamming capa- 
bility and reduced susceptibility to loss of GPS signal lock. This thesis provides the 
design and development of a GPS intermediate frequency and IMU data acquisition 
system that can be used for the implementation of these advanced GPS and INS inte- 
grated algorithms. Details of the design of the system are covered, including GPS chip 
set selection, signal conditioning, and data collection. The system is capable of syn- 
chronizing IMU measurement collection to the collection of digitized GPS intermediate 
frequency in real-time using a derivative of the GPS IF sampling clock to sample the 
IMU measurements. This synchronization is necessary for proper integrated algorithm 
implementation. The system was installed on a moving platform and the results of the 
experiment are shown using a GPS software receiver for the validation of the digitized 
GPS IF and the plotting of the IMU measurements.},
	language = {en\_US},
	urldate = {2022-04-18},
	author = {Newlin, Michael},
	month = dec,
	year = {2006},
	note = {Accepted: 2008-09-09T21:20:30Z},
}

















@phdthesis{heffernan_simulation_2006,
	type = {Thesis},
	title = {Simulation, {Estimation}, and {Experimentation} of {Vehicle} {Longitudinal} {Dynamics} {That} {Effect} {Fuel} {Economy}},
	url = {https://etd.auburn.edu//handle/10415/239},
	abstract = {In this thesis, longitudinal vehicle dynamics are researched with an emphasis on heavy trucks and fuel economy. Commercial vehicles display large variations in their parameters, and due to many current trends in transportation systems, estimating these parameters has been the subject of much research. Additionally, fuel economy enhancement has become a major issue due to man-kind’s reliance on oil. In this research a longitudinal truck model is developed and the longitudinal dynamics are simulated in various conditions. Algorithms are developed to estimate vehicle parameters and are used in simulation to perform an analysis of their accuracy. Simulated results show the difficulty of estimating individual vehicle parameters in the presence of sensor noise and low levels of vehicle excitation, such as with the heavy trucks at the Auburn University National Center for Asphalt Technology facility. Finally, a class 8 commercial vehicle is instrumented as a test-bed. Estimation results from the test bed support the simulation, while simple parameters are shown to be identified with reasonable accuracy. Road load data for fuel economy evaluation was also collected on the trucks and variations over the asphalt sections are shown.},
	language = {en\_US},
	urldate = {2022-04-18},
	author = {Heffernan, Matthew},
	month = aug,
	year = {2006},
	note = {Accepted: 2008-09-09T21:15:31Z},
}













@inproceedings{clanton_highway_2006,
	title = {Highway {Lane} {Tracking} {Using} {GPS} in {Conjunction} {With} {Onboard} {IMU} and {Vision}-based {Lane} {Tracking} {Measurements}},
	url = {http://www.ion.org/publications/abstract.cfm?jp=p&articleID=6777},
	abstract = {When a vehicle’s Lane Departure Warning (LDW) system fails to detect lane markers on the roadway ahead of the vehicle, it loses its ability to alert the driver of an unintended lane departure. Therefore, it has been a recent trend in LDW research to explore the use of use multiple sensors, such as GPS and inertial measurement units (IMU) to assist the LDW vision system in the event of a lane detection failure [5][7]. These multi-sensor systems typically use differential GPS or even real-time kinematic (RTK) GPS combined with high accuracy maps to locate the vehicle to within a particular lane on a roadway. Although these advanced positioning systems are highly accurate, they are currently not deployed in the consumer automobile market, so therefore, are currently not cost effective solutions. The goal of this research is to use regular GPS, combined with inertial sensors and a high accuracy map to assist a vision-based lane departure warning system. In-car GPS navigation systems are available in many automobiles, as well as automotive grade inertial sensors. The low accuracy of a typical GPS receiver found in an automotive navigation system is largely attributed to a position error. This error is too large to allow the GPS receiver to locate a vehicle in a particular lane on a roadway. This work will present a method to measure this error using a vision-based lane departure warning system together with a high-accuracy map. With the error known, the accuracy of the GPS receiver is increased to a high-enough level to localize the vehicle on a particular lane. Next, this work will present a method fusing GPS/INS/Vision and a high accuracy map for highway lane tracking. The goal of this method is to provide a backup lateral offset measurement that can be used for lane departure warning, when the LDW vision system loses track of the lane markings.},
	language = {en},
	urldate = {2022-04-11},
	author = {Clanton, J. M. and Bevly, D. M. and Hodel, A. S.},
	month = sep,
	year = {2006},
	pages = {1076--1084},
}

















@inproceedings{gartley_-line_2008,
	title = {On-{Line} {Adaptive} {Control} of a {Farm} {Tractor} by {Compensation} of {Parameter} {Variations}},
	url = {https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2005/42169/977/311905},
	doi = {10.1115/IMECE2005-81344},
	language = {en},
	urldate = {2022-04-11},
	publisher = {American Society of Mechanical Engineers Digital Collection},
	author = {Gartley, Evan R. and Bevly, David M.},
	month = feb,
	year = {2008},
	pages = {977--985},
}









@inproceedings{hamm_comparative_2004,
	title = {Comparative {Performance} {Analysis} of {Aided} {Carrier} {Tracking} {Loop} {Algorithms} in {High} {Noise}/{High} {Dynamic} {Environments}},
	url = {http://www.ion.org/publications/abstract.cfm?jp=p&articleID=5728},
	abstract = {Five different approaches to GPS carrier tracking loops were compared in a simulated environment for their performance against a high dynamic/high noise environment. The loops tested were a second order loop, a third order loop, an aided second order loop, a Kalman filter, and an adaptive order loop. The simulation varied the jammer-to-signal (J/S) while holding inertial quality and acceleration profile constant. Similarly, the acceleration profile was varied with other factors constant. In a final test, the quality of inertial measurements was varied such as to resemble various qualities of available sensors and the other parameters held constant. Under high dynamics and high noise, the aided second order tracking loop provided the least amount of phase error. The adaptive order provides a good measured response under these configurations and does not requiring highly accurate accelerometer measurements.},
	language = {en},
	urldate = {2022-04-11},
	author = {Hamm, Christopher R. and Iv, Warren S. Flenniken and Bevly, David M. and Lawerence, Daniel E.},
	month = sep,
	year = {2004},
	pages = {523--532},
}





@inproceedings{plumlee_control_2004,
	address = {Boston, MA, USA},
	title = {Control of a ground vehicle using quadratic programming based control allocation techniques},
	isbn = {978-0-7803-8335-7},
	url = {https://ieeexplore.ieee.org/document/1384055/},
	doi = {10.23919/ACC.2004.1384055},
	abstract = {This paper examines the use of control allocation techniques for the control of multiple inputs to a ground vehicle to track a desired yaw rate trajectory while minimizing vehicle sideslip. The proposed controller uses quadratic programming accompanied by linear quadratic regulator gains designed around a linear vehicle model to arrive at a combination of vehicle commands. Several failure scenarios are examined and the results for two different quadratic programming approaches are presented along with a discussion of the advantages each method has to offer.},
	language = {en},
	urldate = {2022-04-11},
	booktitle = {Proceedings of the 2004 {American} {Control} {Conference}},
	publisher = {IEEE},
	author = {Plumlee, J.H. and Bevly, D.M. and Hodel, A.S.},
	year = {2004},
	pages = {4704--4709 vol.5},
}









@article{adam_correlation_2021,
	title = {Correlation between {Sensor} {Performance}, {Autonomy} {Performance} and {Fuel}-{Efficiency} in {Semi}-{Truck} {Platoons}},
	url = {https://doi.org/10.4271/2021-01-0064},
	doi = {https://doi.org/10.4271/2021-01-0064},
	journal = {SAE Technical Paper Series},
	author = {Adam, Cristian and Lakshmanan, Sridhar and Richardson, Paul and Stegner, Evan and Ward, Jacob and Hoffman, Mark and Bevly, David M.},
	year = {2021},
}





@inproceedings{boler_multispectral_2021,
	title = {Multispectral {Visual}-{Inertial} {Navigation} {Using} a {Dual}-{Layer} {Estimator} and {Targeted} {Histogram} {Equalization}},
	url = {https://doi.org/10.33012/2021.18082},
	doi = {https://doi.org/10.33012/2021.18082},
	booktitle = {Proceedings of the 34th {International} {Technical} {Meeting} of the {Satellite} {Division} of {The} {Institute} of {Navigation}},
	author = {Boler, Matthew and Martin, Scott},
	year = {2021},
}





@article{humphreys_evaluation_2016,
	title = {An {Evaluation} of the {Fuel} {Economy} {Benefits} of a {Driver} {Assistive} {Truck} {Platooning} {Prototype} {Using} {Simulation}},
	url = {https://doi.org/10.4271/2016-01-0167},
	doi = {https://doi.org/10.4271/2016-01-0167},
	journal = {SAE Technical Paper Series},
	author = {Humphreys, Hugh Luke and Batterson, Joshua and Bevly, David and Schubert, Raymond},
	year = {2016},
}





@inproceedings{mcwilliams_magnetic_2021,
	title = {Magnetic {Localization} through {INS} {Integration} and {Improvements} in {Map} {Matching}},
	booktitle = {Proceedings of the 34th {International} {Technical} {Meeting} of the {Satellite} {Division} of {The} {Institute} of {Navigation}},
	author = {McWilliams, Ryan and Chen, Howard and Kamrath, Luke and Bevly, David},
	month = sep,
	year = {2021},
}





@article{siemon_integrated_2018,
	title = {An {Integrated} {CFD} and {Truck} {Simulation} for 4 {Vehicle} {Platoons}},
	url = {https://doi.org/10.4271/2018-01-0797},
	doi = {https://doi.org/10.4271/2018-01-0797},
	journal = {SAE Technical Paper Series},
	author = {Siemon, Michael and Smith, Patrick and Nichols, Dudley and Bevly, David and Heim, Scott},
	year = {2018},
}





@article{bryan_vehicle-independent_2021,
	title = {A {Vehicle}-{Independent} {Autonomous} {Lane} {Keeping} and {Path} {Tracking} {System}},
	volume = {2},
	journal = {IFAC-PapersOnLine 54, no. 2},
	author = {Bryan, William T. and Boler, Matthew E. and Bevly, David M.},
	year = {2021},
}





@misc{bryan_vision-based_2020,
	title = {A {Vision}-{Based} {Lane} {Keeping} {System} {Using} a {Cascaded} {Adaptive} {Controller}},
	author = {Bryan, William and Boler, Matthew and Bevly, David and Martin, Scott},
	year = {2020},
}

















@inproceedings{strong_utilizing_2021,
	address = {Austin, TX},
	title = {Utilizing {Hidden} {Markov} {Models} to {Classify} {Maneuvers} and {Improve} {Estimates} of an {Unmanned} {Aerial} {Vehicle}},
	volume = {54},
	abstract = {Estimating the states of a Unmanned Aerial Vehicle (UAV) without the use of on-
board sensors can be diffcult, particularly if the UAV is performing high dynamic maneuvers.
This paper examines if data driven modelling can assist in estimating UAV states, as well as
classiffcation of UAV maneuvers. A standard Extended Kalman Filter (EKF) that uses radar
measurements and a constant acceleration dynamic model is used as the baseline estimation
technique for dynamic UAV maneuvers. The UAV maneuvers are then modelled as Hidden
Markov Models (HMM), which classify maneuvers and generate additional state information
in the form of acceleration and jerk estimates. These HMM estimates are incorporated into
an EKF to create a fusion EKF+HMM. This paper evaluates the robustness of the HMM
classifcation accuracy and compares the EKF+HMM to a standard EKF using both simulated
and experimental data.},
	booktitle = {Modeling, {Estimation}, and {Control} {Conference}},
	author = {Strong, Amy and Martin, Scott and Bevly, David},
	month = oct,
	year = {2021},
}

































@inproceedings{mcwilliams_localization_2021,
	address = {St. Louis, MO},
	title = {Localization {Through} {INS} {Integration} and {Improvements} in {Mapping}},
	abstract = {Navigation by means of magnetic map-based particle filters has already been proven feasible in specific conditions and under
strict adherance to mapped areas. Ambiguties inherent to the magnetic signal may be mitigated by fusing the filter with additional
measurements, most accessibly from an accelerometer. Acceleration measurements can be used to improve the measurement
update step by providing additional information for likelihood estimation. This approach was tested against a magnetometer-only
filter and found improvements in the best-case and average performance, but greater variability in maximum error and decreased
filter stability. Additionally, it was used to help gauge navigability and recoverability in instances of attempted localization
not on the mapped route. Both approaches could recover from brief diversions from the map but could not overcome longer
diversions that skipped segments of the map. Also introduced to help positioning estimation is spatial correlation analysis,
a likelihood technique that takes into account multiple navigation samples and signal scaling. This technique is found to be
competitive in accuracy but much more computationally demanding than the traditional aggregate bin likelihood technique.},
	author = {McWilliams, Ryan and Chen, Howard and Kamrath, Luke and Bevly, David},
	year = {2021},
}





@inproceedings{thompson_single_2021,
	title = {Single {Differenced} {Doppler} {Positioning} with {Low} {Earth} {Orbit} {Signals} of {Opportunity} and {Angle} of {Arrival} {Estimation}},
	author = {Thompson, Sterling and Martin, Scott and Bevly, David},
	month = jan,
	year = {2021},
}













@inproceedings{wang_lateral_2012,
	title = {Lateral {Tire} {Force} {Estimation} with {Unknown} {Input} {Observer}},
	volume = {8712.},
	url = {https://asmedigitalcollection.asme.org/DSCC/proceedings-abstract/DSCC2012-MOVIC2012/531/228798},
	author = {Wang, Y. and Bevly, D. M. and Chen, S. -K.},
	month = oct,
	year = {2012},
}





@inproceedings{wang_longitudinal_2012,
	title = {Longitudinal {Tire} {Force} {Estimation} with {Unknown} {Input} {Observer}},
	volume = {8710},
	url = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.1053.1517&rep=rep1&type=pdf},
	author = {Wang, Y. and Bevly, D. M. and Chen, S. -K.},
	month = oct,
	year = {2012},
}





@inproceedings{britt_sensor_2013,
	title = {Sensor {Auto}-{Calibration} on {Dynamic} {Platforms} in {3D}},
	booktitle = {Proc},
	author = {Britt, J. H. and Bevly, D. M.},
	year = {2013},
}





@inproceedings{britt_fully_2013,
	title = {Fully {Automated} {Calibration} of {Multiple} {3D} {Sensors} {During} {Vehicle} {Maneuvers}},
	author = {Britt, J. H. and Bevly, D. M.},
	year = {2013},
}





@inproceedings{allen_performance_2010,
	title = {Performance {Evaluation} of {Range} {Information} {Provided} by {Dedicated} {Short} {Range} {Communication} ({DSRC}) {Radios}},
	author = {Allen, J. and Bevly, D. M.},
	year = {2010},
}





@article{martin_performance_2012,
	title = {Performance analysis of a scalable navigation solution using vehicle safety sensors},
	volume = {931},
	journal = {Intelligent Vehicles Symposium (IV)},
	author = {Martin, S. ; Rose and Britt, C. ; and Bevly, J. ; and Popovic, D. ; and {Z.}},
	month = jun,
	year = {2012},
	pages = {926},
}





@article{travis_non_2011,
	title = {Non {Line} of {Sight} {Automated} {Vehicle} {Following} {Using} a {Dynamic} {Base} {RTK} {System}},
	volume = {58},
	number = {4},
	journal = {Navigation: Journal of the Institute of Navigation},
	author = {Travis, W. and Martin, S. Hodo and W, D. and Bevly, D. M.},
	year = {2011},
	pages = {241--255},
}





@article{travis_automated_2011,
	title = {Automated {Short} {Distance} {Vehicle} {Following} {Using} a {Dynamic} {Base} {RTK} {System}},
	volume = {9},
	number = {1/2},
	journal = {International Journal of Vehicle Autonomous Systems},
	author = {Travis, W. and Martin, S. and Bevly, D. M.},
	year = {2011},
	pages = {126--141},
}





@article{travis_compensation_2008,
	title = {Compensation of {Vehicle} {Dynamic} {Induced} {Navigation} {Errors} with {Dual} {Antenna} {GPS} {Attitude} {Measurements}},
	volume = {8},
	number = {3},
	journal = {International Journal of Measurement},
	author = {Travis, W. and Bevly, D. M.},
	year = {2008},
	pages = {212--224},
}





@article{loos_split-crank_2010,
	title = {A {Split}-{Crank} {Bicycle} {Ergometer} {Uses} {Servomotors} to {Provide} {Programmable} {Pedal} {Forces} for {Studies} in {Human} {Biomechanics}},
	volume = {4},
	journal = {IEEE Transactions on Neural Systems \& Rehabilitation Engineering, Vol 18, No},
	author = {Loos, H. F. Machiel Van der and Kautz, Steven and Schwandt, Douglas and Anderson, James and Chen, George and Bevly, David M. and Ting, Lena},
	month = aug,
	year = {2010},
	pages = {445--452},
}





@article{martin_comparison_2012,
	title = {Comparison of {GPS}-based autonomous vehicle following using global and relative positioning},
	volume = {10},
	number = {3},
	journal = {International Journal of Autonomous Vehicle Systems},
	author = {Martin, S. and Bevly, D. M.},
	year = {2012},
	pages = {229--255},
}





@article{huang_set_2012,
	title = {Set terrain based optimal speed limits for heavy trucks energy saving},
	volume = {1},
	number = {4},
	journal = {International Journal of. Powertrains, Vol. 1, No},
	author = {Huang, W. and Bevly, D. M.},
	year = {2012},
	pages = {335--350},
}





@article{huang_evaluation_2010,
	title = {Evaluation of {3D} road geometry based heavy truck fuel optimization},
	volume = {8},
	number = {1},
	journal = {International Journal of Vehicle Autonomous Systems},
	author = {Huang, W. and Bevly, D. M.},
	year = {2010},
	pages = {39--55},
}





@article{gartley_-line_2008,
	title = {On-line {Estimation} of {Implement} {Dynamics} for {Adaptive} {Steering} {Control} of a {Farm} {Tractor}},
	volume = {13},
	number = {4},
	journal = {IEEE/ASME Transactions on Mechatronics},
	author = {Gartley, E. and Bevly, D. M.},
	month = aug,
	year = {2008},
	pages = {429--440},
}





@article{dawkins_comparison_2013,
	title = {Comparison of {Terrain} {Roughness} {Characterization} {Methods}},
	volume = {20},
	number = {1},
	journal = {Journal of Terramechanics},
	author = {Dawkins, J. J. and Bevly, D. M and Jackson, R. L.},
	year = {2013},
	pages = {33--46},
}





@article{dawkins_fractal_2012,
	title = {Fractal {Terrain} {Generation} for {Vehicle} {Simulation}},
	volume = {10},
	number = {1/2},
	journal = {International Journal of Vehicle Autonomous Systems},
	author = {Dawkins, J. J. and Bevly, D. M and Jackson, R.},
	year = {2012},
	pages = {3--18},
}





@article{bevly_comparison_2000,
	title = {Comparison of an {INS} vs {Carrier} {Phase} {DGPS} {Attitude} in the {Control} of {Off}-{Road} {Vehicles}},
	volume = {42},
	number = {4},
	journal = {Journal of Navigation},
	author = {Bevly, D. M. and Rekow, A. and Parkinson, B.},
	year = {2000},
}





@article{daily_cascaded_2007,
	title = {Cascaded {Estimators} to {Improve} {Lateral} {Vehicle} {State} and {Tire} {Parameter} {Estimates}},
	volume = {5},
	number = {3-4},
	journal = {International Journal of Vehicle Autonomous Systems},
	author = {Daily, R. and Travis, W. and Bevly, D. M},
	year = {2007},
	pages = {230--255},
}





@article{bevly_gps_2004,
	title = {{GPS}: {A} {Low} {Cost} {Velocity} {Sensor} for {Correcting} {Inertial} {Sensor} {Errors} on {Ground} {Vehicles}},
	volume = {126},
	number = {2},
	journal = {Journal of Dynamic Systems, Measurement, and Control},
	author = {Bevly, D. M.},
	month = jun,
	year = {2004},
	pages = {255--264},
}





@article{plumlee_control_2006,
	title = {Control {Allocation} in {Ground} {Vehicles}},
	volume = {42},
	number = {3},
	journal = {International Journal of Vehicle Design},
	author = {Plumlee, J. and Hodel, S. and Bevly, D. M.},
	year = {2006},
	pages = {215--243},
}





@article{bevly_error_2006,
	title = {Error {Analysis} of a {Dead} {Reckoning} {Navigator} for {Ground} {Vehicle} {Guidance} and {Control}},
	volume = {53},
	number = {3},
	journal = {Journal of Navigation},
	author = {Bevly, D. M. and Gebre-Egziabher, D. and Parkinson, B. W.},
	year = {2006},
}





@article{lashley_what_2009,
	title = {What are vector tracking loops and what are their benefits and drawbacks},
	journal = {Inside GNSS},
	author = {Lashley, M. and Bevly, David},
	month = jun,
	year = {2009},
	pages = {16--21},
}





@article{lashley_how_2012,
	title = {How do vector delay lock loops predict the satellite signals?},
	journal = {Inside GNSS},
	author = {Lashley, M. and Bevly, David},
	month = oct,
	year = {2012},
	pages = {28--34},
}





@incollection{bevly_error_2010,
	address = {Norwood, MA},
	title = {Error {Analysis} of a {Dead} {Reckoning} {Navigator} for {Ground} {Vehicle} {Guidance} and {Control}},
	booktitle = {Volume {VII} of the {GPS} {Red} {Book}: {Integrated} {Systems}},
	publisher = {Artech},
	author = {Bevly, David and Gebra-Egziabher, Demoz and Parkinson, B.W.},
	year = {2010},
}





@book{bevly_gnss_2010,
	address = {Norwood, MA},
	title = {{GNSS} {For} {Vehicle} {Control}},
	publisher = {Artech},
	author = {Bevly, David and Cobb, Steward},
	year = {2010},
}
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In order to keep using Mendeley with BibBase past April\n        14th, you need to:\n        <ol>\n          <li>renew the authorization for BibBase on Mendeley, and</li>\n          <li>update the BibBase URL\n            in your page the same way you did when you initially set up\n            this page.\n          </li>\n        </ol>\n      </p>\n\n      <p>\n        <a href=\"http://bibbase.org/cgi-bin/mendeley2/get.py\">\n          <i class=\"fa fa-angle-double-right\"></i>\n          Fix it now</a>\n      </p>\n    </div>\n\n  </div>\n\n\n  <div id=\"bibbase_body\">\n    \n  \n  <div class=\"bibbase_group_whole\" id=\"group_2023\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2023')\"\n      onkeypress=\"toggleGroup('group_2023')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2023</span>\n      <span class=\"bibbase_group_count\">\n        \n        (17)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"ward-pierce-brown-bevly-designandimplementationofansaelevel2lanekeepingsystemforclass8trucksusingnonlinearmodelpredictivecontrol-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.10253308&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ward-pierce-brown-bevly-designandimplementationofansaelevel2lanekeepingsystemforclass8trucksusingnonlinearmodelpredictivecontrol-2023', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.10253308&amp;site=eds-live&amp;scope=site', event);\">\n    Design and Implementation of an SAE Level-2 Lane Keeping System for Class 8 Trucks Using Nonlinear Model Predictive Control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ward, J. W.; Pierce, J. D.; Brown, L.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In August 2023. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.10253308&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('ward-pierce-brown-bevly-designandimplementationofansaelevel2lanekeepingsystemforclass8trucksusingnonlinearmodelpredictivecontrol-2023', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.10253308&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Design and Implementation of an SAE Level-2 Lane Keeping System for Class 8 Trucks Using Nonlinear Model Predictive Control [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ward-pierce-brown-bevly-designandimplementationofansaelevel2lanekeepingsystemforclass8trucksusingnonlinearmodelpredictivecontrol-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ward-pierce-brown-bevly-designandimplementationofansaelevel2lanekeepingsystemforclass8trucksusingnonlinearmodelpredictivecontrol-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{ward_design_2023,\n\ttitle = {Design and {Implementation} of an {SAE} {Level}-2 {Lane} {Keeping} {System} for {Class} 8 {Trucks} {Using} {Nonlinear} {Model} {Predictive} {Control}},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.10253308&amp;site=eds-live&amp;scope=site},\n\tabstract = {This paper focuses on the design and evaluation of a lateral Nonlinear Model Predictive Control (NMPC) path following algorithm for Class 8 vehicles. While NMPC allows for the inclusion of constraints such as obstacle avoidance or rollover prevention, this work is primarily focused on testing the path following capabilities of the NMPC controller without the consideration of constraints. Although many lateral controllers for tractor-trailer systems use either fully linear or fully nonlinear Equations of Motion (EOMs), this paper presents a hybrid model. This hybrid model uses a linear model to describe the dynamics of the tractor-trailer while using nonlinear equations to describe the global position of the system. This model is then implemented in a NMPC architecture. The controller is first designed and tested in MATLAB to yield a controller that can follow a lane change maneuver. This controller is then implemented in a real-time format using ROS and C++. The objective of the real-time controller was to replicate the path of a Kia Optima which was driving in front of the test vehicle. To accomplish this, an estimator was developed to calculate the relative path between the vehicles with enough accuracy to stay within the standard road lane. This estimation algorithm was able to produce lateral position errors with a standard deviation of 1.96 cm. Finally, the lateral controller was shown to track the generated reference path with a mean error of 1.47 cm and a RMS error of under 27 cm.},\n\tpublisher = {IEEE},\n\tauthor = {Ward, Jacob W. and Pierce, J. Daniel and Brown, Lowell and Bevly, David M.},\n\tmonth = aug,\n\tyear = {2023},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper focuses on the design and evaluation of a lateral Nonlinear Model Predictive Control (NMPC) path following algorithm for Class 8 vehicles. While NMPC allows for the inclusion of constraints such as obstacle avoidance or rollover prevention, this work is primarily focused on testing the path following capabilities of the NMPC controller without the consideration of constraints. Although many lateral controllers for tractor-trailer systems use either fully linear or fully nonlinear Equations of Motion (EOMs), this paper presents a hybrid model. This hybrid model uses a linear model to describe the dynamics of the tractor-trailer while using nonlinear equations to describe the global position of the system. This model is then implemented in a NMPC architecture. The controller is first designed and tested in MATLAB to yield a controller that can follow a lane change maneuver. This controller is then implemented in a real-time format using ROS and C++. The objective of the real-time controller was to replicate the path of a Kia Optima which was driving in front of the test vehicle. To accomplish this, an estimator was developed to calculate the relative path between the vehicles with enough accuracy to stay within the standard road lane. This estimation algorithm was able to produce lateral position errors with a standard deviation of 1.96 cm. Finally, the lateral controller was shown to track the generated reference path with a mean error of 1.47 cm and a RMS error of under 27 cm.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sprunk-bevly-martin-oeding-theutilizationofgeometrichashingtechniquesforfeatureassociationduringgroundvehiclelocalizationelectronicresource-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8682\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'sprunk-bevly-martin-oeding-theutilizationofgeometrichashingtechniquesforfeatureassociationduringgroundvehiclelocalizationelectronicresource-2023', 'https://etd.auburn.edu//handle/10415/8682', event);\">\n    The Utilization of Geometric Hashing Techniques for Feature Association during Ground Vehicle Localization. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Sprunk, M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Martin, S. M.;  and Oeding, L. A.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8682\"\n     onclick=\"log_download('sprunk-bevly-martin-oeding-theutilizationofgeometrichashingtechniquesforfeatureassociationduringgroundvehiclelocalizationelectronicresource-2023', 'https://etd.auburn.edu//handle/10415/8682', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"The Utilization of Geometric Hashing Techniques for Feature Association during Ground Vehicle Localization. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sprunk-bevly-martin-oeding-theutilizationofgeometrichashingtechniquesforfeatureassociationduringgroundvehiclelocalizationelectronicresource-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sprunk-bevly-martin-oeding-theutilizationofgeometrichashingtechniquesforfeatureassociationduringgroundvehiclelocalizationelectronicresource-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{sprunk_utilization_2023,\n\ttitle = {The {Utilization} of {Geometric} {Hashing} {Techniques} for {Feature} {Association} during {Ground} {Vehicle} {Localization}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/8682},\n\tauthor = {Sprunk, Michael and Bevly, David M. and Martin, Scott M. and Oeding, Luke A.},\n\tyear = {2023},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"smith-bevly-martin-rose-timingevaluationofiridiumsatellitetimeandlocationsignalelectronicresourcemeasurementlevelimplementationandreceiverhardwaretimeintervalcomparison-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/9082\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'smith-bevly-martin-rose-timingevaluationofiridiumsatellitetimeandlocationsignalelectronicresourcemeasurementlevelimplementationandreceiverhardwaretimeintervalcomparison-2023', 'https://etd.auburn.edu//handle/10415/9082', event);\">\n    Timing Evaluation of Iridium Satellite Time and Location Signal. [electronic resource] : Measurement-Level Implementation and Receiver Hardware Time Interval Comparison.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Smith, A. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Martin, S. M.;  and Rose, C. A.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/9082\"\n     onclick=\"log_download('smith-bevly-martin-rose-timingevaluationofiridiumsatellitetimeandlocationsignalelectronicresourcemeasurementlevelimplementationandreceiverhardwaretimeintervalcomparison-2023', 'https://etd.auburn.edu//handle/10415/9082', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Timing Evaluation of Iridium Satellite Time and Location Signal. [electronic resource] : Measurement-Level Implementation and Receiver Hardware Time Interval Comparison. [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/smith-bevly-martin-rose-timingevaluationofiridiumsatellitetimeandlocationsignalelectronicresourcemeasurementlevelimplementationandreceiverhardwaretimeintervalcomparison-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('smith-bevly-martin-rose-timingevaluationofiridiumsatellitetimeandlocationsignalelectronicresourcemeasurementlevelimplementationandreceiverhardwaretimeintervalcomparison-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{smith_timing_2023,\n\ttitle = {Timing {Evaluation} of {Iridium} {Satellite} {Time} and {Location} {Signal}. [electronic resource] : {Measurement}-{Level} {Implementation} and {Receiver} {Hardware} {Time} {Interval} {Comparison}.},\n\turl = {https://etd.auburn.edu//handle/10415/9082},\n\tauthor = {Smith, Austin M. and Bevly, David M. and Martin, Scott M. and Rose, Chad A.},\n\tyear = {2023},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"moomaw-martin-bevly-rose-decentralizedcollaborativenavigationinlimitedobservabilityenvironmentswithlowearthorbitsatellitesignalsofopportunitybetweenaerialandgroundvehicleselectronicresource-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8839\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'moomaw-martin-bevly-rose-decentralizedcollaborativenavigationinlimitedobservabilityenvironmentswithlowearthorbitsatellitesignalsofopportunitybetweenaerialandgroundvehicleselectronicresource-2023', 'https://etd.auburn.edu//handle/10415/8839', event);\">\n    Decentralized Collaborative Navigation in Limited Observability Environments with Low Earth Orbit Satellite Signals of Opportunity between Aerial and Ground Vehicles. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Moomaw, C. D.; Martin, S. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Rose, C. A.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8839\"\n     onclick=\"log_download('moomaw-martin-bevly-rose-decentralizedcollaborativenavigationinlimitedobservabilityenvironmentswithlowearthorbitsatellitesignalsofopportunitybetweenaerialandgroundvehicleselectronicresource-2023', 'https://etd.auburn.edu//handle/10415/8839', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Decentralized Collaborative Navigation in Limited Observability Environments with Low Earth Orbit Satellite Signals of Opportunity between Aerial and Ground Vehicles. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/moomaw-martin-bevly-rose-decentralizedcollaborativenavigationinlimitedobservabilityenvironmentswithlowearthorbitsatellitesignalsofopportunitybetweenaerialandgroundvehicleselectronicresource-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('moomaw-martin-bevly-rose-decentralizedcollaborativenavigationinlimitedobservabilityenvironmentswithlowearthorbitsatellitesignalsofopportunitybetweenaerialandgroundvehicleselectronicresource-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{moomaw_decentralized_2023,\n\ttitle = {Decentralized {Collaborative} {Navigation} in {Limited} {Observability} {Environments} with {Low} {Earth} {Orbit} {Satellite} {Signals} of {Opportunity} between {Aerial} and {Ground} {Vehicles}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/8839},\n\tauthor = {Moomaw, Christian D. and Martin, Scott M. and Bevly, David M. and Rose, Chad A.},\n\tyear = {2023},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"mcdougal-martin-bevly-allen-asoftwaresignalsimulationoflowearthorbitsatellitesforinvestigativeanalysiselectronicresource-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8697\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'mcdougal-martin-bevly-allen-asoftwaresignalsimulationoflowearthorbitsatellitesforinvestigativeanalysiselectronicresource-2023', 'https://etd.auburn.edu//handle/10415/8697', event);\">\n    A Software Signal Simulation of Low Earth Orbit Satellites for Investigative Analysis. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  McDougal, S. A.; Martin, S. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Allen, B.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8697\"\n     onclick=\"log_download('mcdougal-martin-bevly-allen-asoftwaresignalsimulationoflowearthorbitsatellitesforinvestigativeanalysiselectronicresource-2023', 'https://etd.auburn.edu//handle/10415/8697', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Software Signal Simulation of Low Earth Orbit Satellites for Investigative Analysis. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/mcdougal-martin-bevly-allen-asoftwaresignalsimulationoflowearthorbitsatellitesforinvestigativeanalysiselectronicresource-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('mcdougal-martin-bevly-allen-asoftwaresignalsimulationoflowearthorbitsatellitesforinvestigativeanalysiselectronicresource-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{mcdougal_software_2023,\n\ttitle = {A {Software} {Signal} {Simulation} of {Low} {Earth} {Orbit} {Satellites} for {Investigative} {Analysis}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/8697},\n\tauthor = {McDougal, Samuel A. and Martin, Scott M. and Bevly, David M. and Allen, Brendon},\n\tyear = {2023},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kennedy-bevly-martin-allen-adaptivesteeringactuatordelaycompensationforavehiclelateralcontrolsystemelectronicresource-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8690\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kennedy-bevly-martin-allen-adaptivesteeringactuatordelaycompensationforavehiclelateralcontrolsystemelectronicresource-2023', 'https://etd.auburn.edu//handle/10415/8690', event);\">\n    Adaptive Steering Actuator Delay Compensation for a Vehicle Lateral Control System. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Kennedy, W.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Martin, S. M.;  and Allen, B.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8690\"\n     onclick=\"log_download('kennedy-bevly-martin-allen-adaptivesteeringactuatordelaycompensationforavehiclelateralcontrolsystemelectronicresource-2023', 'https://etd.auburn.edu//handle/10415/8690', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Adaptive Steering Actuator Delay Compensation for a Vehicle Lateral Control System. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kennedy-bevly-martin-allen-adaptivesteeringactuatordelaycompensationforavehiclelateralcontrolsystemelectronicresource-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kennedy-bevly-martin-allen-adaptivesteeringactuatordelaycompensationforavehiclelateralcontrolsystemelectronicresource-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{kennedy_adaptive_2023,\n\ttitle = {Adaptive {Steering} {Actuator} {Delay} {Compensation} for a {Vehicle} {Lateral} {Control} {System}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/8690},\n\tauthor = {Kennedy, William and Bevly, David M. and Martin, Scott M. and Allen, Brendon},\n\tyear = {2023},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"jones-bevly-chen-rose-alooselycoupledgnsspdrintegrationapproachforpedestriannavigationelectronicresource-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8840\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'jones-bevly-chen-rose-alooselycoupledgnsspdrintegrationapproachforpedestriannavigationelectronicresource-2023', 'https://etd.auburn.edu//handle/10415/8840', event);\">\n    A Loosely Coupled GNSS/PDR Integration Approach for Pedestrian Navigation. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Jones, C. S.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Chen, H.;  and Rose, C. A.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8840\"\n     onclick=\"log_download('jones-bevly-chen-rose-alooselycoupledgnsspdrintegrationapproachforpedestriannavigationelectronicresource-2023', 'https://etd.auburn.edu//handle/10415/8840', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Loosely Coupled GNSS/PDR Integration Approach for Pedestrian Navigation. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/jones-bevly-chen-rose-alooselycoupledgnsspdrintegrationapproachforpedestriannavigationelectronicresource-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('jones-bevly-chen-rose-alooselycoupledgnsspdrintegrationapproachforpedestriannavigationelectronicresource-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{jones_loosely_2023,\n\ttitle = {A {Loosely} {Coupled} {GNSS}/{PDR} {Integration} {Approach} for {Pedestrian} {Navigation}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/8840},\n\tauthor = {Jones, Connor Steele and Bevly, David M. and Chen, Howard and Rose, Chad A.},\n\tyear = {2023},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"morgan-martin-bevly-tugnait-agpsl1andcellular4gltevectortrackingsoftwaredefinedreceiverelectronicresource-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/9005\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'morgan-martin-bevly-tugnait-agpsl1andcellular4gltevectortrackingsoftwaredefinedreceiverelectronicresource-2023', 'https://etd.auburn.edu//handle/10415/9005', event);\">\n    A GPS L1 and Cellular 4G LTE Vector Tracking Software-Defined Receiver. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Morgan, S. C.; Martin, S. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Tugnait, J. K.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/9005\"\n     onclick=\"log_download('morgan-martin-bevly-tugnait-agpsl1andcellular4gltevectortrackingsoftwaredefinedreceiverelectronicresource-2023', 'https://etd.auburn.edu//handle/10415/9005', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A GPS L1 and Cellular 4G LTE Vector Tracking Software-Defined Receiver. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/morgan-martin-bevly-tugnait-agpsl1andcellular4gltevectortrackingsoftwaredefinedreceiverelectronicresource-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('morgan-martin-bevly-tugnait-agpsl1andcellular4gltevectortrackingsoftwaredefinedreceiverelectronicresource-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{morgan_gps_2023,\n\ttitle = {A {GPS} {L1} and {Cellular} {4G} {LTE} {Vector} {Tracking} {Software}-{Defined} {Receiver}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/9005},\n\tauthor = {Morgan, Samuel C. and Martin, Scott M. and Bevly, David M. and Tugnait, Jitendra K.},\n\tyear = {2023},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bentley-snitzer-stegner-bevly-hoffman-comparingtheperformanceofdifferentheavydutyplatooningcontrolstrategies-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.sae.org/content/2023-01-0895\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bentley-snitzer-stegner-bevly-hoffman-comparingtheperformanceofdifferentheavydutyplatooningcontrolstrategies-2023', 'https://www.sae.org/content/2023-01-0895', event);\">\n    Comparing the Performance of Different Heavy Duty Platooning Control Strategies.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Bentley, J. W.; Snitzer, P.; Stegner, E.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hoffman, M.\n</span>\n\n  \n\n</span>\n\n  In pages 2023–01–0895, Detroit, Michigan, United States, April 2023. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.sae.org/content/2023-01-0895\"\n     onclick=\"log_download('bentley-snitzer-stegner-bevly-hoffman-comparingtheperformanceofdifferentheavydutyplatooningcontrolstrategies-2023', 'https://www.sae.org/content/2023-01-0895', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Comparing the Performance of Different Heavy Duty Platooning Control Strategies [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.4271/2023-01-0895\"\n     onclick=\"log_download('bentley-snitzer-stegner-bevly-hoffman-comparingtheperformanceofdifferentheavydutyplatooningcontrolstrategies-2023', 'http://doi.org/10.4271/2023-01-0895', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bentley-snitzer-stegner-bevly-hoffman-comparingtheperformanceofdifferentheavydutyplatooningcontrolstrategies-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bentley-snitzer-stegner-bevly-hoffman-comparingtheperformanceofdifferentheavydutyplatooningcontrolstrategies-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{bentley_comparing_2023,\n\taddress = {Detroit, Michigan, United States},\n\ttitle = {Comparing the {Performance} of {Different} {Heavy} {Duty} {Platooning} {Control} {Strategies}},\n\turl = {https://www.sae.org/content/2023-01-0895},\n\tdoi = {10.4271/2023-01-0895},\n\tabstract = {{\\textless}div class=&quot;section abstract&quot;{\\textgreater}{\\textless}div class=&quot;htmlview paragraph&quot;{\\textgreater}Platooning is a promising technology which can mitigate greenhouse gas impacts and reduce transportation energy consumption. Platooning is a coordinated driving strategy where trucks align themselves in order to realize aerodynamic benefits to reduce required motive force. The aerodynamic benefit is seen as either a “pull” effect experienced by the following vehicles or a “push” effect experienced by the leader. The energy savings magnitude increases nonlinearly as headway (following distance) is reduced [{\\textless}span class=&quot;xref&quot;{\\textgreater}1{\\textless}/span{\\textgreater}]. In efforts to maximize energy savings, cooperative adaptive cruise control (CACC) is utilized to maintain relatively short headways. However, when platooning is attempted in the real world, small transient accelerations caused by imperfect control result in observed energy savings being less than expected values.{\\textless}/div{\\textgreater}{\\textless}div class=&quot;htmlview paragraph&quot;{\\textgreater}This study analyzes the performance of a recently developed nonlinear model predictive control (NMPC) platooning strategy over challenging terrain. The NMPC strategy is compared to the previous proportional-integral-derivative (PID) control scheme in terms of headway, commanded torque, and fuel rate variances along with the total fuel consumed per lap. These comparisons reveal that the NMPC based controller’s ability to optimize headway variation while considering upcoming grade disturbances reduces the harshness of commanded torque and fuel rate transients. These platoon behavior changes result in significant fuel energy consumption reductions. In all platooning configurations analyzed, the NMPC strategy consumed less fuel than the comparable PID based data. This is best exemplified by findings from platoons with increased headway spacing. When compared to PID platoon control, the NMPC produced 25.5\\% and 31.6\\% fuel consumption decreases for the final truck in four-truck platoon configurations when targeting 50 foot and 100 foot follow distances, respectively. These results suggest that the NMPC implementation minimizes extraneous acceleration events associated with rigid PID headway adherence.{\\textless}/div{\\textgreater}{\\textless}/div{\\textgreater}},\n\tlanguage = {en},\n\turldate = {2024-02-07},\n\tauthor = {Bentley, John William and Snitzer, Philip and Stegner, Evan and Bevly, David M. and Hoffman, Mark},\n\tmonth = apr,\n\tyear = {2023},\n\tpages = {2023--01--0895},\n}\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  \\textlessdiv class=\"section abstract\"\\textgreater\\textlessdiv class=\"htmlview paragraph\"\\textgreaterPlatooning is a promising technology which can mitigate greenhouse gas impacts and reduce transportation energy consumption. Platooning is a coordinated driving strategy where trucks align themselves in order to realize aerodynamic benefits to reduce required motive force. The aerodynamic benefit is seen as either a “pull” effect experienced by the following vehicles or a “push” effect experienced by the leader. The energy savings magnitude increases nonlinearly as headway (following distance) is reduced [\\textlessspan class=\"xref\"\\textgreater1\\textless/span\\textgreater]. In efforts to maximize energy savings, cooperative adaptive cruise control (CACC) is utilized to maintain relatively short headways. However, when platooning is attempted in the real world, small transient accelerations caused by imperfect control result in observed energy savings being less than expected values.\\textless/div\\textgreater\\textlessdiv class=\"htmlview paragraph\"\\textgreaterThis study analyzes the performance of a recently developed nonlinear model predictive control (NMPC) platooning strategy over challenging terrain. The NMPC strategy is compared to the previous proportional-integral-derivative (PID) control scheme in terms of headway, commanded torque, and fuel rate variances along with the total fuel consumed per lap. These comparisons reveal that the NMPC based controller’s ability to optimize headway variation while considering upcoming grade disturbances reduces the harshness of commanded torque and fuel rate transients. These platoon behavior changes result in significant fuel energy consumption reductions. In all platooning configurations analyzed, the NMPC strategy consumed less fuel than the comparable PID based data. This is best exemplified by findings from platoons with increased headway spacing. When compared to PID platoon control, the NMPC produced 25.5% and 31.6% fuel consumption decreases for the final truck in four-truck platoon configurations when targeting 50 foot and 100 foot follow distances, respectively. These results suggest that the NMPC implementation minimizes extraneous acceleration events associated with rigid PID headway adherence.\\textless/div\\textgreater\\textless/div\\textgreater\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kennedy-bevly-adaptiveactuatordelaycompensationforavehiclelateralcontrolsystem-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.sae.org/content/2023-01-0677\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kennedy-bevly-adaptiveactuatordelaycompensationforavehiclelateralcontrolsystem-2023', 'https://www.sae.org/content/2023-01-0677', event);\">\n    Adaptive Actuator Delay Compensation for a Vehicle Lateral Control System.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Kennedy, W. T.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In pages 2023–01–0677, Detroit, Michigan, United States, April 2023. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.sae.org/content/2023-01-0677\"\n     onclick=\"log_download('kennedy-bevly-adaptiveactuatordelaycompensationforavehiclelateralcontrolsystem-2023', 'https://www.sae.org/content/2023-01-0677', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Adaptive Actuator Delay Compensation for a Vehicle Lateral Control System [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.4271/2023-01-0677\"\n     onclick=\"log_download('kennedy-bevly-adaptiveactuatordelaycompensationforavehiclelateralcontrolsystem-2023', 'http://doi.org/10.4271/2023-01-0677', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kennedy-bevly-adaptiveactuatordelaycompensationforavehiclelateralcontrolsystem-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kennedy-bevly-adaptiveactuatordelaycompensationforavehiclelateralcontrolsystem-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{kennedy_adaptive_2023,\n\taddress = {Detroit, Michigan, United States},\n\ttitle = {Adaptive {Actuator} {Delay} {Compensation} for a {Vehicle} {Lateral} {Control} {System}},\n\turl = {https://www.sae.org/content/2023-01-0677},\n\tdoi = {10.4271/2023-01-0677},\n\tabstract = {{\\textless}div class=&quot;section abstract&quot;{\\textgreater}{\\textless}div class=&quot;htmlview paragraph&quot;{\\textgreater}Steering actuator lag is detrimental to the performance of lateral control systems and often leads to oscillation, reduced stability margins, and in some cases, instability. If the actuator lag is significant, compensation is required to maintain stability and meet performance specifications. Many recent works use a high-level approach to compensate for delay by utilizing model-based methods such as model predictive control (MPC). While these methods are effective when accurate models of both the vehicle and the actuator are available, they are susceptible to model errors. This work presents a low-level, adaptive control architecture to compensate for unknown or varying steering delay and dynamics. Using an inner-loop controller to regulate steer angle commands, oscillation can be reduced, and stability margins can be maintained without the need for an accurate vehicle model. The Smith Predictor (SP) control scheme is implemented in the inner-loop to mitigate the effects of the communication delay between the controller and the steering actuator. An algorithm will be presented to estimate both the communication delay between the controller and actuator and the steering dynamics. These estimates will be used to adapt the inner-loop SP to maintain gain and phase margins while reducing oscillation. Estimating the steering lag allows the algorithm to compensate for unknown or changing steering dynamics and communication delay. Results are presented both from simulation and from real-time experiments on a vehicle outfitted with drive-by-wire (DBW) hardware.{\\textless}/div{\\textgreater}{\\textless}/div{\\textgreater}},\n\tlanguage = {en},\n\turldate = {2024-02-07},\n\tauthor = {Kennedy, William Thomas and Bevly, David M.},\n\tmonth = apr,\n\tyear = {2023},\n\tpages = {2023--01--0677},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  \\textlessdiv class=\"section abstract\"\\textgreater\\textlessdiv class=\"htmlview paragraph\"\\textgreaterSteering actuator lag is detrimental to the performance of lateral control systems and often leads to oscillation, reduced stability margins, and in some cases, instability. If the actuator lag is significant, compensation is required to maintain stability and meet performance specifications. Many recent works use a high-level approach to compensate for delay by utilizing model-based methods such as model predictive control (MPC). While these methods are effective when accurate models of both the vehicle and the actuator are available, they are susceptible to model errors. This work presents a low-level, adaptive control architecture to compensate for unknown or varying steering delay and dynamics. Using an inner-loop controller to regulate steer angle commands, oscillation can be reduced, and stability margins can be maintained without the need for an accurate vehicle model. The Smith Predictor (SP) control scheme is implemented in the inner-loop to mitigate the effects of the communication delay between the controller and the steering actuator. An algorithm will be presented to estimate both the communication delay between the controller and actuator and the steering dynamics. These estimates will be used to adapt the inner-loop SP to maintain gain and phase margins while reducing oscillation. Estimating the steering lag allows the algorithm to compensate for unknown or changing steering dynamics and communication delay. Results are presented both from simulation and from real-time experiments on a vehicle outfitted with drive-by-wire (DBW) hardware.\\textless/div\\textgreater\\textless/div\\textgreater\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"snitzer-stegner-bentley-bevly-hoffman-newcontrollerevaluationtechniquesforautonomouslydrivenheavydutyconvoys-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.sae.org/content/2023-01-0688\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'snitzer-stegner-bentley-bevly-hoffman-newcontrollerevaluationtechniquesforautonomouslydrivenheavydutyconvoys-2023', 'https://www.sae.org/content/2023-01-0688', event);\">\n    New Controller Evaluation Techniques for Autonomously Driven Heavy-Duty Convoys.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Snitzer, P.; Stegner, E.; Bentley, J.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hoffman, M.\n</span>\n\n  \n\n</span>\n\n  In pages 2023–01–0688, Detroit, Michigan, United States, April 2023. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.sae.org/content/2023-01-0688\"\n     onclick=\"log_download('snitzer-stegner-bentley-bevly-hoffman-newcontrollerevaluationtechniquesforautonomouslydrivenheavydutyconvoys-2023', 'https://www.sae.org/content/2023-01-0688', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"New Controller Evaluation Techniques for Autonomously Driven Heavy-Duty Convoys [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.4271/2023-01-0688\"\n     onclick=\"log_download('snitzer-stegner-bentley-bevly-hoffman-newcontrollerevaluationtechniquesforautonomouslydrivenheavydutyconvoys-2023', 'http://doi.org/10.4271/2023-01-0688', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/snitzer-stegner-bentley-bevly-hoffman-newcontrollerevaluationtechniquesforautonomouslydrivenheavydutyconvoys-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('snitzer-stegner-bentley-bevly-hoffman-newcontrollerevaluationtechniquesforautonomouslydrivenheavydutyconvoys-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{snitzer_new_2023,\n\taddress = {Detroit, Michigan, United States},\n\ttitle = {New {Controller} {Evaluation} {Techniques} for {Autonomously} {Driven} {Heavy}-{Duty} {Convoys}},\n\turl = {https://www.sae.org/content/2023-01-0688},\n\tdoi = {10.4271/2023-01-0688},\n\tabstract = {{\\textless}div class=&quot;section abstract&quot;{\\textgreater}{\\textless}div class=&quot;htmlview paragraph&quot;{\\textgreater}Platooning vehicles present novel pathways to saving fuel during transportation. With the rise of autonomous solutions, platooning becomes an increasingly apparent sector requiring the application of this new technology. Platooning vehicles travel together intending to reduce aerodynamic resistance during operation. Drafting allows following vehicles to increase fuel economy and save money on refueling, whether that be at the pump or at a charging station. However, autonomous solutions are still in infancy, and controller evaluation is an exciting challenge proposed to researchers. This work brings forth a new application of an emissions quantification metric called vehicle-specific power (VSP). Rather than utilize its emissions investigative benefits, the present work applies VSP to heterogeneous Class 8 Heavy-Duty truck platoons as a means of evaluating the efficacy of Cooperative Adaptive Cruise Control (CACC). VSP creates a bridge between types of passenger vehicles to compare emission rates via estimating powertrain effort to maintain current conditions (speed, acceleration, road grade, etc.). In this study, different controller strategies and platoon configurations are examined to determine the applicability of VSP to controller evaluation. Experiments were completed at the National Center for Asphalt Technology (NCAT) circuitous track, the American Center for Mobility’s (ACM) freeway loop, and a straight section of NCAT’s track dubbed “ideal” for platooning efficiency. One truck is analyzed and compared to a lead truck, where VSP traces are calculated at each time step of experimentation. The influence of road grade, platoon size, and platooning position is considered in this study. Because the calculation of VSP considers an isolated driving environment, it effectively assesses the controller’s ability to reduce energy consumption for platooning vehicles.{\\textless}/div{\\textgreater}{\\textless}/div{\\textgreater}},\n\tlanguage = {en},\n\turldate = {2024-02-07},\n\tauthor = {Snitzer, Philip and Stegner, Evan and Bentley, John and Bevly, David M. and Hoffman, Mark},\n\tmonth = apr,\n\tyear = {2023},\n\tpages = {2023--01--0688},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  \\textlessdiv class=\"section abstract\"\\textgreater\\textlessdiv class=\"htmlview paragraph\"\\textgreaterPlatooning vehicles present novel pathways to saving fuel during transportation. With the rise of autonomous solutions, platooning becomes an increasingly apparent sector requiring the application of this new technology. Platooning vehicles travel together intending to reduce aerodynamic resistance during operation. Drafting allows following vehicles to increase fuel economy and save money on refueling, whether that be at the pump or at a charging station. However, autonomous solutions are still in infancy, and controller evaluation is an exciting challenge proposed to researchers. This work brings forth a new application of an emissions quantification metric called vehicle-specific power (VSP). Rather than utilize its emissions investigative benefits, the present work applies VSP to heterogeneous Class 8 Heavy-Duty truck platoons as a means of evaluating the efficacy of Cooperative Adaptive Cruise Control (CACC). VSP creates a bridge between types of passenger vehicles to compare emission rates via estimating powertrain effort to maintain current conditions (speed, acceleration, road grade, etc.). In this study, different controller strategies and platoon configurations are examined to determine the applicability of VSP to controller evaluation. Experiments were completed at the National Center for Asphalt Technology (NCAT) circuitous track, the American Center for Mobility’s (ACM) freeway loop, and a straight section of NCAT’s track dubbed “ideal” for platooning efficiency. One truck is analyzed and compared to a lead truck, where VSP traces are calculated at each time step of experimentation. The influence of road grade, platoon size, and platooning position is considered in this study. Because the calculation of VSP considers an isolated driving environment, it effectively assesses the controller’s ability to reduce energy consumption for platooning vehicles.\\textless/div\\textgreater\\textless/div\\textgreater\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"stegner-snitzer-bentley-bevly-hoffman-quantifyingtheenergyimpactofautonomousplatooningimposedlongitudinaldynamics-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.sae.org/content/2023-01-0896\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'stegner-snitzer-bentley-bevly-hoffman-quantifyingtheenergyimpactofautonomousplatooningimposedlongitudinaldynamics-2023', 'https://www.sae.org/content/2023-01-0896', event);\">\n    Quantifying the Energy Impact of Autonomous Platooning-Imposed Longitudinal Dynamics.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Stegner, E.; Snitzer, P.; Bentley, J.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hoffman, M.\n</span>\n\n  \n\n</span>\n\n  In pages 2023–01–0896, Detroit, Michigan, United States, April 2023. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.sae.org/content/2023-01-0896\"\n     onclick=\"log_download('stegner-snitzer-bentley-bevly-hoffman-quantifyingtheenergyimpactofautonomousplatooningimposedlongitudinaldynamics-2023', 'https://www.sae.org/content/2023-01-0896', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Quantifying the Energy Impact of Autonomous Platooning-Imposed Longitudinal Dynamics [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.4271/2023-01-0896\"\n     onclick=\"log_download('stegner-snitzer-bentley-bevly-hoffman-quantifyingtheenergyimpactofautonomousplatooningimposedlongitudinaldynamics-2023', 'http://doi.org/10.4271/2023-01-0896', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/stegner-snitzer-bentley-bevly-hoffman-quantifyingtheenergyimpactofautonomousplatooningimposedlongitudinaldynamics-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('stegner-snitzer-bentley-bevly-hoffman-quantifyingtheenergyimpactofautonomousplatooningimposedlongitudinaldynamics-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{stegner_quantifying_2023,\n\taddress = {Detroit, Michigan, United States},\n\ttitle = {Quantifying the {Energy} {Impact} of {Autonomous} {Platooning}-{Imposed} {Longitudinal} {Dynamics}},\n\turl = {https://www.sae.org/content/2023-01-0896},\n\tdoi = {10.4271/2023-01-0896},\n\tabstract = {{\\textless}div class=&quot;section abstract&quot;{\\textgreater}{\\textless}div class=&quot;htmlview paragraph&quot;{\\textgreater}Platooning has produced significant energy savings for vehicles in a controlled environment. However, the impact of real-world disturbances, such as grade and interactions with passenger vehicles, has not been sufficiently characterized. Follower vehicles in a platoon operate with both different aerodynamic drag and different velocity traces than while driving alone. While aerodynamic drag reduction usually dominates the change in energy consumption for platooning vehicles, the dynamics imposed on the follow vehicle by the lead vehicle and exogenous disturbances impacting the platoon can negate aerodynamic energy savings. In this paper, a methodology is proposed to link the change in longitudinal platooning dynamics with the energy consumption of a platoon follower in real time. This is accomplished by subtracting a predicted acceleration from measured longitudinal acceleration. The real-time consumption calculation methodology is evaluated using data from simulated and experimental platoons. The proposed methodology allows active deceleration losses to be calculated for a platoon follower in real time and is a development of the active deceleration theory presented by the authors in SAE Paper 2022-01-0526. In simulation, energy losses calculated by the method were within 5\\% of the true value and were robust to errors in modeled aerodynamic drag. As for the experimental results, the method agreed with the prior procedure of SAE Paper 2022-01-0526, which required extensive datasets and could only be completed as a post-processing routine. This novel methodology provides an important new feedback metric for platoon operators, and makes it possible to analyze real-time platooning benefit while the platoon is on the road.{\\textless}/div{\\textgreater}{\\textless}/div{\\textgreater}},\n\tlanguage = {en},\n\turldate = {2024-02-07},\n\tauthor = {Stegner, Evan and Snitzer, Philip and Bentley, John and Bevly, David M. and Hoffman, Mark},\n\tmonth = apr,\n\tyear = {2023},\n\tpages = {2023--01--0896},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  \\textlessdiv class=\"section abstract\"\\textgreater\\textlessdiv class=\"htmlview paragraph\"\\textgreaterPlatooning has produced significant energy savings for vehicles in a controlled environment. However, the impact of real-world disturbances, such as grade and interactions with passenger vehicles, has not been sufficiently characterized. Follower vehicles in a platoon operate with both different aerodynamic drag and different velocity traces than while driving alone. While aerodynamic drag reduction usually dominates the change in energy consumption for platooning vehicles, the dynamics imposed on the follow vehicle by the lead vehicle and exogenous disturbances impacting the platoon can negate aerodynamic energy savings. In this paper, a methodology is proposed to link the change in longitudinal platooning dynamics with the energy consumption of a platoon follower in real time. This is accomplished by subtracting a predicted acceleration from measured longitudinal acceleration. The real-time consumption calculation methodology is evaluated using data from simulated and experimental platoons. The proposed methodology allows active deceleration losses to be calculated for a platoon follower in real time and is a development of the active deceleration theory presented by the authors in SAE Paper 2022-01-0526. In simulation, energy losses calculated by the method were within 5% of the true value and were robust to errors in modeled aerodynamic drag. As for the experimental results, the method agreed with the prior procedure of SAE Paper 2022-01-0526, which required extensive datasets and could only be completed as a post-processing routine. This novel methodology provides an important new feedback metric for platoon operators, and makes it possible to analyze real-time platooning benefit while the platoon is on the road.\\textless/div\\textgreater\\textless/div\\textgreater\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"stubbs-rose-bevly-allen-improvingsemiautonomousunmannedgroundvehicleoperatorperformanceviahapticselectronicresource-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8645\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'stubbs-rose-bevly-allen-improvingsemiautonomousunmannedgroundvehicleoperatorperformanceviahapticselectronicresource-2023', 'https://etd.auburn.edu//handle/10415/8645', event);\">\n    Improving Semi-autonomous Unmanned Ground Vehicle Operator Performance via Haptics. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Stubbs, C.; Rose, C. A.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Allen, B.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8645\"\n     onclick=\"log_download('stubbs-rose-bevly-allen-improvingsemiautonomousunmannedgroundvehicleoperatorperformanceviahapticselectronicresource-2023', 'https://etd.auburn.edu//handle/10415/8645', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Improving Semi-autonomous Unmanned Ground Vehicle Operator Performance via Haptics. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/stubbs-rose-bevly-allen-improvingsemiautonomousunmannedgroundvehicleoperatorperformanceviahapticselectronicresource-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('stubbs-rose-bevly-allen-improvingsemiautonomousunmannedgroundvehicleoperatorperformanceviahapticselectronicresource-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{stubbs_improving_2023,\n\ttitle = {Improving {Semi}-autonomous {Unmanned} {Ground} {Vehicle} {Operator} {Performance} via {Haptics}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/8645},\n\tauthor = {Stubbs, Chandler and Rose, Chad A. and Bevly, David M. and Allen, Brendon},\n\tyear = {2023},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"keefer-bevly-realtimegraphbasedpathplanningforautonomousracecarselectronicresource-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8803\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'keefer-bevly-realtimegraphbasedpathplanningforautonomousracecarselectronicresource-2023', 'https://etd.auburn.edu//handle/10415/8803', event);\">\n    Real-Time Graph-Based Path Planning for Autonomous Racecars. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Keefer, S. E.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8803\"\n     onclick=\"log_download('keefer-bevly-realtimegraphbasedpathplanningforautonomousracecarselectronicresource-2023', 'https://etd.auburn.edu//handle/10415/8803', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Real-Time Graph-Based Path Planning for Autonomous Racecars. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/keefer-bevly-realtimegraphbasedpathplanningforautonomousracecarselectronicresource-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('keefer-bevly-realtimegraphbasedpathplanningforautonomousracecarselectronicresource-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{keefer_real-time_2023,\n\ttitle = {Real-{Time} {Graph}-{Based} {Path} {Planning} for {Autonomous} {Racecars}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/8803},\n\tauthor = {Keefer, Sarah Elizabeth and Bevly, David M.},\n\tyear = {2023},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lakshmanan-adam-kleinow-richardson-ward-stegner-bevly-hoffman-semiautonomoustruckplatooningwithaleansensorpackage-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://doi.org/10.1007/978-3-031-06780-8_2\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lakshmanan-adam-kleinow-richardson-ward-stegner-bevly-hoffman-semiautonomoustruckplatooningwithaleansensorpackage-2023', 'https://doi.org/10.1007/978-3-031-06780-8_2', event);\">\n    Semi-autonomous Truck Platooning with a Lean Sensor Package.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Lakshmanan, S.; Adam, C.; Kleinow, T.; Richardson, P.; Ward, J.; Stegner, E.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>;  and Hoffman, M.\n</span>\n\n  \n\n</span>\n\n  In Murphey, Y. L.; Kolmanovsky, I.;  and Watta, P., editor(s), <i>AI-enabled Technologies for Autonomous and Connected Vehicles</i>, of Lecture Notes in Intelligent Transportation and Infrastructure, pages 19–59. Springer International Publishing, Cham,  2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://doi.org/10.1007/978-3-031-06780-8_2\"\n     onclick=\"log_download('lakshmanan-adam-kleinow-richardson-ward-stegner-bevly-hoffman-semiautonomoustruckplatooningwithaleansensorpackage-2023', 'https://doi.org/10.1007/978-3-031-06780-8_2', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Semi-autonomous Truck Platooning with a Lean Sensor Package [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1007/978-3-031-06780-8_2\"\n     onclick=\"log_download('lakshmanan-adam-kleinow-richardson-ward-stegner-bevly-hoffman-semiautonomoustruckplatooningwithaleansensorpackage-2023', 'http://doi.org/10.1007/978-3-031-06780-8_2', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lakshmanan-adam-kleinow-richardson-ward-stegner-bevly-hoffman-semiautonomoustruckplatooningwithaleansensorpackage-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lakshmanan-adam-kleinow-richardson-ward-stegner-bevly-hoffman-semiautonomoustruckplatooningwithaleansensorpackage-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@incollection{lakshmanan_semi-autonomous_2023,\n\taddress = {Cham},\n\tseries = {Lecture {Notes} in {Intelligent} {Transportation} and {Infrastructure}},\n\ttitle = {Semi-autonomous {Truck} {Platooning} with a {Lean} {Sensor} {Package}},\n\tisbn = {978-3-031-06780-8},\n\turl = {https://doi.org/10.1007/978-3-031-06780-8_2},\n\tabstract = {This chapter describes one method of approaching fuel-efficient truck platooning using a system called Cooperative Adaptive Cruise Control (CACC). The principal innovation in the system is its lean sensor package, including factory-ready standard ACC system utilizing a dual-beam radar, precision Global Positioning System (GPS), and a Vehicle-to-Vehicle (V2V) communication system. In other words, no imaging sensors such as camera or lidar, and no associated high-performance computing hardware such as Graphics Processing Units (GPU). Extensive test track and public road testing on class-8 semi-trucks, including edge case testing, reveals the efficacy and robustness of this system despite its leanness. Quantitative results are included in this chapter that trace cause and effect through the CACC system.},\n\tlanguage = {en},\n\turldate = {2023-06-06},\n\tbooktitle = {{AI}-enabled {Technologies} for {Autonomous} and {Connected} {Vehicles}},\n\tpublisher = {Springer International Publishing},\n\tauthor = {Lakshmanan, Sridhar and Adam, Cristian and Kleinow, Timothy and Richardson, Paul and Ward, Jacob and Stegner, Evan and Bevly, David and Hoffman, Mark},\n\teditor = {Murphey, Yi Lu and Kolmanovsky, Ilya and Watta, Paul},\n\tyear = {2023},\n\tdoi = {10.1007/978-3-031-06780-8_2},\n\tpages = {19--59},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This chapter describes one method of approaching fuel-efficient truck platooning using a system called Cooperative Adaptive Cruise Control (CACC). The principal innovation in the system is its lean sensor package, including factory-ready standard ACC system utilizing a dual-beam radar, precision Global Positioning System (GPS), and a Vehicle-to-Vehicle (V2V) communication system. In other words, no imaging sensors such as camera or lidar, and no associated high-performance computing hardware such as Graphics Processing Units (GPU). Extensive test track and public road testing on class-8 semi-trucks, including edge case testing, reveals the efficacy and robustness of this system despite its leanness. Quantitative results are included in this chapter that trace cause and effect through the CACC system.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"boler-martin-essentialposeslamanefficientlandmarkfreeapproachtovisualinertialnavigation-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Essential PoseSLAM: An Efficient Landmark-Free Approach to Visual-Inertial Navigation.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Boler, M.;  and Martin, S.\n</span>\n\n  \n\n</span>\n\n  In <i>IEEE/ION PLANS 2023</i>, April 2023. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/boler-martin-essentialposeslamanefficientlandmarkfreeapproachtovisualinertialnavigation-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('boler-martin-essentialposeslamanefficientlandmarkfreeapproachtovisualinertialnavigation-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{boler_essential_2023,\n\ttitle = {Essential {PoseSLAM}: {An} {Efficient} {Landmark}-{Free} {Approach} to {Visual}-{Inertial} {Navigation}},\n\tabstract = {This paper presents an efficient method of fusing visual and inertial data for navigation using the two-view tensor, also known as the essential matrix. The essential matrix encodes the up-to-scale geometric relationship between two camera poses and contains the relative rotation and direction-of-translation between them. A dense network of up-to-scale relative pose measurements is constructed by computing essential matrices between incoming images and a collection of past states which observed the same scene. As the essential matrix is computed online in many visual-inertial navigation systems (VINS) as part of the image processing front end, the proposed method introduces little computational overhead while avoiding all computations related to feature estimation. This approach can be viewed as a modification of the classical pose-graph simultaneous localization and mapping (SLAM) problem. This paper further presents a dynamic initialization method to bootstrap the velocity, orientation, and biases of an IMU. The initialization method makes use of the same modified pose-graph SLAM approach to solve for the up-to-scale relative poses of a window of camera frames before solving for orientation, velocity, and sensor biases. We validate the proposed methods by implementing them in Extended Kalman Filter (EKF) and nonlinear optimization forms and testing them on public datasets.},\n\tlanguage = {en},\n\tbooktitle = {{IEEE}/{ION} {PLANS} 2023},\n\tauthor = {Boler, Matthew and Martin, Scott},\n\tmonth = apr,\n\tyear = {2023},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper presents an efficient method of fusing visual and inertial data for navigation using the two-view tensor, also known as the essential matrix. The essential matrix encodes the up-to-scale geometric relationship between two camera poses and contains the relative rotation and direction-of-translation between them. A dense network of up-to-scale relative pose measurements is constructed by computing essential matrices between incoming images and a collection of past states which observed the same scene. As the essential matrix is computed online in many visual-inertial navigation systems (VINS) as part of the image processing front end, the proposed method introduces little computational overhead while avoiding all computations related to feature estimation. This approach can be viewed as a modification of the classical pose-graph simultaneous localization and mapping (SLAM) problem. This paper further presents a dynamic initialization method to bootstrap the velocity, orientation, and biases of an IMU. The initialization method makes use of the same modified pose-graph SLAM approach to solve for the up-to-scale relative poses of a window of camera frames before solving for orientation, velocity, and sensor biases. We validate the proposed methods by implementing them in Extended Kalman Filter (EKF) and nonlinear optimization forms and testing them on public datasets.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"miller-koza-morgan-martin-neish-grayson-reid-snapaxonaspacesystemsandgpssoftwaredefinedreceiver-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  SNAP: A Xona Space Systems and GPS Software-Defined Receiver.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Miller, N. S; Koza, J T.; Morgan, S. C; Martin, S. M; Neish, A.; Grayson, R.;  and Reid, T.\n</span>\n\n  \n\n</span>\n\n  In <i>IEEE/ION PLANS 2023</i>, April 2023. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/miller-koza-morgan-martin-neish-grayson-reid-snapaxonaspacesystemsandgpssoftwaredefinedreceiver-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('miller-koza-morgan-martin-neish-grayson-reid-snapaxonaspacesystemsandgpssoftwaredefinedreceiver-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{miller_snap_2023,\n\ttitle = {{SNAP}: {A} {Xona} {Space} {Systems} and {GPS} {Software}-{Defined} {Receiver}},\n\tabstract = {This paper proposes the Satellite Navigation Applied Processor (SNAP), a Software Defined Receiver (SDR) for the Xona Space Systems Pulsar constellation and legacy Global Navigation Satellite Systems (GNSS). The novelty of this paper is found in the creation of an SDR that serves to explore the capabilities of a new Low Earth Orbit (LEO) satellite navigation constellation. The modularity of SNAP allows both industry professionals and students to investigate their own Pulsar and legacy GNSS signal processing techniques.},\n\tlanguage = {en},\n\tbooktitle = {{IEEE}/{ION} {PLANS} 2023},\n\tauthor = {Miller, Noah S and Koza, J Tanner and Morgan, Samuel C and Martin, Scott M and Neish, Andrew and Grayson, Robert and Reid, Tyler},\n\tmonth = apr,\n\tyear = {2023},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper proposes the Satellite Navigation Applied Processor (SNAP), a Software Defined Receiver (SDR) for the Xona Space Systems Pulsar constellation and legacy Global Navigation Satellite Systems (GNSS). The novelty of this paper is found in the creation of an SDR that serves to explore the capabilities of a new Low Earth Orbit (LEO) satellite navigation constellation. The modularity of SNAP allows both industry professionals and students to investigate their own Pulsar and legacy GNSS signal processing techniques.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2022\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2022')\"\n      onkeypress=\"toggleGroup('group_2022')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2022</span>\n      <span class=\"bibbase_group_count\">\n        \n        (18)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"jones-thompson-pierce-martin-bevly-groundvehiclerelativepositionestimationwithuwbrangesandavehicledynamicsmodel-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S2405896322029044\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'jones-thompson-pierce-martin-bevly-groundvehiclerelativepositionestimationwithuwbrangesandavehicledynamicsmodel-2022', 'https://www.sciencedirect.com/science/article/pii/S2405896322029044', event);\">\n    Ground-Vehicle Relative Position Estimation with UWB Ranges and a Vehicle Dynamics Model.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Jones, B.; Thompson, K.; Pierce, D.; Martin, S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>IFAC-PapersOnLine</i>, volume 55, of <i>2nd Modeling, Estimation and Control Conference MECC 2022</i>, pages 681–687, January 2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S2405896322029044\"\n     onclick=\"log_download('jones-thompson-pierce-martin-bevly-groundvehiclerelativepositionestimationwithuwbrangesandavehicledynamicsmodel-2022', 'https://www.sciencedirect.com/science/article/pii/S2405896322029044', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Ground-Vehicle Relative Position Estimation with UWB Ranges and a Vehicle Dynamics Model [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1016/j.ifacol.2022.11.261\"\n     onclick=\"log_download('jones-thompson-pierce-martin-bevly-groundvehiclerelativepositionestimationwithuwbrangesandavehicledynamicsmodel-2022', 'http://doi.org/10.1016/j.ifacol.2022.11.261', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/jones-thompson-pierce-martin-bevly-groundvehiclerelativepositionestimationwithuwbrangesandavehicledynamicsmodel-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('jones-thompson-pierce-martin-bevly-groundvehiclerelativepositionestimationwithuwbrangesandavehicledynamicsmodel-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{jones_ground-vehicle_2022,\n\tseries = {2nd {Modeling}, {Estimation} and {Control} {Conference} {MECC} 2022},\n\ttitle = {Ground-{Vehicle} {Relative} {Position} {Estimation} with {UWB} {Ranges} and a {Vehicle} {Dynamics} {Model}},\n\tvolume = {55},\n\turl = {https://www.sciencedirect.com/science/article/pii/S2405896322029044},\n\tdoi = {10.1016/j.ifacol.2022.11.261},\n\tabstract = {An accurate relative position vector (RPV) solution between local vehicles is critical in numerous autonomous vehicle applications from cooperative cruise control (CACC) to commercial truck platooning. Relative GPS solutions can deliver sufficient accuracy for such applications, but resiliency and availability can suffer in cluttered environments; thus, relative position solutions independent of GPS are necessary. Ultra-wideband (UWB) radios can provide accurate and robust range, and have gathered attention in recent decades for use in navigation. Prior work has shown that relative position estimation of dynamic vehicles is possible without a GPS reference through UWB-ranging and a constant-velocity Extended Kalman Filter (EKF). Through a kinematic bicycle model, this work modifies the state vector to include direct estimates of the lead vehicle&#x27;s longitudinal speed and effective steer angle. This improves estimation quality and robustness in the presence of UWB measurement errors, unfavorable relative geometry, and dynamic maneuvers. The algorithm has been compared to previous methods in simulation and experimental testing environments and exhibits both superior accuracy as well as improved robustness during periods of difficult relative geometry.},\n\tlanguage = {en},\n\turldate = {2023-06-06},\n\tbooktitle = {{IFAC}-{PapersOnLine}},\n\tauthor = {Jones, Ben and Thompson, Kyle and Pierce, Dan and Martin, Scott and Bevly, David},\n\tmonth = jan,\n\tyear = {2022},\n\tkeywords = {Kalman filtering, Relative position estimation, ultra-wideband radios, vehicle dynamics},\n\tpages = {681--687},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  An accurate relative position vector (RPV) solution between local vehicles is critical in numerous autonomous vehicle applications from cooperative cruise control (CACC) to commercial truck platooning. Relative GPS solutions can deliver sufficient accuracy for such applications, but resiliency and availability can suffer in cluttered environments; thus, relative position solutions independent of GPS are necessary. Ultra-wideband (UWB) radios can provide accurate and robust range, and have gathered attention in recent decades for use in navigation. Prior work has shown that relative position estimation of dynamic vehicles is possible without a GPS reference through UWB-ranging and a constant-velocity Extended Kalman Filter (EKF). Through a kinematic bicycle model, this work modifies the state vector to include direct estimates of the lead vehicle's longitudinal speed and effective steer angle. This improves estimation quality and robustness in the presence of UWB measurement errors, unfavorable relative geometry, and dynamic maneuvers. The algorithm has been compared to previous methods in simulation and experimental testing environments and exhibits both superior accuracy as well as improved robustness during periods of difficult relative geometry.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"meyer-bevly-clusterbasedwallcurvaturedetectionandparameterizationforautonomousracingusinglidarpointclouds-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Cluster-Based Wall Curvature Detection and Parameterization for Autonomous Racing using LiDAR Point Clouds.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Meyer, S. W;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M</a>\n</span>\n\n  \n\n</span>\n\n  In pages 6, October 2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/meyer-bevly-clusterbasedwallcurvaturedetectionandparameterizationforautonomousracingusinglidarpointclouds-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('meyer-bevly-clusterbasedwallcurvaturedetectionandparameterizationforautonomousracingusinglidarpointclouds-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{meyer_cluster-based_2022,\n\ttitle = {Cluster-{Based} {Wall} {Curvature} {Detection} and {Parameterization} for {Autonomous} {Racing} using {LiDAR} {Point} {Clouds}},\n\tabstract = {Auotonomous driving and robotic operations often involve and rely upon road edge detection from perception sensor data. In autonomous racing, an emerging application which is currently driving high-dynamic algorithm development in the field of autonomy, edge detection provides safety for the system by making impending wall collisions detectable and offering an aid to on-track localization and guidance. An algorithm is here proposed for the detection of curved and straight wall sections from LiDAR data in race track environments. This method is unique in leveraging point clustering for wall detections, and is designed to provide mid-process results to be used both in this wall detection task as well as in further object detection processes as part of a cohesive perception stack. Position-aware outlier reduction and a least-squares parabolic line fit are used to clean and parameterize the wall position, orientation, and curvature results within individual frames of point cloud data. The algorithm was tested over 200 frames of data with an RMS lateral offset error of the parameterized wall of 0.11 meters.},\n\tlanguage = {en},\n\tauthor = {Meyer, Stephanie W and Bevly, David M},\n\tmonth = oct,\n\tyear = {2022},\n\tpages = {6},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Auotonomous driving and robotic operations often involve and rely upon road edge detection from perception sensor data. In autonomous racing, an emerging application which is currently driving high-dynamic algorithm development in the field of autonomy, edge detection provides safety for the system by making impending wall collisions detectable and offering an aid to on-track localization and guidance. An algorithm is here proposed for the detection of curved and straight wall sections from LiDAR data in race track environments. This method is unique in leveraging point clustering for wall detections, and is designed to provide mid-process results to be used both in this wall detection task as well as in further object detection processes as part of a cohesive perception stack. Position-aware outlier reduction and a least-squares parabolic line fit are used to clean and parameterize the wall position, orientation, and curvature results within individual frames of point cloud data. The algorithm was tested over 200 frames of data with an RMS lateral offset error of the parameterized wall of 0.11 meters.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"thompson-martin-bevly-rose-collaborativesimultaneoustrackingandnavigationwithlowearthorbitsatellitesignalsofopportunityandinertialnavigationsystemelectronicresource-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu/handle/10415/8332\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'thompson-martin-bevly-rose-collaborativesimultaneoustrackingandnavigationwithlowearthorbitsatellitesignalsofopportunityandinertialnavigationsystemelectronicresource-2022', 'https://etd.auburn.edu/handle/10415/8332', event);\">\n    Collaborative Simultaneous Tracking and Navigation with Low Earth Orbit Satellite Signals of Opportunity and Inertial Navigation System. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Thompson, S.; Martin, S. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Rose, C. A.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu/handle/10415/8332\"\n     onclick=\"log_download('thompson-martin-bevly-rose-collaborativesimultaneoustrackingandnavigationwithlowearthorbitsatellitesignalsofopportunityandinertialnavigationsystemelectronicresource-2022', 'https://etd.auburn.edu/handle/10415/8332', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Collaborative Simultaneous Tracking and Navigation with Low Earth Orbit Satellite Signals of Opportunity and Inertial Navigation System. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/thompson-martin-bevly-rose-collaborativesimultaneoustrackingandnavigationwithlowearthorbitsatellitesignalsofopportunityandinertialnavigationsystemelectronicresource-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('thompson-martin-bevly-rose-collaborativesimultaneoustrackingandnavigationwithlowearthorbitsatellitesignalsofopportunityandinertialnavigationsystemelectronicresource-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{thompson_collaborative_2022,\n\ttitle = {Collaborative {Simultaneous} {Tracking} and {Navigation} with {Low} {Earth} {Orbit} {Satellite} {Signals} of {Opportunity} and {Inertial} {Navigation} {System}. [electronic resource]},\n\turl = {https://etd.auburn.edu/handle/10415/8332},\n\tauthor = {Thompson, Sterling and Martin, Scott M. and Bevly, David M. and Rose, Chad A.},\n\tyear = {2022},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"snitzer-hoffman-silvaizquierdo-bevly-utilizationofvehiclespecificpowerasapowertrainindependentplatooncontrollerperformancemetricelectronicresource-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8517\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'snitzer-hoffman-silvaizquierdo-bevly-utilizationofvehiclespecificpowerasapowertrainindependentplatooncontrollerperformancemetricelectronicresource-2022', 'https://etd.auburn.edu//handle/10415/8517', event);\">\n    Utilization of Vehicle-Specific Power as a Powertrain Independent Platoon Controller Performance Metric. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Snitzer, R. P.; Hoffman, M. A.; Silva Izquierdo, D. F.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8517\"\n     onclick=\"log_download('snitzer-hoffman-silvaizquierdo-bevly-utilizationofvehiclespecificpowerasapowertrainindependentplatooncontrollerperformancemetricelectronicresource-2022', 'https://etd.auburn.edu//handle/10415/8517', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Utilization of Vehicle-Specific Power as a Powertrain Independent Platoon Controller Performance Metric. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/snitzer-hoffman-silvaizquierdo-bevly-utilizationofvehiclespecificpowerasapowertrainindependentplatooncontrollerperformancemetricelectronicresource-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('snitzer-hoffman-silvaizquierdo-bevly-utilizationofvehiclespecificpowerasapowertrainindependentplatooncontrollerperformancemetricelectronicresource-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{snitzer_utilization_2022,\n\ttitle = {Utilization of {Vehicle}-{Specific} {Power} as a {Powertrain} {Independent} {Platoon} {Controller} {Performance} {Metric}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/8517},\n\tauthor = {Snitzer, Richard Philip and Hoffman, Mark A. and Silva Izquierdo, Daniel F. and Bevly, David M.},\n\tyear = {2022},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kamrath-dozier-martin-bevly-computervisionbasedcooperativenavigationforuavsandgroundvehicleselectronicresource-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu/handle/10415/8268\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kamrath-dozier-martin-bevly-computervisionbasedcooperativenavigationforuavsandgroundvehicleselectronicresource-2022', 'https://etd.auburn.edu/handle/10415/8268', event);\">\n    Computer Vision Based Cooperative Navigation for UAVs and Ground Vehicles. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Kamrath, D.; Dozier, G. V.; Martin, S. M.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu/handle/10415/8268\"\n     onclick=\"log_download('kamrath-dozier-martin-bevly-computervisionbasedcooperativenavigationforuavsandgroundvehicleselectronicresource-2022', 'https://etd.auburn.edu/handle/10415/8268', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Computer Vision Based Cooperative Navigation for UAVs and Ground Vehicles. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kamrath-dozier-martin-bevly-computervisionbasedcooperativenavigationforuavsandgroundvehicleselectronicresource-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kamrath-dozier-martin-bevly-computervisionbasedcooperativenavigationforuavsandgroundvehicleselectronicresource-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{kamrath_computer_2022,\n\ttitle = {Computer {Vision} {Based} {Cooperative} {Navigation} for {UAVs} and {Ground} {Vehicles}. [electronic resource]},\n\turl = {https://etd.auburn.edu/handle/10415/8268},\n\tauthor = {Kamrath, Daniel and Dozier, Gerry V. and Martin, Scott M. and Bevly, David M.},\n\tyear = {2022},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"jones-martin-bevly-flowers-collaborativearchitecturesforrelativepositionestimationofgroundvehicleswithuwbrangingandvehicledynamicmodelselectronicresource-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8556\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'jones-martin-bevly-flowers-collaborativearchitecturesforrelativepositionestimationofgroundvehicleswithuwbrangingandvehicledynamicmodelselectronicresource-2022', 'https://etd.auburn.edu//handle/10415/8556', event);\">\n    Collaborative Architectures for Relative Position Estimation of Ground Vehicles with UWB Ranging and Vehicle Dynamic Models. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Jones, B.; Martin, S. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Flowers, G. T.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8556\"\n     onclick=\"log_download('jones-martin-bevly-flowers-collaborativearchitecturesforrelativepositionestimationofgroundvehicleswithuwbrangingandvehicledynamicmodelselectronicresource-2022', 'https://etd.auburn.edu//handle/10415/8556', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Collaborative Architectures for Relative Position Estimation of Ground Vehicles with UWB Ranging and Vehicle Dynamic Models. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/jones-martin-bevly-flowers-collaborativearchitecturesforrelativepositionestimationofgroundvehicleswithuwbrangingandvehicledynamicmodelselectronicresource-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('jones-martin-bevly-flowers-collaborativearchitecturesforrelativepositionestimationofgroundvehicleswithuwbrangingandvehicledynamicmodelselectronicresource-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{jones_collaborative_2022,\n\ttitle = {Collaborative {Architectures} for {Relative} {Position} {Estimation} of {Ground} {Vehicles} with {UWB} {Ranging} and {Vehicle} {Dynamic} {Models}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/8556},\n\tauthor = {Jones, Benjamin and Martin, Scott M. and Bevly, David M. and Flowers, George T.},\n\tyear = {2022},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"boler-martin-bevly-roppel-reeves-observabilityinformedmeasurementvalidationforvisualinertialnavigationelectronicresource-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8218\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'boler-martin-bevly-roppel-reeves-observabilityinformedmeasurementvalidationforvisualinertialnavigationelectronicresource-2022', 'https://etd.auburn.edu//handle/10415/8218', event);\">\n    Observability-Informed Measurement Validation for Visual-Inertial Navigation. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Boler, M.; Martin, S. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Roppel, T. A.;  and Reeves, S.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8218\"\n     onclick=\"log_download('boler-martin-bevly-roppel-reeves-observabilityinformedmeasurementvalidationforvisualinertialnavigationelectronicresource-2022', 'https://etd.auburn.edu//handle/10415/8218', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Observability-Informed Measurement Validation for Visual-Inertial Navigation. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/boler-martin-bevly-roppel-reeves-observabilityinformedmeasurementvalidationforvisualinertialnavigationelectronicresource-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('boler-martin-bevly-roppel-reeves-observabilityinformedmeasurementvalidationforvisualinertialnavigationelectronicresource-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{boler_observability-informed_2022,\n\ttitle = {Observability-{Informed} {Measurement} {Validation} for {Visual}-{Inertial} {Navigation}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/8218},\n\tauthor = {Boler, Matthew and Martin, Scott M. and Bevly, David M. and Roppel, Thaddeus Adam and Reeves, Stan},\n\tyear = {2022},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"burchfield-martin-bevly-reeves-amultiantennavectortrackingbeamsteeringgpsreceiverforrobustpositioningelectronicresource-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8243\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'burchfield-martin-bevly-reeves-amultiantennavectortrackingbeamsteeringgpsreceiverforrobustpositioningelectronicresource-2022', 'https://etd.auburn.edu//handle/10415/8243', event);\">\n    A Multi-Antenna Vector Tracking Beamsteering GPS Receiver for Robust Positioning. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Burchfield, S.; Martin, S. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Reeves, S.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8243\"\n     onclick=\"log_download('burchfield-martin-bevly-reeves-amultiantennavectortrackingbeamsteeringgpsreceiverforrobustpositioningelectronicresource-2022', 'https://etd.auburn.edu//handle/10415/8243', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Multi-Antenna Vector Tracking Beamsteering GPS Receiver for Robust Positioning. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/burchfield-martin-bevly-reeves-amultiantennavectortrackingbeamsteeringgpsreceiverforrobustpositioningelectronicresource-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('burchfield-martin-bevly-reeves-amultiantennavectortrackingbeamsteeringgpsreceiverforrobustpositioningelectronicresource-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{burchfield_multi-antenna_2022,\n\ttitle = {A {Multi}-{Antenna} {Vector} {Tracking} {Beamsteering} {GPS} {Receiver} for {Robust} {Positioning}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/8243},\n\tauthor = {Burchfield, Scott and Martin, Scott M. and Bevly, David M. and Reeves, Stan},\n\tyear = {2022},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"steadman-stubbs-baskaran-rose-bevly-teleoperatedgroundvehiclerolloverpreventionviahapticfeedbackofthezeromomentpointindex-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Teleoperated Ground Vehicle Rollover Prevention via Haptic Feedback of the Zero-Moment Point Index.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Steadman, K.; Stubbs, C.; Baskaran, A.; Rose, C.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In August 2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/steadman-stubbs-baskaran-rose-bevly-teleoperatedgroundvehiclerolloverpreventionviahapticfeedbackofthezeromomentpointindex-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('steadman-stubbs-baskaran-rose-bevly-teleoperatedgroundvehiclerolloverpreventionviahapticfeedbackofthezeromomentpointindex-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{steadman_teleoperated_2022,\n\ttitle = {Teleoperated {Ground} {Vehicle} {Rollover} {Prevention} via {Haptic} {Feedback} of the {Zero}-{Moment} {Point} {Index}},\n\tabstract = {Many rollover prevention algorithms rely on vehicle models which are difficult to develop and require extensive knowledge of the vehicle. The Zero-Moment Point (ZMP) combines a simple vehicle model with IMU-only sensor measurements. When used in conjunction with haptic feedback, ground vehicle rollover can be prevented. This paper investigates IMU grade requirements for an accurate rollover prediction. This paper also discusses a haptic feedback design that delivers operator alerts to prevent rollover. An experiment was conducted using a Gazebo simulation to assess the capabilities of the ZMP method to predict vehicle wheel lift-off and demonstrate the potential for haptic communication of the ZMP index to prevent rollover.},\n\tauthor = {Steadman, Kathleen and Stubbs, Chandler and Baskaran, Avinash and Rose, Chad and Bevly, David},\n\tmonth = aug,\n\tyear = {2022},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Many rollover prevention algorithms rely on vehicle models which are difficult to develop and require extensive knowledge of the vehicle. The Zero-Moment Point (ZMP) combines a simple vehicle model with IMU-only sensor measurements. When used in conjunction with haptic feedback, ground vehicle rollover can be prevented. This paper investigates IMU grade requirements for an accurate rollover prediction. This paper also discusses a haptic feedback design that delivers operator alerts to prevent rollover. An experiment was conducted using a Gazebo simulation to assess the capabilities of the ZMP method to predict vehicle wheel lift-off and demonstrate the potential for haptic communication of the ZMP index to prevent rollover.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"thompson-jones-martin-bevly-gpsindependentautonomousvehicleconvoyingwithuwbrangingandvehiclemodels-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  GPS-INDEPENDENT AUTONOMOUS VEHICLE CONVOYING WITH UWB RANGING AND VEHICLE MODELS.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Thompson, K.; Jones, B.; Martin, S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In  2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/thompson-jones-martin-bevly-gpsindependentautonomousvehicleconvoyingwithuwbrangingandvehiclemodels-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('thompson-jones-martin-bevly-gpsindependentautonomousvehicleconvoyingwithuwbrangingandvehiclemodels-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{thompson_gps-independent_2022,\n\ttitle = {{GPS}-{INDEPENDENT} {AUTONOMOUS} {VEHICLE} {CONVOYING} {WITH} {UWB} {RANGING} {AND} {VEHICLE} {MODELS}},\n\tabstract = {Leader-follower autonomous vehicle systems have a vast range of applications which can increase efficiency, reliability, and safety by only requiring one manned-vehicle to lead a fleet of unmanned followers. The proper estimation and duplication of a manned-vehicle’s path is a critical component of the ongoing development of convoying systems. Auburn University’s GAVLAB has developed a UWB-ranging based leader-follower GNC system which does not require an external GPS reference or communication between the vehicles in the convoy. Experimental results have shown path-duplication accuracy between 1-5 meters for following distances of 10 to 50 meters.},\n\tlanguage = {en},\n\tauthor = {Thompson, Kyle and Jones, Ben and Martin, Scott and Bevly, David},\n\tyear = {2022},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Leader-follower autonomous vehicle systems have a vast range of applications which can increase efficiency, reliability, and safety by only requiring one manned-vehicle to lead a fleet of unmanned followers. The proper estimation and duplication of a manned-vehicle’s path is a critical component of the ongoing development of convoying systems. Auburn University’s GAVLAB has developed a UWB-ranging based leader-follower GNC system which does not require an external GPS reference or communication between the vehicles in the convoy. Experimental results have shown path-duplication accuracy between 1-5 meters for following distances of 10 to 50 meters.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pierce-bevly-martin-hung-marghitu-graphbasedrelativepathestimationusinglandmarksforlongdistancegroundvehiclefollowingelectronicresource-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8542\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pierce-bevly-martin-hung-marghitu-graphbasedrelativepathestimationusinglandmarksforlongdistancegroundvehiclefollowingelectronicresource-2022', 'https://etd.auburn.edu//handle/10415/8542', event);\">\n    Graph-Based Relative Path Estimation Using Landmarks for Long Distance Ground Vehicle Following. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Pierce, D.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Martin, S. M.; Hung, J. Y.;  and Marghitu, D. B.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8542\"\n     onclick=\"log_download('pierce-bevly-martin-hung-marghitu-graphbasedrelativepathestimationusinglandmarksforlongdistancegroundvehiclefollowingelectronicresource-2022', 'https://etd.auburn.edu//handle/10415/8542', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Graph-Based Relative Path Estimation Using Landmarks for Long Distance Ground Vehicle Following. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pierce-bevly-martin-hung-marghitu-graphbasedrelativepathestimationusinglandmarksforlongdistancegroundvehiclefollowingelectronicresource-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pierce-bevly-martin-hung-marghitu-graphbasedrelativepathestimationusinglandmarksforlongdistancegroundvehiclefollowingelectronicresource-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{pierce_graph-based_2022,\n\ttitle = {Graph-{Based} {Relative} {Path} {Estimation} {Using} {Landmarks} for {Long} {Distance} {Ground} {Vehicle} {Following}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/8542},\n\tauthor = {Pierce, Dan and Bevly, David M. and Martin, Scott M. and Hung, John Y. and Marghitu, Dan B.},\n\tyear = {2022},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ward-bevly-methodsofoptimalcontrolforfuelefficientclass8vehicleplatoonsoveruneventerrainelectronicresource-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8431\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ward-bevly-methodsofoptimalcontrolforfuelefficientclass8vehicleplatoonsoveruneventerrainelectronicresource-2022', 'https://etd.auburn.edu//handle/10415/8431', event);\">\n    Methods of Optimal Control for Fuel Efficient Class-8 Vehicle Platoons Over Uneven Terrain. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ward, J.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8431\"\n     onclick=\"log_download('ward-bevly-methodsofoptimalcontrolforfuelefficientclass8vehicleplatoonsoveruneventerrainelectronicresource-2022', 'https://etd.auburn.edu//handle/10415/8431', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Methods of Optimal Control for Fuel Efficient Class-8 Vehicle Platoons Over Uneven Terrain. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ward-bevly-methodsofoptimalcontrolforfuelefficientclass8vehicleplatoonsoveruneventerrainelectronicresource-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ward-bevly-methodsofoptimalcontrolforfuelefficientclass8vehicleplatoonsoveruneventerrainelectronicresource-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{ward_methods_2022,\n\ttitle = {Methods of {Optimal} {Control} for {Fuel} {Efficient} {Class}-8 {Vehicle} {Platoons} {Over} {Uneven} {Terrain}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/8431},\n\tauthor = {Ward, Jacob and Bevly, David M.},\n\tyear = {2022},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"snitzer-stegner-siefert-bevly-hoffman-experimentallyestablishingidealplatooningperformanceasametricforrealworldplatooningassessment-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bibbase.org/zotero/doi.org/10.4271/2022-01-0069\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'snitzer-stegner-siefert-bevly-hoffman-experimentallyestablishingidealplatooningperformanceasametricforrealworldplatooningassessment-2022', 'https://bibbase.org/zotero/doi.org/10.4271/2022-01-0069', event);\">\n    Experimentally Establishing Ideal Platooning Performance as a Metric for Real-World Platooning Assessment.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Snitzer, P.; Stegner, E.; Siefert, J.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hoffman, M.\n</span>\n\n  \n\n</span>\n\n  In <i>SAE Technical Paper Series</i>,  2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bibbase.org/zotero/doi.org/10.4271/2022-01-0069\"\n     onclick=\"log_download('snitzer-stegner-siefert-bevly-hoffman-experimentallyestablishingidealplatooningperformanceasametricforrealworldplatooningassessment-2022', 'https://bibbase.org/zotero/doi.org/10.4271/2022-01-0069', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Experimentally Establishing Ideal Platooning Performance as a Metric for Real-World Platooning Assessment [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/doi.org/10.4271/2022-01-0069\"\n     onclick=\"log_download('snitzer-stegner-siefert-bevly-hoffman-experimentallyestablishingidealplatooningperformanceasametricforrealworldplatooningassessment-2022', 'http://doi.org/doi.org/10.4271/2022-01-0069', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/snitzer-stegner-siefert-bevly-hoffman-experimentallyestablishingidealplatooningperformanceasametricforrealworldplatooningassessment-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('snitzer-stegner-siefert-bevly-hoffman-experimentallyestablishingidealplatooningperformanceasametricforrealworldplatooningassessment-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{snitzer_experimentally_2022,\n\ttitle = {Experimentally {Establishing} {Ideal} {Platooning} {Performance} as a {Metric} for {Real}-{World} {Platooning} {Assessment}},\n\turl = {doi.org/10.4271/2022-01-0069},\n\tdoi = {doi.org/10.4271/2022-01-0069},\n\tbooktitle = {{SAE} {Technical} {Paper} {Series}},\n\tauthor = {Snitzer, Philip and Stegner, Evan and Siefert, Jan and Bevly, David M. and Hoffman, Mark},\n\tyear = {2022},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"mcwilliams-bevly-martin-chen-improvingmagneticmapbasednavigationusingvehiclemotioninformationelectronicresource-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8082\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'mcwilliams-bevly-martin-chen-improvingmagneticmapbasednavigationusingvehiclemotioninformationelectronicresource-2022', 'https://etd.auburn.edu//handle/10415/8082', event);\">\n    Improving Magnetic Map-Based Navigation using Vehicle Motion Information. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  McWilliams, R. S.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Martin, S. M.;  and Chen, H.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8082\"\n     onclick=\"log_download('mcwilliams-bevly-martin-chen-improvingmagneticmapbasednavigationusingvehiclemotioninformationelectronicresource-2022', 'https://etd.auburn.edu//handle/10415/8082', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Improving Magnetic Map-Based Navigation using Vehicle Motion Information. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/mcwilliams-bevly-martin-chen-improvingmagneticmapbasednavigationusingvehiclemotioninformationelectronicresource-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('mcwilliams-bevly-martin-chen-improvingmagneticmapbasednavigationusingvehiclemotioninformationelectronicresource-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{mcwilliams_improving_2022,\n\ttitle = {Improving {Magnetic} {Map}-{Based} {Navigation} using {Vehicle} {Motion} {Information}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/8082},\n\tauthor = {McWilliams, Ryan Scott and Bevly, David M. and Martin, Scott M. and Chen, Howard},\n\tyear = {2022},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"camposvega-martin-bevly-hoffman-investigationofpreciserelativepositioningthroughvaryingequipmentgradeselectronicresource-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8094\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'camposvega-martin-bevly-hoffman-investigationofpreciserelativepositioningthroughvaryingequipmentgradeselectronicresource-2022', 'https://etd.auburn.edu//handle/10415/8094', event);\">\n    Investigation of Precise Relative Positioning through Varying Equipment Grades. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Campos-Vega, C. J.; Martin, S. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hoffman, M. A.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8094\"\n     onclick=\"log_download('camposvega-martin-bevly-hoffman-investigationofpreciserelativepositioningthroughvaryingequipmentgradeselectronicresource-2022', 'https://etd.auburn.edu//handle/10415/8094', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Investigation of Precise Relative Positioning through Varying Equipment Grades. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/camposvega-martin-bevly-hoffman-investigationofpreciserelativepositioningthroughvaryingequipmentgradeselectronicresource-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('camposvega-martin-bevly-hoffman-investigationofpreciserelativepositioningthroughvaryingequipmentgradeselectronicresource-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{campos-vega_investigation_2022,\n\ttitle = {Investigation of {Precise} {Relative} {Positioning} through {Varying} {Equipment} {Grades}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/8094},\n\tauthor = {Campos-Vega, Christian J. and Martin, Scott M. and Bevly, David M. and Hoffman, Mark A.},\n\tyear = {2022},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ward-stegner-hoffman-bevly-amethodofoptimalcontrolforclass8vehicleplatoonsoverhillyterrain-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://asmedigitalcollection.asme.org/dynamicsystems/article/144/1/011108/1128821/A-Method-of-Optimal-Control-for-Class-8-Vehicle\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ward-stegner-hoffman-bevly-amethodofoptimalcontrolforclass8vehicleplatoonsoverhillyterrain-2022', 'https://asmedigitalcollection.asme.org/dynamicsystems/article/144/1/011108/1128821/A-Method-of-Optimal-Control-for-Class-8-Vehicle', event);\">\n    A Method of Optimal Control for Class 8 Vehicle Platoons Over Hilly Terrain.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ward, J. W.; Stegner, E. M.; Hoffman, M. A.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Dynamic Systems, Measurement, and Control</i>, 144(1): 011108. January 2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://asmedigitalcollection.asme.org/dynamicsystems/article/144/1/011108/1128821/A-Method-of-Optimal-Control-for-Class-8-Vehicle\"\n     onclick=\"log_download('ward-stegner-hoffman-bevly-amethodofoptimalcontrolforclass8vehicleplatoonsoverhillyterrain-2022', 'https://asmedigitalcollection.asme.org/dynamicsystems/article/144/1/011108/1128821/A-Method-of-Optimal-Control-for-Class-8-Vehicle', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Method of Optimal Control for Class 8 Vehicle Platoons Over Hilly Terrain [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1115/1.4053087\"\n     onclick=\"log_download('ward-stegner-hoffman-bevly-amethodofoptimalcontrolforclass8vehicleplatoonsoverhillyterrain-2022', 'http://doi.org/10.1115/1.4053087', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ward-stegner-hoffman-bevly-amethodofoptimalcontrolforclass8vehicleplatoonsoverhillyterrain-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ward-stegner-hoffman-bevly-amethodofoptimalcontrolforclass8vehicleplatoonsoverhillyterrain-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{ward_method_2022,\n\ttitle = {A {Method} of {Optimal} {Control} for {Class} 8 {Vehicle} {Platoons} {Over} {Hilly} {Terrain}},\n\tvolume = {144},\n\tissn = {0022-0434, 1528-9028},\n\turl = {https://asmedigitalcollection.asme.org/dynamicsystems/article/144/1/011108/1128821/A-Method-of-Optimal-Control-for-Class-8-Vehicle},\n\tdoi = {10.1115/1.4053087},\n\tabstract = {Abstract\n            This work develops and implements a nonlinear model predictive control (NMPC) control system to facilitate fuel-optimal platooning of class 8 vehicles over challenging terrain. Prior research has shown that cooperative adaptive cruise control (CACC), which allows multiple class 8 vehicles to follow in close succession, can save between 3\\% and 8\\% in overall fuel consumption on flat terrain. However, on more challenging terrain, e.g., rolling hills, platooning vehicles can experience diminished fuel savings, and, in some cases, an increase in fuel consumption relative to individual vehicle operation. This research explores the use of NMPC with predefined route grade profiles to allow platooning vehicles to generate an optimal velocity trajectory with respect to fuel consumption. In order to successfully implement the NMPC system, a model relating vehicle velocity to fuel consumption was generated and validated using experimental data. Additionally, the predefined route grade profiles were created by using the vehicle&#x27;s GPS velocity over the desired terrain. The real-time NMPC system was then implemented on a two-truck platoon operating over challenging terrain, with a reference vehicle running individually. The results from NMPC platooning are compared against fuel results from a classical proportional-integral-derivative (PID) headway control method. This comparison yields the comparative fuel savings and energy efficiency benefit of the NMPC system. In the final analysis, significant fuel savings of greater than 14 and 20\\% were seen for the lead and following vehicles relative to their respective traditional cruise control and platooning architectures.},\n\tlanguage = {en},\n\tnumber = {1},\n\turldate = {2022-09-20},\n\tjournal = {Journal of Dynamic Systems, Measurement, and Control},\n\tauthor = {Ward, Jacob W. and Stegner, Evan M. and Hoffman, Mark A. and Bevly, David M.},\n\tmonth = jan,\n\tyear = {2022},\n\tpages = {011108},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Abstract This work develops and implements a nonlinear model predictive control (NMPC) control system to facilitate fuel-optimal platooning of class 8 vehicles over challenging terrain. Prior research has shown that cooperative adaptive cruise control (CACC), which allows multiple class 8 vehicles to follow in close succession, can save between 3% and 8% in overall fuel consumption on flat terrain. However, on more challenging terrain, e.g., rolling hills, platooning vehicles can experience diminished fuel savings, and, in some cases, an increase in fuel consumption relative to individual vehicle operation. This research explores the use of NMPC with predefined route grade profiles to allow platooning vehicles to generate an optimal velocity trajectory with respect to fuel consumption. In order to successfully implement the NMPC system, a model relating vehicle velocity to fuel consumption was generated and validated using experimental data. Additionally, the predefined route grade profiles were created by using the vehicle's GPS velocity over the desired terrain. The real-time NMPC system was then implemented on a two-truck platoon operating over challenging terrain, with a reference vehicle running individually. The results from NMPC platooning are compared against fuel results from a classical proportional-integral-derivative (PID) headway control method. This comparison yields the comparative fuel savings and energy efficiency benefit of the NMPC system. In the final analysis, significant fuel savings of greater than 14 and 20% were seen for the lead and following vehicles relative to their respective traditional cruise control and platooning architectures.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hilyer-bevly-vehicleloadestimationusingrecursivetotalleastsquaresforrolloverdetection-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Vehicle Load Estimation Using Recursive Total Least Squares for Rollover Detection.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hilyer, T.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>SAE International</i>, Detroit, MI, January 2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.4271/2022-01-0914\"\n     onclick=\"log_download('hilyer-bevly-vehicleloadestimationusingrecursivetotalleastsquaresforrolloverdetection-2022', 'http://doi.org/10.4271/2022-01-0914', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hilyer-bevly-vehicleloadestimationusingrecursivetotalleastsquaresforrolloverdetection-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hilyer-bevly-vehicleloadestimationusingrecursivetotalleastsquaresforrolloverdetection-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{hilyer_vehicle_2022,\n\taddress = {Detroit, MI},\n\ttitle = {Vehicle {Load} {Estimation} {Using} {Recursive} {Total} {Least} {Squares} for {Rollover} {Detection}},\n\tdoi = {10.4271/2022-01-0914},\n\tabstract = {This paper will describe the development of a load estimation\nalgorithm that is used to estimate the load parameters\nnecessary to detect a vehicle’s proximity to rollover.\nWhen operating a vehicle near its handling limits or with large\nloads, vehicle rollover must be considered for safe operation.\nVehicle mass and center of gravity (CG) height play a large role\nin a vehicle’s rollover propensity. Cargo and passenger vehicles\noperate under a range of load configurations; therefore,\nchanges in load should be estimated. Researchers have often\ndeveloped load estimation and rollover detection algorithms\nseparately. This paper will develop a load estimation algorithm\nand use the load estimates and vehicle states to detect rollover.\nThe load estimation algorithm uses total least squares and is\nbroken into two parts. First, mass is estimated based on a\n“full-car” dynamic ride model. Next, the CG height and inertia\nare estimated using the previously estimated mass and a\ndynamic roll model. Least squares is a popular method for load\nestimation. Least Squares (LS) assumes that there is no\nmeasurement noise which is violated in this application. Total\nLeast Squares (TLS) accounts for measurement noise and\nprovides more accurate estimates when measurement noise is\npresent. Simulated data from CarSim is used to produce sensor\nmeasurements. Inertial measurement unit (IMU) and suspension\ndefection sensors are used to measure the appropriate\nvehicle states. Noise is added to each measurement. Accuracy\nof the load estimation will be discussed and compared to the\nleast squares approach. Rollover detection using load estimates\nwill be analyzed and compared to rollover detection that does\nnot account for changes in load.},\n\tbooktitle = {{SAE} {International}},\n\tauthor = {Hilyer, Trenton and Bevly, David},\n\tmonth = jan,\n\tyear = {2022},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper will describe the development of a load estimation algorithm that is used to estimate the load parameters necessary to detect a vehicle’s proximity to rollover. When operating a vehicle near its handling limits or with large loads, vehicle rollover must be considered for safe operation. Vehicle mass and center of gravity (CG) height play a large role in a vehicle’s rollover propensity. Cargo and passenger vehicles operate under a range of load configurations; therefore, changes in load should be estimated. Researchers have often developed load estimation and rollover detection algorithms separately. This paper will develop a load estimation algorithm and use the load estimates and vehicle states to detect rollover. The load estimation algorithm uses total least squares and is broken into two parts. First, mass is estimated based on a “full-car” dynamic ride model. Next, the CG height and inertia are estimated using the previously estimated mass and a dynamic roll model. Least squares is a popular method for load estimation. Least Squares (LS) assumes that there is no measurement noise which is violated in this application. Total Least Squares (TLS) accounts for measurement noise and provides more accurate estimates when measurement noise is present. Simulated data from CarSim is used to produce sensor measurements. Inertial measurement unit (IMU) and suspension defection sensors are used to measure the appropriate vehicle states. Noise is added to each measurement. Accuracy of the load estimation will be discussed and compared to the least squares approach. Rollover detection using load estimates will be analyzed and compared to rollover detection that does not account for changes in load.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"stegner-snitzer-bevly-hoffman-newmetricsforquantifyingtheenergyefficiencyofplatoonsinthepresenceofdisturbances-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://doi.org/10.4271/2022-01-0526\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'stegner-snitzer-bevly-hoffman-newmetricsforquantifyingtheenergyefficiencyofplatoonsinthepresenceofdisturbances-2022', 'https://doi.org/10.4271/2022-01-0526', event);\">\n    New Metrics for Quantifying the Energy Efficiency of Platoons in the Presence of Disturbances.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Stegner, E.; Snitzer, P.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>;  and Hoffman, M.\n</span>\n\n  \n\n</span>\n\n  In <i>SAE Technical Paper Series</i>, March 2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://doi.org/10.4271/2022-01-0526\"\n     onclick=\"log_download('stegner-snitzer-bevly-hoffman-newmetricsforquantifyingtheenergyefficiencyofplatoonsinthepresenceofdisturbances-2022', 'https://doi.org/10.4271/2022-01-0526', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"New Metrics for Quantifying the Energy Efficiency of Platoons in the Presence of Disturbances [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.4271/2022-01-0526\"\n     onclick=\"log_download('stegner-snitzer-bevly-hoffman-newmetricsforquantifyingtheenergyefficiencyofplatoonsinthepresenceofdisturbances-2022', 'http://doi.org/https://doi.org/10.4271/2022-01-0526', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/stegner-snitzer-bevly-hoffman-newmetricsforquantifyingtheenergyefficiencyofplatoonsinthepresenceofdisturbances-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('stegner-snitzer-bevly-hoffman-newmetricsforquantifyingtheenergyefficiencyofplatoonsinthepresenceofdisturbances-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{stegner_new_2022,\n\ttitle = {New {Metrics} for {Quantifying} the {Energy} {Efficiency} of {Platoons} in the {Presence} of {Disturbances}},\n\turl = {https://doi.org/10.4271/2022-01-0526},\n\tdoi = {https://doi.org/10.4271/2022-01-0526},\n\tbooktitle = {{SAE} {Technical} {Paper} {Series}},\n\tauthor = {Stegner, Evan and Snitzer, Phillip and Bevly, David and Hoffman, Mark},\n\tmonth = mar,\n\tyear = {2022},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2021\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2021')\"\n      onkeypress=\"toggleGroup('group_2021')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2021</span>\n      <span class=\"bibbase_group_count\">\n        \n        (23)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"stegner-ward-siefert-hoffman-bevly-experimentalfuelconsumptionresultsfromaheterogeneousfourtruckplatoon-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://doi.org/10.4271/2021-01-0071.\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'stegner-ward-siefert-hoffman-bevly-experimentalfuelconsumptionresultsfromaheterogeneousfourtruckplatoon-2021', 'https://doi.org/10.4271/2021-01-0071.', event);\">\n    Experimental Fuel Consumption Results from a Heterogeneous Four-Truck Platoon.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Stegner, E.; Ward, J.; Siefert, J.; Hoffman, M.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>SAE Technical Paper Series</i>, April 2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://doi.org/10.4271/2021-01-0071.\"\n     onclick=\"log_download('stegner-ward-siefert-hoffman-bevly-experimentalfuelconsumptionresultsfromaheterogeneousfourtruckplatoon-2021', 'https://doi.org/10.4271/2021-01-0071.', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Experimental Fuel Consumption Results from a Heterogeneous Four-Truck Platoon [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.4271/2021-01-0071.\"\n     onclick=\"log_download('stegner-ward-siefert-hoffman-bevly-experimentalfuelconsumptionresultsfromaheterogeneousfourtruckplatoon-2021', 'http://doi.org/https://doi.org/10.4271/2021-01-0071.', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/stegner-ward-siefert-hoffman-bevly-experimentalfuelconsumptionresultsfromaheterogeneousfourtruckplatoon-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('stegner-ward-siefert-hoffman-bevly-experimentalfuelconsumptionresultsfromaheterogeneousfourtruckplatoon-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{stegner_experimental_2021,\n\ttitle = {Experimental {Fuel} {Consumption} {Results} from a {Heterogeneous} {Four}-{Truck} {Platoon}},\n\turl = {https://doi.org/10.4271/2021-01-0071.},\n\tdoi = {https://doi.org/10.4271/2021-01-0071.},\n\tbooktitle = {{SAE} {Technical} {Paper} {Series}},\n\tauthor = {Stegner, Evan and Ward, Jacob and Siefert, Jan and Hoffman, Mark and Bevly, David M.},\n\tmonth = apr,\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"strong-martin-bevly-liu-utilizinghiddenmarkovmodelstoclassifymaneuversandimproveestimatesofanunmannedaerialvehicleduringhighdynamicflightelectronicresource-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/7886\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'strong-martin-bevly-liu-utilizinghiddenmarkovmodelstoclassifymaneuversandimproveestimatesofanunmannedaerialvehicleduringhighdynamicflightelectronicresource-2021', 'https://etd.auburn.edu//handle/10415/7886', event);\">\n    Utilizing Hidden Markov Models to Classify Maneuvers and Improve Estimates of an Unmanned Aerial Vehicle During High Dynamic Flight. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Strong, A.; Martin, S. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Liu, B.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/7886\"\n     onclick=\"log_download('strong-martin-bevly-liu-utilizinghiddenmarkovmodelstoclassifymaneuversandimproveestimatesofanunmannedaerialvehicleduringhighdynamicflightelectronicresource-2021', 'https://etd.auburn.edu//handle/10415/7886', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Utilizing Hidden Markov Models to Classify Maneuvers and Improve Estimates of an Unmanned Aerial Vehicle During High Dynamic Flight. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/strong-martin-bevly-liu-utilizinghiddenmarkovmodelstoclassifymaneuversandimproveestimatesofanunmannedaerialvehicleduringhighdynamicflightelectronicresource-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('strong-martin-bevly-liu-utilizinghiddenmarkovmodelstoclassifymaneuversandimproveestimatesofanunmannedaerialvehicleduringhighdynamicflightelectronicresource-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{strong_utilizing_2021,\n\ttitle = {Utilizing {Hidden} {Markov} {Models} to {Classify} {Maneuvers} and {Improve} {Estimates} of an {Unmanned} {Aerial} {Vehicle} {During} {High} {Dynamic} {Flight}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/7886},\n\tauthor = {Strong, Amy and Martin, Scott M. and Bevly, David M. and Liu, Bo},\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"meyer-bevly-martin-roppel-chen-onlinerotationalselfcalibrationoflidarsensorswhenmountedonagroundvehicleelectronicresource-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/7938\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'meyer-bevly-martin-roppel-chen-onlinerotationalselfcalibrationoflidarsensorswhenmountedonagroundvehicleelectronicresource-2021', 'https://etd.auburn.edu//handle/10415/7938', event);\">\n    Online Rotational Self-Calibration of LiDAR Sensors when Mounted on a Ground Vehicle. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Meyer, S. W.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Martin, S. M.; Roppel, T. A.;  and Chen, H.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/7938\"\n     onclick=\"log_download('meyer-bevly-martin-roppel-chen-onlinerotationalselfcalibrationoflidarsensorswhenmountedonagroundvehicleelectronicresource-2021', 'https://etd.auburn.edu//handle/10415/7938', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Online Rotational Self-Calibration of LiDAR Sensors when Mounted on a Ground Vehicle. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/meyer-bevly-martin-roppel-chen-onlinerotationalselfcalibrationoflidarsensorswhenmountedonagroundvehicleelectronicresource-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('meyer-bevly-martin-roppel-chen-onlinerotationalselfcalibrationoflidarsensorswhenmountedonagroundvehicleelectronicresource-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{meyer_online_2021,\n\ttitle = {Online {Rotational} {Self}-{Calibration} of {LiDAR} {Sensors} when {Mounted} on a {Ground} {Vehicle}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/7938},\n\tauthor = {Meyer, Stephanie W. and Bevly, David M. and Martin, Scott M. and Roppel, Thaddeus Adam and Chen, Howard},\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kamrath-baginski-martin-bevly-ambiguousenergysuppressioninencryptionderivedpseudorandombpskradarsignalselectronicresource-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8008\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kamrath-baginski-martin-bevly-ambiguousenergysuppressioninencryptionderivedpseudorandombpskradarsignalselectronicresource-2021', 'https://etd.auburn.edu//handle/10415/8008', event);\">\n    Ambiguous Energy Suppression in Encryption Derived Pseudo-Random BPSK Radar Signals. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Kamrath, L. J.; Baginski, M. E.; Martin, S. M.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/8008\"\n     onclick=\"log_download('kamrath-baginski-martin-bevly-ambiguousenergysuppressioninencryptionderivedpseudorandombpskradarsignalselectronicresource-2021', 'https://etd.auburn.edu//handle/10415/8008', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Ambiguous Energy Suppression in Encryption Derived Pseudo-Random BPSK Radar Signals. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kamrath-baginski-martin-bevly-ambiguousenergysuppressioninencryptionderivedpseudorandombpskradarsignalselectronicresource-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kamrath-baginski-martin-bevly-ambiguousenergysuppressioninencryptionderivedpseudorandombpskradarsignalselectronicresource-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{kamrath_ambiguous_2021,\n\ttitle = {Ambiguous {Energy} {Suppression} in {Encryption} {Derived} {Pseudo}-{Random} {BPSK} {Radar} {Signals}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/8008},\n\tauthor = {Kamrath, Luke J. and Baginski, Michael E. and Martin, Scott M. and Bevly, David M.},\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"givhan-martin-bevly-reeves-agpsl5softwaredefinedvectortrackingreceiverelectronicresource-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/7943\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'givhan-martin-bevly-reeves-agpsl5softwaredefinedvectortrackingreceiverelectronicresource-2021', 'https://etd.auburn.edu//handle/10415/7943', event);\">\n    A GPS L5 Software Defined Vector Tracking Receiver. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Givhan, C. A.; Martin, S. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Reeves, S.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/7943\"\n     onclick=\"log_download('givhan-martin-bevly-reeves-agpsl5softwaredefinedvectortrackingreceiverelectronicresource-2021', 'https://etd.auburn.edu//handle/10415/7943', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A GPS L5 Software Defined Vector Tracking Receiver. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/givhan-martin-bevly-reeves-agpsl5softwaredefinedvectortrackingreceiverelectronicresource-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('givhan-martin-bevly-reeves-agpsl5softwaredefinedvectortrackingreceiverelectronicresource-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{givhan_gps_2021,\n\ttitle = {A {GPS} {L5} {Software} {Defined} {Vector} {Tracking} {Receiver}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/7943},\n\tauthor = {Givhan, Charles Anderson and Martin, Scott M. and Bevly, David M. and Reeves, Stan},\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pryor-martin-bevly-hung-evaluationofcooperativenavigationstrategieswithmaneuveringuavselectronicresource-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/7871\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pryor-martin-bevly-hung-evaluationofcooperativenavigationstrategieswithmaneuveringuavselectronicresource-2021', 'https://etd.auburn.edu//handle/10415/7871', event);\">\n    Evaluation of Cooperative Navigation Strategies with Maneuvering UAVs. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Pryor, J.; Martin, S. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hung, J. Y.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/7871\"\n     onclick=\"log_download('pryor-martin-bevly-hung-evaluationofcooperativenavigationstrategieswithmaneuveringuavselectronicresource-2021', 'https://etd.auburn.edu//handle/10415/7871', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Evaluation of Cooperative Navigation Strategies with Maneuvering UAVs. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pryor-martin-bevly-hung-evaluationofcooperativenavigationstrategieswithmaneuveringuavselectronicresource-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pryor-martin-bevly-hung-evaluationofcooperativenavigationstrategieswithmaneuveringuavselectronicresource-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{pryor_evaluation_2021,\n\ttitle = {Evaluation of {Cooperative} {Navigation} {Strategies} with {Maneuvering} {UAVs}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/7871},\n\tauthor = {Pryor, Jacob and Martin, Scott M. and Bevly, David M. and Hung, John Y.},\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wood-martin-bevly-rose-detectionofgnssfaultsusingreceiverclockdriftestimateselectronicresource-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/7749\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wood-martin-bevly-rose-detectionofgnssfaultsusingreceiverclockdriftestimateselectronicresource-2021', 'https://etd.auburn.edu//handle/10415/7749', event);\">\n    Detection of GNSS Faults Using Receiver Clock Drift Estimates. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wood, J.; Martin, S. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Rose, C. A.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/7749\"\n     onclick=\"log_download('wood-martin-bevly-rose-detectionofgnssfaultsusingreceiverclockdriftestimateselectronicresource-2021', 'https://etd.auburn.edu//handle/10415/7749', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Detection of GNSS Faults Using Receiver Clock Drift Estimates. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wood-martin-bevly-rose-detectionofgnssfaultsusingreceiverclockdriftestimateselectronicresource-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wood-martin-bevly-rose-detectionofgnssfaultsusingreceiverclockdriftestimateselectronicresource-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{wood_detection_2021,\n\ttitle = {Detection of {GNSS} {Faults} {Using} {Receiver} {Clock} {Drift} {Estimates}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/7749},\n\tauthor = {Wood, Joshua and Martin, Scott M. and Bevly, David M. and Rose, Chad A.},\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"siefert-stegner-snitzer-ward-bevly-hoffman-usingdemandedpowerandrdeaggressivenessmetricstoanalyzetheimpactofcaccaggressivenessonheavydutyplatooningpowerconsumption-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Using Demanded Power and RDE Aggressiveness Metrics to Analyze the Impact of CACC Aggressiveness on Heavy Duty Platooning Power Consumption.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Siefert, J.; Stegner, E.; Snitzer, P.; Ward, J.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>;  and Hoffman, M.\n</span>\n\n  \n\n</span>\n\n  In  2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/siefert-stegner-snitzer-ward-bevly-hoffman-usingdemandedpowerandrdeaggressivenessmetricstoanalyzetheimpactofcaccaggressivenessonheavydutyplatooningpowerconsumption-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('siefert-stegner-snitzer-ward-bevly-hoffman-usingdemandedpowerandrdeaggressivenessmetricstoanalyzetheimpactofcaccaggressivenessonheavydutyplatooningpowerconsumption-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{siefert_using_2021,\n\ttitle = {Using {Demanded} {Power} and {RDE} {Aggressiveness} {Metrics} to {Analyze} the {Impact} of {CACC} {Aggressiveness} on {Heavy} {Duty} {Platooning} {Power} {Consumption}},\n\tauthor = {Siefert, J. and Stegner, E. and Snitzer, P. and Ward, J. and Bevly, D. and Hoffman, M.},\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"brian-trackbasedaerodynamictestingofatwotruckplatoon-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsstp&amp;AN=edsstp.2021.01.0941&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'brian-trackbasedaerodynamictestingofatwotruckplatoon-2021', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsstp&amp;AN=edsstp.2021.01.0941&amp;site=eds-live&amp;scope=site', event);\">\n    Track-Based Aerodynamic Testing of a Two-Truck Platoon.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Brian, M.\n</span>\n\n  \n\n</span>\n\n  <i>SAE International Journal of Advances and Current Practices in Mobility</i>, 3(3): 1450 – 1472. April 2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsstp&amp;AN=edsstp.2021.01.0941&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('brian-trackbasedaerodynamictestingofatwotruckplatoon-2021', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsstp&amp;AN=edsstp.2021.01.0941&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Track-Based Aerodynamic Testing of a Two-Truck Platoon [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/brian-trackbasedaerodynamictestingofatwotruckplatoon-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('brian-trackbasedaerodynamictestingofatwotruckplatoon-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{brian_track-based_2021,\n\ttitle = {Track-{Based} {Aerodynamic} {Testing} of a {Two}-{Truck} {Platoon}},\n\tvolume = {3},\n\tissn = {2641-9637, 2641-9645},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsstp&amp;AN=edsstp.2021.01.0941&amp;site=eds-live&amp;scope=site},\n\tabstract = {Fuel savings from truck platooning are generally attributed to an aerodynamic drag-reduction phenomena associated with close-proximity driving. The current paper is the third in a series of papers documenting track testing of a two-truck platoon with a Cooperative Adaptive Cruise Control (CACC) system where fuel savings and aerodynamics measurements were performed simultaneously. Constant-speed road-load measurements from instrumented driveshafts and on-board wind anemometry were combined with vehicle measurements to calculate the aerodynamic drag-area of the vehicles.The drag-area results are presented for each vehicle in the two-truck platoon, and the corresponding drag-area reductions are shown for a variety of conditions: gap separation distances (9 m to 87 m), lateral offsets (up to 1.3 m), dry-van and flatbed trailers, and in the presence of surrounding traffic. For the standard aligned platoon, the results demonstrate up to 8\\% drag reduction for the lead vehicle, with drag reductions exceeding 20\\% for the trailing vehicle at some yaw angles. Wind-velocity measurements on the following truck suggest that the drag-area reductions are due to a combined effect of reduced apparent wind speed and reduced effective yaw angle in the wake of the lead truck. In the presence of a three-vehicle traffic pattern forward of a single truck, drag-area reductions on the order of 10\\% were observed relative to the same truck travelling in isolation. When platooning with this surrounding-traffic pattern, the trends and magnitudes of aerodynamic drag reduction are shown to be retained, relative to the platoon in the absence of other traffic, corroborating observed trends in of fuel-savings performed simultaneously.As a supplement to the current study, a first-of-its-kind coast-down test was undertaken with the two-truck platoon where the CACC system was used to maintain a constant distance between the vehicles during each coast. The CACC system was used on the following vehicle when the lead vehicle was coasting and on the lead vehicle when the follower was coasting. Despite some scatter in the data from this proof-of-concept study, the results are consistent with those of the principal constant-speed measurement technique of this paper. This preliminary study demonstrates that the coast-down test method, which previously was only applied for single vehicles, is also applicable to vehicle platoons.},\n\tnumber = {3},\n\tjournal = {SAE International Journal of Advances and Current Practices in Mobility},\n\tauthor = {Brian, McAuliffe},\n\tmonth = apr,\n\tyear = {2021},\n\tpages = {1450 -- 1472},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Fuel savings from truck platooning are generally attributed to an aerodynamic drag-reduction phenomena associated with close-proximity driving. The current paper is the third in a series of papers documenting track testing of a two-truck platoon with a Cooperative Adaptive Cruise Control (CACC) system where fuel savings and aerodynamics measurements were performed simultaneously. Constant-speed road-load measurements from instrumented driveshafts and on-board wind anemometry were combined with vehicle measurements to calculate the aerodynamic drag-area of the vehicles.The drag-area results are presented for each vehicle in the two-truck platoon, and the corresponding drag-area reductions are shown for a variety of conditions: gap separation distances (9 m to 87 m), lateral offsets (up to 1.3 m), dry-van and flatbed trailers, and in the presence of surrounding traffic. For the standard aligned platoon, the results demonstrate up to 8% drag reduction for the lead vehicle, with drag reductions exceeding 20% for the trailing vehicle at some yaw angles. Wind-velocity measurements on the following truck suggest that the drag-area reductions are due to a combined effect of reduced apparent wind speed and reduced effective yaw angle in the wake of the lead truck. In the presence of a three-vehicle traffic pattern forward of a single truck, drag-area reductions on the order of 10% were observed relative to the same truck travelling in isolation. When platooning with this surrounding-traffic pattern, the trends and magnitudes of aerodynamic drag reduction are shown to be retained, relative to the platoon in the absence of other traffic, corroborating observed trends in of fuel-savings performed simultaneously.As a supplement to the current study, a first-of-its-kind coast-down test was undertaken with the two-truck platoon where the CACC system was used to maintain a constant distance between the vehicles during each coast. The CACC system was used on the following vehicle when the lead vehicle was coasting and on the lead vehicle when the follower was coasting. Despite some scatter in the data from this proof-of-concept study, the results are consistent with those of the principal constant-speed measurement technique of this paper. This preliminary study demonstrates that the coast-down test method, which previously was only applied for single vehicles, is also applicable to vehicle platoons.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"castleberry-roppel-martin-bevly-reeves-methodsforimprovingvisualterrainrelativenavigationfordynamicaerialsystemselectronicresource-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/7699\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'castleberry-roppel-martin-bevly-reeves-methodsforimprovingvisualterrainrelativenavigationfordynamicaerialsystemselectronicresource-2021', 'https://etd.auburn.edu//handle/10415/7699', event);\">\n    Methods for Improving Visual Terrain Relative Navigation for Dynamic Aerial Systems. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Castleberry, M.; Roppel, T. A.; Martin, S. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Reeves, S.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/7699\"\n     onclick=\"log_download('castleberry-roppel-martin-bevly-reeves-methodsforimprovingvisualterrainrelativenavigationfordynamicaerialsystemselectronicresource-2021', 'https://etd.auburn.edu//handle/10415/7699', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Methods for Improving Visual Terrain Relative Navigation for Dynamic Aerial Systems. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/castleberry-roppel-martin-bevly-reeves-methodsforimprovingvisualterrainrelativenavigationfordynamicaerialsystemselectronicresource-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('castleberry-roppel-martin-bevly-reeves-methodsforimprovingvisualterrainrelativenavigationfordynamicaerialsystemselectronicresource-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{castleberry_methods_2021,\n\ttitle = {Methods for {Improving} {Visual} {Terrain} {Relative} {Navigation} for {Dynamic} {Aerial} {Systems}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/7699},\n\tauthor = {Castleberry, Matthew and Roppel, Thaddeus Adam and Martin, Scott M. and Bevly, David M. and Reeves, Stan},\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"watts-martin-bevly-cooperativevectortrackingforlocalizationofvehiclesinchallenginggnsssignalenvironments-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.9564468&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'watts-martin-bevly-cooperativevectortrackingforlocalizationofvehiclesinchallenginggnsssignalenvironments-2021', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.9564468&amp;site=eds-live&amp;scope=site', event);\">\n    Cooperative Vector Tracking for Localization of Vehicles in Challenging GNSS Signal Environments.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Watts, T.; Martin, S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2021 IEEE International Intelligent Transportation Systems Conference (ITSC) Intelligent Transportation Systems Conference (ITSC),2021</i>, September 2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.9564468&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('watts-martin-bevly-cooperativevectortrackingforlocalizationofvehiclesinchallenginggnsssignalenvironments-2021', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.9564468&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Cooperative Vector Tracking for Localization of Vehicles in Challenging GNSS Signal Environments [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/watts-martin-bevly-cooperativevectortrackingforlocalizationofvehiclesinchallenginggnsssignalenvironments-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('watts-martin-bevly-cooperativevectortrackingforlocalizationofvehiclesinchallenginggnsssignalenvironments-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{watts_cooperative_2021,\n\ttitle = {Cooperative {Vector} {Tracking} for {Localization} of {Vehicles} in {Challenging} {GNSS} {Signal} {Environments}},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.9564468&amp;site=eds-live&amp;scope=site},\n\tabstract = {This paper presents a robust method of processing GNSS data for vehicle localization in degraded signal environments where conventional receivers struggle to accurately position. The method relies on cooperation between receivers that use vector tracking, an advanced signal processing architecture for GNSS. Cooperation is performed through an EKF algorithm that can be employed for standalone or cooperative navigation by coupling stochastic receiver dynamics together. Simulation results are presented that demonstrate vehicle positioning is accurately achieved with cooperation under low C/N 0 ratio conditions where standalone vector tracking is not stable and improved by including more collaborating receivers to the algorithm. The simulation claims are validated experimentally with GPS test data from a four-vehicle platoon traveling on an interstate exchange that incurs signal blockages from bridges.},\n\tbooktitle = {2021 {IEEE} {International} {Intelligent} {Transportation} {Systems} {Conference} ({ITSC}) {Intelligent} {Transportation} {Systems} {Conference} ({ITSC}),2021},\n\tauthor = {Watts, Tanner and Martin, Scott and Bevly, David},\n\tmonth = sep,\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper presents a robust method of processing GNSS data for vehicle localization in degraded signal environments where conventional receivers struggle to accurately position. The method relies on cooperation between receivers that use vector tracking, an advanced signal processing architecture for GNSS. Cooperation is performed through an EKF algorithm that can be employed for standalone or cooperative navigation by coupling stochastic receiver dynamics together. Simulation results are presented that demonstrate vehicle positioning is accurately achieved with cooperation under low C/N 0 ratio conditions where standalone vector tracking is not stable and improved by including more collaborating receivers to the algorithm. The simulation claims are validated experimentally with GPS test data from a four-vehicle platoon traveling on an interstate exchange that incurs signal blockages from bridges.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"camposvega-watts-martin-chen-bevly-navigationthroughtheprocessingofandroiddatawithahighorderkalmanfilter-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Navigation through the Processing of Android Data with a High-Order Kalman Filter.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Campos-Vega, C.; Watts, T.; Martin, S.; Chen, H.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In St. Louis, MO,  2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/camposvega-watts-martin-chen-bevly-navigationthroughtheprocessingofandroiddatawithahighorderkalmanfilter-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('camposvega-watts-martin-chen-bevly-navigationthroughtheprocessingofandroiddatawithahighorderkalmanfilter-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{campos-vega_navigation_2021,\n\taddress = {St. Louis, MO},\n\ttitle = {Navigation through the {Processing} of {Android} {Data} with a {High}-{Order} {Kalman} {Filter}},\n\tabstract = {This paper presents a fourth order Extended Kalman Filter (EKF) that processes Android smartphone data for positioning and navigation. The EKF utilizes GNSS, IMU, and magnetometer sensor outputs for correction to its states. Unlike traditional GPS/INS error state recursions, the EKF processes the IMU outputs through the measurement observation matrix. The high-order EKF includes Fault Detection and Exclusion (FDE) to remove erroneous measurements. The navigation algorithm was evaluated with Pixel 4 and Pixel 4XL training data provided by the Google Smartphone Decimeter Challenge. The experimental results indicate the smartphones’ GNSS chip receivers provide positions with accuracies of roughly 1.5 meters at a rate of 1 Hz. The high-order EKF provides positions with accuracies of roughly 3 meters at a rate of 100 Hz. Furthermore, the high-order EKF can accurately navigate under motion with the IMU and magnetometer sensors for 5 to 10 seconds without GNSS. In cases when the GNSS has position faults, the EKF successfully rejects the outliers with FDE and continues to navigate. Future work includes augmenting the EKF with an adaptive process noise tuning algorithm, including sensor bia},\n\tauthor = {Campos-Vega, Christian and Watts, Tanner and Martin, Scott and Chen, Howard and Bevly, David},\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper presents a fourth order Extended Kalman Filter (EKF) that processes Android smartphone data for positioning and navigation. The EKF utilizes GNSS, IMU, and magnetometer sensor outputs for correction to its states. Unlike traditional GPS/INS error state recursions, the EKF processes the IMU outputs through the measurement observation matrix. The high-order EKF includes Fault Detection and Exclusion (FDE) to remove erroneous measurements. The navigation algorithm was evaluated with Pixel 4 and Pixel 4XL training data provided by the Google Smartphone Decimeter Challenge. The experimental results indicate the smartphones’ GNSS chip receivers provide positions with accuracies of roughly 1.5 meters at a rate of 1 Hz. The high-order EKF provides positions with accuracies of roughly 3 meters at a rate of 100 Hz. Furthermore, the high-order EKF can accurately navigate under motion with the IMU and magnetometer sensors for 5 to 10 seconds without GNSS. In cases when the GNSS has position faults, the EKF successfully rejects the outliers with FDE and continues to navigate. Future work includes augmenting the EKF with an adaptive process noise tuning algorithm, including sensor bia\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"mifflin-bevly-autonomousdirectcalibrationofaninertialmeasurementunit-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Autonomous Direct Calibration of an Inertial Measurement Unit.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Mifflin, G.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In St. Louis, MO,  2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/mifflin-bevly-autonomousdirectcalibrationofaninertialmeasurementunit-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('mifflin-bevly-autonomousdirectcalibrationofaninertialmeasurementunit-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{mifflin_autonomous_2021,\n\taddress = {St. Louis, MO},\n\ttitle = {Autonomous {Direct} {Calibration} of an {Inertial} {Measurement} {Unit}},\n\tauthor = {Mifflin, Greg and Bevly, David},\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"meyer-chen-bevly-automaticextrinsicrotationalcalibrationoflidarsensorsandvehicleorientationestimation-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Automatic Extrinsic Rotational Calibration of LiDAR Sensors and Vehicle Orientation Estimation.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Meyer, S.; Chen, H.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Advanced Signal Processing, Estimation and Control in Automotive Applications</i>, UT Austin, USA, October 2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/meyer-chen-bevly-automaticextrinsicrotationalcalibrationoflidarsensorsandvehicleorientationestimation-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('meyer-chen-bevly-automaticextrinsicrotationalcalibrationoflidarsensorsandvehicleorientationestimation-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{meyer_automatic_2021,\n\taddress = {UT Austin, USA},\n\ttitle = {Automatic {Extrinsic} {Rotational} {Calibration} of {LiDAR} {Sensors} and {Vehicle} {Orientation} {Estimation}},\n\tabstract = {Whether a vehicle is being used for an autonomous mission or in support of data collection and\nresearch, extrinsic calibration to align the vehicle’s sensors to a reference point on the vehicle is integral\nto ensuring that quality data is available to the system. This is particularly true for vision and distance\nsensors, such as LiDAR, which must be well-located with respect to the vehicle body before they can\nprovide meaningful localization or environmental modeling assistance. This paper outlines an automatic\napproach for calibrating a LiDAR to the body of a ground vehicle using only the data from the LiDAR\nitself. This approach assumes that the LiDAR is able to sample at least a one meter square section of\nlevel ground, and that the vehicle travels along a straight section of roadway with a well-marked road\nedge at some point during the calibration, while closely following the trajectory of the road edge. This\nmethod has been able to automatically calibrate a LiDAR to yield 0.08 and 0.12 degrees of error in roll\nand pitch respectively when comparing estimated ground pitch and roll to the orientation estimates from\na truth sensor.},\n\tbooktitle = {Advanced {Signal} {Processing}, {Estimation} and {Control} in {Automotive} {Applications}},\n\tauthor = {Meyer, Stephanie and Chen, Howard and Bevly, David},\n\tmonth = oct,\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Whether a vehicle is being used for an autonomous mission or in support of data collection and research, extrinsic calibration to align the vehicle’s sensors to a reference point on the vehicle is integral to ensuring that quality data is available to the system. This is particularly true for vision and distance sensors, such as LiDAR, which must be well-located with respect to the vehicle body before they can provide meaningful localization or environmental modeling assistance. This paper outlines an automatic approach for calibrating a LiDAR to the body of a ground vehicle using only the data from the LiDAR itself. This approach assumes that the LiDAR is able to sample at least a one meter square section of level ground, and that the vehicle travels along a straight section of roadway with a well-marked road edge at some point during the calibration, while closely following the trajectory of the road edge. This method has been able to automatically calibrate a LiDAR to yield 0.08 and 0.12 degrees of error in roll and pitch respectively when comparing estimated ground pitch and roll to the orientation estimates from a truth sensor.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"clakshmananadam-richardsons-stegnerp-warde-hoffmanj-bevlyd-correlationbetweensensorperformanceandfuelefficiencyinsemitruckplatoons-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Correlation Between Sensor Performance and Fuel-Efficiency in Semi-Truck Platoons.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  C. Lakshmanan Adam; Richardson S.; Stegner P.; Ward E.; Hoffman J.;  and Bevly D.\n</span>\n\n  \n\n</span>\n\n  In  2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/clakshmananadam-richardsons-stegnerp-warde-hoffmanj-bevlyd-correlationbetweensensorperformanceandfuelefficiencyinsemitruckplatoons-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('clakshmananadam-richardsons-stegnerp-warde-hoffmanj-bevlyd-correlationbetweensensorperformanceandfuelefficiencyinsemitruckplatoons-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{c_lakshmanan_adam_correlation_2021,\n\ttitle = {Correlation {Between} {Sensor} {Performance} and {Fuel}-{Efficiency} in {Semi}-{Truck} {Platoons}},\n\tauthor = {{C. Lakshmanan Adam} and {Richardson S.} and {Stegner P.} and {Ward E.} and {Hoffman J.} and {Bevly D.}},\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"mcdougal-singleantennalowearthorbitsignalsimulatorforhardwareinthelooptestingtextbartechnicalprogramiongnss2022-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.ion.org/gnss/abstracts.cfm?paperID=11519\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'mcdougal-singleantennalowearthorbitsignalsimulatorforhardwareinthelooptestingtextbartechnicalprogramiongnss2022-2021', 'https://www.ion.org/gnss/abstracts.cfm?paperID=11519', event);\">\n    Single-Antenna Low Earth Orbit Signal Simulator for Hardware in the Loop Testing \\textbar Technical Program - ION GNSS+ 2022.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  McDougal, S.\n</span>\n\n  \n\n</span>\n\n  In  2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.ion.org/gnss/abstracts.cfm?paperID=11519\"\n     onclick=\"log_download('mcdougal-singleantennalowearthorbitsignalsimulatorforhardwareinthelooptestingtextbartechnicalprogramiongnss2022-2021', 'https://www.ion.org/gnss/abstracts.cfm?paperID=11519', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Single-Antenna Low Earth Orbit Signal Simulator for Hardware in the Loop Testing \\textbar Technical Program - ION GNSS+ 2022 [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/mcdougal-singleantennalowearthorbitsignalsimulatorforhardwareinthelooptestingtextbartechnicalprogramiongnss2022-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('mcdougal-singleantennalowearthorbitsignalsimulatorforhardwareinthelooptestingtextbartechnicalprogramiongnss2022-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{mcdougal_single-antenna_2021,\n\ttitle = {Single-{Antenna} {Low} {Earth} {Orbit} {Signal} {Simulator} for {Hardware} in the {Loop} {Testing} {\\textbar} {Technical} {Program} - {ION} {GNSS}+ 2022},\n\turl = {https://www.ion.org/gnss/abstracts.cfm?paperID=11519},\n\turldate = {2022-04-20},\n\tauthor = {McDougal, Samuel},\n\tyear = {2021},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"adam-lakshmanan-richardson-stegner-ward-hoffman-bevly-correlationbetweensensorperformanceautonomyperformanceandfuelefficiencyinsemitruckplatoons-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://doi.org/10.4271/2021-01-0064\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'adam-lakshmanan-richardson-stegner-ward-hoffman-bevly-correlationbetweensensorperformanceautonomyperformanceandfuelefficiencyinsemitruckplatoons-2021', 'https://doi.org/10.4271/2021-01-0064', event);\">\n    Correlation between Sensor Performance, Autonomy Performance and Fuel-Efficiency in Semi-Truck Platoons.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Adam, C.; Lakshmanan, S.; Richardson, P.; Stegner, E.; Ward, J.; Hoffman, M.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  <i>SAE Technical Paper Series</i>.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://doi.org/10.4271/2021-01-0064\"\n     onclick=\"log_download('adam-lakshmanan-richardson-stegner-ward-hoffman-bevly-correlationbetweensensorperformanceautonomyperformanceandfuelefficiencyinsemitruckplatoons-2021', 'https://doi.org/10.4271/2021-01-0064', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Correlation between Sensor Performance, Autonomy Performance and Fuel-Efficiency in Semi-Truck Platoons [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.4271/2021-01-0064\"\n     onclick=\"log_download('adam-lakshmanan-richardson-stegner-ward-hoffman-bevly-correlationbetweensensorperformanceautonomyperformanceandfuelefficiencyinsemitruckplatoons-2021', 'http://doi.org/https://doi.org/10.4271/2021-01-0064', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/adam-lakshmanan-richardson-stegner-ward-hoffman-bevly-correlationbetweensensorperformanceautonomyperformanceandfuelefficiencyinsemitruckplatoons-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('adam-lakshmanan-richardson-stegner-ward-hoffman-bevly-correlationbetweensensorperformanceautonomyperformanceandfuelefficiencyinsemitruckplatoons-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{adam_correlation_2021,\n\ttitle = {Correlation between {Sensor} {Performance}, {Autonomy} {Performance} and {Fuel}-{Efficiency} in {Semi}-{Truck} {Platoons}},\n\turl = {https://doi.org/10.4271/2021-01-0064},\n\tdoi = {https://doi.org/10.4271/2021-01-0064},\n\tjournal = {SAE Technical Paper Series},\n\tauthor = {Adam, Cristian and Lakshmanan, Sridhar and Richardson, Paul and Stegner, Evan and Ward, Jacob and Hoffman, Mark and Bevly, David M.},\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"boler-martin-multispectralvisualinertialnavigationusingaduallayerestimatorandtargetedhistogramequalization-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://doi.org/10.33012/2021.18082\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'boler-martin-multispectralvisualinertialnavigationusingaduallayerestimatorandtargetedhistogramequalization-2021', 'https://doi.org/10.33012/2021.18082', event);\">\n    Multispectral Visual-Inertial Navigation Using a Dual-Layer Estimator and Targeted Histogram Equalization.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Boler, M.;  and Martin, S.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation</i>,  2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://doi.org/10.33012/2021.18082\"\n     onclick=\"log_download('boler-martin-multispectralvisualinertialnavigationusingaduallayerestimatorandtargetedhistogramequalization-2021', 'https://doi.org/10.33012/2021.18082', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Multispectral Visual-Inertial Navigation Using a Dual-Layer Estimator and Targeted Histogram Equalization [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.33012/2021.18082\"\n     onclick=\"log_download('boler-martin-multispectralvisualinertialnavigationusingaduallayerestimatorandtargetedhistogramequalization-2021', 'http://doi.org/https://doi.org/10.33012/2021.18082', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/boler-martin-multispectralvisualinertialnavigationusingaduallayerestimatorandtargetedhistogramequalization-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('boler-martin-multispectralvisualinertialnavigationusingaduallayerestimatorandtargetedhistogramequalization-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{boler_multispectral_2021,\n\ttitle = {Multispectral {Visual}-{Inertial} {Navigation} {Using} a {Dual}-{Layer} {Estimator} and {Targeted} {Histogram} {Equalization}},\n\turl = {https://doi.org/10.33012/2021.18082},\n\tdoi = {https://doi.org/10.33012/2021.18082},\n\tbooktitle = {Proceedings of the 34th {International} {Technical} {Meeting} of the {Satellite} {Division} of {The} {Institute} of {Navigation}},\n\tauthor = {Boler, Matthew and Martin, Scott},\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"mcwilliams-chen-kamrath-bevly-magneticlocalizationthroughinsintegrationandimprovementsinmapmatching-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Magnetic Localization through INS Integration and Improvements in Map Matching.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  McWilliams, R.; Chen, H.; Kamrath, L.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation</i>, September 2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/mcwilliams-chen-kamrath-bevly-magneticlocalizationthroughinsintegrationandimprovementsinmapmatching-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('mcwilliams-chen-kamrath-bevly-magneticlocalizationthroughinsintegrationandimprovementsinmapmatching-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{mcwilliams_magnetic_2021,\n\ttitle = {Magnetic {Localization} through {INS} {Integration} and {Improvements} in {Map} {Matching}},\n\tbooktitle = {Proceedings of the 34th {International} {Technical} {Meeting} of the {Satellite} {Division} of {The} {Institute} of {Navigation}},\n\tauthor = {McWilliams, Ryan and Chen, Howard and Kamrath, Luke and Bevly, David},\n\tmonth = sep,\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bryan-boler-bevly-avehicleindependentautonomouslanekeepingandpathtrackingsystem-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  A Vehicle-Independent Autonomous Lane Keeping and Path Tracking System.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Bryan, W. T.; Boler, M. E.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  <i>IFAC-PapersOnLine 54, no. 2</i>, 2.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bryan-boler-bevly-avehicleindependentautonomouslanekeepingandpathtrackingsystem-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bryan-boler-bevly-avehicleindependentautonomouslanekeepingandpathtrackingsystem-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{bryan_vehicle-independent_2021,\n\ttitle = {A {Vehicle}-{Independent} {Autonomous} {Lane} {Keeping} and {Path} {Tracking} {System}},\n\tvolume = {2},\n\tjournal = {IFAC-PapersOnLine 54, no. 2},\n\tauthor = {Bryan, William T. and Boler, Matthew E. and Bevly, David M.},\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"strong-martin-bevly-utilizinghiddenmarkovmodelstoclassifymaneuversandimproveestimatesofanunmannedaerialvehicle-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Utilizing Hidden Markov Models to Classify Maneuvers and Improve Estimates of an Unmanned Aerial Vehicle.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Strong, A.; Martin, S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Modeling, Estimation, and Control Conference</i>, volume 54, Austin, TX, October 2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/strong-martin-bevly-utilizinghiddenmarkovmodelstoclassifymaneuversandimproveestimatesofanunmannedaerialvehicle-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('strong-martin-bevly-utilizinghiddenmarkovmodelstoclassifymaneuversandimproveestimatesofanunmannedaerialvehicle-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{strong_utilizing_2021,\n\taddress = {Austin, TX},\n\ttitle = {Utilizing {Hidden} {Markov} {Models} to {Classify} {Maneuvers} and {Improve} {Estimates} of an {Unmanned} {Aerial} {Vehicle}},\n\tvolume = {54},\n\tabstract = {Estimating the states of a Unmanned Aerial Vehicle (UAV) without the use of on-\nboard sensors can be diffcult, particularly if the UAV is performing high dynamic maneuvers.\nThis paper examines if data driven modelling can assist in estimating UAV states, as well as\nclassiffcation of UAV maneuvers. A standard Extended Kalman Filter (EKF) that uses radar\nmeasurements and a constant acceleration dynamic model is used as the baseline estimation\ntechnique for dynamic UAV maneuvers. The UAV maneuvers are then modelled as Hidden\nMarkov Models (HMM), which classify maneuvers and generate additional state information\nin the form of acceleration and jerk estimates. These HMM estimates are incorporated into\nan EKF to create a fusion EKF+HMM. This paper evaluates the robustness of the HMM\nclassifcation accuracy and compares the EKF+HMM to a standard EKF using both simulated\nand experimental data.},\n\tbooktitle = {Modeling, {Estimation}, and {Control} {Conference}},\n\tauthor = {Strong, Amy and Martin, Scott and Bevly, David},\n\tmonth = oct,\n\tyear = {2021},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Estimating the states of a Unmanned Aerial Vehicle (UAV) without the use of on- board sensors can be diffcult, particularly if the UAV is performing high dynamic maneuvers. This paper examines if data driven modelling can assist in estimating UAV states, as well as classiffcation of UAV maneuvers. A standard Extended Kalman Filter (EKF) that uses radar measurements and a constant acceleration dynamic model is used as the baseline estimation technique for dynamic UAV maneuvers. The UAV maneuvers are then modelled as Hidden Markov Models (HMM), which classify maneuvers and generate additional state information in the form of acceleration and jerk estimates. These HMM estimates are incorporated into an EKF to create a fusion EKF+HMM. This paper evaluates the robustness of the HMM classifcation accuracy and compares the EKF+HMM to a standard EKF using both simulated and experimental data.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"mcwilliams-chen-kamrath-bevly-localizationthroughinsintegrationandimprovementsinmapping-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Localization Through INS Integration and Improvements in Mapping.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  McWilliams, R.; Chen, H.; Kamrath, L.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In St. Louis, MO,  2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/mcwilliams-chen-kamrath-bevly-localizationthroughinsintegrationandimprovementsinmapping-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('mcwilliams-chen-kamrath-bevly-localizationthroughinsintegrationandimprovementsinmapping-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{mcwilliams_localization_2021,\n\taddress = {St. Louis, MO},\n\ttitle = {Localization {Through} {INS} {Integration} and {Improvements} in {Mapping}},\n\tabstract = {Navigation by means of magnetic map-based particle filters has already been proven feasible in specific conditions and under\nstrict adherance to mapped areas. Ambiguties inherent to the magnetic signal may be mitigated by fusing the filter with additional\nmeasurements, most accessibly from an accelerometer. Acceleration measurements can be used to improve the measurement\nupdate step by providing additional information for likelihood estimation. This approach was tested against a magnetometer-only\nfilter and found improvements in the best-case and average performance, but greater variability in maximum error and decreased\nfilter stability. Additionally, it was used to help gauge navigability and recoverability in instances of attempted localization\nnot on the mapped route. Both approaches could recover from brief diversions from the map but could not overcome longer\ndiversions that skipped segments of the map. Also introduced to help positioning estimation is spatial correlation analysis,\na likelihood technique that takes into account multiple navigation samples and signal scaling. This technique is found to be\ncompetitive in accuracy but much more computationally demanding than the traditional aggregate bin likelihood technique.},\n\tauthor = {McWilliams, Ryan and Chen, Howard and Kamrath, Luke and Bevly, David},\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Navigation by means of magnetic map-based particle filters has already been proven feasible in specific conditions and under strict adherance to mapped areas. Ambiguties inherent to the magnetic signal may be mitigated by fusing the filter with additional measurements, most accessibly from an accelerometer. Acceleration measurements can be used to improve the measurement update step by providing additional information for likelihood estimation. This approach was tested against a magnetometer-only filter and found improvements in the best-case and average performance, but greater variability in maximum error and decreased filter stability. Additionally, it was used to help gauge navigability and recoverability in instances of attempted localization not on the mapped route. Both approaches could recover from brief diversions from the map but could not overcome longer diversions that skipped segments of the map. Also introduced to help positioning estimation is spatial correlation analysis, a likelihood technique that takes into account multiple navigation samples and signal scaling. This technique is found to be competitive in accuracy but much more computationally demanding than the traditional aggregate bin likelihood technique.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"thompson-martin-bevly-singledifferenceddopplerpositioningwithlowearthorbitsignalsofopportunityandangleofarrivalestimation-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Single Differenced Doppler Positioning with Low Earth Orbit Signals of Opportunity and Angle of Arrival Estimation.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Thompson, S.; Martin, S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In January 2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/thompson-martin-bevly-singledifferenceddopplerpositioningwithlowearthorbitsignalsofopportunityandangleofarrivalestimation-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('thompson-martin-bevly-singledifferenceddopplerpositioningwithlowearthorbitsignalsofopportunityandangleofarrivalestimation-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{thompson_single_2021,\n\ttitle = {Single {Differenced} {Doppler} {Positioning} with {Low} {Earth} {Orbit} {Signals} of {Opportunity} and {Angle} of {Arrival} {Estimation}},\n\tauthor = {Thompson, Sterling and Martin, Scott and Bevly, David},\n\tmonth = jan,\n\tyear = {2021},\n}\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2020\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2020')\"\n      onkeypress=\"toggleGroup('group_2020')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2020</span>\n      <span class=\"bibbase_group_count\">\n        \n        (16)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"wood-thompson-martin-bevly-gpspositioninginreducedcoverageenvironmentsusingbatcheddopplerandpseudorangemeasurements-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.9110186&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wood-thompson-martin-bevly-gpspositioninginreducedcoverageenvironmentsusingbatcheddopplerandpseudorangemeasurements-2020', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.9110186&amp;site=eds-live&amp;scope=site', event);\">\n    GPS Positioning in Reduced Coverage Environments Using Batched Doppler and Pseudorange Measurements.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wood, J.; Thompson, S.; Martin, S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In April 2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.9110186&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('wood-thompson-martin-bevly-gpspositioninginreducedcoverageenvironmentsusingbatcheddopplerandpseudorangemeasurements-2020', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.9110186&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"GPS Positioning in Reduced Coverage Environments Using Batched Doppler and Pseudorange Measurements [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wood-thompson-martin-bevly-gpspositioninginreducedcoverageenvironmentsusingbatcheddopplerandpseudorangemeasurements-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wood-thompson-martin-bevly-gpspositioninginreducedcoverageenvironmentsusingbatcheddopplerandpseudorangemeasurements-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{wood_gps_2020,\n\ttitle = {{GPS} {Positioning} in {Reduced} {Coverage} {Environments} {Using} {Batched} {Doppler} and {Pseudorange} {Measurements}},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.9110186&amp;site=eds-live&amp;scope=site},\n\tabstract = {This paper summarizes Doppler positioning and clock modeling. A combined pseudorange and Doppler measurement model is discussed, as well as implications of using Doppler for positioning with the GPS constellation. The combined Doppler and pseudorange algorithm is compared to the standard GPS positioning method, and the constraints on the Doppler positioning will be analyzed. The accuracy of the batched results is compared to GPS positioning. Results for various scenarios with varying satellite visibility are shown. The results of the batched solutions are compared to the performance of standard GPS positioning in different environments.},\n\tpublisher = {IEEE},\n\tauthor = {Wood, Joshua and Thompson, Sterling and Martin, Scott and Bevly, David},\n\tmonth = apr,\n\tyear = {2020},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper summarizes Doppler positioning and clock modeling. A combined pseudorange and Doppler measurement model is discussed, as well as implications of using Doppler for positioning with the GPS constellation. The combined Doppler and pseudorange algorithm is compared to the standard GPS positioning method, and the constraints on the Doppler positioning will be analyzed. The accuracy of the batched results is compared to GPS positioning. Results for various scenarios with varying satellite visibility are shown. The results of the batched solutions are compared to the performance of standard GPS positioning in different environments.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"burchfield-martin-bevly-starling-performanceanalysisoflowswapcjammingmitigationmethodsforcommercialapplications-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Performance Analysis of Low SWaP-C Jamming Mitigation Methods for Commercial Applications.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Burchfield, S.; Martin, S.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>;  and Starling, J.\n</span>\n\n  \n\n</span>\n\n  In September 2020. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/burchfield-martin-bevly-starling-performanceanalysisoflowswapcjammingmitigationmethodsforcommercialapplications-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('burchfield-martin-bevly-starling-performanceanalysisoflowswapcjammingmitigationmethodsforcommercialapplications-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{burchfield_performance_2020,\n\ttitle = {Performance {Analysis} of {Low} {SWaP}-{C} {Jamming} {Mitigation} {Methods} for {Commercial} {Applications}},\n\tauthor = {Burchfield, Scott and Martin, Scott and Bevly, David and Starling, Joshua},\n\tmonth = sep,\n\tyear = {2020},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lammert-mcauliffe-smith-others-impactoflateralalignmentontheenergysavingsofatruckplatoon-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Impact of Lateral Alignment on the Energy Savings of a Truck Platoon.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Lammert, M.; McAuliffe, B.; Smith, P.;  and others\n</span>\n\n  \n\n</span>\n\n  In  2020. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lammert-mcauliffe-smith-others-impactoflateralalignmentontheenergysavingsofatruckplatoon-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lammert-mcauliffe-smith-others-impactoflateralalignmentontheenergysavingsofatruckplatoon-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{lammert_impact_2020,\n\ttitle = {Impact of {Lateral} {Alignment} on the {Energy} {Savings} of a {Truck} {Platoon}},\n\tauthor = {Lammert, M. and McAuliffe, B. and Smith, P. and {others}},\n\tyear = {2020},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bryan-bevly-stayinginsidethelineselectronicresourcevehicleagnosticpathfollowingusingcascadedadaptivecontrol-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/7527\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bryan-bevly-stayinginsidethelineselectronicresourcevehicleagnosticpathfollowingusingcascadedadaptivecontrol-2020', 'http://hdl.handle.net/10415/7527', event);\">\n    Staying Inside the Lines. [electronic resource] : Vehicle Agnostic Path Following Using Cascaded Adaptive Control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Bryan, W.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/7527\"\n     onclick=\"log_download('bryan-bevly-stayinginsidethelineselectronicresourcevehicleagnosticpathfollowingusingcascadedadaptivecontrol-2020', 'http://hdl.handle.net/10415/7527', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Staying Inside the Lines. [electronic resource] : Vehicle Agnostic Path Following Using Cascaded Adaptive Control. [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bryan-bevly-stayinginsidethelineselectronicresourcevehicleagnosticpathfollowingusingcascadedadaptivecontrol-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bryan-bevly-stayinginsidethelineselectronicresourcevehicleagnosticpathfollowingusingcascadedadaptivecontrol-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{bryan_staying_2020,\n\ttitle = {Staying {Inside} the {Lines}. [electronic resource] : {Vehicle} {Agnostic} {Path} {Following} {Using} {Cascaded} {Adaptive} {Control}.},\n\turl = {http://hdl.handle.net/10415/7527},\n\tauthor = {Bryan, William and Bevly, David M.},\n\tyear = {2020},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"brothers-bevly-flowers-hung-pathfollowingandobstacleavoidanceforautonomousgroundvehiclesusingnonlinearmodelpredictivecontrolelectronicresource-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/7236\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'brothers-bevly-flowers-hung-pathfollowingandobstacleavoidanceforautonomousgroundvehiclesusingnonlinearmodelpredictivecontrolelectronicresource-2020', 'http://hdl.handle.net/10415/7236', event);\">\n    Path Following and Obstacle Avoidance for Autonomous Ground Vehicles Using Nonlinear Model Predictive Control. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Brothers, R.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Flowers, G. T.;  and Hung, J. Y.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/7236\"\n     onclick=\"log_download('brothers-bevly-flowers-hung-pathfollowingandobstacleavoidanceforautonomousgroundvehiclesusingnonlinearmodelpredictivecontrolelectronicresource-2020', 'http://hdl.handle.net/10415/7236', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Path Following and Obstacle Avoidance for Autonomous Ground Vehicles Using Nonlinear Model Predictive Control. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/brothers-bevly-flowers-hung-pathfollowingandobstacleavoidanceforautonomousgroundvehiclesusingnonlinearmodelpredictivecontrolelectronicresource-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('brothers-bevly-flowers-hung-pathfollowingandobstacleavoidanceforautonomousgroundvehiclesusingnonlinearmodelpredictivecontrolelectronicresource-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{brothers_path_2020,\n\ttitle = {Path {Following} and {Obstacle} {Avoidance} for {Autonomous} {Ground} {Vehicles} {Using} {Nonlinear} {Model} {Predictive} {Control}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/7236},\n\tauthor = {Brothers, Robert and Bevly, David M. and Flowers, George T. and Hung, John Y.},\n\tyear = {2020},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bunderson-bevly-costley-bryan-mifflin-balas-automatedtuningandcalibrationforunmannedgroundvehicles-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Automated Tuning and Calibration for Unmanned Ground Vehicles.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Bunderson, N.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>; Costley, A.; Bryan, W.; Mifflin, G.;  and Balas, C.\n</span>\n\n  \n\n</span>\n\n  In  2020. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bunderson-bevly-costley-bryan-mifflin-balas-automatedtuningandcalibrationforunmannedgroundvehicles-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bunderson-bevly-costley-bryan-mifflin-balas-automatedtuningandcalibrationforunmannedgroundvehicles-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{bunderson_automated_2020,\n\ttitle = {Automated {Tuning} and {Calibration} for {Unmanned} {Ground} {Vehicles}},\n\tabstract = {A critical and time-consuming part of commissioning an unmanned ground vehicle (UGV) is tuning and calibrating the navigation and control systems. This involves selecting and modifying parameters for these systems to obtain a desired response. Tuning these parameters often requires experience or technical expertise that may not be readily available in a time of need. Even the simple task of measuring the mounting location of the sensors introduce opportunities for user error. In addition, the tuning parameters for these systems may change significantly between UGVs. These challenges motivate the need for automated tuning and calibration algorithms to set parameters without the interaction from a user. This work presents automated tuning and calibration approaches for UGVs.},\n\tlanguage = {en},\n\tauthor = {Bunderson, Nate and Bevly, David and Costley, Austin and Bryan, William and Mifflin, Gregory and Balas, Cristian},\n\tyear = {2020},\n}\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  A critical and time-consuming part of commissioning an unmanned ground vehicle (UGV) is tuning and calibrating the navigation and control systems. This involves selecting and modifying parameters for these systems to obtain a desired response. Tuning these parameters often requires experience or technical expertise that may not be readily available in a time of need. Even the simple task of measuring the mounting location of the sensors introduce opportunities for user error. In addition, the tuning parameters for these systems may change significantly between UGVs. These challenges motivate the need for automated tuning and calibration algorithms to set parameters without the interaction from a user. This work presents automated tuning and calibration approaches for UGVs.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"smith-bevly-hoffman-mcauliffe-evaluationofplatooningefficiencyforheavydutytrucksusingcooperativeadaptivecruisecontrolelectronicresource-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/7241\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'smith-bevly-hoffman-mcauliffe-evaluationofplatooningefficiencyforheavydutytrucksusingcooperativeadaptivecruisecontrolelectronicresource-2020', 'http://hdl.handle.net/10415/7241', event);\">\n    Evaluation of Platooning Efficiency for Heavy Duty Trucks using Cooperative Adaptive Cruise Control. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Smith, P.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Hoffman, M. A.;  and McAuliffe, B.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/7241\"\n     onclick=\"log_download('smith-bevly-hoffman-mcauliffe-evaluationofplatooningefficiencyforheavydutytrucksusingcooperativeadaptivecruisecontrolelectronicresource-2020', 'http://hdl.handle.net/10415/7241', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Evaluation of Platooning Efficiency for Heavy Duty Trucks using Cooperative Adaptive Cruise Control. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/smith-bevly-hoffman-mcauliffe-evaluationofplatooningefficiencyforheavydutytrucksusingcooperativeadaptivecruisecontrolelectronicresource-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('smith-bevly-hoffman-mcauliffe-evaluationofplatooningefficiencyforheavydutytrucksusingcooperativeadaptivecruisecontrolelectronicresource-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{smith_evaluation_2020,\n\ttitle = {Evaluation of {Platooning} {Efficiency} for {Heavy} {Duty} {Trucks} using {Cooperative} {Adaptive} {Cruise} {Control}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/7241},\n\tauthor = {Smith, Patrick and Bevly, David M. and Hoffman, Mark A. and McAuliffe, Brian},\n\tyear = {2020},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"thopay-bevly-initializationofapedestriannavigationsystemusingatransferalignmentapproachelectronicresource-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/7438\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'thopay-bevly-initializationofapedestriannavigationsystemusingatransferalignmentapproachelectronicresource-2020', 'https://etd.auburn.edu//handle/10415/7438', event);\">\n    Initialization of a Pedestrian Navigation System Using a Transfer Alignment Approach. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Thopay, A. S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/7438\"\n     onclick=\"log_download('thopay-bevly-initializationofapedestriannavigationsystemusingatransferalignmentapproachelectronicresource-2020', 'https://etd.auburn.edu//handle/10415/7438', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Initialization of a Pedestrian Navigation System Using a Transfer Alignment Approach. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/thopay-bevly-initializationofapedestriannavigationsystemusingatransferalignmentapproachelectronicresource-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('thopay-bevly-initializationofapedestriannavigationsystemusingatransferalignmentapproachelectronicresource-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{thopay_initialization_2020,\n\ttitle = {Initialization of a {Pedestrian} {Navigation} {System} {Using} a {Transfer} {Alignment} {Approach}. [electronic resource]},\n\turl = {https://etd.auburn.edu//handle/10415/7438},\n\tauthor = {Thopay, Archit Sudarsan and Bevly, David M.},\n\tyear = {2020},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"mcauliffe-raeesi-lammert-smith-others-impactofmixedtrafficontheenergysavingsofatruckplatoon-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Impact of Mixed Traffic on the Energy Savings of a Truck Platoon.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  McAuliffe, B.; Raeesi, A.; Lammert, M.; Smith, P.;  and others\n</span>\n\n  \n\n</span>\n\n  In  2020. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/mcauliffe-raeesi-lammert-smith-others-impactofmixedtrafficontheenergysavingsofatruckplatoon-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('mcauliffe-raeesi-lammert-smith-others-impactofmixedtrafficontheenergysavingsofatruckplatoon-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{mcauliffe_impact_2020,\n\ttitle = {Impact of {Mixed} {Traffic} on the {Energy} {Savings} of a {Truck} {Platoon}},\n\tauthor = {McAuliffe, B. and Raeesi, A. and Lammert, M. and Smith, P. and {others}},\n\tyear = {2020},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"givhan-bevly-martin-performanceanalysisofavectortrackingsoftwaredefinedreceiverforgpsl5-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Performance Analysis of a Vector Tracking Software Defined Receiver for GPS L5.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Givhan, C. A.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Martin, S. M.\n</span>\n\n  \n\n</span>\n\n  In September 2020. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/givhan-bevly-martin-performanceanalysisofavectortrackingsoftwaredefinedreceiverforgpsl5-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('givhan-bevly-martin-performanceanalysisofavectortrackingsoftwaredefinedreceiverforgpsl5-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{givhan_performance_2020,\n\ttitle = {Performance {Analysis} of a {Vector} {Tracking} {Software} {Defined} {Receiver} for {GPS} {L5}},\n\tauthor = {Givhan, Charles Anderson and Bevly, David M. and Martin, Scott M.},\n\tmonth = sep,\n\tyear = {2020},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"watts-martin-bevly-implementationandanalysisofagpsdifferentialvectordelayfrequencylockloop-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.ion.org/publications/abstract.cfm?articleID=17144\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'watts-martin-bevly-implementationandanalysisofagpsdifferentialvectordelayfrequencylockloop-2020', 'https://www.ion.org/publications/abstract.cfm?articleID=17144', event);\">\n    Implementation and Analysis of a GPS Differential Vector Delay/Frequency Lock Loop.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Watts, T. M.; Martin, S. M.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In January 2020. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.ion.org/publications/abstract.cfm?articleID=17144\"\n     onclick=\"log_download('watts-martin-bevly-implementationandanalysisofagpsdifferentialvectordelayfrequencylockloop-2020', 'https://www.ion.org/publications/abstract.cfm?articleID=17144', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Implementation and Analysis of a GPS Differential Vector Delay/Frequency Lock Loop [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/watts-martin-bevly-implementationandanalysisofagpsdifferentialvectordelayfrequencylockloop-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('watts-martin-bevly-implementationandanalysisofagpsdifferentialvectordelayfrequencylockloop-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{watts_implementation_2020,\n\ttitle = {Implementation and {Analysis} of a {GPS} {Differential} {Vector} {Delay}/{Frequency} {Lock} {Loop}},\n\turl = {https://www.ion.org/publications/abstract.cfm?articleID=17144},\n\tauthor = {Watts, Tanner M. and Martin, Scott M. and Bevly, David M.},\n\tmonth = jan,\n\tyear = {2020},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"thopay-initializationofapedestriannavigationsystemusingatransferalignmentapproach-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/7438\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'thopay-initializationofapedestriannavigationsystemusingatransferalignmentapproach-2020', 'https://etd.auburn.edu//handle/10415/7438', event);\">\n    Initialization of a Pedestrian Navigation System Using a Transfer Alignment Approach.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Thopay, A.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, August 2020.\n  <span class=\"note\">Accepted: 2020-08-11T18:03:13Z</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/7438\"\n     onclick=\"log_download('thopay-initializationofapedestriannavigationsystemusingatransferalignmentapproach-2020', 'https://etd.auburn.edu//handle/10415/7438', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Initialization of a Pedestrian Navigation System Using a Transfer Alignment Approach [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/thopay-initializationofapedestriannavigationsystemusingatransferalignmentapproach-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('thopay-initializationofapedestriannavigationsystemusingatransferalignmentapproach-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{thopay_initialization_2020,\n\ttitle = {Initialization of a {Pedestrian} {Navigation} {System} {Using} a {Transfer} {Alignment} {Approach}},\n\turl = {https://etd.auburn.edu//handle/10415/7438},\n\tabstract = {Pedestrian navigation techniques are used to provide positioning information in lieu of or to supplement more traditional systems such as GNSS. A challenge facing users of pedestrian navigation algorithms is the acquisition of initialization data. Existing initialization methods for pedestrian navigation methods assume the availability of GNSS position and velocity and of standstill periods that can be used to provide attitude information. This thesis presents a method that performs the attitude initialization for a pedestrian navigation system (PNS) while the pedestrian is riding inside a vehicle. An algorithm is presented which uses data from a vehicle-mounted IMU and a pedestrian-mounted IMU to detect when the two sensors form a rigid body. Once rigidity has been established, a solution to Wahba’s Problem is used to solve for the misalignment between the two systems. The misalignment is used in conjunction with the vehicle’s attitude to initialize the PNS before the pedestrian leaves the vehicle. Performance analyses of the rigidity detector and misalignment estimation are shown using both simulated and real data, while a performance analysis for the PNS initialization procedure is shown using real data. The method is implemented using IMU data gathered using a Vectornav VN-300 GPS/INS and a Lincoln MKZ instrumented with a KVH 1750 IMU. Results show that the proposed method can initialize a PNS with a mean initial heading error of 7.3 degrees, with the error being attributable to violations of the rigidity condition.},\n\tlanguage = {en},\n\turldate = {2022-04-27},\n\tauthor = {Thopay, Archit},\n\tmonth = aug,\n\tyear = {2020},\n\tnote = {Accepted: 2020-08-11T18:03:13Z},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Pedestrian navigation techniques are used to provide positioning information in lieu of or to supplement more traditional systems such as GNSS. A challenge facing users of pedestrian navigation algorithms is the acquisition of initialization data. Existing initialization methods for pedestrian navigation methods assume the availability of GNSS position and velocity and of standstill periods that can be used to provide attitude information. This thesis presents a method that performs the attitude initialization for a pedestrian navigation system (PNS) while the pedestrian is riding inside a vehicle. An algorithm is presented which uses data from a vehicle-mounted IMU and a pedestrian-mounted IMU to detect when the two sensors form a rigid body. Once rigidity has been established, a solution to Wahba’s Problem is used to solve for the misalignment between the two systems. The misalignment is used in conjunction with the vehicle’s attitude to initialize the PNS before the pedestrian leaves the vehicle. Performance analyses of the rigidity detector and misalignment estimation are shown using both simulated and real data, while a performance analysis for the PNS initialization procedure is shown using real data. The method is implemented using IMU data gathered using a Vectornav VN-300 GPS/INS and a Lincoln MKZ instrumented with a KVH 1750 IMU. Results show that the proposed method can initialize a PNS with a mean initial heading error of 7.3 degrees, with the error being attributable to violations of the rigidity condition.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"brian-impactofmixedtrafficontheenergysavingsofatruckplatoon-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsstp&amp;AN=edsstp.2020.01.0679&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'brian-impactofmixedtrafficontheenergysavingsofatruckplatoon-2020', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsstp&amp;AN=edsstp.2020.01.0679&amp;site=eds-live&amp;scope=site', event);\">\n    Impact of Mixed Traffic on the Energy Savings of a Truck Platoon.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Brian, M.\n</span>\n\n  \n\n</span>\n\n  <i>SAE International Journal of Advances and Current Practices in Mobility</i>, 2(3): 1472 – 1496. April 2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsstp&amp;AN=edsstp.2020.01.0679&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('brian-impactofmixedtrafficontheenergysavingsofatruckplatoon-2020', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsstp&amp;AN=edsstp.2020.01.0679&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Impact of Mixed Traffic on the Energy Savings of a Truck Platoon [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/brian-impactofmixedtrafficontheenergysavingsofatruckplatoon-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('brian-impactofmixedtrafficontheenergysavingsofatruckplatoon-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{brian_impact_2020,\n\ttitle = {Impact of {Mixed} {Traffic} on the {Energy} {Savings} of a {Truck} {Platoon}},\n\tvolume = {2},\n\tissn = {2641-9637, 2641-9645},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsstp&amp;AN=edsstp.2020.01.0679&amp;site=eds-live&amp;scope=site},\n\tabstract = {A two-truck platoon based on a prototype cooperative adaptive cruise control (CACC) system was tested on a closed test track in a variety of realistic traffic and transient operating scenarios - conditions that truck platoons are likely to face on real highways. The fuel consumption for both trucks in the platoon was measured using the SAE J1321 gravimetric procedure as well as calibrated J1939 instantaneous fuel rate, serving as proxies to evaluate the impact of aerodynamic drag reduction under constant-speed conditions. These measurements demonstrate the effects of: the presence of a multiple-passenger-vehicle pattern ahead of and adjacent to the platoon, cut-in and cut-out manoeuvres by other vehicles, transient traffic, the use of mismatched platooned vehicles (van trailer mixed with flatbed trailer), and the platoon following another truck with adaptive cruise control (ACC). These scenarios are intended to address the possibility of “background aerodynamic platooning” impacting realized savings on public roads. Using calibrated J1939 fuel rate analysis, fuel savings for curved track sections versus straight track sections were also evaluated for these scenarios, highlighting differences in the implementation of the CACC control strategies compared to a stock ACC implementation. The use of different trailer types and the presence of passenger-vehicle traffic patterns showed a measurable impact on platoon performance in some conditions, but the basic fuel savings trends were retained.},\n\tnumber = {3},\n\tjournal = {SAE International Journal of Advances and Current Practices in Mobility},\n\tauthor = {Brian, McAuliffe},\n\tmonth = apr,\n\tyear = {2020},\n\tpages = {1472 -- 1496},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  A two-truck platoon based on a prototype cooperative adaptive cruise control (CACC) system was tested on a closed test track in a variety of realistic traffic and transient operating scenarios - conditions that truck platoons are likely to face on real highways. The fuel consumption for both trucks in the platoon was measured using the SAE J1321 gravimetric procedure as well as calibrated J1939 instantaneous fuel rate, serving as proxies to evaluate the impact of aerodynamic drag reduction under constant-speed conditions. These measurements demonstrate the effects of: the presence of a multiple-passenger-vehicle pattern ahead of and adjacent to the platoon, cut-in and cut-out manoeuvres by other vehicles, transient traffic, the use of mismatched platooned vehicles (van trailer mixed with flatbed trailer), and the platoon following another truck with adaptive cruise control (ACC). These scenarios are intended to address the possibility of “background aerodynamic platooning” impacting realized savings on public roads. Using calibrated J1939 fuel rate analysis, fuel savings for curved track sections versus straight track sections were also evaluated for these scenarios, highlighting differences in the implementation of the CACC control strategies compared to a stock ACC implementation. The use of different trailer types and the presence of passenger-vehicle traffic patterns showed a measurable impact on platoon performance in some conditions, but the basic fuel savings trends were retained.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"douglass-martin-jennings-chen-bevly-deeplearnedmultimodaltrafficagentpredictionsfortruckplatooningcutins-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.9109809&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'douglass-martin-jennings-chen-bevly-deeplearnedmultimodaltrafficagentpredictionsfortruckplatooningcutins-2020', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.9109809&amp;site=eds-live&amp;scope=site', event);\">\n    Deep Learned Multi-Modal Traffic Agent Predictions for Truck Platooning Cut-Ins.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Douglass, S. P.; Martin, S.; Jennings, A.; Chen, H.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In April 2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.9109809&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('douglass-martin-jennings-chen-bevly-deeplearnedmultimodaltrafficagentpredictionsfortruckplatooningcutins-2020', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.9109809&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Deep Learned Multi-Modal Traffic Agent Predictions for Truck Platooning Cut-Ins [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/douglass-martin-jennings-chen-bevly-deeplearnedmultimodaltrafficagentpredictionsfortruckplatooningcutins-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('douglass-martin-jennings-chen-bevly-deeplearnedmultimodaltrafficagentpredictionsfortruckplatooningcutins-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{douglass_deep_2020,\n\ttitle = {Deep {Learned} {Multi}-{Modal} {Traffic} {Agent} {Predictions} for {Truck} {Platooning} {Cut}-{Ins}},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.9109809&amp;site=eds-live&amp;scope=site},\n\tabstract = {Recent advances in Driver-Assisted Truck Platooning (DATP) have shown success in linking multiple trucks in leader-follower platoons using Cooperative Adaptive Cruise Control (CACC). Such set ups allow for closer spacing between trucks which leads to fuel savings. Given that frontal collisions are the most common type of highway accident for heavy trucks, one key issue to truck platooning is handling situations in which vehicles cut-in between platooning trucks. Having more accurate and quicker predictions would improve the safety and efficiency of truck platooning by allowing the control system to react to the intruder sooner and allow for proper spacing before the cutin occurs. Moreover, reduction in false-positives could prevent the CACC from reacting to cut-in vehicles too early, leading to increased benefit from DATP. In this paper, we implement a deep neural network that generates multimodal predictions of traffic agents around a truck platoon. The method uses Long Short-Term Memory networks in an ensemble architecture to predict possible future positions with attached probabilities of vehicles passing by a truck platoon for 5 second horizons. The network performance is compared to a baseline of common state-based predictors including the Constant Velocity Predictor, the Constant Acceleration Predictor, and the Constant Steer Predictor.},\n\tpublisher = {IEEE},\n\tauthor = {Douglass, Samuel Paul and Martin, Scott and Jennings, Andrew and Chen, Howard and Bevly, David M.},\n\tmonth = apr,\n\tyear = {2020},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Recent advances in Driver-Assisted Truck Platooning (DATP) have shown success in linking multiple trucks in leader-follower platoons using Cooperative Adaptive Cruise Control (CACC). Such set ups allow for closer spacing between trucks which leads to fuel savings. Given that frontal collisions are the most common type of highway accident for heavy trucks, one key issue to truck platooning is handling situations in which vehicles cut-in between platooning trucks. Having more accurate and quicker predictions would improve the safety and efficiency of truck platooning by allowing the control system to react to the intruder sooner and allow for proper spacing before the cutin occurs. Moreover, reduction in false-positives could prevent the CACC from reacting to cut-in vehicles too early, leading to increased benefit from DATP. In this paper, we implement a deep neural network that generates multimodal predictions of traffic agents around a truck platoon. The method uses Long Short-Term Memory networks in an ensemble architecture to predict possible future positions with attached probabilities of vehicles passing by a truck platoon for 5 second horizons. The network performance is compared to a baseline of common state-based predictors including the Constant Velocity Predictor, the Constant Acceleration Predictor, and the Constant Steer Predictor.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"cofield-bevly-macnelectronicresourcemapaidedcooperativeinertialnavigation-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/7230\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'cofield-bevly-macnelectronicresourcemapaidedcooperativeinertialnavigation-2020', 'http://hdl.handle.net/10415/7230', event);\">\n    MACN. [electronic resource] : Map-Aided Cooperative Inertial Navigation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Cofield, R. G.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/7230\"\n     onclick=\"log_download('cofield-bevly-macnelectronicresourcemapaidedcooperativeinertialnavigation-2020', 'http://hdl.handle.net/10415/7230', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"MACN. [electronic resource] : Map-Aided Cooperative Inertial Navigation. [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/cofield-bevly-macnelectronicresourcemapaidedcooperativeinertialnavigation-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('cofield-bevly-macnelectronicresourcemapaidedcooperativeinertialnavigation-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{cofield_macn_2020,\n\ttitle = {{MACN}. [electronic resource] : {Map}-{Aided} {Cooperative} {Inertial} {Navigation}.},\n\turl = {http://hdl.handle.net/10415/7230},\n\tauthor = {Cofield, Robert Grisson and Bevly, David M.},\n\tyear = {2020},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bryan-boler-bevly-martin-avisionbasedlanekeepingsystemusingacascadedadaptivecontroller-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  A Vision-Based Lane Keeping System Using a Cascaded Adaptive Controller.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Bryan, W.; Boler, M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>;  and Martin, S.\n</span>\n\n  \n\n</span>\n\n   2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bryan-boler-bevly-martin-avisionbasedlanekeepingsystemusingacascadedadaptivecontroller-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bryan-boler-bevly-martin-avisionbasedlanekeepingsystemusingacascadedadaptivecontroller-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@misc{bryan_vision-based_2020,\n\ttitle = {A {Vision}-{Based} {Lane} {Keeping} {System} {Using} a {Cascaded} {Adaptive} {Controller}},\n\tauthor = {Bryan, William and Boler, Matthew and Bevly, David and Martin, Scott},\n\tyear = {2020},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2019\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2019')\"\n      onkeypress=\"toggleGroup('group_2019')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2019</span>\n      <span class=\"bibbase_group_count\">\n        \n        (11)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"thopay-bevly-martin-chen-initializationofapedestriannavigationsystematransferalignmentapproach-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Initialization of a Pedestrian Navigation System: A Transfer Alignment Approach.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Thopay, A.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>; Martin, S.;  and Chen, H.\n</span>\n\n  \n\n</span>\n\n  In April 2019. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/thopay-bevly-martin-chen-initializationofapedestriannavigationsystematransferalignmentapproach-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('thopay-bevly-martin-chen-initializationofapedestriannavigationsystematransferalignmentapproach-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{thopay_initialization_2019,\n\ttitle = {Initialization of a {Pedestrian} {Navigation} {System}: {A} {Transfer} {Alignment} {Approach}},\n\tauthor = {Thopay, Archit and Bevly, David and Martin, Scott and Chen, Howard},\n\tmonth = apr,\n\tyear = {2019},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sherer-martin-bevly-radarprobabilisticdataassociationfilterdgpsfusionfortargetselectionandrelativerangedeterminationforagroundvehicleconvoy-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=137054739&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'sherer-martin-bevly-radarprobabilisticdataassociationfilterdgpsfusionfortargetselectionandrelativerangedeterminationforagroundvehicleconvoy-2019', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=137054739&amp;site=eds-live&amp;scope=site', event);\">\n    Radar probabilistic data association filter/DGPS fusion for target selection and relative range determination for a ground vehicle convoy.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Sherer, T. P.; Martin, S. M.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  <i>Navigation (Wiley-Blackwell)</i>, 66(2): 441 – 450.  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=137054739&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('sherer-martin-bevly-radarprobabilisticdataassociationfilterdgpsfusionfortargetselectionandrelativerangedeterminationforagroundvehicleconvoy-2019', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=137054739&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Radar probabilistic data association filter/DGPS fusion for target selection and relative range determination for a ground vehicle convoy. [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sherer-martin-bevly-radarprobabilisticdataassociationfilterdgpsfusionfortargetselectionandrelativerangedeterminationforagroundvehicleconvoy-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sherer-martin-bevly-radarprobabilisticdataassociationfilterdgpsfusionfortargetselectionandrelativerangedeterminationforagroundvehicleconvoy-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{sherer_radar_2019,\n\ttitle = {Radar probabilistic data association filter/{DGPS} fusion for target selection and relative range determination for a ground vehicle convoy.},\n\tvolume = {66},\n\tissn = {00281522},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=137054739&amp;site=eds-live&amp;scope=site},\n\tabstract = {As navigation systems are being developed, it is apparent that cost‐effective accurate and precise positioning is an imperative for both military and civilian ground vehicle guidance. As this need increases, navigation systems incorporating multiple sensors have been developed and relied upon in many navigation situations. In this work, radar and global positioning system (GPS) measurements are utilized in a multi‐sensor fusion scheme allowing for a robust ranging solution utilizing the accuracy of a differential GPS (DGPS) solution and higher update rate of the radar solution in a Kalman filter. A probabilistic data association filter (PDAF) is utilized to determine a weighted mean of the radar channels&#x27; solutions that fall within a validation region set in the algorithm. In this work, radar was used to track vehicles and not surrounding landmarks. This paper intends to evaluate the accuracy and availability of a GPS/radar fusion algorithm in vehicle convoying scenarios. [ABSTRACT FR)},\n\tnumber = {2},\n\tjournal = {Navigation (Wiley-Blackwell)},\n\tauthor = {Sherer, Tyler P. and Martin, Scott M. and Bevly, David M.},\n\tyear = {2019},\n\tkeywords = {FILTERS \\&amp; filtration, GLOBAL Positioning System, KALMAN filtering, MULTISENSOR data fusion, NAVIGATION, RADAR},\n\tpages = {441 -- 450},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  As navigation systems are being developed, it is apparent that cost‐effective accurate and precise positioning is an imperative for both military and civilian ground vehicle guidance. As this need increases, navigation systems incorporating multiple sensors have been developed and relied upon in many navigation situations. In this work, radar and global positioning system (GPS) measurements are utilized in a multi‐sensor fusion scheme allowing for a robust ranging solution utilizing the accuracy of a differential GPS (DGPS) solution and higher update rate of the radar solution in a Kalman filter. A probabilistic data association filter (PDAF) is utilized to determine a weighted mean of the radar channels' solutions that fall within a validation region set in the algorithm. In this work, radar was used to track vehicles and not surrounding landmarks. This paper intends to evaluate the accuracy and availability of a GPS/radar fusion algorithm in vehicle convoying scenarios. [ABSTRACT FR)\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"smith-ward-pierce-bevly-daily-experimentalresultsandanalysisofalongitudinalcontrolledcooperativeadaptivecruisecruisecacctruckplatoon-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Experimental Results and Analysis of a Longitudinal Controlled Cooperative Adaptive Cruise Cruise (CACC) Truck Platoon.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Smith, P.; Ward, J.; Pierce, J.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>;  and Daily, R.\n</span>\n\n  \n\n</span>\n\n  In  2019. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/smith-ward-pierce-bevly-daily-experimentalresultsandanalysisofalongitudinalcontrolledcooperativeadaptivecruisecruisecacctruckplatoon-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('smith-ward-pierce-bevly-daily-experimentalresultsandanalysisofalongitudinalcontrolledcooperativeadaptivecruisecruisecacctruckplatoon-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{smith_experimental_2019,\n\ttitle = {Experimental {Results} and {Analysis} of a {Longitudinal} {Controlled} {Cooperative} {Adaptive} {Cruise} {Cruise} ({CACC}) {Truck} {Platoon}},\n\tauthor = {Smith, P. and Ward, J. and Pierce, J. and Bevly, D. and Daily, R.},\n\tyear = {2019},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"smith-bevly-analysisofonroadhighwaytestingforatwotruckcontrolledcooperativeadaptivecruisecruisecaccplatoon-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Analysis of On-Road Highway Testing for a Two Truck Controlled Cooperative Adaptive Cruise Cruise (CACC) Platoon.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Smith, P.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In  2019. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/smith-bevly-analysisofonroadhighwaytestingforatwotruckcontrolledcooperativeadaptivecruisecruisecaccplatoon-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('smith-bevly-analysisofonroadhighwaytestingforatwotruckcontrolledcooperativeadaptivecruisecruisecaccplatoon-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{smith_analysis_2019,\n\ttitle = {Analysis of {On}-{Road} {Highway} {Testing} for a {Two} {Truck} {Controlled} {Cooperative} {Adaptive} {Cruise} {Cruise} ({CACC}) {Platoon}},\n\tauthor = {Smith, P. and Bevly, D.},\n\tyear = {2019},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"watts-martin-bevly-agpsandglonassl1vectortrackingsoftwaredefinedreceiver-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.ion.org/publications/abstract.cfm?articleID=16686\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'watts-martin-bevly-agpsandglonassl1vectortrackingsoftwaredefinedreceiver-2019', 'https://www.ion.org/publications/abstract.cfm?articleID=16686', event);\">\n    A GPS and GLONASS L1 Vector Tracking Software-Defined Receiver.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Watts, T.; Martin, S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In January 2019. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.ion.org/publications/abstract.cfm?articleID=16686\"\n     onclick=\"log_download('watts-martin-bevly-agpsandglonassl1vectortrackingsoftwaredefinedreceiver-2019', 'https://www.ion.org/publications/abstract.cfm?articleID=16686', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A GPS and GLONASS L1 Vector Tracking Software-Defined Receiver [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/watts-martin-bevly-agpsandglonassl1vectortrackingsoftwaredefinedreceiver-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('watts-martin-bevly-agpsandglonassl1vectortrackingsoftwaredefinedreceiver-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{watts_gps_2019,\n\ttitle = {A {GPS} and {GLONASS} {L1} {Vector} {Tracking} {Software}-{Defined} {Receiver}},\n\turl = {https://www.ion.org/publications/abstract.cfm?articleID=16686},\n\tauthor = {Watts, Tanner and Martin, Scott and Bevly, David},\n\tmonth = jan,\n\tyear = {2019},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"dudzik-ricklin-alston-pierce-smith-bevly-heim-automatedplatoonmanipulationinmergingscenariosusingtrajectoryestimationofconnectedvehicles-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edo&amp;AN=ejs50893868&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'dudzik-ricklin-alston-pierce-smith-bevly-heim-automatedplatoonmanipulationinmergingscenariosusingtrajectoryestimationofconnectedvehicles-2019', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edo&amp;AN=ejs50893868&amp;site=eds-live&amp;scope=site', event);\">\n    Automated platoon manipulation in merging scenarios using trajectory estimation of connected vehicles.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Dudzik, M. C.; Ricklin, J. C.; Alston, R.; Pierce, D.; Smith, P.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>;  and Heim, S.\n</span>\n\n  \n\n</span>\n\n  <i>Proceedings of SPIE</i>, 11009(1): 110090N – 110090N–14. July 2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edo&amp;AN=ejs50893868&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('dudzik-ricklin-alston-pierce-smith-bevly-heim-automatedplatoonmanipulationinmergingscenariosusingtrajectoryestimationofconnectedvehicles-2019', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edo&amp;AN=ejs50893868&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Automated platoon manipulation in merging scenarios using trajectory estimation of connected vehicles [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/dudzik-ricklin-alston-pierce-smith-bevly-heim-automatedplatoonmanipulationinmergingscenariosusingtrajectoryestimationofconnectedvehicles-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('dudzik-ricklin-alston-pierce-smith-bevly-heim-automatedplatoonmanipulationinmergingscenariosusingtrajectoryestimationofconnectedvehicles-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{dudzik_automated_2019,\n\ttitle = {Automated platoon manipulation in merging scenarios using trajectory estimation of connected vehicles},\n\tvolume = {11009},\n\tissn = {0277786X},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edo&amp;AN=ejs50893868&amp;site=eds-live&amp;scope=site},\n\tnumber = {1},\n\tjournal = {Proceedings of SPIE},\n\tauthor = {Dudzik, Michael C. and Ricklin, Jennifer C. and Alston, Rory and Pierce, Daniel and Smith, Patrick and Bevly, David and Heim, Scott},\n\tmonth = jul,\n\tyear = {2019},\n\tpages = {110090N -- 110090N--14},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"tabb-bevly-multiantennagpsforimprovedcarrierphasepositioninginautonomousconvoyselectronicresource-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/6900\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'tabb-bevly-multiantennagpsforimprovedcarrierphasepositioninginautonomousconvoyselectronicresource-2019', 'http://hdl.handle.net/10415/6900', event);\">\n    Multi-Antenna GPS for Improved Carrier Phase Positioning in Autonomous Convoys. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Tabb, T. T.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/6900\"\n     onclick=\"log_download('tabb-bevly-multiantennagpsforimprovedcarrierphasepositioninginautonomousconvoyselectronicresource-2019', 'http://hdl.handle.net/10415/6900', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Multi-Antenna GPS for Improved Carrier Phase Positioning in Autonomous Convoys. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/tabb-bevly-multiantennagpsforimprovedcarrierphasepositioninginautonomousconvoyselectronicresource-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('tabb-bevly-multiantennagpsforimprovedcarrierphasepositioninginautonomousconvoyselectronicresource-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{tabb_multi-antenna_2019,\n\ttitle = {Multi-{Antenna} {GPS} for {Improved} {Carrier} {Phase} {Positioning} in {Autonomous} {Convoys}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/6900},\n\tauthor = {Tabb, Thomas Troupe and Bevly, David M.},\n\tyear = {2019},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"apperson-bevly-hung-jones-designandevaluationofcooperativeadaptivecruisecontrolsystemforheavyfreightvehicleselectronicresource-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/7069\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'apperson-bevly-hung-jones-designandevaluationofcooperativeadaptivecruisecontrolsystemforheavyfreightvehicleselectronicresource-2019', 'http://hdl.handle.net/10415/7069', event);\">\n    Design and Evaluation of Cooperative Adaptive Cruise Control System for Heavy Freight Vehicles. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Apperson, W. G.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Hung, J. Y.;  and Jones, P. D.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/7069\"\n     onclick=\"log_download('apperson-bevly-hung-jones-designandevaluationofcooperativeadaptivecruisecontrolsystemforheavyfreightvehicleselectronicresource-2019', 'http://hdl.handle.net/10415/7069', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Design and Evaluation of Cooperative Adaptive Cruise Control System for Heavy Freight Vehicles. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/apperson-bevly-hung-jones-designandevaluationofcooperativeadaptivecruisecontrolsystemforheavyfreightvehicleselectronicresource-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('apperson-bevly-hung-jones-designandevaluationofcooperativeadaptivecruisecontrolsystemforheavyfreightvehicleselectronicresource-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{apperson_design_2019,\n\ttitle = {Design and {Evaluation} of {Cooperative} {Adaptive} {Cruise} {Control} {System} for {Heavy} {Freight} {Vehicles}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/7069},\n\tauthor = {Apperson, William Grant and Bevly, David M. and Hung, John Y. and Jones, Peter D.},\n\tyear = {2019},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"watts-bevly-agpsandglonassl1vectortrackingsoftwaredefinedreceiverelectronicresource-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/6899\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'watts-bevly-agpsandglonassl1vectortrackingsoftwaredefinedreceiverelectronicresource-2019', 'http://hdl.handle.net/10415/6899', event);\">\n    A GPS and GLONASS L1 Vector Tracking Software-Defined Receiver. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Watts, T. M.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/6899\"\n     onclick=\"log_download('watts-bevly-agpsandglonassl1vectortrackingsoftwaredefinedreceiverelectronicresource-2019', 'http://hdl.handle.net/10415/6899', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A GPS and GLONASS L1 Vector Tracking Software-Defined Receiver. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/watts-bevly-agpsandglonassl1vectortrackingsoftwaredefinedreceiverelectronicresource-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('watts-bevly-agpsandglonassl1vectortrackingsoftwaredefinedreceiverelectronicresource-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{watts_gps_2019,\n\ttitle = {A {GPS} and {GLONASS} {L1} {Vector} {Tracking} {Software}-{Defined} {Receiver}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/6899},\n\tauthor = {Watts, Tanner M. and Bevly, David M.},\n\tyear = {2019},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ward-smith-pierce-bevly-others-cooperativeadaptivecruisecontrolcaccincontrolledandrealworldenvironmentstestingandresults-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://gvsets.ndia-mich.org/documents/AAIR/2019/CACC_in_Cntrolled_and_Real_World_Environments_Ward_Jacob_6_30_2019.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ward-smith-pierce-bevly-others-cooperativeadaptivecruisecontrolcaccincontrolledandrealworldenvironmentstestingandresults-2019', 'http://gvsets.ndia-mich.org/documents/AAIR/2019/CACC_in_Cntrolled_and_Real_World_Environments_Ward_Jacob_6_30_2019.pdf', event);\">\n    Cooperative Adaptive Cruise Control (CACC) in Controlled and Real-World Environments: Testing and Results.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ward, J.; Smith, P.; Pierce, D.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>;  and others\n</span>\n\n  \n\n</span>\n\n  In <i>In Proceedings of the Ground Vehicle Systems Engineering and Technology Symposium (GVSETS), NDIA</i>, Novi, MI,  2019. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://gvsets.ndia-mich.org/documents/AAIR/2019/CACC_in_Cntrolled_and_Real_World_Environments_Ward_Jacob_6_30_2019.pdf\"\n     onclick=\"log_download('ward-smith-pierce-bevly-others-cooperativeadaptivecruisecontrolcaccincontrolledandrealworldenvironmentstestingandresults-2019', 'http://gvsets.ndia-mich.org/documents/AAIR/2019/CACC_in_Cntrolled_and_Real_World_Environments_Ward_Jacob_6_30_2019.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Cooperative Adaptive Cruise Control (CACC) in Controlled and Real-World Environments: Testing and Results [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ward-smith-pierce-bevly-others-cooperativeadaptivecruisecontrolcaccincontrolledandrealworldenvironmentstestingandresults-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ward-smith-pierce-bevly-others-cooperativeadaptivecruisecontrolcaccincontrolledandrealworldenvironmentstestingandresults-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{ward_cooperative_2019,\n\taddress = {Novi, MI},\n\ttitle = {Cooperative {Adaptive} {Cruise} {Control} ({CACC}) in {Controlled} and {Real}-{World} {Environments}: {Testing} and {Results}},\n\turl = {http://gvsets.ndia-mich.org/documents/AAIR/2019/CACC_in_Cntrolled_and_Real_World_Environments_Ward_Jacob_6_30_2019.pdf},\n\tbooktitle = {In {Proceedings} of the {Ground} {Vehicle} {Systems} {Engineering} and {Technology} {Symposium} ({GVSETS}), {NDIA}},\n\tauthor = {Ward, J. and Smith, P. and Pierce, D. and Bevly, D. and {others}},\n\tyear = {2019},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"carter-starling-martin-bevly-baselineimpactongeolocation-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Baseline Impact on Geolocation.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Carter, P. R.; Starling, J.; Martin, S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In September 2019. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/carter-starling-martin-bevly-baselineimpactongeolocation-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('carter-starling-martin-bevly-baselineimpactongeolocation-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{carter_baseline_2019,\n\ttitle = {Baseline {Impact} on {Geolocation}},\n\tauthor = {Carter, Patrick R. and Starling, Josh and Martin, Scott and Bevly, David},\n\tmonth = sep,\n\tyear = {2019},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2018\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2018')\"\n      onkeypress=\"toggleGroup('group_2018')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2018</span>\n      <span class=\"bibbase_group_count\">\n        \n        (14)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"ray-pierce-bevly-acomparisonofparticlepropagationandweightupdatemethodsforindoorpositioningsystems-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  A Comparison of Particle Propagation and Weight Update Methods for Indoor Positioning Systems.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ray, T.; Pierce, J.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In pages 3398–3408, October 2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.33012/2018.16075\"\n     onclick=\"log_download('ray-pierce-bevly-acomparisonofparticlepropagationandweightupdatemethodsforindoorpositioningsystems-2018', 'http://doi.org/10.33012/2018.16075', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ray-pierce-bevly-acomparisonofparticlepropagationandweightupdatemethodsforindoorpositioningsystems-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ray-pierce-bevly-acomparisonofparticlepropagationandweightupdatemethodsforindoorpositioningsystems-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{ray_comparison_2018,\n\ttitle = {A {Comparison} of {Particle} {Propagation} and {Weight} {Update} {Methods} for {Indoor} {Positioning} {Systems}},\n\tdoi = {10.33012/2018.16075},\n\tauthor = {Ray, Tanner and Pierce, J. and Bevly, David},\n\tmonth = oct,\n\tyear = {2018},\n\tpages = {3398--3408},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"williams-martin-bevly-radaraidedinswithmagnetometerattitudedetermination-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.ion.org/publications/abstract.cfm?articleID=16015\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'williams-martin-bevly-radaraidedinswithmagnetometerattitudedetermination-2018', 'https://www.ion.org/publications/abstract.cfm?articleID=16015', event);\">\n    Radar-Aided INS with Magnetometer Attitude Determination.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Williams, J.; Martin, S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In September 2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.ion.org/publications/abstract.cfm?articleID=16015\"\n     onclick=\"log_download('williams-martin-bevly-radaraidedinswithmagnetometerattitudedetermination-2018', 'https://www.ion.org/publications/abstract.cfm?articleID=16015', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Radar-Aided INS with Magnetometer Attitude Determination [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/williams-martin-bevly-radaraidedinswithmagnetometerattitudedetermination-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('williams-martin-bevly-radaraidedinswithmagnetometerattitudedetermination-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{williams_radar-aided_2018,\n\ttitle = {Radar-{Aided} {INS} with {Magnetometer} {Attitude} {Determination}},\n\turl = {https://www.ion.org/publications/abstract.cfm?articleID=16015},\n\tauthor = {Williams, J. and Martin, S. and Bevly, D.},\n\tmonth = sep,\n\tyear = {2018},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"selikoff-bevly-collaborativegroundvehiclenavigationutilizinganimmradartrackingalgorithmproceedingsofthe2018iongnssconferencemiamifloridaseptember-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Collaborative Ground Vehicle Navigation Utilizing an IMM Radar Tracking Algorithm, Proceedings of the 2018 ION GNSS+ Conference, Miami, Florida, September.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Selikoff, J.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In  2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/selikoff-bevly-collaborativegroundvehiclenavigationutilizinganimmradartrackingalgorithmproceedingsofthe2018iongnssconferencemiamifloridaseptember-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('selikoff-bevly-collaborativegroundvehiclenavigationutilizinganimmradartrackingalgorithmproceedingsofthe2018iongnssconferencemiamifloridaseptember-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{selikoff_collaborative_2018,\n\ttitle = {Collaborative {Ground} {Vehicle} {Navigation} {Utilizing} an {IMM} {Radar} {Tracking} {Algorithm}, {Proceedings} of the 2018 {ION} {GNSS}+ {Conference}, {Miami}, {Florida}, {September}},\n\tauthor = {Selikoff, J. and Bevly, D. M.},\n\tyear = {2018},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"williams-bevly-martin-riggs-radaraidedinsnavigationfilterwithmagnetometerbasedattitudemeasurementselectronicresource-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/6548\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'williams-bevly-martin-riggs-radaraidedinsnavigationfilterwithmagnetometerbasedattitudemeasurementselectronicresource-2018', 'http://hdl.handle.net/10415/6548', event);\">\n    Radar Aided INS Navigation Filter with Magnetometer Based Attitude Measurements. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Williams, J.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Martin, S. M.;  and Riggs, L. S.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/6548\"\n     onclick=\"log_download('williams-bevly-martin-riggs-radaraidedinsnavigationfilterwithmagnetometerbasedattitudemeasurementselectronicresource-2018', 'http://hdl.handle.net/10415/6548', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Radar Aided INS Navigation Filter with Magnetometer Based Attitude Measurements. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/williams-bevly-martin-riggs-radaraidedinsnavigationfilterwithmagnetometerbasedattitudemeasurementselectronicresource-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('williams-bevly-martin-riggs-radaraidedinsnavigationfilterwithmagnetometerbasedattitudemeasurementselectronicresource-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{williams_radar_2018,\n\ttitle = {Radar {Aided} {INS} {Navigation} {Filter} with {Magnetometer} {Based} {Attitude} {Measurements}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/6548},\n\tauthor = {Williams, John and Bevly, David M. and Martin, Scott M. and Riggs, Lloyd Stephen},\n\tyear = {2018},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"shaw-bevly-martin-hung-obstacleavoidanceofanunmannedgroundvehicleusingacombinedapproachofmodelpredictivecontrolandproportionalnavigationelectronicresource-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu/handle/10415/6538\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'shaw-bevly-martin-hung-obstacleavoidanceofanunmannedgroundvehicleusingacombinedapproachofmodelpredictivecontrolandproportionalnavigationelectronicresource-2018', 'https://etd.auburn.edu/handle/10415/6538', event);\">\n    Obstacle Avoidance of an Unmanned Ground Vehicle using a Combined Approach of Model Predictive Control and Proportional Navigation. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Shaw, R.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Martin, S. M.;  and Hung, J. Y.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu/handle/10415/6538\"\n     onclick=\"log_download('shaw-bevly-martin-hung-obstacleavoidanceofanunmannedgroundvehicleusingacombinedapproachofmodelpredictivecontrolandproportionalnavigationelectronicresource-2018', 'https://etd.auburn.edu/handle/10415/6538', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Obstacle Avoidance of an Unmanned Ground Vehicle using a Combined Approach of Model Predictive Control and Proportional Navigation. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/shaw-bevly-martin-hung-obstacleavoidanceofanunmannedgroundvehicleusingacombinedapproachofmodelpredictivecontrolandproportionalnavigationelectronicresource-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('shaw-bevly-martin-hung-obstacleavoidanceofanunmannedgroundvehicleusingacombinedapproachofmodelpredictivecontrolandproportionalnavigationelectronicresource-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{shaw_obstacle_2018,\n\ttitle = {Obstacle {Avoidance} of an {Unmanned} {Ground} {Vehicle} using a {Combined} {Approach} of {Model} {Predictive} {Control} and {Proportional} {Navigation}. [electronic resource]},\n\turl = {https://etd.auburn.edu/handle/10415/6538},\n\tauthor = {Shaw, Ryan and Bevly, David M. and Martin, Scott M. and Hung, John Y.},\n\tyear = {2018},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"selikoff-bevly-marghitu-hung-couplinggpsinsandimmradartrackingalgorithmsforprecisecollaborativegroundvehiclenavigationelectronicresource-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/6541\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'selikoff-bevly-marghitu-hung-couplinggpsinsandimmradartrackingalgorithmsforprecisecollaborativegroundvehiclenavigationelectronicresource-2018', 'http://hdl.handle.net/10415/6541', event);\">\n    Coupling GPS/INS and IMM Radar Tracking Algorithms for Precise Collaborative Ground Vehicle Navigation. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Selikoff, J. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Marghitu, D. B.;  and Hung, J. Y.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/6541\"\n     onclick=\"log_download('selikoff-bevly-marghitu-hung-couplinggpsinsandimmradartrackingalgorithmsforprecisecollaborativegroundvehiclenavigationelectronicresource-2018', 'http://hdl.handle.net/10415/6541', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Coupling GPS/INS and IMM Radar Tracking Algorithms for Precise Collaborative Ground Vehicle Navigation. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/selikoff-bevly-marghitu-hung-couplinggpsinsandimmradartrackingalgorithmsforprecisecollaborativegroundvehiclenavigationelectronicresource-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('selikoff-bevly-marghitu-hung-couplinggpsinsandimmradartrackingalgorithmsforprecisecollaborativegroundvehiclenavigationelectronicresource-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{selikoff_coupling_2018,\n\ttitle = {Coupling {GPS}/{INS} and {IMM} {Radar} {Tracking} {Algorithms} for {Precise} {Collaborative} {Ground} {Vehicle} {Navigation}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/6541},\n\tauthor = {Selikoff, Joseph M. and Bevly, David M. and Marghitu, Dan B. and Hung, John Y.},\n\tyear = {2018},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"siemon-nichols-bevly-raghav-anumericalanalysisofheterogeneousandhomogeneoustruckplatoonaerodynamicdragreductionelectronicresource-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/6405\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'siemon-nichols-bevly-raghav-anumericalanalysisofheterogeneousandhomogeneoustruckplatoonaerodynamicdragreductionelectronicresource-2018', 'http://hdl.handle.net/10415/6405', event);\">\n    A Numerical Analysis of Heterogeneous and Homogeneous Truck Platoon Aerodynamic Drag Reduction. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Siemon, M.; Nichols, S. G.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Raghav, V.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/6405\"\n     onclick=\"log_download('siemon-nichols-bevly-raghav-anumericalanalysisofheterogeneousandhomogeneoustruckplatoonaerodynamicdragreductionelectronicresource-2018', 'http://hdl.handle.net/10415/6405', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Numerical Analysis of Heterogeneous and Homogeneous Truck Platoon Aerodynamic Drag Reduction. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/siemon-nichols-bevly-raghav-anumericalanalysisofheterogeneousandhomogeneoustruckplatoonaerodynamicdragreductionelectronicresource-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('siemon-nichols-bevly-raghav-anumericalanalysisofheterogeneousandhomogeneoustruckplatoonaerodynamicdragreductionelectronicresource-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{siemon_numerical_2018,\n\ttitle = {A {Numerical} {Analysis} of {Heterogeneous} and {Homogeneous} {Truck} {Platoon} {Aerodynamic} {Drag} {Reduction}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/6405},\n\tauthor = {Siemon, Michael and Nichols, Stephen G. and Bevly, David M. and Raghav, Vrishank},\n\tyear = {2018},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"brothers-acomparisonofvehiclehandlingfidelitybetweenthegazeboandanvelsimulators-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  A COMPARISON OF VEHICLE HANDLING FIDELITY BETWEEN THE GAZEBO AND ANVEL SIMULATORS.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Brothers, R.\n</span>\n\n  \n\n</span>\n\n  In  2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/brothers-acomparisonofvehiclehandlingfidelitybetweenthegazeboandanvelsimulators-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('brothers-acomparisonofvehiclehandlingfidelitybetweenthegazeboandanvelsimulators-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{brothers_comparison_2018,\n\ttitle = {A {COMPARISON} {OF} {VEHICLE} {HANDLING} {FIDELITY} {BETWEEN} {THE} {GAZEBO} {AND} {ANVEL} {SIMULATORS}},\n\tabstract = {This paper provides a comparison of the Gazebo and ANVEL simulators and analyzes the aspects of vehicle modeling fidelity that are critical to the design of unmanned ground vehicle (UGV) control and estimation algorithms. The robotic simulators Gazebo [1], from the Open Source Robotics Foundation (OSRF), and Autonomous Navigation Virtual Environment Laboratory (ANVEL) [2], from Quantum Signal, are two popular new tools that are being used extensively in academic, commercial, and military development of perception, navigation, and control algorithms for UGVs. Despite the similarities between Gazebo and ANVEL there has been no direct comparison between the two simulators with respect to their validity as vehicle dynamics simulators.},\n\tlanguage = {en},\n\tauthor = {Brothers, Robert},\n\tyear = {2018},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper provides a comparison of the Gazebo and ANVEL simulators and analyzes the aspects of vehicle modeling fidelity that are critical to the design of unmanned ground vehicle (UGV) control and estimation algorithms. The robotic simulators Gazebo [1], from the Open Source Robotics Foundation (OSRF), and Autonomous Navigation Virtual Environment Laboratory (ANVEL) [2], from Quantum Signal, are two popular new tools that are being used extensively in academic, commercial, and military development of perception, navigation, and control algorithms for UGVs. Despite the similarities between Gazebo and ANVEL there has been no direct comparison between the two simulators with respect to their validity as vehicle dynamics simulators.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"tabb-martin-bevly-ratowski-improvedrelativepositioningforpathfollowinginautonomousconvoys-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  IMPROVED RELATIVE POSITIONING FOR PATH FOLLOWING IN AUTONOMOUS CONVOYS.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Tabb, T. T; Martin, S.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>;  and Ratowski, J.\n</span>\n\n  \n\n</span>\n\n  In  2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/tabb-martin-bevly-ratowski-improvedrelativepositioningforpathfollowinginautonomousconvoys-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('tabb-martin-bevly-ratowski-improvedrelativepositioningforpathfollowinginautonomousconvoys-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{tabb_improved_2018,\n\ttitle = {{IMPROVED} {RELATIVE} {POSITIONING} {FOR} {PATH} {FOLLOWING} {IN} {AUTONOMOUS} {CONVOYS}},\n\tabstract = {This work presents the development of an algorithm to incorporate measurements from multiple antennas to improve the relative position solution between convoying vehicles provided by Global Positioning System (GPS) measurements. The technique presented, incorporates measurements from multiple antennas with a known fixed-baseline between a base antenna and auxiliary antenna on a base vehicle, and a rover antenna on a rover vehicle. The additional information provided by the fixed-baseline distance is used to provide an additional measurement with low uncertainty for improved integer ambiguity resolution between the base and auxiliary receiver, which in turn, provides additional measurements for determining the integer ambiguity difference between the base and rover receivers for the computation of a high-precision relative position vector (HPRPV).},\n\tlanguage = {en},\n\tauthor = {Tabb, Thomas T and Martin, Scott and Bevly, David and Ratowski, Jeff},\n\tyear = {2018},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This work presents the development of an algorithm to incorporate measurements from multiple antennas to improve the relative position solution between convoying vehicles provided by Global Positioning System (GPS) measurements. The technique presented, incorporates measurements from multiple antennas with a known fixed-baseline between a base antenna and auxiliary antenna on a base vehicle, and a rover antenna on a rover vehicle. The additional information provided by the fixed-baseline distance is used to provide an additional measurement with low uncertainty for improved integer ambiguity resolution between the base and auxiliary receiver, which in turn, provides additional measurements for determining the integer ambiguity difference between the base and rover receivers for the computation of a high-precision relative position vector (HPRPV).\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sprunger-lim-bevly-qin-umphress-maintainingthesecurityandavailabilityofastreamoftimedependentsecretinformationinanadhocnetworkelectronicresource-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/6465\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'sprunger-lim-bevly-qin-umphress-maintainingthesecurityandavailabilityofastreamoftimedependentsecretinformationinanadhocnetworkelectronicresource-2018', 'http://hdl.handle.net/10415/6465', event);\">\n    Maintaining the Security and Availability of a Stream of Time-Dependent Secret Information in an Ad-Hoc Network. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Sprunger, J. D. S.; Lim, A. S.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Qin, X.;  and Umphress, D.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/6465\"\n     onclick=\"log_download('sprunger-lim-bevly-qin-umphress-maintainingthesecurityandavailabilityofastreamoftimedependentsecretinformationinanadhocnetworkelectronicresource-2018', 'http://hdl.handle.net/10415/6465', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Maintaining the Security and Availability of a Stream of Time-Dependent Secret Information in an Ad-Hoc Network. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sprunger-lim-bevly-qin-umphress-maintainingthesecurityandavailabilityofastreamoftimedependentsecretinformationinanadhocnetworkelectronicresource-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sprunger-lim-bevly-qin-umphress-maintainingthesecurityandavailabilityofastreamoftimedependentsecretinformationinanadhocnetworkelectronicresource-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{sprunger_maintaining_2018,\n\ttitle = {Maintaining the {Security} and {Availability} of a {Stream} of {Time}-{Dependent} {Secret} {Information} in an {Ad}-{Hoc} {Network}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/6465},\n\tauthor = {Sprunger, John David S. and Lim, Alvin S. and Bevly, David M. and Qin, Xiao and Umphress, David},\n\tyear = {2018},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"nelson-bevly-hung-marghitu-developmentofanvelhilsilsimulationenvironmentforrapidprototypingofnavigationalgorithmselectronicresource-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/6219\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'nelson-bevly-hung-marghitu-developmentofanvelhilsilsimulationenvironmentforrapidprototypingofnavigationalgorithmselectronicresource-2018', 'http://hdl.handle.net/10415/6219', event);\">\n    Development of ANVEL HIL/SIL Simulation Environment for Rapid Prototyping of Navigation Algorithms. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Nelson, B.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Hung, J. Y.;  and Marghitu, D. B.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/6219\"\n     onclick=\"log_download('nelson-bevly-hung-marghitu-developmentofanvelhilsilsimulationenvironmentforrapidprototypingofnavigationalgorithmselectronicresource-2018', 'http://hdl.handle.net/10415/6219', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Development of ANVEL HIL/SIL Simulation Environment for Rapid Prototyping of Navigation Algorithms. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/nelson-bevly-hung-marghitu-developmentofanvelhilsilsimulationenvironmentforrapidprototypingofnavigationalgorithmselectronicresource-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('nelson-bevly-hung-marghitu-developmentofanvelhilsilsimulationenvironmentforrapidprototypingofnavigationalgorithmselectronicresource-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{nelson_development_2018,\n\ttitle = {Development of {ANVEL} {HIL}/{SIL} {Simulation} {Environment} for {Rapid} {Prototyping} of {Navigation} {Algorithms}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/6219},\n\tauthor = {Nelson, Brently and Bevly, David M. and Hung, John Y. and Marghitu, Dan B.},\n\tyear = {2018},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"geiger-bevly-flowers-hung-laterallystringstablecontrolatlargefollowingdistancesusingdrtkandtdcpelectronicresource-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu/handle/10415/6415\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'geiger-bevly-flowers-hung-laterallystringstablecontrolatlargefollowingdistancesusingdrtkandtdcpelectronicresource-2018', 'https://etd.auburn.edu/handle/10415/6415', event);\">\n    Laterally String Stable Control at Large Following Distances Using DRTK and TDCP. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Geiger, S. A.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Flowers, G. T.;  and Hung, J. Y.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu/handle/10415/6415\"\n     onclick=\"log_download('geiger-bevly-flowers-hung-laterallystringstablecontrolatlargefollowingdistancesusingdrtkandtdcpelectronicresource-2018', 'https://etd.auburn.edu/handle/10415/6415', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Laterally String Stable Control at Large Following Distances Using DRTK and TDCP. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/geiger-bevly-flowers-hung-laterallystringstablecontrolatlargefollowingdistancesusingdrtkandtdcpelectronicresource-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('geiger-bevly-flowers-hung-laterallystringstablecontrolatlargefollowingdistancesusingdrtkandtdcpelectronicresource-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{geiger_laterally_2018,\n\ttitle = {Laterally {String} {Stable} {Control} at {Large} {Following} {Distances} {Using} {DRTK} and {TDCP}. [electronic resource]},\n\turl = {https://etd.auburn.edu/handle/10415/6415},\n\tauthor = {Geiger, Stephen Andrew and Bevly, David M. and Flowers, George T. and Hung, John Y.},\n\tyear = {2018},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"shaw-bevly-proportionalnavigationandmodelpredictivecontrolofanunmannedautonomousvehicleforobstacleavoidance-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Proportional Navigation and Model Predictive Control of an Unmanned Autonomous Vehicle for Obstacle Avoidance.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Shaw, R.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In pages V003T37A004, September 2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1115/DSCC2018-9080\"\n     onclick=\"log_download('shaw-bevly-proportionalnavigationandmodelpredictivecontrolofanunmannedautonomousvehicleforobstacleavoidance-2018', 'http://doi.org/10.1115/DSCC2018-9080', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/shaw-bevly-proportionalnavigationandmodelpredictivecontrolofanunmannedautonomousvehicleforobstacleavoidance-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('shaw-bevly-proportionalnavigationandmodelpredictivecontrolofanunmannedautonomousvehicleforobstacleavoidance-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{shaw_proportional_2018,\n\ttitle = {Proportional {Navigation} and {Model} {Predictive} {Control} of an {Unmanned} {Autonomous} {Vehicle} for {Obstacle} {Avoidance}},\n\tdoi = {10.1115/DSCC2018-9080},\n\tabstract = {This paper presents a new approach for the guidance and control of a UGV (Unmanned Ground Vehicle). An obstacle avoidance algorithm was developed using an integrated system involving proportional navigation (PN) and a nonlinear model predictive controller (NMPC). An obstacle avoidance variant of the classical proportional navigation law generates command lateral accelerations to avoid obstacles, while the NMPC is used to track the reference trajectory given by the PN. The NMPC utilizes a lateral vehicle dynamic model. Obstacle avoidance has become a popular area of research for both unmanned aerial vehicles and unmanned ground vehicles. In this application an obstacle avoidance algorithm can take over the control of a vehicle until the obstacle is no longer a threat. The performance of the obstacle avoidance algorithm is evaluated through simulation. Simulation results show a promising approach to conditionally implemented obstacle avoidance.},\n\tauthor = {Shaw, Ryan and Bevly, David},\n\tmonth = sep,\n\tyear = {2018},\n\tpages = {V003T37A004},\n}\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper presents a new approach for the guidance and control of a UGV (Unmanned Ground Vehicle). An obstacle avoidance algorithm was developed using an integrated system involving proportional navigation (PN) and a nonlinear model predictive controller (NMPC). An obstacle avoidance variant of the classical proportional navigation law generates command lateral accelerations to avoid obstacles, while the NMPC is used to track the reference trajectory given by the PN. The NMPC utilizes a lateral vehicle dynamic model. Obstacle avoidance has become a popular area of research for both unmanned aerial vehicles and unmanned ground vehicles. In this application an obstacle avoidance algorithm can take over the control of a vehicle until the obstacle is no longer a threat. The performance of the obstacle avoidance algorithm is evaluated through simulation. Simulation results show a promising approach to conditionally implemented obstacle avoidance.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"siemon-smith-nichols-bevly-heim-anintegratedcfdandtrucksimulationfor4vehicleplatoons-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://doi.org/10.4271/2018-01-0797\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'siemon-smith-nichols-bevly-heim-anintegratedcfdandtrucksimulationfor4vehicleplatoons-2018', 'https://doi.org/10.4271/2018-01-0797', event);\">\n    An Integrated CFD and Truck Simulation for 4 Vehicle Platoons.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Siemon, M.; Smith, P.; Nichols, D.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>;  and Heim, S.\n</span>\n\n  \n\n</span>\n\n  <i>SAE Technical Paper Series</i>.  2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://doi.org/10.4271/2018-01-0797\"\n     onclick=\"log_download('siemon-smith-nichols-bevly-heim-anintegratedcfdandtrucksimulationfor4vehicleplatoons-2018', 'https://doi.org/10.4271/2018-01-0797', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"An Integrated CFD and Truck Simulation for 4 Vehicle Platoons [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.4271/2018-01-0797\"\n     onclick=\"log_download('siemon-smith-nichols-bevly-heim-anintegratedcfdandtrucksimulationfor4vehicleplatoons-2018', 'http://doi.org/https://doi.org/10.4271/2018-01-0797', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/siemon-smith-nichols-bevly-heim-anintegratedcfdandtrucksimulationfor4vehicleplatoons-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('siemon-smith-nichols-bevly-heim-anintegratedcfdandtrucksimulationfor4vehicleplatoons-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{siemon_integrated_2018,\n\ttitle = {An {Integrated} {CFD} and {Truck} {Simulation} for 4 {Vehicle} {Platoons}},\n\turl = {https://doi.org/10.4271/2018-01-0797},\n\tdoi = {https://doi.org/10.4271/2018-01-0797},\n\tjournal = {SAE Technical Paper Series},\n\tauthor = {Siemon, Michael and Smith, Patrick and Nichols, Dudley and Bevly, David and Heim, Scott},\n\tyear = {2018},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2017\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2017')\"\n      onkeypress=\"toggleGroup('group_2017')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2017</span>\n      <span class=\"bibbase_group_count\">\n        \n        (21)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"pierce-martin-bevly-opportunisticlandmarkregistrationforlongdistancerelativepathfollowing-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Opportunistic Landmark Registration for Long Distance Relative Path Following.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Pierce, D.; Martin, S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In September 2017. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pierce-martin-bevly-opportunisticlandmarkregistrationforlongdistancerelativepathfollowing-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pierce-martin-bevly-opportunisticlandmarkregistrationforlongdistancerelativepathfollowing-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{pierce_opportunistic_2017,\n\ttitle = {Opportunistic {Landmark} {Registration} for {Long} {Distance} {Relative} {Path} {Following}},\n\tauthor = {Pierce, Dan and Martin, Scott and Bevly, David M.},\n\tmonth = sep,\n\tyear = {2017},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bishop-bevly-humphreys-boyd-murray-evaluationandtestingofdriverassistivetruckplatooningphase2finalresults-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edo&amp;AN=ejs46779707&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bishop-bevly-humphreys-boyd-murray-evaluationandtestingofdriverassistivetruckplatooningphase2finalresults-2017', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edo&amp;AN=ejs46779707&amp;site=eds-live&amp;scope=site', event);\">\n    Evaluation and Testing of Driver-Assistive Truck Platooning: Phase 2 Final Results.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Bishop, R.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>; Humphreys, L.; Boyd, S.;  and Murray, D.\n</span>\n\n  \n\n</span>\n\n  Technical Report January 2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edo&amp;AN=ejs46779707&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('bishop-bevly-humphreys-boyd-murray-evaluationandtestingofdriverassistivetruckplatooningphase2finalresults-2017', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edo&amp;AN=ejs46779707&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Evaluation and Testing of Driver-Assistive Truck Platooning: Phase 2 Final Results [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bishop-bevly-humphreys-boyd-murray-evaluationandtestingofdriverassistivetruckplatooningphase2finalresults-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bishop-bevly-humphreys-boyd-murray-evaluationandtestingofdriverassistivetruckplatooningphase2finalresults-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@techreport{bishop_evaluation_2017,\n\ttitle = {Evaluation and {Testing} of {Driver}-{Assistive} {Truck} {Platooning}: {Phase} 2 {Final} {Results}},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edo&amp;AN=ejs46779707&amp;site=eds-live&amp;scope=site},\n\tabstract = {Phase 2 final results are described for the FHWA Exploratory Advanced Research project titled Heavy Truck Cooperative Adaptive Cruise Control: Evaluation, Testing, and Stakeholder Engagement for Near Term Deployment, which evaluates the commercial feasibility of driver-assistive truck platooning (DATP). The project was led by Auburn University, in partnership with Peloton Technology, Peterbilt Trucks, Meritor WABCO, and the American Transportation Research Institute. DATP is a form of cooperative adaptive cruise control for heavy trucks (two-truck platoons). It takes advantage of the increasing maturity of vehicle-to-vehicle (V2V) communications (and the expected widespread deployment of V2V connectivity based on dedicated short-range communications over the next decade) to improve freight efficiency, fleet efficiency, safety, and highway mobility as well as reduce emissions. Notably, truck fleets can implement DATP regardless of the regulatory timeline for dedicated short-range communications. The Phase 2 analysis built on Phase 1 and included a testing program of a DATP prototype (with detailed SAE Type 2 fuel economy testing), wireless communications optimization, traffic modeling to understand the impact on roadways at various levels of market penetration, and additional analysis of methods to find DATP partners as well as aerodynamic simulations to understand drag on the vehicles. Detailed analysis of the fuel economy testing data is provided.},\n\tauthor = {Bishop, Richard and Bevly, David and Humphreys, Luke and Boyd, Stephen and Murray, Daniel},\n\tmonth = jan,\n\tyear = {2017},\n\tpages = {11 -- 18},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Phase 2 final results are described for the FHWA Exploratory Advanced Research project titled Heavy Truck Cooperative Adaptive Cruise Control: Evaluation, Testing, and Stakeholder Engagement for Near Term Deployment, which evaluates the commercial feasibility of driver-assistive truck platooning (DATP). The project was led by Auburn University, in partnership with Peloton Technology, Peterbilt Trucks, Meritor WABCO, and the American Transportation Research Institute. DATP is a form of cooperative adaptive cruise control for heavy trucks (two-truck platoons). It takes advantage of the increasing maturity of vehicle-to-vehicle (V2V) communications (and the expected widespread deployment of V2V connectivity based on dedicated short-range communications over the next decade) to improve freight efficiency, fleet efficiency, safety, and highway mobility as well as reduce emissions. Notably, truck fleets can implement DATP regardless of the regulatory timeline for dedicated short-range communications. The Phase 2 analysis built on Phase 1 and included a testing program of a DATP prototype (with detailed SAE Type 2 fuel economy testing), wireless communications optimization, traffic modeling to understand the impact on roadways at various levels of market penetration, and additional analysis of methods to find DATP partners as well as aerodynamic simulations to understand drag on the vehicles. Detailed analysis of the fuel economy testing data is provided.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"martin-bevly-performanceanalysisofartkvectorphaselockedlooparchitectureindegradedenvironments-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Performance Analysis of a RTK Vector Phase Locked Loop Architecture in Degraded Environments.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Martin, S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In May 2017. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/martin-bevly-performanceanalysisofartkvectorphaselockedlooparchitectureindegradedenvironments-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('martin-bevly-performanceanalysisofartkvectorphaselockedlooparchitectureindegradedenvironments-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{martin_performance_2017,\n\ttitle = {Performance {Analysis} of a {RTK} {Vector} {Phase} {Locked} {Loop} {Architecture} in {Degraded} {Environments}},\n\tauthor = {Martin, S. and Bevly, D.},\n\tmonth = may,\n\tyear = {2017},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"starling-bevly-erroranalysisofcarrierphasepositioningusingcontrolledreceptionpatternarrayantennas-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Error Analysis of Carrier Phase Positioning Using Controlled Reception Pattern Array Antennas.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Starling, J.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In January 2017. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/starling-bevly-erroranalysisofcarrierphasepositioningusingcontrolledreceptionpatternarrayantennas-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('starling-bevly-erroranalysisofcarrierphasepositioningusingcontrolledreceptionpatternarrayantennas-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{starling_error_2017,\n\ttitle = {Error {Analysis} of {Carrier} {Phase} {Positioning} {Using} {Controlled} {Reception} {Pattern} {Array} {Antennas}},\n\tauthor = {Starling, J. and Bevly, D. M.},\n\tmonth = jan,\n\tyear = {2017},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"powell-starling-bevly-amultipleantennasoftwaregpssignalsimulatorforrapidtestingofinterferencemitigationtechniques-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  A Multiple-Antenna Software GPS Signal Simulator for Rapid Testing of Interference Mitigation Techniques.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Powell, R.; Starling, J.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In January 2017. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/powell-starling-bevly-amultipleantennasoftwaregpssignalsimulatorforrapidtestingofinterferencemitigationtechniques-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('powell-starling-bevly-amultipleantennasoftwaregpssignalsimulatorforrapidtestingofinterferencemitigationtechniques-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{powell_multiple-antenna_2017,\n\ttitle = {A {Multiple}-{Antenna} {Software} {GPS} {Signal} {Simulator} for {Rapid} {Testing} of {Interference} {Mitigation} {Techniques}},\n\tauthor = {Powell, R. and Starling, J. and Bevly, D. M.},\n\tmonth = jan,\n\tyear = {2017},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sherer-martin-bevly-radarprobabilisticdataassociationfilterwithgpsaidingfortargetselectionandrelativepositiondetermination-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Radar Probabilistic Data Association Filter with GPS Aiding for Target Selection and Relative Position Determination.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Sherer, T.; Martin, S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In May 2017. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sherer-martin-bevly-radarprobabilisticdataassociationfilterwithgpsaidingfortargetselectionandrelativepositiondetermination-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sherer-martin-bevly-radarprobabilisticdataassociationfilterwithgpsaidingfortargetselectionandrelativepositiondetermination-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{sherer_radar_2017,\n\ttitle = {Radar {Probabilistic} {Data} {Association} {Filter} with {GPS} {Aiding} for {Target} {Selection} and {Relative} {Position} {Determination}},\n\tauthor = {Sherer, T. and Martin, S. and Bevly, D.},\n\tmonth = may,\n\tyear = {2017},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wang-flowers-bevly-hung-anadaptivecontrolsystemforanacceleratingrotorsupportedbyactivemagneticbearingsunderunbalancedisturbanceselectronicresource-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/5954\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wang-flowers-bevly-hung-anadaptivecontrolsystemforanacceleratingrotorsupportedbyactivemagneticbearingsunderunbalancedisturbanceselectronicresource-2017', 'http://hdl.handle.net/10415/5954', event);\">\n    An Adaptive Control System for an Accelerating Rotor Supported by Active Magnetic Bearings under Unbalance Disturbances. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wang, X.; Flowers, G. T.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hung, J. Y.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/5954\"\n     onclick=\"log_download('wang-flowers-bevly-hung-anadaptivecontrolsystemforanacceleratingrotorsupportedbyactivemagneticbearingsunderunbalancedisturbanceselectronicresource-2017', 'http://hdl.handle.net/10415/5954', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"An Adaptive Control System for an Accelerating Rotor Supported by Active Magnetic Bearings under Unbalance Disturbances. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wang-flowers-bevly-hung-anadaptivecontrolsystemforanacceleratingrotorsupportedbyactivemagneticbearingsunderunbalancedisturbanceselectronicresource-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wang-flowers-bevly-hung-anadaptivecontrolsystemforanacceleratingrotorsupportedbyactivemagneticbearingsunderunbalancedisturbanceselectronicresource-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{wang_adaptive_2017,\n\ttitle = {An {Adaptive} {Control} {System} for an {Accelerating} {Rotor} {Supported} by {Active} {Magnetic} {Bearings} under {Unbalance} {Disturbances}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/5954},\n\tauthor = {Wang, Xianglin and Flowers, George T. and Bevly, David M. and Hung, John Y.},\n\tyear = {2017},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sherer-bevly-flowers-hung-radarprobabilisticdataassociationfilterwithgpsaidingfortargetselectionandrelativepositiondeterminationelectronicresource-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/5686\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'sherer-bevly-flowers-hung-radarprobabilisticdataassociationfilterwithgpsaidingfortargetselectionandrelativepositiondeterminationelectronicresource-2017', 'http://hdl.handle.net/10415/5686', event);\">\n    Radar Probabilistic Data Association Filter with GPS Aiding for Target Selection and Relative Position Determination. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Sherer, T. P.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Flowers, G.;  and Hung, J. Y.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/5686\"\n     onclick=\"log_download('sherer-bevly-flowers-hung-radarprobabilisticdataassociationfilterwithgpsaidingfortargetselectionandrelativepositiondeterminationelectronicresource-2017', 'http://hdl.handle.net/10415/5686', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Radar Probabilistic Data Association Filter with GPS Aiding for Target Selection and Relative Position Determination. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sherer-bevly-flowers-hung-radarprobabilisticdataassociationfilterwithgpsaidingfortargetselectionandrelativepositiondeterminationelectronicresource-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sherer-bevly-flowers-hung-radarprobabilisticdataassociationfilterwithgpsaidingfortargetselectionandrelativepositiondeterminationelectronicresource-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{sherer_radar_2017,\n\ttitle = {Radar {Probabilistic} {Data} {Association} {Filter} with {GPS} {Aiding} for {Target} {Selection} and {Relative} {Position} {Determination}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/5686},\n\tauthor = {Sherer, Tyler P. and Bevly, David M. and Flowers, George and Hung, John Y.},\n\tyear = {2017},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"martin-bevly-gpscarrierphasetrackingindifficultenvironmentsusingvectortrackingforprecisepositioningandvehicleattitudeestimationelectronicresource-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/5692\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'martin-bevly-gpscarrierphasetrackingindifficultenvironmentsusingvectortrackingforprecisepositioningandvehicleattitudeestimationelectronicresource-2017', 'http://hdl.handle.net/10415/5692', event);\">\n    GPS Carrier Phase Tracking in Difficult Environments Using Vector Tracking For Precise Positioning and Vehicle Attitude Estimation. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Martin, S. M.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/5692\"\n     onclick=\"log_download('martin-bevly-gpscarrierphasetrackingindifficultenvironmentsusingvectortrackingforprecisepositioningandvehicleattitudeestimationelectronicresource-2017', 'http://hdl.handle.net/10415/5692', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"GPS Carrier Phase Tracking in Difficult Environments Using Vector Tracking For Precise Positioning and Vehicle Attitude Estimation. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/martin-bevly-gpscarrierphasetrackingindifficultenvironmentsusingvectortrackingforprecisepositioningandvehicleattitudeestimationelectronicresource-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('martin-bevly-gpscarrierphasetrackingindifficultenvironmentsusingvectortrackingforprecisepositioningandvehicleattitudeestimationelectronicresource-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{martin_gps_2017,\n\ttitle = {{GPS} {Carrier} {Phase} {Tracking} in {Difficult} {Environments} {Using} {Vector} {Tracking} {For} {Precise} {Positioning} and {Vehicle} {Attitude} {Estimation}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/5692},\n\tauthor = {Martin, Scott M. and Bevly, David M.},\n\tyear = {2017},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"park-sinclair-cicci-hung-bevly-sherrill-areducedelementmaprepresentationandapplicationselectronicresourcemapmergingpathplanningandtargetinterception-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/5849\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'park-sinclair-cicci-hung-bevly-sherrill-areducedelementmaprepresentationandapplicationselectronicresourcemapmergingpathplanningandtargetinterception-2017', 'http://hdl.handle.net/10415/5849', event);\">\n    A Reduced Element Map Representation and Applications. [electronic resource] : Map Merging, Path Planning, and Target Interception.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Park, J.; Sinclair, A. J.; Cicci, D. A.; Hung, J. Y.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Sherrill, R. E.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/5849\"\n     onclick=\"log_download('park-sinclair-cicci-hung-bevly-sherrill-areducedelementmaprepresentationandapplicationselectronicresourcemapmergingpathplanningandtargetinterception-2017', 'http://hdl.handle.net/10415/5849', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Reduced Element Map Representation and Applications. [electronic resource] : Map Merging, Path Planning, and Target Interception. [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/park-sinclair-cicci-hung-bevly-sherrill-areducedelementmaprepresentationandapplicationselectronicresourcemapmergingpathplanningandtargetinterception-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('park-sinclair-cicci-hung-bevly-sherrill-areducedelementmaprepresentationandapplicationselectronicresourcemapmergingpathplanningandtargetinterception-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{park_reduced_2017,\n\ttitle = {A {Reduced} {Element} {Map} {Representation} and {Applications}. [electronic resource] : {Map} {Merging}, {Path} {Planning}, and {Target} {Interception}.},\n\turl = {http://hdl.handle.net/10415/5849},\n\tauthor = {Park, Jinyoung and Sinclair, Andrew J. and Cicci, David A. and Hung, John Y. and Bevly, David M. and Sherrill, Ryan Edward},\n\tyear = {2017},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"rose-bevly-thurow-sinha-marghitu-flowers-arealtimeimplementationofrenderinglightfieldimageryforgeneratingpointcloudsinvisionnavigationelectronicresource-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/6059\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'rose-bevly-thurow-sinha-marghitu-flowers-arealtimeimplementationofrenderinglightfieldimageryforgeneratingpointcloudsinvisionnavigationelectronicresource-2017', 'http://hdl.handle.net/10415/6059', event);\">\n    A Real-time Implementation of Rendering Light Field Imagery for Generating Point Clouds in Vision Navigation. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Rose, C.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Thurow, B. S.; Sinha, S. C. (. C.; Marghitu, D. B.;  and Flowers, G. T.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/6059\"\n     onclick=\"log_download('rose-bevly-thurow-sinha-marghitu-flowers-arealtimeimplementationofrenderinglightfieldimageryforgeneratingpointcloudsinvisionnavigationelectronicresource-2017', 'http://hdl.handle.net/10415/6059', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Real-time Implementation of Rendering Light Field Imagery for Generating Point Clouds in Vision Navigation. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/rose-bevly-thurow-sinha-marghitu-flowers-arealtimeimplementationofrenderinglightfieldimageryforgeneratingpointcloudsinvisionnavigationelectronicresource-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('rose-bevly-thurow-sinha-marghitu-flowers-arealtimeimplementationofrenderinglightfieldimageryforgeneratingpointcloudsinvisionnavigationelectronicresource-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{rose_real-time_2017,\n\ttitle = {A {Real}-time {Implementation} of {Rendering} {Light} {Field} {Imagery} for {Generating} {Point} {Clouds} in {Vision} {Navigation}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/6059},\n\tauthor = {Rose, Christopher and Bevly, David M. and Thurow, Brian S. and Sinha, S. C. (Subhash Chandra) and Marghitu, Dan B. and Flowers, George T.},\n\tyear = {2017},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"stamenov-geiger-bevly-balas-robustvehiclestabilitybasedonnonlinearmodelpredictivecontrolandenvironmentalcharacterization-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Robust Vehicle Stability Based on Non-Linear Model Predictive Control and Environmental Characterization.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Stamenov, V.; Geiger, S.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>;  and Balas, C.\n</span>\n\n  \n\n</span>\n\n  In  2017. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/stamenov-geiger-bevly-balas-robustvehiclestabilitybasedonnonlinearmodelpredictivecontrolandenvironmentalcharacterization-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('stamenov-geiger-bevly-balas-robustvehiclestabilitybasedonnonlinearmodelpredictivecontrolandenvironmentalcharacterization-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{stamenov_robust_2017,\n\ttitle = {Robust {Vehicle} {Stability} {Based} on {Non}-{Linear} {Model} {Predictive} {Control} and {Environmental} {Characterization}},\n\tabstract = {A Non-linear Model Predictive Controller (NMPC) was developed for an unmanned ground vehicle (UGV). The NMPC uses a particle swarm pattern search algorithm to optimize the control input, which contains a desired steer angle and a desired longitudinal velocity. The NMPC is designed to approach a target whilst avoiding obstacles that are detected using a light detection and ranging sensor (lidar). Since not all obstacles are stationary, an obstacle tracking algorithm is employed to track obstacles. Two point cluster detection algorithms were reviewed, and a constant velocity Kalman filter-based tracking loop was developed. The tracked obstacles’ positions are predicted using a constant velocity model in the NMPC; this allows for avoidance of both stationary and dynamic obstacles.},\n\tauthor = {Stamenov, Velislav and Geiger, Stephen and Bevly, David and Balas, Christian},\n\tyear = {2017},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  A Non-linear Model Predictive Controller (NMPC) was developed for an unmanned ground vehicle (UGV). The NMPC uses a particle swarm pattern search algorithm to optimize the control input, which contains a desired steer angle and a desired longitudinal velocity. The NMPC is designed to approach a target whilst avoiding obstacles that are detected using a light detection and ranging sensor (lidar). Since not all obstacles are stationary, an obstacle tracking algorithm is employed to track obstacles. Two point cluster detection algorithms were reviewed, and a constant velocity Kalman filter-based tracking loop was developed. The tracked obstacles’ positions are predicted using a constant velocity model in the NMPC; this allows for avoidance of both stationary and dynamic obstacles.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"nelson-bevly-ratowski-theisen-anvelhilsiladditionsfornavigationalgorithmdevelopment-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  ANVEL HIL/SIL ADDITIONS FOR NAVIGATION ALGORITHM DEVELOPMENT.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Nelson, B.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>; Ratowski, J.;  and Theisen, B.\n</span>\n\n  \n\n</span>\n\n  In  2017. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/nelson-bevly-ratowski-theisen-anvelhilsiladditionsfornavigationalgorithmdevelopment-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('nelson-bevly-ratowski-theisen-anvelhilsiladditionsfornavigationalgorithmdevelopment-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{nelson_anvel_2017,\n\ttitle = {{ANVEL} {HIL}/{SIL} {ADDITIONS} {FOR} {NAVIGATION} {ALGORITHM} {DEVELOPMENT}},\n\tabstract = {This work presents the development of a high fidelity Simulation In the Loop/Hardware In the Loop simulation environment using add-ons to Autonomous Navigation Virtual Environment Laboratory (ANVEL) and a navigation unit developed by Auburn University’s GPS and Vehicle Dynamics Lab (GAVLAB) in support of the United States Army’s Autonomous Ground Resupply Science Technology Objective. The developed add-ons include a real time interface for ANVEL, Inertial Measurement Unit module, Wheel Speed Sensor module, and a GPS module that allows simulated signals or generated Radio Frequency signals. The developed add-ons allow for faster development of navigation algorithms and controllers due to a readily available, highly accurate truth from ANVEL and can be configured to introduce realistic errors from sensors, hardware, and GPS signals such that algorithm and controller robustness can be easily examined.},\n\tlanguage = {en},\n\tauthor = {Nelson, Brently and Bevly, David and Ratowski, Jeff and Theisen, Bernard},\n\tyear = {2017},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This work presents the development of a high fidelity Simulation In the Loop/Hardware In the Loop simulation environment using add-ons to Autonomous Navigation Virtual Environment Laboratory (ANVEL) and a navigation unit developed by Auburn University’s GPS and Vehicle Dynamics Lab (GAVLAB) in support of the United States Army’s Autonomous Ground Resupply Science Technology Objective. The developed add-ons include a real time interface for ANVEL, Inertial Measurement Unit module, Wheel Speed Sensor module, and a GPS module that allows simulated signals or generated Radio Frequency signals. The developed add-ons allow for faster development of navigation algorithms and controllers due to a readily available, highly accurate truth from ANVEL and can be configured to introduce realistic errors from sensors, hardware, and GPS signals such that algorithm and controller robustness can be easily examined.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bishop-bevly-humphreys-boyd-murray-evaluationandtestingofdriverassistivetruckplatooningphase2finalresultsauthorsbishoprichard-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000413456800002&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bishop-bevly-humphreys-boyd-murray-evaluationandtestingofdriverassistivetruckplatooningphase2finalresultsauthorsbishoprichard-2017', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000413456800002&amp;site=eds-live&amp;scope=site', event);\">\n    Evaluation and Testing of Driver-Assistive Truck Platooning Phase 2 Final Results Authors: Bishop, Richard.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Bishop, R.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>; Humphreys, L.; Boyd, S.;  and Murray, D.\n</span>\n\n  \n\n</span>\n\n  Technical Report January 2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000413456800002&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('bishop-bevly-humphreys-boyd-murray-evaluationandtestingofdriverassistivetruckplatooningphase2finalresultsauthorsbishoprichard-2017', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000413456800002&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Evaluation and Testing of Driver-Assistive Truck Platooning Phase 2 Final Results Authors: Bishop, Richard [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bishop-bevly-humphreys-boyd-murray-evaluationandtestingofdriverassistivetruckplatooningphase2finalresultsauthorsbishoprichard-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bishop-bevly-humphreys-boyd-murray-evaluationandtestingofdriverassistivetruckplatooningphase2finalresultsauthorsbishoprichard-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@techreport{bishop_evaluation_2017,\n\ttitle = {Evaluation and {Testing} of {Driver}-{Assistive} {Truck} {Platooning} {Phase} 2 {Final} {Results} {Authors}: {Bishop}, {Richard}},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000413456800002&amp;site=eds-live&amp;scope=site},\n\tauthor = {Bishop, Richard and Bevly, David and Humphreys, Luke and Boyd, Stephen and Murray, Daniel},\n\tmonth = jan,\n\tyear = {2017},\n\tpages = {11 -- 18},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"starling-bevly-erroranalysisofcarrierphasepositioningusingcontrolledreceptionpatternantennaarrayselectronicresource-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/5601\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'starling-bevly-erroranalysisofcarrierphasepositioningusingcontrolledreceptionpatternantennaarrayselectronicresource-2017', 'http://hdl.handle.net/10415/5601', event);\">\n    Error Analysis of Carrier Phase Positioning Using Controlled Reception Pattern Antenna Arrays. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Starling, J.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/5601\"\n     onclick=\"log_download('starling-bevly-erroranalysisofcarrierphasepositioningusingcontrolledreceptionpatternantennaarrayselectronicresource-2017', 'http://hdl.handle.net/10415/5601', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Error Analysis of Carrier Phase Positioning Using Controlled Reception Pattern Antenna Arrays. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/starling-bevly-erroranalysisofcarrierphasepositioningusingcontrolledreceptionpatternantennaarrayselectronicresource-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('starling-bevly-erroranalysisofcarrierphasepositioningusingcontrolledreceptionpatternantennaarrayselectronicresource-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{starling_error_2017,\n\ttitle = {Error {Analysis} of {Carrier} {Phase} {Positioning} {Using} {Controlled} {Reception} {Pattern} {Antenna} {Arrays}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/5601},\n\tauthor = {Starling, Joshua and Bevly, David M.},\n\tyear = {2017},\n}\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wang-rajamani-bevly-observerdesignforparametervaryingdifferentiablenonlinearsystemswithapplicationtoslipangleestimation-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000399033000029&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wang-rajamani-bevly-observerdesignforparametervaryingdifferentiablenonlinearsystemswithapplicationtoslipangleestimation-2017', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000399033000029&amp;site=eds-live&amp;scope=site', event);\">\n    Observer Design for Parameter Varying Differentiable Nonlinear Systems, With Application to Slip Angle Estimation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wang, Y.; Rajamani, R.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE TRANSACTIONS ON AUTOMATIC CONTROL</i>, 62(4): 1940 – 1945. April 2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000399033000029&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('wang-rajamani-bevly-observerdesignforparametervaryingdifferentiablenonlinearsystemswithapplicationtoslipangleestimation-2017', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000399033000029&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Observer Design for Parameter Varying Differentiable Nonlinear Systems, With Application to Slip Angle Estimation [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wang-rajamani-bevly-observerdesignforparametervaryingdifferentiablenonlinearsystemswithapplicationtoslipangleestimation-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wang-rajamani-bevly-observerdesignforparametervaryingdifferentiablenonlinearsystemswithapplicationtoslipangleestimation-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{wang_observer_2017,\n\ttitle = {Observer {Design} for {Parameter} {Varying} {Differentiable} {Nonlinear} {Systems}, {With} {Application} to {Slip} {Angle} {Estimation}},\n\tvolume = {62},\n\tissn = {00189286},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000399033000029&amp;site=eds-live&amp;scope=site},\n\tnumber = {4},\n\tjournal = {IEEE TRANSACTIONS ON AUTOMATIC CONTROL},\n\tauthor = {Wang, Yan and Rajamani, Rajesh and Bevly, David M.},\n\tmonth = apr,\n\tyear = {2017},\n\tkeywords = {Linear matrix inequalities, state estimation, time-varying systems, vehicle dynamics},\n\tpages = {1940 -- 1945},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"jantz-flowers-bevly-choe-developmentofamultimodeadaptivecontrollerandinvestigationofgainvariationswithspeedandbalancechangeselectronicresource-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/5951\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'jantz-flowers-bevly-choe-developmentofamultimodeadaptivecontrollerandinvestigationofgainvariationswithspeedandbalancechangeselectronicresource-2017', 'http://hdl.handle.net/10415/5951', event);\">\n    Development of a Multi-mode Adaptive Controller and Investigation of Gain Variations with Speed and Balance Changes. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Jantz, J. W.; Flowers, G. T.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Choe, S.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/5951\"\n     onclick=\"log_download('jantz-flowers-bevly-choe-developmentofamultimodeadaptivecontrollerandinvestigationofgainvariationswithspeedandbalancechangeselectronicresource-2017', 'http://hdl.handle.net/10415/5951', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Development of a Multi-mode Adaptive Controller and Investigation of Gain Variations with Speed and Balance Changes. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/jantz-flowers-bevly-choe-developmentofamultimodeadaptivecontrollerandinvestigationofgainvariationswithspeedandbalancechangeselectronicresource-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('jantz-flowers-bevly-choe-developmentofamultimodeadaptivecontrollerandinvestigationofgainvariationswithspeedandbalancechangeselectronicresource-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{jantz_development_2017,\n\ttitle = {Development of a {Multi}-mode {Adaptive} {Controller} and {Investigation} of {Gain} {Variations} with {Speed} and {Balance} {Changes}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/5951},\n\tauthor = {Jantz, James W. and Flowers, George T. and Bevly, David M. and Choe, Song-yul},\n\tyear = {2017},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"humphreys-nichols-bevly-scarborough-acomputationalfluiddynamicsanalysisofadriverassistivetruckplatooningsystemwithlateraloffsetelectronicresource-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/5624\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'humphreys-nichols-bevly-scarborough-acomputationalfluiddynamicsanalysisofadriverassistivetruckplatooningsystemwithlateraloffsetelectronicresource-2017', 'http://hdl.handle.net/10415/5624', event);\">\n    A Computational Fluid Dynamics Analysis of a Driver-Assistive Truck Platooning System with Lateral Offset. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Humphreys, H.; Nichols, D. S.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Scarborough, D. E.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/5624\"\n     onclick=\"log_download('humphreys-nichols-bevly-scarborough-acomputationalfluiddynamicsanalysisofadriverassistivetruckplatooningsystemwithlateraloffsetelectronicresource-2017', 'http://hdl.handle.net/10415/5624', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Computational Fluid Dynamics Analysis of a Driver-Assistive Truck Platooning System with Lateral Offset. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/humphreys-nichols-bevly-scarborough-acomputationalfluiddynamicsanalysisofadriverassistivetruckplatooningsystemwithlateraloffsetelectronicresource-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('humphreys-nichols-bevly-scarborough-acomputationalfluiddynamicsanalysisofadriverassistivetruckplatooningsystemwithlateraloffsetelectronicresource-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{humphreys_computational_2017,\n\ttitle = {A {Computational} {Fluid} {Dynamics} {Analysis} of a {Driver}-{Assistive} {Truck} {Platooning} {System} with {Lateral} {Offset}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/5624},\n\tauthor = {Humphreys, Hugh and Nichols, Dudley Stephen and Bevly, David M. and Scarborough, David E.},\n\tyear = {2017},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gurley-beale-broughton-bevly-hung-enablingshapememoryalloysasactuatorsforroboticselectronicresource-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/6000\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gurley-beale-broughton-bevly-hung-enablingshapememoryalloysasactuatorsforroboticselectronicresource-2017', 'http://hdl.handle.net/10415/6000', event);\">\n    Enabling Shape Memory Alloys as Actuators for Robotics. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gurley, A. R.; Beale, D. G.; Broughton, R. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hung, J. Y.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/6000\"\n     onclick=\"log_download('gurley-beale-broughton-bevly-hung-enablingshapememoryalloysasactuatorsforroboticselectronicresource-2017', 'http://hdl.handle.net/10415/6000', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Enabling Shape Memory Alloys as Actuators for Robotics. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gurley-beale-broughton-bevly-hung-enablingshapememoryalloysasactuatorsforroboticselectronicresource-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gurley-beale-broughton-bevly-hung-enablingshapememoryalloysasactuatorsforroboticselectronicresource-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{gurley_enabling_2017,\n\ttitle = {Enabling {Shape} {Memory} {Alloys} as {Actuators} for {Robotics}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/6000},\n\tauthor = {Gurley, Austin Russell and Beale, David G. and Broughton, Royall M. and Bevly, David M. and Hung, John Y.},\n\tyear = {2017},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"brown-bevly-hung-flowers-marghitu-determinationoftheallowableparametricuncertaintyintheclosedloopviaaskewbasedtechniquewithanapplicationtotheyawrollvehiclemodelelectronicresource-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/5935\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'brown-bevly-hung-flowers-marghitu-determinationoftheallowableparametricuncertaintyintheclosedloopviaaskewbasedtechniquewithanapplicationtotheyawrollvehiclemodelelectronicresource-2017', 'http://hdl.handle.net/10415/5935', event);\">\n    Determination of the Allowable Parametric Uncertainty in the Closed Loop Via a Skew-μ Based Technique with an Application to the Yaw-Roll Vehicle Model. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Brown, L. S.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Hung, J. Y.; Flowers, G. T.;  and Marghitu, D. B.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/5935\"\n     onclick=\"log_download('brown-bevly-hung-flowers-marghitu-determinationoftheallowableparametricuncertaintyintheclosedloopviaaskewbasedtechniquewithanapplicationtotheyawrollvehiclemodelelectronicresource-2017', 'http://hdl.handle.net/10415/5935', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Determination of the Allowable Parametric Uncertainty in the Closed Loop Via a Skew-μ Based Technique with an Application to the Yaw-Roll Vehicle Model. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/brown-bevly-hung-flowers-marghitu-determinationoftheallowableparametricuncertaintyintheclosedloopviaaskewbasedtechniquewithanapplicationtotheyawrollvehiclemodelelectronicresource-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('brown-bevly-hung-flowers-marghitu-determinationoftheallowableparametricuncertaintyintheclosedloopviaaskewbasedtechniquewithanapplicationtotheyawrollvehiclemodelelectronicresource-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{brown_determination_2017,\n\ttitle = {Determination of the {Allowable} {Parametric} {Uncertainty} in the {Closed} {Loop} {Via} a {Skew}-μ {Based} {Technique} with an {Application} to the {Yaw}-{Roll} {Vehicle} {Model}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/5935},\n\tauthor = {Brown, Lowell S. and Bevly, David M. and Hung, John Y. and Flowers, George T. and Marghitu, Dan B.},\n\tyear = {2017},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sherer-martin-bevly-keynoteradarprobabilisticdataassociationfilterwithgpsaidingfortargetselectionandrelativepositiondetermination-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Keynote: Radar Probabilistic Data Association Filter with GPS Aiding for Target Selection and Relative Position Determination.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Sherer, T.; Martin, S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In pages 419–428, June 2017. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.33012/2017.15069\"\n     onclick=\"log_download('sherer-martin-bevly-keynoteradarprobabilisticdataassociationfilterwithgpsaidingfortargetselectionandrelativepositiondetermination-2017', 'http://doi.org/10.33012/2017.15069', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sherer-martin-bevly-keynoteradarprobabilisticdataassociationfilterwithgpsaidingfortargetselectionandrelativepositiondetermination-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sherer-martin-bevly-keynoteradarprobabilisticdataassociationfilterwithgpsaidingfortargetselectionandrelativepositiondetermination-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{sherer_keynote_2017,\n\ttitle = {Keynote: {Radar} {Probabilistic} {Data} {Association} {Filter} with {GPS} {Aiding} for {Target} {Selection} and {Relative} {Position} {Determination}},\n\tshorttitle = {Keynote},\n\tdoi = {10.33012/2017.15069},\n\tauthor = {Sherer, Tyler and Martin, Scott and Bevly, David},\n\tmonth = jun,\n\tyear = {2017},\n\tpages = {419--428},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2016\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2016')\"\n      onkeypress=\"toggleGroup('group_2016')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2016</span>\n      <span class=\"bibbase_group_count\">\n        \n        (13)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"carson-martin-starling-bevly-gpsspoofingdetectionandmitigationusingcooperativeadaptivecruisecontrolsystem-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.7535525&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'carson-martin-starling-bevly-gpsspoofingdetectionandmitigationusingcooperativeadaptivecruisecontrolsystem-2016', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.7535525&amp;site=eds-live&amp;scope=site', event);\">\n    GPS spoofing detection and mitigation using Cooperative Adaptive Cruise Control system.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Carson, N.; Martin, S. M.; Starling, J.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In June 2016. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.7535525&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('carson-martin-starling-bevly-gpsspoofingdetectionandmitigationusingcooperativeadaptivecruisecontrolsystem-2016', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.7535525&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"GPS spoofing detection and mitigation using Cooperative Adaptive Cruise Control system [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/carson-martin-starling-bevly-gpsspoofingdetectionandmitigationusingcooperativeadaptivecruisecontrolsystem-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('carson-martin-starling-bevly-gpsspoofingdetectionandmitigationusingcooperativeadaptivecruisecontrolsystem-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{carson_gps_2016,\n\ttitle = {{GPS} spoofing detection and mitigation using {Cooperative} {Adaptive} {Cruise} {Control} system},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.7535525&amp;site=eds-live&amp;scope=site},\n\tabstract = {Global Navigation Satellite Systems (GNSS) like the Global Positioning System (GPS) are susceptible to electronic interference which threatens the reliability of the systems outputs, precise time and localization. Interference comes from natural and predatory sources in the form of increased in-band noise and structured attacks. The structured attack, called spoofing, is designed to trick the receiver into reporting an incorrect navigation solution as if it were accurate. Modern automobiles are becoming more reliant on GPS for localization, automation, and safety. Vehicles are also equipped with a variety of sensors (e.g. Radars, Lidars, wheel encoders) that provide situational awareness which may be leveraged in a GPS spoofing detection scheme. The proposed spoofing detection and mitigation system relies on an existing Cooperative Adaptive Cruise Control (CACC) system to provide inter-vehicle ranging and data sharing. The inter-vehicle ranges are used to detect a spoofing attack, and the mitigation system removes the attacking signal from the incoming data stream. The spoofing detection and removal system is tested using data recorded with a fielded CACC system on two commercial trucks. Intermediate frequency (IF) GPS data is collected during the test. Since live sky spoofing is legal, the IF data recording allows for post process spoofing injection in a controlled environment. In post process, the spoofing signal is shown to “capture” the onboard GPS receiver. The proposed system uses the spoofed IF GPS data along with recorded observables from the CACC system to detection and remove the attack.},\n\tpublisher = {IEEE},\n\tauthor = {Carson, Nathaniel and Martin, Scott M. and Starling, Joshua and Bevly, David M.},\n\tmonth = jun,\n\tyear = {2016},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Global Navigation Satellite Systems (GNSS) like the Global Positioning System (GPS) are susceptible to electronic interference which threatens the reliability of the systems outputs, precise time and localization. Interference comes from natural and predatory sources in the form of increased in-band noise and structured attacks. The structured attack, called spoofing, is designed to trick the receiver into reporting an incorrect navigation solution as if it were accurate. Modern automobiles are becoming more reliant on GPS for localization, automation, and safety. Vehicles are also equipped with a variety of sensors (e.g. Radars, Lidars, wheel encoders) that provide situational awareness which may be leveraged in a GPS spoofing detection scheme. The proposed spoofing detection and mitigation system relies on an existing Cooperative Adaptive Cruise Control (CACC) system to provide inter-vehicle ranging and data sharing. The inter-vehicle ranges are used to detect a spoofing attack, and the mitigation system removes the attacking signal from the incoming data stream. The spoofing detection and removal system is tested using data recorded with a fielded CACC system on two commercial trucks. Intermediate frequency (IF) GPS data is collected during the test. Since live sky spoofing is legal, the IF data recording allows for post process spoofing injection in a controlled environment. In post process, the spoofing signal is shown to “capture” the onboard GPS receiver. The proposed system uses the spoofed IF GPS data along with recorded observables from the CACC system to detection and remove the attack.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gao-lim-bevly-anempiricalstudyofdsrcv2vperformanceintruckplatooningscenarios-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsdoj&amp;AN=edsdoj.3a694505148c4518800249ed58217fa9&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gao-lim-bevly-anempiricalstudyofdsrcv2vperformanceintruckplatooningscenarios-2016', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsdoj&amp;AN=edsdoj.3a694505148c4518800249ed58217fa9&amp;site=eds-live&amp;scope=site', event);\">\n    An empirical study of DSRC V2V performance in truck platooning scenarios.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gao, S.; Lim, A.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  <i>Digital Communications and Networks</i>, 2(4): 233 – 244. November 2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsdoj&amp;AN=edsdoj.3a694505148c4518800249ed58217fa9&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('gao-lim-bevly-anempiricalstudyofdsrcv2vperformanceintruckplatooningscenarios-2016', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsdoj&amp;AN=edsdoj.3a694505148c4518800249ed58217fa9&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"An empirical study of DSRC V2V performance in truck platooning scenarios [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gao-lim-bevly-anempiricalstudyofdsrcv2vperformanceintruckplatooningscenarios-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gao-lim-bevly-anempiricalstudyofdsrcv2vperformanceintruckplatooningscenarios-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{gao_empirical_2016,\n\ttitle = {An empirical study of {DSRC} {V2V} performance in truck platooning scenarios},\n\tvolume = {2},\n\tissn = {2352-8648},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsdoj&amp;AN=edsdoj.3a694505148c4518800249ed58217fa9&amp;site=eds-live&amp;scope=site},\n\tabstract = {Among many safety applications enabled by Dedicated Short Range Communication (DSRC), truck platooning provides many incentives to commercial companies. This paper studies DSRC Vehicle-to-Vehicle (V2V) performance in truck platooning scenarios through real-world experiments. Commercial DSRC equipments and semi-trailer trucks are used in this study. We mount one DSRC antenna on each side of the truck. One set of dynamic tests and a few sets of static tests are conducted to explore DSRC behaviors under different situations. From the test results, we verified some of our speculations. For example, hilly roads can affect delivery ratio and antennas mounted on opposite sides of a truck can suffer from low delivery ratio at curved roads. In addition, we also found that antennas can sometimes suffer from low delivery ratio even when the trucks are on straight roads, possibly due to reflections from the nearby terrain. Fortunately, the delivery ratio can be greatly improved by using the two side antennas alternately.},\n\tnumber = {4},\n\tjournal = {Digital Communications and Networks},\n\tauthor = {Gao, Song and Lim, Alvin and Bevly, David},\n\tmonth = nov,\n\tyear = {2016},\n\tkeywords = {DSRC V2V performance, Delivery ratio, Empirical study, Information technology, T58.5-58.64, Truck platooning},\n\tpages = {233 -- 244},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Among many safety applications enabled by Dedicated Short Range Communication (DSRC), truck platooning provides many incentives to commercial companies. This paper studies DSRC Vehicle-to-Vehicle (V2V) performance in truck platooning scenarios through real-world experiments. Commercial DSRC equipments and semi-trailer trucks are used in this study. We mount one DSRC antenna on each side of the truck. One set of dynamic tests and a few sets of static tests are conducted to explore DSRC behaviors under different situations. From the test results, we verified some of our speculations. For example, hilly roads can affect delivery ratio and antennas mounted on opposite sides of a truck can suffer from low delivery ratio at curved roads. In addition, we also found that antennas can sometimes suffer from low delivery ratio even when the trucks are on straight roads, possibly due to reflections from the nearby terrain. Fortunately, the delivery ratio can be greatly improved by using the two side antennas alternately.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ryan-bevly-classificationofegoplatformmotionforplatformindependentplugandplaynavigationelectronicresource-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/5142\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ryan-bevly-classificationofegoplatformmotionforplatformindependentplugandplaynavigationelectronicresource-2016', 'http://hdl.handle.net/10415/5142', event);\">\n    Classification of Ego Platform Motion for Platform Independent Plug and Play Navigation. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ryan, J.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/5142\"\n     onclick=\"log_download('ryan-bevly-classificationofegoplatformmotionforplatformindependentplugandplaynavigationelectronicresource-2016', 'http://hdl.handle.net/10415/5142', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Classification of Ego Platform Motion for Platform Independent Plug and Play Navigation. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ryan-bevly-classificationofegoplatformmotionforplatformindependentplugandplaynavigationelectronicresource-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ryan-bevly-classificationofegoplatformmotionforplatformindependentplugandplaynavigationelectronicresource-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{ryan_classification_2016,\n\ttitle = {Classification of {Ego} {Platform} {Motion} for {Platform} {Independent} {Plug} and {Play} {Navigation}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/5142},\n\tauthor = {Ryan, Jonathan and Bevly, David M.},\n\tyear = {2016},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"li-flowers-dean-hung-bevly-modellingcontrolandestimationtechniquesformicromachinedelectrostaticactuatorsusingmacromagneticactuatorselectronicresource-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/5321\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'li-flowers-dean-hung-bevly-modellingcontrolandestimationtechniquesformicromachinedelectrostaticactuatorsusingmacromagneticactuatorselectronicresource-2016', 'http://hdl.handle.net/10415/5321', event);\">\n    Modelling, Control and Estimation Techniques for Micromachined Electrostatic Actuators Using Macro Magnetic Actuators. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Li, C.; Flowers, G. T.; Dean, R. N.; Hung, J. Y.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/5321\"\n     onclick=\"log_download('li-flowers-dean-hung-bevly-modellingcontrolandestimationtechniquesformicromachinedelectrostaticactuatorsusingmacromagneticactuatorselectronicresource-2016', 'http://hdl.handle.net/10415/5321', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Modelling, Control and Estimation Techniques for Micromachined Electrostatic Actuators Using Macro Magnetic Actuators. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/li-flowers-dean-hung-bevly-modellingcontrolandestimationtechniquesformicromachinedelectrostaticactuatorsusingmacromagneticactuatorselectronicresource-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('li-flowers-dean-hung-bevly-modellingcontrolandestimationtechniquesformicromachinedelectrostaticactuatorsusingmacromagneticactuatorselectronicresource-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{li_modelling_2016,\n\ttitle = {Modelling, {Control} and {Estimation} {Techniques} for {Micromachined} {Electrostatic} {Actuators} {Using} {Macro} {Magnetic} {Actuators}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/5321},\n\tauthor = {Li, Chong and Flowers, George T. and Dean, Robert Neal and Hung, John Y. and Bevly, David M.},\n\tyear = {2016},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"britt-bevly-flowers-sinha-marghitu-simultaneouslocalizationautocalibrationandmappingofgroundvehicleselectronicresource-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/5232\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'britt-bevly-flowers-sinha-marghitu-simultaneouslocalizationautocalibrationandmappingofgroundvehicleselectronicresource-2016', 'http://hdl.handle.net/10415/5232', event);\">\n    Simultaneous Localization Auto-Calibration and Mapping of Ground Vehicles. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Britt, J. H.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Flowers, G. T.; Sinha, S. C.;  and Marghitu, D. B.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/5232\"\n     onclick=\"log_download('britt-bevly-flowers-sinha-marghitu-simultaneouslocalizationautocalibrationandmappingofgroundvehicleselectronicresource-2016', 'http://hdl.handle.net/10415/5232', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Simultaneous Localization Auto-Calibration and Mapping of Ground Vehicles. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/britt-bevly-flowers-sinha-marghitu-simultaneouslocalizationautocalibrationandmappingofgroundvehicleselectronicresource-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('britt-bevly-flowers-sinha-marghitu-simultaneouslocalizationautocalibrationandmappingofgroundvehicleselectronicresource-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{britt_simultaneous_2016,\n\ttitle = {Simultaneous {Localization} {Auto}-{Calibration} and {Mapping} of {Ground} {Vehicles}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/5232},\n\tauthor = {Britt, Jordan H. and Bevly, David M. and Flowers, George T. and Sinha, S. C. and Marghitu, Dan B.},\n\tyear = {2016},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"eick-bevly-anonlinearmodelpredictivecontrolalgorithmforanunmannedgroundvehicleonvariableterrainelectronicresource-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/5517\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'eick-bevly-anonlinearmodelpredictivecontrolalgorithmforanunmannedgroundvehicleonvariableterrainelectronicresource-2016', 'http://hdl.handle.net/10415/5517', event);\">\n    A Nonlinear Model Predictive Control Algorithm for an Unmanned Ground Vehicle on Variable Terrain. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Eick, A.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/5517\"\n     onclick=\"log_download('eick-bevly-anonlinearmodelpredictivecontrolalgorithmforanunmannedgroundvehicleonvariableterrainelectronicresource-2016', 'http://hdl.handle.net/10415/5517', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Nonlinear Model Predictive Control Algorithm for an Unmanned Ground Vehicle on Variable Terrain. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/eick-bevly-anonlinearmodelpredictivecontrolalgorithmforanunmannedgroundvehicleonvariableterrainelectronicresource-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('eick-bevly-anonlinearmodelpredictivecontrolalgorithmforanunmannedgroundvehicleonvariableterrainelectronicresource-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{eick_nonlinear_2016,\n\ttitle = {A {Nonlinear} {Model} {Predictive} {Control} {Algorithm} for an {Unmanned} {Ground} {Vehicle} on {Variable} {Terrain}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/5517},\n\tauthor = {Eick, Andrew and Bevly, David M.},\n\tyear = {2016},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"powell-bevly-amultipleantennasoftwaregpssignalsimulatorforrapidtestingofinterferencemitigationtechniqueselectronicresource-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/5520\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'powell-bevly-amultipleantennasoftwaregpssignalsimulatorforrapidtestingofinterferencemitigationtechniqueselectronicresource-2016', 'http://hdl.handle.net/10415/5520', event);\">\n    A Multiple-Antenna Software GPS Signal Simulator for Rapid Testing of Interference Mitigation Techniques. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Powell, R.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/5520\"\n     onclick=\"log_download('powell-bevly-amultipleantennasoftwaregpssignalsimulatorforrapidtestingofinterferencemitigationtechniqueselectronicresource-2016', 'http://hdl.handle.net/10415/5520', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Multiple-Antenna Software GPS Signal Simulator for Rapid Testing of Interference Mitigation Techniques. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/powell-bevly-amultipleantennasoftwaregpssignalsimulatorforrapidtestingofinterferencemitigationtechniqueselectronicresource-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('powell-bevly-amultipleantennasoftwaregpssignalsimulatorforrapidtestingofinterferencemitigationtechniqueselectronicresource-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{powell_multiple-antenna_2016,\n\ttitle = {A {Multiple}-{Antenna} {Software} {GPS} {Signal} {Simulator} for {Rapid} {Testing} of {Interference} {Mitigation} {Techniques}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/5520},\n\tauthor = {Powell, Russell and Bevly, David M.},\n\tyear = {2016},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"robertson-sinclair-bevly-cicci-cochran-doucette-designofaguidancecontrollerusingnetworktopologyelectronicresource-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/5392\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'robertson-sinclair-bevly-cicci-cochran-doucette-designofaguidancecontrollerusingnetworktopologyelectronicresource-2016', 'http://hdl.handle.net/10415/5392', event);\">\n    Design of a Guidance Controller Using Network Topology. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Robertson, C. J.; Sinclair, A. J.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Cicci, D. A.; Cochran, J. E.;  and Doucette, E. A.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/5392\"\n     onclick=\"log_download('robertson-sinclair-bevly-cicci-cochran-doucette-designofaguidancecontrollerusingnetworktopologyelectronicresource-2016', 'http://hdl.handle.net/10415/5392', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Design of a Guidance Controller Using Network Topology. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/robertson-sinclair-bevly-cicci-cochran-doucette-designofaguidancecontrollerusingnetworktopologyelectronicresource-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('robertson-sinclair-bevly-cicci-cochran-doucette-designofaguidancecontrollerusingnetworktopologyelectronicresource-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{robertson_design_2016,\n\ttitle = {Design of a {Guidance} {Controller} {Using} {Network} {Topology}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/5392},\n\tauthor = {Robertson, Clay Jackson and Sinclair, Andrew J. and Bevly, David M. and Cicci, David A. and Cochran, John E. and Doucette, Emily A.},\n\tyear = {2016},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pierce-bevly-hung-marghitu-incorporationofafootmountedimuformultisensorpedestriannavigationelectronicresource-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/5074\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pierce-bevly-hung-marghitu-incorporationofafootmountedimuformultisensorpedestriannavigationelectronicresource-2016', 'http://hdl.handle.net/10415/5074', event);\">\n    Incorporation of a Foot-Mounted IMU for Multi-Sensor Pedestrian Navigation. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Pierce, D.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Hung, J. Y.;  and Marghitu, D. B.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/5074\"\n     onclick=\"log_download('pierce-bevly-hung-marghitu-incorporationofafootmountedimuformultisensorpedestriannavigationelectronicresource-2016', 'http://hdl.handle.net/10415/5074', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Incorporation of a Foot-Mounted IMU for Multi-Sensor Pedestrian Navigation. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pierce-bevly-hung-marghitu-incorporationofafootmountedimuformultisensorpedestriannavigationelectronicresource-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pierce-bevly-hung-marghitu-incorporationofafootmountedimuformultisensorpedestriannavigationelectronicresource-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{pierce_incorporation_2016,\n\ttitle = {Incorporation of a {Foot}-{Mounted} {IMU} for {Multi}-{Sensor} {Pedestrian} {Navigation}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/5074},\n\tauthor = {Pierce, Daniel and Bevly, David M. and Hung, John Y. and Marghitu, Dan B.},\n\tyear = {2016},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"rose-pierce-gao-cofield-bevly-bishop-blindpedestrianbodywornnavigationaidbasedonpedometryandsmartintersectionconnectivity-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Blind Pedestrian Body-Worn Navigation Aid Based on Pedometry and Smart Intersection Connectivity.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Rose, C.; Pierce, D.; Gao, S.; Cofield, R.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Bishop, R.\n</span>\n\n  \n\n</span>\n\n  In  2016. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/rose-pierce-gao-cofield-bevly-bishop-blindpedestrianbodywornnavigationaidbasedonpedometryandsmartintersectionconnectivity-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('rose-pierce-gao-cofield-bevly-bishop-blindpedestrianbodywornnavigationaidbasedonpedometryandsmartintersectionconnectivity-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{rose_blind_2016,\n\ttitle = {Blind {Pedestrian} {Body}-{Worn} {Navigation} {Aid} {Based} on {Pedometry} and {Smart} {Intersection} {Connectivity}},\n\tauthor = {Rose, C. and Pierce, D. and Gao, S. and Cofield, R. and Bevly, D. M. and Bishop, R.},\n\tyear = {2016},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bevly-cao-gordon-ozbilgin-kari-nelson-woodruff-barth-etal-lanechangeandmergemaneuversforconnectedandautomatedvehiclesasurvey-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000722376200009&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bevly-cao-gordon-ozbilgin-kari-nelson-woodruff-barth-etal-lanechangeandmergemaneuversforconnectedandautomatedvehiclesasurvey-2016', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000722376200009&amp;site=eds-live&amp;scope=site', event);\">\n    Lane Change and Merge Maneuvers for Connected and Automated Vehicles: A Survey.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>; Cao, X.; Gordon, M.; Ozbilgin, G.; Kari, D.; Nelson, B.; Woodruff, J.; Barth, M.; Murray, C.; Kurt, A.; Redmill, K.;  and Ozguner, U.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE TRANSACTIONS ON IN℡LIGENT VEHICLES</i>, 1(1): 105 – 120. March 2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000722376200009&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('bevly-cao-gordon-ozbilgin-kari-nelson-woodruff-barth-etal-lanechangeandmergemaneuversforconnectedandautomatedvehiclesasurvey-2016', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000722376200009&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Lane Change and Merge Maneuvers for Connected and Automated Vehicles: A Survey [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bevly-cao-gordon-ozbilgin-kari-nelson-woodruff-barth-etal-lanechangeandmergemaneuversforconnectedandautomatedvehiclesasurvey-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bevly-cao-gordon-ozbilgin-kari-nelson-woodruff-barth-etal-lanechangeandmergemaneuversforconnectedandautomatedvehiclesasurvey-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{bevly_lane_2016,\n\ttitle = {Lane {Change} and {Merge} {Maneuvers} for {Connected} and {Automated} {Vehicles}: {A} {Survey}},\n\tvolume = {1},\n\tissn = {23798858},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000722376200009&amp;site=eds-live&amp;scope=site},\n\tnumber = {1},\n\tjournal = {IEEE TRANSACTIONS ON IN℡LIGENT VEHICLES},\n\tauthor = {Bevly, David and Cao, Xiaolong and Gordon, Mikhail and Ozbilgin, Guchan and Kari, David and Nelson, Brently and Woodruff, Jonathan and Barth, Matthew and Murray, Chase and Kurt, Arda and Redmill, Keith and Ozguner, Umit},\n\tmonth = mar,\n\tyear = {2016},\n\tkeywords = {Cooperative adaptive cruise control (CACC), dedicated short range communications (DSRC), differential global positioning system (DGPS), lane change and merge, light detection and ranging (LiDAR), managed lanes, model predictive control (MPC), platooning, real time kinematic (RTK)},\n\tpages = {105 -- 120},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"morales-bevly-magnetometeraidednavigationfiltersforimprovedobservabilityandestimationongroundvehicleselectronicresource-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/5317\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'morales-bevly-magnetometeraidednavigationfiltersforimprovedobservabilityandestimationongroundvehicleselectronicresource-2016', 'http://hdl.handle.net/10415/5317', event);\">\n    Magnetometer Aided Navigation Filters for Improved Observability and Estimation on Ground Vehicles. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Morales, G.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/5317\"\n     onclick=\"log_download('morales-bevly-magnetometeraidednavigationfiltersforimprovedobservabilityandestimationongroundvehicleselectronicresource-2016', 'http://hdl.handle.net/10415/5317', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Magnetometer Aided Navigation Filters for Improved Observability and Estimation on Ground Vehicles. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/morales-bevly-magnetometeraidednavigationfiltersforimprovedobservabilityandestimationongroundvehicleselectronicresource-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('morales-bevly-magnetometeraidednavigationfiltersforimprovedobservabilityandestimationongroundvehicleselectronicresource-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{morales_magnetometer_2016,\n\ttitle = {Magnetometer {Aided} {Navigation} {Filters} for {Improved} {Observability} and {Estimation} on {Ground} {Vehicles}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/5317},\n\tauthor = {Morales, Gabriel and Bevly, David M.},\n\tyear = {2016},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"humphreys-batterson-bevly-schubert-anevaluationofthefueleconomybenefitsofadriverassistivetruckplatooningprototypeusingsimulation-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://doi.org/10.4271/2016-01-0167\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'humphreys-batterson-bevly-schubert-anevaluationofthefueleconomybenefitsofadriverassistivetruckplatooningprototypeusingsimulation-2016', 'https://doi.org/10.4271/2016-01-0167', event);\">\n    An Evaluation of the Fuel Economy Benefits of a Driver Assistive Truck Platooning Prototype Using Simulation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Humphreys, H. L.; Batterson, J.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>;  and Schubert, R.\n</span>\n\n  \n\n</span>\n\n  <i>SAE Technical Paper Series</i>.  2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://doi.org/10.4271/2016-01-0167\"\n     onclick=\"log_download('humphreys-batterson-bevly-schubert-anevaluationofthefueleconomybenefitsofadriverassistivetruckplatooningprototypeusingsimulation-2016', 'https://doi.org/10.4271/2016-01-0167', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"An Evaluation of the Fuel Economy Benefits of a Driver Assistive Truck Platooning Prototype Using Simulation [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.4271/2016-01-0167\"\n     onclick=\"log_download('humphreys-batterson-bevly-schubert-anevaluationofthefueleconomybenefitsofadriverassistivetruckplatooningprototypeusingsimulation-2016', 'http://doi.org/https://doi.org/10.4271/2016-01-0167', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/humphreys-batterson-bevly-schubert-anevaluationofthefueleconomybenefitsofadriverassistivetruckplatooningprototypeusingsimulation-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('humphreys-batterson-bevly-schubert-anevaluationofthefueleconomybenefitsofadriverassistivetruckplatooningprototypeusingsimulation-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{humphreys_evaluation_2016,\n\ttitle = {An {Evaluation} of the {Fuel} {Economy} {Benefits} of a {Driver} {Assistive} {Truck} {Platooning} {Prototype} {Using} {Simulation}},\n\turl = {https://doi.org/10.4271/2016-01-0167},\n\tdoi = {https://doi.org/10.4271/2016-01-0167},\n\tjournal = {SAE Technical Paper Series},\n\tauthor = {Humphreys, Hugh Luke and Batterson, Joshua and Bevly, David and Schubert, Raymond},\n\tyear = {2016},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2015\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2015')\"\n      onkeypress=\"toggleGroup('group_2015')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2015</span>\n      <span class=\"bibbase_group_count\">\n        \n        (15)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"wang-zhou-mao-pandey-agrawal-bevly-mobilityimproveslmibasedcooperativeindoorlocalization-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=108577088&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wang-zhou-mao-pandey-agrawal-bevly-mobilityimproveslmibasedcooperativeindoorlocalization-2015', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=108577088&amp;site=eds-live&amp;scope=site', event);\">\n    Mobility improves LMI-based cooperative indoor localization.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wang, X.; Zhou, H.; Mao, S.; Pandey, S.; Agrawal, P.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2015 IEEE Wireless Communications & Networking Conference (WCNC)</i>, pages 2215 – 2220,  2015. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=108577088&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('wang-zhou-mao-pandey-agrawal-bevly-mobilityimproveslmibasedcooperativeindoorlocalization-2015', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=108577088&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Mobility improves LMI-based cooperative indoor localization. [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wang-zhou-mao-pandey-agrawal-bevly-mobilityimproveslmibasedcooperativeindoorlocalization-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wang-zhou-mao-pandey-agrawal-bevly-mobilityimproveslmibasedcooperativeindoorlocalization-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{wang_mobility_2015,\n\ttitle = {Mobility improves {LMI}-based cooperative indoor localization.},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=108577088&amp;site=eds-live&amp;scope=site},\n\tbooktitle = {2015 {IEEE} {Wireless} {Communications} \\&amp; {Networking} {Conference} ({WCNC})},\n\tauthor = {Wang, Xuyu and Zhou, Hui and Mao, Shiwen and Pandey, Santosh and Agrawal, Prathima and Bevly, David M.},\n\tyear = {2015},\n\tpages = {2215 -- 2220},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pierce-bevly-acentralizedapproachtopedestrianlocalizationusingmultipleodometrysources-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  A Centralized Approach to Pedestrian Localization Using Multiple Odometry Sources.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Pierce, J. D.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In January 2015. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pierce-bevly-acentralizedapproachtopedestrianlocalizationusingmultipleodometrysources-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pierce-bevly-acentralizedapproachtopedestrianlocalizationusingmultipleodometrysources-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{pierce_centralized_2015,\n\ttitle = {A {Centralized} {Approach} to {Pedestrian} {Localization} {Using} {Multiple} {Odometry} {Sources}},\n\tauthor = {Pierce, J. D. and Bevly, D. M.},\n\tmonth = jan,\n\tyear = {2015},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"carsonnr-bevly-arobustmethodforspoofingpreventionandpositionrecoveryinattacksagainstnetworkedgpsreceivers-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  A Robust Method for Spoofing Prevention and Position Recovery in Attacks against Networked GPS Receivers.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Carson N. R;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In January 2015. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/carsonnr-bevly-arobustmethodforspoofingpreventionandpositionrecoveryinattacksagainstnetworkedgpsreceivers-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('carsonnr-bevly-arobustmethodforspoofingpreventionandpositionrecoveryinattacksagainstnetworkedgpsreceivers-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{carson_n_r_robust_2015,\n\ttitle = {A {Robust} {Method} for {Spoofing} {Prevention} and {Position} {Recovery} in {Attacks} against {Networked} {GPS} {Receivers}},\n\tauthor = {{Carson N. R} and Bevly, D. M.},\n\tmonth = jan,\n\tyear = {2015},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bitner-preston-bevly-multipathandspoofingdetectionusingangleofarrivalinamultiantennasystem-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Multipath and Spoofing Detection Using Angle of Arrival in a Multi-Antenna System.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Bitner, T.; Preston, S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In January 2015. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bitner-preston-bevly-multipathandspoofingdetectionusingangleofarrivalinamultiantennasystem-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bitner-preston-bevly-multipathandspoofingdetectionusingangleofarrivalinamultiantennasystem-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{bitner_multipath_2015,\n\ttitle = {Multipath and {Spoofing} {Detection} {Using} {Angle} of {Arrival} in a {Multi}-{Antenna} {System}},\n\tauthor = {Bitner, T. and Preston, S. and Bevly, D. M.},\n\tmonth = jan,\n\tyear = {2015},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bevly-murray-boyd-smith-bishop-testingofdriverassistivetruckplatooningphase1-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Testing of Driver Assistive Truck Platooning: Phase 1.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Murray, D.; Boyd, S.; Smith, S.;  and Bishop, R.\n</span>\n\n  \n\n</span>\n\n  In  2015. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bevly-murray-boyd-smith-bishop-testingofdriverassistivetruckplatooningphase1-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bevly-murray-boyd-smith-bishop-testingofdriverassistivetruckplatooningphase1-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{bevly_testing_2015,\n\ttitle = {Testing of {Driver} {Assistive} {Truck} {Platooning}: {Phase} 1},\n\tauthor = {Bevly, D. M. and Murray, D. and Boyd, S. and Smith, S. and Bishop, R.},\n\tyear = {2015},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"salmon-bevly-hung-jones-anexperimentalexplorationoflowcostsensorandvehiclemodelsolutionsforprecisiongroundvehiclenavigationelectronicresource-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/4912\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'salmon-bevly-hung-jones-anexperimentalexplorationoflowcostsensorandvehiclemodelsolutionsforprecisiongroundvehiclenavigationelectronicresource-2015', 'http://hdl.handle.net/10415/4912', event);\">\n    An Experimental Exploration of Low-Cost Sensor and Vehicle Model Solutions for Precision Ground Vehicle Navigation. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Salmon, D. C.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Hung, J. Y.;  and Jones, P. D.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/4912\"\n     onclick=\"log_download('salmon-bevly-hung-jones-anexperimentalexplorationoflowcostsensorandvehiclemodelsolutionsforprecisiongroundvehiclenavigationelectronicresource-2015', 'http://hdl.handle.net/10415/4912', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"An Experimental Exploration of Low-Cost Sensor and Vehicle Model Solutions for Precision Ground Vehicle Navigation. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/salmon-bevly-hung-jones-anexperimentalexplorationoflowcostsensorandvehiclemodelsolutionsforprecisiongroundvehiclenavigationelectronicresource-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('salmon-bevly-hung-jones-anexperimentalexplorationoflowcostsensorandvehiclemodelsolutionsforprecisiongroundvehiclenavigationelectronicresource-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{salmon_experimental_2015,\n\ttitle = {An {Experimental} {Exploration} of {Low}-{Cost} {Sensor} and {Vehicle} {Model} {Solutions} for {Precision} {Ground} {Vehicle} {Navigation}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/4912},\n\tauthor = {Salmon, Daniel Cody and Bevly, David M. and Hung, John Y. and Jones, Peter D.},\n\tyear = {2015},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"mcintyre-jones-beale-bevly-choe-astudyoflateralandlongitudinaltireforcesproducedonadeformablesurfacewithappliedtractionandbrakingelectronicresource-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://etd.auburn.edu/handle/10415/4630\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'mcintyre-jones-beale-bevly-choe-astudyoflateralandlongitudinaltireforcesproducedonadeformablesurfacewithappliedtractionandbrakingelectronicresource-2015', 'http://etd.auburn.edu/handle/10415/4630', event);\">\n    A Study of Lateral and Longitudinal Tire Forces Produced on a Deformable Surface with Applied Traction and Braking. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  McIntyre, D. M.; Jones, P. D.; Beale, D. G.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Choe, S.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://etd.auburn.edu/handle/10415/4630\"\n     onclick=\"log_download('mcintyre-jones-beale-bevly-choe-astudyoflateralandlongitudinaltireforcesproducedonadeformablesurfacewithappliedtractionandbrakingelectronicresource-2015', 'http://etd.auburn.edu/handle/10415/4630', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Study of Lateral and Longitudinal Tire Forces Produced on a Deformable Surface with Applied Traction and Braking. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/mcintyre-jones-beale-bevly-choe-astudyoflateralandlongitudinaltireforcesproducedonadeformablesurfacewithappliedtractionandbrakingelectronicresource-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('mcintyre-jones-beale-bevly-choe-astudyoflateralandlongitudinaltireforcesproducedonadeformablesurfacewithappliedtractionandbrakingelectronicresource-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{mcintyre_study_2015,\n\ttitle = {A {Study} of {Lateral} and {Longitudinal} {Tire} {Forces} {Produced} on a {Deformable} {Surface} with {Applied} {Traction} and {Braking}. [electronic resource]},\n\turl = {http://etd.auburn.edu/handle/10415/4630},\n\tauthor = {McIntyre, David Michael and Jones, Peter D. and Beale, David G. and Bevly, David M. and Choe, Song-yul},\n\tyear = {2015},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"keyser-bevly-jones-nelson-designandimplementationofasocbasedrealtimevectortrackinggpsreceiverelectronicresource-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/4580\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'keyser-bevly-jones-nelson-designandimplementationofasocbasedrealtimevectortrackinggpsreceiverelectronicresource-2015', 'http://hdl.handle.net/10415/4580', event);\">\n    Design and Implementation of a SoC-Based Real-Time Vector Tracking GPS Receiver. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Keyser, B. A.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Jones, P. D.;  and Nelson, V. P.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/4580\"\n     onclick=\"log_download('keyser-bevly-jones-nelson-designandimplementationofasocbasedrealtimevectortrackinggpsreceiverelectronicresource-2015', 'http://hdl.handle.net/10415/4580', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Design and Implementation of a SoC-Based Real-Time Vector Tracking GPS Receiver. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/keyser-bevly-jones-nelson-designandimplementationofasocbasedrealtimevectortrackinggpsreceiverelectronicresource-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('keyser-bevly-jones-nelson-designandimplementationofasocbasedrealtimevectortrackinggpsreceiverelectronicresource-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{keyser_design_2015,\n\ttitle = {Design and {Implementation} of a {SoC}-{Based} {Real}-{Time} {Vector} {Tracking} {GPS} {Receiver}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/4580},\n\tauthor = {Keyser, Brian A. and Bevly, David M. and Jones, Peter D. and Nelson, Victor P.},\n\tyear = {2015},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"yu-hung-bevly-roppel-wilamowski-optimizationapproachesforadubinsvehicleincoverageplanningproblemandtravelingsalesmanproblemselectronicresource-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/4599\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'yu-hung-bevly-roppel-wilamowski-optimizationapproachesforadubinsvehicleincoverageplanningproblemandtravelingsalesmanproblemselectronicresource-2015', 'http://hdl.handle.net/10415/4599', event);\">\n    Optimization Approaches for a Dubins Vehicle in Coverage Planning Problem and Traveling Salesman Problems. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Yu, X.; Hung, J. Y.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Roppel, T. A.;  and Wilamowski, B. M.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/4599\"\n     onclick=\"log_download('yu-hung-bevly-roppel-wilamowski-optimizationapproachesforadubinsvehicleincoverageplanningproblemandtravelingsalesmanproblemselectronicresource-2015', 'http://hdl.handle.net/10415/4599', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Optimization Approaches for a Dubins Vehicle in Coverage Planning Problem and Traveling Salesman Problems. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yu-hung-bevly-roppel-wilamowski-optimizationapproachesforadubinsvehicleincoverageplanningproblemandtravelingsalesmanproblemselectronicresource-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yu-hung-bevly-roppel-wilamowski-optimizationapproachesforadubinsvehicleincoverageplanningproblemandtravelingsalesmanproblemselectronicresource-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{yu_optimization_2015,\n\ttitle = {Optimization {Approaches} for a {Dubins} {Vehicle} in {Coverage} {Planning} {Problem} and {Traveling} {Salesman} {Problems}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/4599},\n\tauthor = {Yu, Xin and Hung, John Y. and Bevly, David M. and Roppel, Thaddeus Adam and Wilamowski, Bogdan M.},\n\tyear = {2015},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"cao-bevly-designandexperimentalvalidationoflongitudinalcontrollerofconnectedvehiclesusingmodelpredictivecontrolelectronicresource-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/4989\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'cao-bevly-designandexperimentalvalidationoflongitudinalcontrollerofconnectedvehiclesusingmodelpredictivecontrolelectronicresource-2015', 'http://hdl.handle.net/10415/4989', event);\">\n    Design and Experimental Validation of Longitudinal Controller of Connected Vehicles using Model Predictive Control. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Cao, X.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/4989\"\n     onclick=\"log_download('cao-bevly-designandexperimentalvalidationoflongitudinalcontrollerofconnectedvehiclesusingmodelpredictivecontrolelectronicresource-2015', 'http://hdl.handle.net/10415/4989', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Design and Experimental Validation of Longitudinal Controller of Connected Vehicles using Model Predictive Control. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/cao-bevly-designandexperimentalvalidationoflongitudinalcontrollerofconnectedvehiclesusingmodelpredictivecontrolelectronicresource-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('cao-bevly-designandexperimentalvalidationoflongitudinalcontrollerofconnectedvehiclesusingmodelpredictivecontrolelectronicresource-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{cao_design_2015,\n\ttitle = {Design and {Experimental} {Validation} of {Longitudinal} {Controller} of {Connected} {Vehicles} using {Model} {Predictive} {Control}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/4989},\n\tauthor = {Cao, Xiaolong and Bevly, David M.},\n\tyear = {2015},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"preston-bevly-riggs-gpsmultipathdetectionandmitigationtimingbiastechniqueselectronicresource-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/4611\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'preston-bevly-riggs-gpsmultipathdetectionandmitigationtimingbiastechniqueselectronicresource-2015', 'http://hdl.handle.net/10415/4611', event);\">\n    GPS Multipath Detection and Mitigation Timing Bias Techniques. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Preston, S.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Riggs, L. S.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/4611\"\n     onclick=\"log_download('preston-bevly-riggs-gpsmultipathdetectionandmitigationtimingbiastechniqueselectronicresource-2015', 'http://hdl.handle.net/10415/4611', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"GPS Multipath Detection and Mitigation Timing Bias Techniques. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/preston-bevly-riggs-gpsmultipathdetectionandmitigationtimingbiastechniqueselectronicresource-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('preston-bevly-riggs-gpsmultipathdetectionandmitigationtimingbiastechniqueselectronicresource-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{preston_gps_2015,\n\ttitle = {{GPS} {Multipath} {Detection} and {Mitigation} {Timing} {Bias} {Techniques}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/4611},\n\tauthor = {Preston, Sarah and Bevly, David M. and Riggs, Lloyd Stephen},\n\tyear = {2015},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wang-bevly-rajamani-intervalobserverdesignforlpvsystemswithparametricuncertainty-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edselp&amp;AN=S0005109815002770&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wang-bevly-rajamani-intervalobserverdesignforlpvsystemswithparametricuncertainty-2015', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edselp&amp;AN=S0005109815002770&amp;site=eds-live&amp;scope=site', event);\">\n    Interval observer design for LPV systems with parametric uncertainty.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wang, Y.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Rajamani, R.\n</span>\n\n  \n\n</span>\n\n  <i>Automatica</i>, 60: 79 – 85. October 2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edselp&amp;AN=S0005109815002770&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('wang-bevly-rajamani-intervalobserverdesignforlpvsystemswithparametricuncertainty-2015', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edselp&amp;AN=S0005109815002770&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Interval observer design for LPV systems with parametric uncertainty [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wang-bevly-rajamani-intervalobserverdesignforlpvsystemswithparametricuncertainty-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wang-bevly-rajamani-intervalobserverdesignforlpvsystemswithparametricuncertainty-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{wang_interval_2015,\n\ttitle = {Interval observer design for {LPV} systems with parametric uncertainty},\n\tvolume = {60},\n\tissn = {0005-1098},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edselp&amp;AN=S0005109815002770&amp;site=eds-live&amp;scope=site},\n\tjournal = {Automatica},\n\tauthor = {Wang, Yan and Bevly, David M. and Rajamani, Rajesh},\n\tmonth = oct,\n\tyear = {2015},\n\tpages = {79 -- 85},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"brown-bevly-rollandbankestimationusinggpsinsandsuspensiondeflections-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsdoj&amp;AN=edsdoj.92881a6202bb41fea45d8040e9d6a17b&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'brown-bevly-rollandbankestimationusinggpsinsandsuspensiondeflections-2015', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsdoj&amp;AN=edsdoj.92881a6202bb41fea45d8040e9d6a17b&amp;site=eds-live&amp;scope=site', event);\">\n    Roll and Bank Estimation Using GPS/INS and Suspension Deflections.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Brown, L. S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  <i>Electronics</i>, 4(1): 118 – 149. January 2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsdoj&amp;AN=edsdoj.92881a6202bb41fea45d8040e9d6a17b&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('brown-bevly-rollandbankestimationusinggpsinsandsuspensiondeflections-2015', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsdoj&amp;AN=edsdoj.92881a6202bb41fea45d8040e9d6a17b&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Roll and Bank Estimation Using GPS/INS and Suspension Deflections [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/brown-bevly-rollandbankestimationusinggpsinsandsuspensiondeflections-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('brown-bevly-rollandbankestimationusinggpsinsandsuspensiondeflections-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{brown_roll_2015,\n\ttitle = {Roll and {Bank} {Estimation} {Using} {GPS}/{INS} and {Suspension} {Deflections}},\n\tvolume = {4},\n\tissn = {2079-9292},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsdoj&amp;AN=edsdoj.92881a6202bb41fea45d8040e9d6a17b&amp;site=eds-live&amp;scope=site},\n\tabstract = {This article presents a method that provides an estimate of road bank by decoupling the vehicle roll due to the dynamics and the roll due to the road bank. Suspension deflection measurements were used to provide a measurement of the relative roll between the vehicle body frame and the axle frame or between the sprung mass and the unsprung mass, respectively. A deflection scaling parameter was found via suspension geometry and dynamic analysis. The relative roll measurement was then incorporated into two different kinematic navigation models based on extended Kalman filter (EKF) architectures. Each algorithm was tested and then verified on the Prowler ATV experimental platform at the National Center for Asphalt Technology (NCAT). Experimental data showed that both the cascaded and coupled approach performed well in providing estimates of the current vehicle roll and instantaneous road bank.},\n\tnumber = {1},\n\tjournal = {Electronics},\n\tauthor = {Brown, Lowell S. and Bevly, David M.},\n\tmonth = jan,\n\tyear = {2015},\n\tkeywords = {Electronics, GPS, INS/GNSS, TK7800-8360, extended Kalman filter (EKF), relative roll, road bank, rollover, state estimation, suspension deflections, vehicle dynamics},\n\tpages = {118 -- 149},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This article presents a method that provides an estimate of road bank by decoupling the vehicle roll due to the dynamics and the roll due to the road bank. Suspension deflection measurements were used to provide a measurement of the relative roll between the vehicle body frame and the axle frame or between the sprung mass and the unsprung mass, respectively. A deflection scaling parameter was found via suspension geometry and dynamic analysis. The relative roll measurement was then incorporated into two different kinematic navigation models based on extended Kalman filter (EKF) architectures. Each algorithm was tested and then verified on the Prowler ATV experimental platform at the National Center for Asphalt Technology (NCAT). Experimental data showed that both the cascaded and coupled approach performed well in providing estimates of the current vehicle roll and instantaneous road bank.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"carson-bevly-enhancementanddefenseofgpsnavigationusingsignalprocessingtechniqueselectronicresource-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/4987\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'carson-bevly-enhancementanddefenseofgpsnavigationusingsignalprocessingtechniqueselectronicresource-2015', 'http://hdl.handle.net/10415/4987', event);\">\n    Enhancement and Defense of GPS Navigation Using Signal Processing Techniques. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Carson, N. R.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/4987\"\n     onclick=\"log_download('carson-bevly-enhancementanddefenseofgpsnavigationusingsignalprocessingtechniqueselectronicresource-2015', 'http://hdl.handle.net/10415/4987', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Enhancement and Defense of GPS Navigation Using Signal Processing Techniques. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/carson-bevly-enhancementanddefenseofgpsnavigationusingsignalprocessingtechniqueselectronicresource-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('carson-bevly-enhancementanddefenseofgpsnavigationusingsignalprocessingtechniqueselectronicresource-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{carson_enhancement_2015,\n\ttitle = {Enhancement and {Defense} of {GPS} {Navigation} {Using} {Signal} {Processing} {Techniques}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/4987},\n\tauthor = {Carson, Nathaniel R. and Bevly, David M.},\n\tyear = {2015},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wooten-bevly-hung-piezoelectricpolymerbasedcollisiondetectionsensorforroboticapplications-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000355795900010&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wooten-bevly-hung-piezoelectricpolymerbasedcollisiondetectionsensorforroboticapplications-2015', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000355795900010&amp;site=eds-live&amp;scope=site', event);\">\n    Piezoelectric Polymer-Based Collision Detection Sensor for Robotic Applications.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wooten, J. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hung, J. Y.\n</span>\n\n  \n\n</span>\n\n  <i>ELECTRONICS</i>, 4(1): 204 – 220. March 2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000355795900010&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('wooten-bevly-hung-piezoelectricpolymerbasedcollisiondetectionsensorforroboticapplications-2015', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000355795900010&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Piezoelectric Polymer-Based Collision Detection Sensor for Robotic Applications [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wooten-bevly-hung-piezoelectricpolymerbasedcollisiondetectionsensorforroboticapplications-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wooten-bevly-hung-piezoelectricpolymerbasedcollisiondetectionsensorforroboticapplications-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{wooten_piezoelectric_2015,\n\ttitle = {Piezoelectric {Polymer}-{Based} {Collision} {Detection} {Sensor} for {Robotic} {Applications}},\n\tvolume = {4},\n\tissn = {20799292},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000355795900010&amp;site=eds-live&amp;scope=site},\n\tnumber = {1},\n\tjournal = {ELECTRONICS},\n\tauthor = {Wooten, J. Michael and Bevly, David M. and Hung, John Y.},\n\tmonth = mar,\n\tyear = {2015},\n\tkeywords = {collision detection, collision sensor robotic manipulator, piezoelectricity, polymer film, polyvinylidene},\n\tpages = {204 -- 220},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2014\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2014')\"\n      onkeypress=\"toggleGroup('group_2014')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2014</span>\n      <span class=\"bibbase_group_count\">\n        \n        (13)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"hennigar-bevly-erroranalysisofgpssignalsfromusrpusinggpsreceivers-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=98457190&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hennigar-bevly-erroranalysisofgpssignalsfromusrpusinggpsreceivers-2014', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=98457190&amp;site=eds-live&amp;scope=site', event);\">\n    Error analysis of GPS signals from USRP using GPS receivers.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hennigar, A.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2014 IEEE/ION Position, Location & Navigation Symposium - PLANS 2014</i>, pages 1041 – 1047,  2014. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=98457190&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('hennigar-bevly-erroranalysisofgpssignalsfromusrpusinggpsreceivers-2014', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=98457190&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Error analysis of GPS signals from USRP using GPS receivers. [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hennigar-bevly-erroranalysisofgpssignalsfromusrpusinggpsreceivers-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hennigar-bevly-erroranalysisofgpssignalsfromusrpusinggpsreceivers-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{hennigar_error_2014,\n\ttitle = {Error analysis of {GPS} signals from {USRP} using {GPS} receivers.},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=98457190&amp;site=eds-live&amp;scope=site},\n\tbooktitle = {2014 {IEEE}/{ION} {Position}, {Location} \\&amp; {Navigation} {Symposium} - {PLANS} 2014},\n\tauthor = {Hennigar, Andrew and Bevly, David M.},\n\tyear = {2014},\n\tpages = {1041 -- 1047},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wang-rajamani-bevly-observerdesignfordifferentiablelipschitznonlinearsystemswithtimevaryingparameters-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=102539927&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wang-rajamani-bevly-observerdesignfordifferentiablelipschitznonlinearsystemswithtimevaryingparameters-2014', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=102539927&amp;site=eds-live&amp;scope=site', event);\">\n    Observer design for differentiable Lipschitz nonlinear systems with time-varying parameters.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wang, Y.; Rajamani, R.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>53rd IEEE Conference on Decision & Control</i>, pages 145 – 152,  2014. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=102539927&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('wang-rajamani-bevly-observerdesignfordifferentiablelipschitznonlinearsystemswithtimevaryingparameters-2014', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=102539927&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Observer design for differentiable Lipschitz nonlinear systems with time-varying parameters. [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wang-rajamani-bevly-observerdesignfordifferentiablelipschitznonlinearsystemswithtimevaryingparameters-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wang-rajamani-bevly-observerdesignfordifferentiablelipschitznonlinearsystemswithtimevaryingparameters-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{wang_observer_2014,\n\ttitle = {Observer design for differentiable {Lipschitz} nonlinear systems with time-varying parameters.},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=102539927&amp;site=eds-live&amp;scope=site},\n\tbooktitle = {53rd {IEEE} {Conference} on {Decision} \\&amp; {Control}},\n\tauthor = {Wang, Yan and Rajamani, Rajesh and Bevly, David M.},\n\tyear = {2014},\n\tpages = {145 -- 152},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"berkemeier-perez-bevly-onthesuitabilityofnonlinearmodelpredictivecontrolforunmannedgroundvehicles-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  On the suitability of Nonlinear Model Predictive Control for Unmanned Ground Vehicles.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Berkemeier, M.; Perez, S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In pages 4605–4610, June 2014. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ACC.2014.6858827\"\n     onclick=\"log_download('berkemeier-perez-bevly-onthesuitabilityofnonlinearmodelpredictivecontrolforunmannedgroundvehicles-2014', 'http://doi.org/10.1109/ACC.2014.6858827', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/berkemeier-perez-bevly-onthesuitabilityofnonlinearmodelpredictivecontrolforunmannedgroundvehicles-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('berkemeier-perez-bevly-onthesuitabilityofnonlinearmodelpredictivecontrolforunmannedgroundvehicles-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{berkemeier_suitability_2014,\n\ttitle = {On the suitability of {Nonlinear} {Model} {Predictive} {Control} for {Unmanned} {Ground} {Vehicles}},\n\tisbn = {978-1-4799-3274-0},\n\tdoi = {10.1109/ACC.2014.6858827},\n\tabstract = {Nonlinear Model Predictive Control (NMPC) has great appeal for vehicle path control due to its ability to easily handle nonlinear dynamic models with constraints while achieving near-optimal control. The drawback is that a straight-forward application results in computations that take too long for real-time use. In this paper, we explore these issues in the use of NMPC for vehicle control. Methods for speeding up the computations are discussed.},\n\tauthor = {Berkemeier, Matthew and Perez, Sostenes and Bevly, David},\n\tmonth = jun,\n\tyear = {2014},\n\tpages = {4605--4610},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Nonlinear Model Predictive Control (NMPC) has great appeal for vehicle path control due to its ability to easily handle nonlinear dynamic models with constraints while achieving near-optimal control. The drawback is that a straight-forward application results in computations that take too long for real-time use. In this paper, we explore these issues in the use of NMPC for vehicle control. Methods for speeding up the computations are discussed.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"salmon-bevly-anexplorationoflowcostsensorandvehiclemodelsolutionsforgroundvehiclenavigation-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=98457126&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'salmon-bevly-anexplorationoflowcostsensorandvehiclemodelsolutionsforgroundvehiclenavigation-2014', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=98457126&amp;site=eds-live&amp;scope=site', event);\">\n    An exploration of low-cost sensor and vehicle model Solutions for ground vehicle navigation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Salmon, D. C.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2014 IEEE/ION Position, Location & Navigation Symposium - PLANS 2014</i>, pages 462 – 471,  2014. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=98457126&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('salmon-bevly-anexplorationoflowcostsensorandvehiclemodelsolutionsforgroundvehiclenavigation-2014', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=98457126&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"An exploration of low-cost sensor and vehicle model Solutions for ground vehicle navigation. [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/salmon-bevly-anexplorationoflowcostsensorandvehiclemodelsolutionsforgroundvehiclenavigation-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('salmon-bevly-anexplorationoflowcostsensorandvehiclemodelsolutionsforgroundvehiclenavigation-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{salmon_exploration_2014,\n\ttitle = {An exploration of low-cost sensor and vehicle model {Solutions} for ground vehicle navigation.},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=98457126&amp;site=eds-live&amp;scope=site},\n\tbooktitle = {2014 {IEEE}/{ION} {Position}, {Location} \\&amp; {Navigation} {Symposium} - {PLANS} 2014},\n\tauthor = {Salmon, Daniel C. and Bevly, David M.},\n\tyear = {2014},\n\tpages = {462 -- 471},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bishop-bevly-switkes-park-resultsofinitialtestandevaluationofadriverassistivetruckplatooningprototype-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Results of initial test and evaluation of a Driver-Assistive Truck Platooning prototype.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Bishop, R.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>; Switkes, J.;  and Park, L.\n</span>\n\n  \n\n</span>\n\n  Technical Report  2014.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bishop-bevly-switkes-park-resultsofinitialtestandevaluationofadriverassistivetruckplatooningprototype-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bishop-bevly-switkes-park-resultsofinitialtestandevaluationofadriverassistivetruckplatooningprototype-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@techreport{bishop_results_2014,\n\ttitle = {Results of initial test and evaluation of a {Driver}-{Assistive} {Truck} {Platooning} prototype},\n\tauthor = {Bishop, R. and Bevly, D. and Switkes, J. and Park, L.},\n\tyear = {2014},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"preston-bevly-csacaidedgpsmultipathmitigation-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  CSAC-Aided GPS Multipath Mitigation.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Preston, S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In Boston, Massachusetts, December 2014. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/preston-bevly-csacaidedgpsmultipathmitigation-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('preston-bevly-csacaidedgpsmultipathmitigation-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{preston_csac-aided_2014,\n\taddress = {Boston, Massachusetts},\n\ttitle = {{CSAC}-{Aided} {GPS} {Multipath} {Mitigation}},\n\tauthor = {Preston, S. and Bevly, D. M.},\n\tmonth = dec,\n\tyear = {2014},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"keyser-hodo-martin-bevly-implementationdetailsofarealtimesocbasedvectortrackingreceiver-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Implementation Details of a Real-Time SoC-Based Vector Tracking Receiver.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Keyser, B.; Hodo, D.; Martin, S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In  2014. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/keyser-hodo-martin-bevly-implementationdetailsofarealtimesocbasedvectortrackingreceiver-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('keyser-hodo-martin-bevly-implementationdetailsofarealtimesocbasedvectortrackingreceiver-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{keyser_implementation_2014,\n\ttitle = {Implementation {Details} of a {Real}-{Time} {SoC}-{Based} {Vector} {Tracking} {Receiver}},\n\tauthor = {Keyser, B. and Hodo, D. and Martin, S. and Bevly, D.},\n\tyear = {2014},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"rose-britt-allen-bevly-anintegratedvehiclenavigationsystemutilizinglanedetectionandlateralpositionestimationsystemsindifficultenvironmentsforgps-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000345572900023&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'rose-britt-allen-bevly-anintegratedvehiclenavigationsystemutilizinglanedetectionandlateralpositionestimationsystemsindifficultenvironmentsforgps-2014', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000345572900023&amp;site=eds-live&amp;scope=site', event);\">\n    An Integrated Vehicle Navigation System Utilizing Lane-Detection and Lateral Position Estimation Systems in Difficult Environments for GPS.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Rose, C.; Britt, J.; Allen, J.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE TRANSACTIONS ON IN℡LIGENT TRANSPORTATION SYSTEMS</i>, 15(6): 2615 – 2629. December 2014.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000345572900023&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('rose-britt-allen-bevly-anintegratedvehiclenavigationsystemutilizinglanedetectionandlateralpositionestimationsystemsindifficultenvironmentsforgps-2014', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000345572900023&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"An Integrated Vehicle Navigation System Utilizing Lane-Detection and Lateral Position Estimation Systems in Difficult Environments for GPS [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/rose-britt-allen-bevly-anintegratedvehiclenavigationsystemutilizinglanedetectionandlateralpositionestimationsystemsindifficultenvironmentsforgps-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('rose-britt-allen-bevly-anintegratedvehiclenavigationsystemutilizinglanedetectionandlateralpositionestimationsystemsindifficultenvironmentsforgps-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{rose_integrated_2014,\n\ttitle = {An {Integrated} {Vehicle} {Navigation} {System} {Utilizing} {Lane}-{Detection} and {Lateral} {Position} {Estimation} {Systems} in {Difficult} {Environments} for {GPS}},\n\tvolume = {15},\n\tissn = {15249050},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000345572900023&amp;site=eds-live&amp;scope=site},\n\tnumber = {6},\n\tjournal = {IEEE TRANSACTIONS ON IN℡LIGENT TRANSPORTATION SYSTEMS},\n\tauthor = {Rose, Christopher and Britt, Jordan and Allen, John and Bevly, David},\n\tmonth = dec,\n\tyear = {2014},\n\tkeywords = {Camera, Cameras, Global Navigation Satellite System, Global Positioning System, Global Positioning System (GPS), Image edge detection, Kalman filter, Kalman filters, Sensor fusion, inertial measurement unit (IMU), lane detection, light detection and ranging (lidar), outages, sensor fusion},\n\tpages = {2615 -- 2629},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wang-bevly-flowers-hung-sinha-robustgainscheduledobserverdesignwithapplicationtovehiclestateestimationelectronicresource-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/4351\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wang-bevly-flowers-hung-sinha-robustgainscheduledobserverdesignwithapplicationtovehiclestateestimationelectronicresource-2014', 'http://hdl.handle.net/10415/4351', event);\">\n    Robust Gain-Scheduled Observer Design with Application to Vehicle State Estimation. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wang, Y.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Flowers, G. T.; Hung, J. Y.;  and Sinha, S. C.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2014.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/4351\"\n     onclick=\"log_download('wang-bevly-flowers-hung-sinha-robustgainscheduledobserverdesignwithapplicationtovehiclestateestimationelectronicresource-2014', 'http://hdl.handle.net/10415/4351', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Robust Gain-Scheduled Observer Design with Application to Vehicle State Estimation. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wang-bevly-flowers-hung-sinha-robustgainscheduledobserverdesignwithapplicationtovehiclestateestimationelectronicresource-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wang-bevly-flowers-hung-sinha-robustgainscheduledobserverdesignwithapplicationtovehiclestateestimationelectronicresource-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{wang_robust_2014,\n\ttitle = {Robust {Gain}-{Scheduled} {Observer} {Design} with {Application} to {Vehicle} {State} {Estimation}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/4351},\n\tauthor = {Wang, Yan and Bevly, David M. and Flowers, George T. and Hung, John Y. and Sinha, S. C.},\n\tyear = {2014},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hennigar-bevly-mao-riggs-analysisofrecordandplaybackerrorsofgpssignalscausedbytheusrpelectronicresource-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/4442\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hennigar-bevly-mao-riggs-analysisofrecordandplaybackerrorsofgpssignalscausedbytheusrpelectronicresource-2014', 'http://hdl.handle.net/10415/4442', event);\">\n    Analysis of Record and Playback Errors of GPS Signals Caused by the USRP. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hennigar, A.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Mao, S.;  and Riggs, L. S.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2014.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/4442\"\n     onclick=\"log_download('hennigar-bevly-mao-riggs-analysisofrecordandplaybackerrorsofgpssignalscausedbytheusrpelectronicresource-2014', 'http://hdl.handle.net/10415/4442', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Analysis of Record and Playback Errors of GPS Signals Caused by the USRP. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hennigar-bevly-mao-riggs-analysisofrecordandplaybackerrorsofgpssignalscausedbytheusrpelectronicresource-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hennigar-bevly-mao-riggs-analysisofrecordandplaybackerrorsofgpssignalscausedbytheusrpelectronicresource-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{hennigar_analysis_2014,\n\ttitle = {Analysis of {Record} and {Playback} {Errors} of {GPS} {Signals} {Caused} by the {USRP}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/4442},\n\tauthor = {Hennigar, Andrew and Bevly, David M. and Mao, Shiwen and Riggs, Lloyd Stephen},\n\tyear = {2014},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"williams-bevly-flowers-marghitu-evaluationofbeamloadcelluseforbasereactionforcecollisiondetectiononindustrialrobotselectronicresource-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/4355\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'williams-bevly-flowers-marghitu-evaluationofbeamloadcelluseforbasereactionforcecollisiondetectiononindustrialrobotselectronicresource-2014', 'http://hdl.handle.net/10415/4355', event);\">\n    Evaluation of Beam Load Cell Use for Base Reaction Force Collision Detection on Industrial Robots. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Williams, R. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Flowers, G. T.;  and Marghitu, D. B.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2014.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/4355\"\n     onclick=\"log_download('williams-bevly-flowers-marghitu-evaluationofbeamloadcelluseforbasereactionforcecollisiondetectiononindustrialrobotselectronicresource-2014', 'http://hdl.handle.net/10415/4355', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Evaluation of Beam Load Cell Use for Base Reaction Force Collision Detection on Industrial Robots. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/williams-bevly-flowers-marghitu-evaluationofbeamloadcelluseforbasereactionforcecollisiondetectiononindustrialrobotselectronicresource-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('williams-bevly-flowers-marghitu-evaluationofbeamloadcelluseforbasereactionforcecollisiondetectiononindustrialrobotselectronicresource-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{williams_evaluation_2014,\n\ttitle = {Evaluation of {Beam} {Load} {Cell} {Use} for {Base} {Reaction} {Force} {Collision} {Detection} on {Industrial} {Robots}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/4355},\n\tauthor = {Williams, Robert M. and Bevly, David M. and Flowers, George T. and Marghitu, Dan B.},\n\tyear = {2014},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ryan-bevly-ontheobservabilityoflooselycoupledglobalpositioningsysteminertialnavigationsystemintegrationswithfivedegreeoffreedomandfourdegreeoffreedominertialmeasurementunits-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsggo&amp;AN=edsgcl.364957633&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ryan-bevly-ontheobservabilityoflooselycoupledglobalpositioningsysteminertialnavigationsystemintegrationswithfivedegreeoffreedomandfourdegreeoffreedominertialmeasurementunits-2014', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsggo&amp;AN=edsgcl.364957633&amp;site=eds-live&amp;scope=site', event);\">\n    On the observability of loosely coupled global positioning system/inertial navigation system integrations with five degree of freedom and four degree of freedom inertial measurement units.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ryan, J. G.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Dynamic Systems, Measurement, and Control</i>, 136(2): 21023. March 2014.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsggo&amp;AN=edsgcl.364957633&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('ryan-bevly-ontheobservabilityoflooselycoupledglobalpositioningsysteminertialnavigationsystemintegrationswithfivedegreeoffreedomandfourdegreeoffreedominertialmeasurementunits-2014', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsggo&amp;AN=edsgcl.364957633&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"On the observability of loosely coupled global positioning system/inertial navigation system integrations with five degree of freedom and four degree of freedom inertial measurement units [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ryan-bevly-ontheobservabilityoflooselycoupledglobalpositioningsysteminertialnavigationsystemintegrationswithfivedegreeoffreedomandfourdegreeoffreedominertialmeasurementunits-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ryan-bevly-ontheobservabilityoflooselycoupledglobalpositioningsysteminertialnavigationsystemintegrationswithfivedegreeoffreedomandfourdegreeoffreedominertialmeasurementunits-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{ryan_observability_2014,\n\ttitle = {On the observability of loosely coupled global positioning system/inertial navigation system integrations with five degree of freedom and four degree of freedom inertial measurement units},\n\tvolume = {136},\n\tissn = {0022-0434},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsggo&amp;AN=edsgcl.364957633&amp;site=eds-live&amp;scope=site},\n\tabstract = {This article examines the observability of a modified loosely coupled global positioning system/inertial navigation system (GPSIINS) filter and analyzes the sideslip and attitude estimation capability of the filter. The modified filter is a loosely coupled integration which does not include a pitch rate gyro and which uses GPS course information as a measurement of heading when the vehicle is driving straight. Experimental tests are conducted which show that the modified filter has the same observability characteristics as a standard loosely coupled filter during turning events. The observability of a loosely coupled integration using only a four degree of freedom (DOF) inertial measurement unit (IMU) is also discussed and examined by experiment, as well as the sideslip and roll angle estimation performance. Finally, the error characteristics of the modified loosely coupled integration with the five DOF IMU when the filter is unobservable are studied. Monte Carlo simulations of long periods of straight driving with various sensor qualities are presented to show the worst case attitude errors when the filter is unobservable. [DOI: 10.1115/1.4025985]},\n\tnumber = {2},\n\tjournal = {Journal of Dynamic Systems, Measurement, and Control},\n\tauthor = {Ryan, Jonathan G. and Bevly, David M.},\n\tmonth = mar,\n\tyear = {2014},\n\tkeywords = {Digital filters – Research, Electronics in navigation – Research, Monte Carlo method – Usage},\n\tpages = {21023},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This article examines the observability of a modified loosely coupled global positioning system/inertial navigation system (GPSIINS) filter and analyzes the sideslip and attitude estimation capability of the filter. The modified filter is a loosely coupled integration which does not include a pitch rate gyro and which uses GPS course information as a measurement of heading when the vehicle is driving straight. Experimental tests are conducted which show that the modified filter has the same observability characteristics as a standard loosely coupled filter during turning events. The observability of a loosely coupled integration using only a four degree of freedom (DOF) inertial measurement unit (IMU) is also discussed and examined by experiment, as well as the sideslip and roll angle estimation performance. Finally, the error characteristics of the modified loosely coupled integration with the five DOF IMU when the filter is unobservable are studied. Monte Carlo simulations of long periods of straight driving with various sensor qualities are presented to show the worst case attitude errors when the filter is unobservable. [DOI: 10.1115/1.4025985]\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"colbert-bevly-developmentofacustomdataacquisitionsystemforthestudyofvehicledynamicsinlongercombinationvehicleselectronicresource-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/4262\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'colbert-bevly-developmentofacustomdataacquisitionsystemforthestudyofvehicledynamicsinlongercombinationvehicleselectronicresource-2014', 'http://hdl.handle.net/10415/4262', event);\">\n    Development of a Custom Data Acquisition System for the Study of Vehicle Dynamics in Longer Combination Vehicles. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Colbert, J.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2014.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/4262\"\n     onclick=\"log_download('colbert-bevly-developmentofacustomdataacquisitionsystemforthestudyofvehicledynamicsinlongercombinationvehicleselectronicresource-2014', 'http://hdl.handle.net/10415/4262', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Development of a Custom Data Acquisition System for the Study of Vehicle Dynamics in Longer Combination Vehicles. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/colbert-bevly-developmentofacustomdataacquisitionsystemforthestudyofvehicledynamicsinlongercombinationvehicleselectronicresource-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('colbert-bevly-developmentofacustomdataacquisitionsystemforthestudyofvehicledynamicsinlongercombinationvehicleselectronicresource-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{colbert_development_2014,\n\ttitle = {Development of a {Custom} {Data} {Acquisition} {System} for the {Study} of {Vehicle} {Dynamics} in {Longer} {Combination} {Vehicles}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/4262},\n\tauthor = {Colbert, Jameson and Bevly, David M.},\n\tyear = {2014},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2013\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2013')\"\n      onkeypress=\"toggleGroup('group_2013')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2013</span>\n      <span class=\"bibbase_group_count\">\n        \n        (14)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"cofield-martin-bevly-anonlinevisualdriveraidforsafeandpreciseconvoyfollowinginvisibilityimpairedconditions-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  An On-Line Visual Driver Aid for Safe and Precise Convoy Following in Visibility-Impaired Conditions.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Cofield, R.; Martin, S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In  2013. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/cofield-martin-bevly-anonlinevisualdriveraidforsafeandpreciseconvoyfollowinginvisibilityimpairedconditions-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('cofield-martin-bevly-anonlinevisualdriveraidforsafeandpreciseconvoyfollowinginvisibilityimpairedconditions-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{cofield_-line_2013,\n\ttitle = {An {On}-{Line} {Visual} {Driver} {Aid} for {Safe} and {Precise} {Convoy} {Following} in {Visibility}-{Impaired} {Conditions}},\n\tauthor = {Cofield, R. and Martin, S. and Bevly, D.},\n\tyear = {2013},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wooten-bevly-hung-robustlargeareapiezoelectricpolymerbasedcollisiondetectionsensor-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=94548864&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wooten-bevly-hung-robustlargeareapiezoelectricpolymerbasedcollisiondetectionsensor-2013', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=94548864&amp;site=eds-live&amp;scope=site', event);\">\n    Robust large-area piezoelectric polymer-based collision detection sensor.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wooten, J. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hung, J. Y.\n</span>\n\n  \n\n</span>\n\n  In <i>IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society</i>, pages 3994 – 3999,  2013. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=94548864&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('wooten-bevly-hung-robustlargeareapiezoelectricpolymerbasedcollisiondetectionsensor-2013', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=94548864&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Robust large-area piezoelectric polymer-based collision detection sensor. [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wooten-bevly-hung-robustlargeareapiezoelectricpolymerbasedcollisiondetectionsensor-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wooten-bevly-hung-robustlargeareapiezoelectricpolymerbasedcollisiondetectionsensor-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{wooten_robust_2013,\n\ttitle = {Robust large-area piezoelectric polymer-based collision detection sensor.},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=94548864&amp;site=eds-live&amp;scope=site},\n\tabstract = {Complex high speed autonomous articulations associated with modern large-scale high degree-of-freedom (DOF) robotic arms have a high possibility of collision when integrated into human cooperative environments for human-aid, task automation, and biomedical interfacing. This paper proposes a large area collision detection system utilizing the piezoelectric effect of polyvinylidene fluoride film. The proposed system provides high dynamic range for sensation and robust adaptability to achieve collision detection on complex surfaces in order to augment robotic systems with collision perception. The design allows for increased cohabitation of human and high DOF robotic arms in cooperative environments requiring advanced and robust collision detection systems capable of retrofitting onto deployed and operating robotic arms in the commercial world. [ABSTRACT FROM PUBLISHER], Copyright of IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society is the property of IEEE an)},\n\tbooktitle = {{IECON} 2013 - 39th {Annual} {Conference} of the {IEEE} {Industrial} {Electronics} {Society}},\n\tauthor = {Wooten, J. Michael and Bevly, David M. and Hung, John Y.},\n\tyear = {2013},\n\tpages = {3994 -- 3999},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Complex high speed autonomous articulations associated with modern large-scale high degree-of-freedom (DOF) robotic arms have a high possibility of collision when integrated into human cooperative environments for human-aid, task automation, and biomedical interfacing. This paper proposes a large area collision detection system utilizing the piezoelectric effect of polyvinylidene fluoride film. The proposed system provides high dynamic range for sensation and robust adaptability to achieve collision detection on complex surfaces in order to augment robotic systems with collision perception. The design allows for increased cohabitation of human and high DOF robotic arms in cooperative environments requiring advanced and robust collision detection systems capable of retrofitting onto deployed and operating robotic arms in the commercial world. [ABSTRACT FROM PUBLISHER], Copyright of IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society is the property of IEEE an)\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lashley-bevly-performancecomparisonofdeepintegrationandtightcoupling-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=90398662&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lashley-bevly-performancecomparisonofdeepintegrationandtightcoupling-2013', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=90398662&amp;site=eds-live&amp;scope=site', event);\">\n    Performance Comparison of Deep Integration and Tight Coupling.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Lashley, M.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  <i>Navigation (Wiley-Blackwell)</i>, 60(3): 159 – 178.  2013.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=90398662&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('lashley-bevly-performancecomparisonofdeepintegrationandtightcoupling-2013', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=90398662&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Performance Comparison of Deep Integration and Tight Coupling. [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lashley-bevly-performancecomparisonofdeepintegrationandtightcoupling-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lashley-bevly-performancecomparisonofdeepintegrationandtightcoupling-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{lashley_performance_2013,\n\ttitle = {Performance {Comparison} of {Deep} {Integration} and {Tight} {Coupling}.},\n\tvolume = {60},\n\tissn = {00281522},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=90398662&amp;site=eds-live&amp;scope=site},\n\tabstract = {ABSTRACT This paper presents a comparative analysis of tight coupling and deep integration. Three deeply integrated and two tightly coupled architectures are analyzed. The analysis of the different architectures is performed using the same grade inertial measurement units, satellite constellations, and GPS signal processing techniques (i.e., identical discriminators, coherent integration times, and C ∕ N0 ratio estimators). Three aspects of the architectures are studied. The first is the general performance improvement offered by deep integration over tight coupling. The second is the effect of using a federated filtering architecture instead of using a single, centralized filter. The third aspect analyzed is the performance of the algorithms when operated with and without vector tracking. The analysis shows that the architectures with vector tracking perform virtually identically. The algorithms using scalar tracking loops perform worse in comparison. However, all the architectures )},\n\tnumber = {3},\n\tjournal = {Navigation (Wiley-Blackwell)},\n\tauthor = {Lashley, Matthew and Bevly, David M.},\n\tyear = {2013},\n\tkeywords = {AIR traffic control, ALGORITHMS, ARTIFICIAL satellites, CONS℡LATIONS, GLOBAL Positioning System, SIGNAL filtering},\n\tpages = {159 -- 178},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  ABSTRACT This paper presents a comparative analysis of tight coupling and deep integration. Three deeply integrated and two tightly coupled architectures are analyzed. The analysis of the different architectures is performed using the same grade inertial measurement units, satellite constellations, and GPS signal processing techniques (i.e., identical discriminators, coherent integration times, and C ∕ N0 ratio estimators). Three aspects of the architectures are studied. The first is the general performance improvement offered by deep integration over tight coupling. The second is the effect of using a federated filtering architecture instead of using a single, centralized filter. The third aspect analyzed is the performance of the algorithms when operated with and without vector tracking. The analysis shows that the architectures with vector tracking perform virtually identically. The algorithms using scalar tracking loops perform worse in comparison. However, all the architectures )\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bevly-farrell-vehiclepositioningnavigationandtimingleveragingresultsfromearprogramsponsoredresearch-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://purl.fdlp.gov/GPO/gpo45296\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bevly-farrell-vehiclepositioningnavigationandtimingleveragingresultsfromearprogramsponsoredresearch-2013', 'http://purl.fdlp.gov/GPO/gpo45296', event);\">\n    Vehicle positioning, navigation, and timing : leveraging results from EAR program-sponsored research.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Farrell, J.\n</span>\n\n  \n\n</span>\n\n  Technical Report U.S. Department of Transportation, Federal Highway Administration,  2013.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://purl.fdlp.gov/GPO/gpo45296\"\n     onclick=\"log_download('bevly-farrell-vehiclepositioningnavigationandtimingleveragingresultsfromearprogramsponsoredresearch-2013', 'http://purl.fdlp.gov/GPO/gpo45296', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Vehicle positioning, navigation, and timing : leveraging results from EAR program-sponsored research. [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bevly-farrell-vehiclepositioningnavigationandtimingleveragingresultsfromearprogramsponsoredresearch-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bevly-farrell-vehiclepositioningnavigationandtimingleveragingresultsfromearprogramsponsoredresearch-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@techreport{bevly_vehicle_2013,\n\ttitle = {Vehicle positioning, navigation, and timing : leveraging results from {EAR} program-sponsored research.},\n\turl = {http://purl.fdlp.gov/GPO/gpo45296},\n\tinstitution = {U.S. Department of Transportation, Federal Highway Administration},\n\tauthor = {Bevly, David M. and Farrell, Jay},\n\tyear = {2013},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"broshears-martin-bevly-ultrawidebandradioaidedcarrierphaseambiguityresolutioninrealtimekinematicgpsrelativepositioning-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Ultra-wideband Radio Aided Carrier Phase Ambiguity Resolution in Real-Time Kinematic GPS Relative Positioning.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Broshears, E.; Martin, S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In  2013. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/broshears-martin-bevly-ultrawidebandradioaidedcarrierphaseambiguityresolutioninrealtimekinematicgpsrelativepositioning-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('broshears-martin-bevly-ultrawidebandradioaidedcarrierphaseambiguityresolutioninrealtimekinematicgpsrelativepositioning-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{broshears_ultra-wideband_2013,\n\ttitle = {Ultra-wideband {Radio} {Aided} {Carrier} {Phase} {Ambiguity} {Resolution} in {Real}-{Time} {Kinematic} {GPS} {Relative} {Positioning}},\n\tauthor = {Broshears, E. and Martin, S. and Bevly, D.},\n\tyear = {2013},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wang-bevly-robustobserverdesignforlipschitznonlinearsystemswithparametricuncertainty-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://asmedigitalcollection.asme.org/DSCC/proceedings-abstract/DSCC2013/V003T35A006/228856\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wang-bevly-robustobserverdesignforlipschitznonlinearsystemswithparametricuncertainty-2013', 'https://asmedigitalcollection.asme.org/DSCC/proceedings-abstract/DSCC2013/V003T35A006/228856', event);\">\n    Robust Observer Design for Lipschitz Nonlinear systems with parametric uncertainty.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wang, Y.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In October 2013. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://asmedigitalcollection.asme.org/DSCC/proceedings-abstract/DSCC2013/V003T35A006/228856\"\n     onclick=\"log_download('wang-bevly-robustobserverdesignforlipschitznonlinearsystemswithparametricuncertainty-2013', 'https://asmedigitalcollection.asme.org/DSCC/proceedings-abstract/DSCC2013/V003T35A006/228856', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Robust Observer Design for Lipschitz Nonlinear systems with parametric uncertainty [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wang-bevly-robustobserverdesignforlipschitznonlinearsystemswithparametricuncertainty-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wang-bevly-robustobserverdesignforlipschitznonlinearsystemswithparametricuncertainty-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{wang_robust_2013,\n\ttitle = {Robust {Observer} {Design} for {Lipschitz} {Nonlinear} systems with parametric uncertainty},\n\turl = {https://asmedigitalcollection.asme.org/DSCC/proceedings-abstract/DSCC2013/V003T35A006/228856},\n\tauthor = {Wang, Y. and Bevly, D. M.},\n\tmonth = oct,\n\tyear = {2013},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"salmon-bevly-hung-guidanceofaroboticoffroadtractortrailersystemusingmodelpredictivecontrol-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Guidance of a Robotic Off-Road Tractor-Trailer System using Model Predictive Control.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Salmon, J.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hung, J. Y.\n</span>\n\n  \n\n</span>\n\n  In October 2013. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/salmon-bevly-hung-guidanceofaroboticoffroadtractortrailersystemusingmodelpredictivecontrol-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('salmon-bevly-hung-guidanceofaroboticoffroadtractortrailersystemusingmodelpredictivecontrol-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{salmon_guidance_2013,\n\ttitle = {Guidance of a {Robotic} {Off}-{Road} {Tractor}-{Trailer} {System} using {Model} {Predictive} {Control}},\n\tauthor = {Salmon, Jim and Bevly, David M. and Hung, John Y.},\n\tmonth = oct,\n\tyear = {2013},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"cofield-bevly-visualdriveraidsforconvoyfollowingusingdynamicbaserealtimekinematicpositioning-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=cat07161a&amp;AN=aul.4324001&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'cofield-bevly-visualdriveraidsforconvoyfollowingusingdynamicbaserealtimekinematicpositioning-2013', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=cat07161a&amp;AN=aul.4324001&amp;site=eds-live&amp;scope=site', event);\">\n    Visual driver aids for convoy following using dynamic base real-time kinematic positioning.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Cofield, R. G.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2013.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=cat07161a&amp;AN=aul.4324001&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('cofield-bevly-visualdriveraidsforconvoyfollowingusingdynamicbaserealtimekinematicpositioning-2013', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=cat07161a&amp;AN=aul.4324001&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Visual driver aids for convoy following using dynamic base real-time kinematic positioning. [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/cofield-bevly-visualdriveraidsforconvoyfollowingusingdynamicbaserealtimekinematicpositioning-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('cofield-bevly-visualdriveraidsforconvoyfollowingusingdynamicbaserealtimekinematicpositioning-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{cofield_visual_2013,\n\ttitle = {Visual driver aids for convoy following using dynamic base real-time kinematic positioning.},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=cat07161a&amp;AN=aul.4324001&amp;site=eds-live&amp;scope=site},\n\tauthor = {Cofield, Robert Grissom and Bevly, David M.},\n\tyear = {2013},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wooten-bevly-hung-marghitu-highdynamicrangecollisiondetectionusingpiezoelectricpolymerfilmsforplanarandnonplanarapplicationselectronicresource-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/3698\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wooten-bevly-hung-marghitu-highdynamicrangecollisiondetectionusingpiezoelectricpolymerfilmsforplanarandnonplanarapplicationselectronicresource-2013', 'http://hdl.handle.net/10415/3698', event);\">\n    High-Dynamic Range Collision Detection using Piezoelectric Polymer Films for Planar and Non-planar Applications. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wooten, J. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Hung, J. Y.;  and Marghitu, D. B.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2013.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/3698\"\n     onclick=\"log_download('wooten-bevly-hung-marghitu-highdynamicrangecollisiondetectionusingpiezoelectricpolymerfilmsforplanarandnonplanarapplicationselectronicresource-2013', 'http://hdl.handle.net/10415/3698', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"High-Dynamic Range Collision Detection using Piezoelectric Polymer Films for Planar and Non-planar Applications. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wooten-bevly-hung-marghitu-highdynamicrangecollisiondetectionusingpiezoelectricpolymerfilmsforplanarandnonplanarapplicationselectronicresource-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wooten-bevly-hung-marghitu-highdynamicrangecollisiondetectionusingpiezoelectricpolymerfilmsforplanarandnonplanarapplicationselectronicresource-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{wooten_high-dynamic_2013,\n\ttitle = {High-{Dynamic} {Range} {Collision} {Detection} using {Piezoelectric} {Polymer} {Films} for {Planar} and {Non}-planar {Applications}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/3698},\n\tauthor = {Wooten, James Michael and Bevly, David M. and Hung, John Y. and Marghitu, Dan B.},\n\tyear = {2013},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bitner-bevly-detectionandremovaloferroneousgpssignalsusingangleofarrivalelectronicresource-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/3888\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bitner-bevly-detectionandremovaloferroneousgpssignalsusingangleofarrivalelectronicresource-2013', 'http://hdl.handle.net/10415/3888', event);\">\n    Detection and Removal of Erroneous GPS Signals Using Angle of Arrival. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Bitner, T. L.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2013.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/3888\"\n     onclick=\"log_download('bitner-bevly-detectionandremovaloferroneousgpssignalsusingangleofarrivalelectronicresource-2013', 'http://hdl.handle.net/10415/3888', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Detection and Removal of Erroneous GPS Signals Using Angle of Arrival. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bitner-bevly-detectionandremovaloferroneousgpssignalsusingangleofarrivalelectronicresource-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bitner-bevly-detectionandremovaloferroneousgpssignalsusingangleofarrivalelectronicresource-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{bitner_detection_2013,\n\ttitle = {Detection and {Removal} of {Erroneous} {GPS} {Signals} {Using} {Angle} of {Arrival}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/3888},\n\tauthor = {Bitner, Thomas L. and Bevly, David M},\n\tyear = {2013},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"broshears-bevly-choe-roppel-ultrawidebandradioaidedcarrierphaseambiguityresolutioninrealtimekinematicgpsrelativepositioningelectronicresource-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/3704\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'broshears-bevly-choe-roppel-ultrawidebandradioaidedcarrierphaseambiguityresolutioninrealtimekinematicgpsrelativepositioningelectronicresource-2013', 'http://hdl.handle.net/10415/3704', event);\">\n    Ultra-wideband Radio Aided Carrier Phase Ambiguity Resolution in Real-Time Kinematic GPS Relative Positioning. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Broshears, E.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Choe, S.;  and Roppel, T. A.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2013.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/3704\"\n     onclick=\"log_download('broshears-bevly-choe-roppel-ultrawidebandradioaidedcarrierphaseambiguityresolutioninrealtimekinematicgpsrelativepositioningelectronicresource-2013', 'http://hdl.handle.net/10415/3704', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Ultra-wideband Radio Aided Carrier Phase Ambiguity Resolution in Real-Time Kinematic GPS Relative Positioning. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/broshears-bevly-choe-roppel-ultrawidebandradioaidedcarrierphaseambiguityresolutioninrealtimekinematicgpsrelativepositioningelectronicresource-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('broshears-bevly-choe-roppel-ultrawidebandradioaidedcarrierphaseambiguityresolutioninrealtimekinematicgpsrelativepositioningelectronicresource-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{broshears_ultra-wideband_2013,\n\ttitle = {Ultra-wideband {Radio} {Aided} {Carrier} {Phase} {Ambiguity} {Resolution} in {Real}-{Time} {Kinematic} {GPS} {Relative} {Positioning}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/3704},\n\tauthor = {Broshears, Eric and Bevly, David M. and Choe, Song-Yul and Roppel, Thaddeus Adam},\n\tyear = {2013},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"britt-bevly-sensorautocalibrationondynamicplatformsin3d-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Sensor Auto-Calibration on Dynamic Platforms in 3D.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Britt, J. H.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Proc</i>,  2013. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/britt-bevly-sensorautocalibrationondynamicplatformsin3d-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('britt-bevly-sensorautocalibrationondynamicplatformsin3d-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{britt_sensor_2013,\n\ttitle = {Sensor {Auto}-{Calibration} on {Dynamic} {Platforms} in {3D}},\n\tbooktitle = {Proc},\n\tauthor = {Britt, J. H. and Bevly, D. M.},\n\tyear = {2013},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"britt-bevly-fullyautomatedcalibrationofmultiple3dsensorsduringvehiclemaneuvers-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Fully Automated Calibration of Multiple 3D Sensors During Vehicle Maneuvers.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Britt, J. H.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In  2013. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/britt-bevly-fullyautomatedcalibrationofmultiple3dsensorsduringvehiclemaneuvers-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('britt-bevly-fullyautomatedcalibrationofmultiple3dsensorsduringvehiclemaneuvers-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{britt_fully_2013,\n\ttitle = {Fully {Automated} {Calibration} of {Multiple} {3D} {Sensors} {During} {Vehicle} {Maneuvers}},\n\tauthor = {Britt, J. H. and Bevly, D. M.},\n\tyear = {2013},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"dawkins-bevly-jackson-comparisonofterrainroughnesscharacterizationmethods-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Comparison of Terrain Roughness Characterization Methods.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Dawkins, J. J.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M</a>;  and Jackson, R. L.\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Terramechanics</i>, 20(1): 33–46.  2013.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/dawkins-bevly-jackson-comparisonofterrainroughnesscharacterizationmethods-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('dawkins-bevly-jackson-comparisonofterrainroughnesscharacterizationmethods-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{dawkins_comparison_2013,\n\ttitle = {Comparison of {Terrain} {Roughness} {Characterization} {Methods}},\n\tvolume = {20},\n\tnumber = {1},\n\tjournal = {Journal of Terramechanics},\n\tauthor = {Dawkins, J. J. and Bevly, D. M and Jackson, R. L.},\n\tyear = {2013},\n\tpages = {33--46},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2012\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2012')\"\n      onkeypress=\"toggleGroup('group_2012')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2012</span>\n      <span class=\"bibbase_group_count\">\n        \n        (19)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"payne-hung-bevly-selfridge-controlofarobottrailersystemusingasinglenoncollocatedsensor-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=86613713&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'payne-hung-bevly-selfridge-controlofarobottrailersystemusingasinglenoncollocatedsensor-2012', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=86613713&amp;site=eds-live&amp;scope=site', event);\">\n    Control of a robot-trailer system using a single non-collocated sensor.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Payne, M. L.; Hung, J. Y.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Selfridge, B. J.\n</span>\n\n  \n\n</span>\n\n  In <i>IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society</i>, pages 2674 – 2679,  2012. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=86613713&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('payne-hung-bevly-selfridge-controlofarobottrailersystemusingasinglenoncollocatedsensor-2012', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=86613713&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Control of a robot-trailer system using a single non-collocated sensor. [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/payne-hung-bevly-selfridge-controlofarobottrailersystemusingasinglenoncollocatedsensor-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('payne-hung-bevly-selfridge-controlofarobottrailersystemusingasinglenoncollocatedsensor-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{payne_control_2012,\n\ttitle = {Control of a robot-trailer system using a single non-collocated sensor.},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=86613713&amp;site=eds-live&amp;scope=site},\n\tabstract = {In this paper, the authors develop an observer and controller for a robot and trailer system in which only a single non-collocated position measurement is used. A linearized state-space model of the system is derived using kinematic equations that have previously proven sufficient for state feedback control. Optimal observer gains (LQG) and controller gains (LQR) are calculated using known process and measurement noise variances. Simulations and experiments both confirm that the LQG/LQR system controls the nonlinear system in path tracking. Control based on state estimation yields performance that is comparable to a more heavily-instrumented full-state feedback system previously used on the robot-trailer system. [ABSTRACT FROM PUBLISHER], Copyright of IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society is the property of IEEE and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder&#x27;s express written perm)},\n\tbooktitle = {{IECON} 2012 - 38th {Annual} {Conference} on {IEEE} {Industrial} {Electronics} {Society}},\n\tauthor = {Payne, Michael L. and Hung, John Y. and Bevly, David M. and Selfridge, Bob J.},\n\tyear = {2012},\n\tpages = {2674 -- 2679},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In this paper, the authors develop an observer and controller for a robot and trailer system in which only a single non-collocated position measurement is used. A linearized state-space model of the system is derived using kinematic equations that have previously proven sufficient for state feedback control. Optimal observer gains (LQG) and controller gains (LQR) are calculated using known process and measurement noise variances. Simulations and experiments both confirm that the LQG/LQR system controls the nonlinear system in path tracking. Control based on state estimation yields performance that is comparable to a more heavily-instrumented full-state feedback system previously used on the robot-trailer system. [ABSTRACT FROM PUBLISHER], Copyright of IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society is the property of IEEE and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written perm)\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ryan-bevly-robustgroundvehicleconstraintsforaidingstandaloneinsanddetermininginertialsensorerrors-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Robust Ground Vehicle Constraints for Aiding Stand Alone INS and Determining Inertial Sensor Errors.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ryan, J.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In January 2012. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ryan-bevly-robustgroundvehicleconstraintsforaidingstandaloneinsanddetermininginertialsensorerrors-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ryan-bevly-robustgroundvehicleconstraintsforaidingstandaloneinsanddetermininginertialsensorerrors-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{ryan_robust_2012,\n\ttitle = {Robust {Ground} {Vehicle} {Constraints} for {Aiding} {Stand} {Alone} {INS} and {Determining} {Inertial} {Sensor} {Errors}},\n\tauthor = {Ryan, J. and Bevly, D.},\n\tmonth = jan,\n\tyear = {2012},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ryan-bevly-tireradiusdeterminationandpresslossdetectionusinggpsandvehiclestabilitycontrolsensors-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Tire Radius Determination and Press Loss Detection Using GPS and Vehicle Stability Control Sensors.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ryan, J.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In August 2012. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ryan-bevly-tireradiusdeterminationandpresslossdetectionusinggpsandvehiclestabilitycontrolsensors-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ryan-bevly-tireradiusdeterminationandpresslossdetectionusinggpsandvehiclestabilitycontrolsensors-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{ryan_tire_2012,\n\ttitle = {Tire {Radius} {Determination} and {Press} {Loss} {Detection} {Using} {GPS} and {Vehicle} {Stability} {Control} {Sensors}},\n\tauthor = {Ryan, J. and Bevly, D. M.},\n\tmonth = aug,\n\tyear = {2012},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wang-bevly-robustobserverdesignforlipschitznonlinearsystemsusingquadraticpolynomialconstraints-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6426517\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wang-bevly-robustobserverdesignforlipschitznonlinearsystemsusingquadraticpolynomialconstraints-2012', 'https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6426517', event);\">\n    Robust Observer Design for Lipschitz Nonlinear Systems using Quadratic Polynomial Constraints.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wang, Y.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In December 2012. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6426517\"\n     onclick=\"log_download('wang-bevly-robustobserverdesignforlipschitznonlinearsystemsusingquadraticpolynomialconstraints-2012', 'https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6426517', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Robust Observer Design for Lipschitz Nonlinear Systems using Quadratic Polynomial Constraints [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wang-bevly-robustobserverdesignforlipschitznonlinearsystemsusingquadraticpolynomialconstraints-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wang-bevly-robustobserverdesignforlipschitznonlinearsystemsusingquadraticpolynomialconstraints-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{wang_robust_2012,\n\ttitle = {Robust {Observer} {Design} for {Lipschitz} {Nonlinear} {Systems} using {Quadratic} {Polynomial} {Constraints}},\n\turl = {https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6426517},\n\tauthor = {Wang, Y. and Bevly, D. M.},\n\tmonth = dec,\n\tyear = {2012},\n\tkeywords = {Asymptotic stability, Mathematical model, Observers, Polynomials, Stability criteria, Vectors},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"woodall-bevly-usingthemicrosoftkinectfor3dmapbuildingandteleoperation-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=86626968&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'woodall-bevly-usingthemicrosoftkinectfor3dmapbuildingandteleoperation-2012', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=86626968&amp;site=eds-live&amp;scope=site', event);\">\n    Using the microsoft kinect for 3D map building and teleoperation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Woodall, W. J.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 2012 IEEE/ION Position, Location & Navigation Symposium</i>, pages 1054 – 1061,  2012. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=86626968&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('woodall-bevly-usingthemicrosoftkinectfor3dmapbuildingandteleoperation-2012', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=86626968&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Using the microsoft kinect for 3D map building and teleoperation. [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/woodall-bevly-usingthemicrosoftkinectfor3dmapbuildingandteleoperation-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('woodall-bevly-usingthemicrosoftkinectfor3dmapbuildingandteleoperation-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{woodall_using_2012,\n\ttitle = {Using the microsoft kinect for {3D} map building and teleoperation.},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=86626968&amp;site=eds-live&amp;scope=site},\n\tabstract = {This paper describes the use of the Microsoft Kinect for building three dimensional maps for use in teleoperation. Though these maps are being used for teleoperation in this paper, these map building techniques could also be applied in localization for navigation or robot path planning. The Kinect is a relatively new depth sensor that has become popular in the field of robotics, often replacing significantly more expensive systems like tilting laser range finders and stereoscopic vision systems. Two main sources of error in the map making are investigated, random and systematic error from the depth sensor and uncertainty in the navigation solution of the vehicle. Systematic and random error in the Kinect has previously been described in the literature [1] and this paper looks at how these errors affect the users ability to do mapping and offers some practical solutions. The teleoperation system design around this map making process is presented, and it builds on existing work [2] usin)},\n\tbooktitle = {Proceedings of the 2012 {IEEE}/{ION} {Position}, {Location} \\&amp; {Navigation} {Symposium}},\n\tauthor = {Woodall, William J. and Bevly, David},\n\tyear = {2012},\n\tkeywords = {Artificial neural networks, Indium phosphide, Kinect, Mapping, Octree, Robotics, Robots, Stereo image processing, Teleoperation},\n\tpages = {1054 -- 1061},\n}\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper describes the use of the Microsoft Kinect for building three dimensional maps for use in teleoperation. Though these maps are being used for teleoperation in this paper, these map building techniques could also be applied in localization for navigation or robot path planning. The Kinect is a relatively new depth sensor that has become popular in the field of robotics, often replacing significantly more expensive systems like tilting laser range finders and stereoscopic vision systems. Two main sources of error in the map making are investigated, random and systematic error from the depth sensor and uncertainty in the navigation solution of the vehicle. Systematic and random error in the Kinect has previously been described in the literature [1] and this paper looks at how these errors affect the users ability to do mapping and offers some practical solutions. The teleoperation system design around this map making process is presented, and it builds on existing work [2] usin)\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"payne-bevly-hung-roppel-noncollocatedcontrolofanautonomousrobottrailersystemusingstateestimationelectronicresource-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/3001\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'payne-bevly-hung-roppel-noncollocatedcontrolofanautonomousrobottrailersystemusingstateestimationelectronicresource-2012', 'http://hdl.handle.net/10415/3001', event);\">\n    Non-collocated Control of an Autonomous Robot-Trailer System Using State Estimation. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Payne, M. L.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Hung, J. Y. (. Y.;  and Roppel, T. A.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2012.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/3001\"\n     onclick=\"log_download('payne-bevly-hung-roppel-noncollocatedcontrolofanautonomousrobottrailersystemusingstateestimationelectronicresource-2012', 'http://hdl.handle.net/10415/3001', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Non-collocated Control of an Autonomous Robot-Trailer System Using State Estimation. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/payne-bevly-hung-roppel-noncollocatedcontrolofanautonomousrobottrailersystemusingstateestimationelectronicresource-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('payne-bevly-hung-roppel-noncollocatedcontrolofanautonomousrobottrailersystemusingstateestimationelectronicresource-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{payne_non-collocated_2012,\n\ttitle = {Non-collocated {Control} of an {Autonomous} {Robot}-{Trailer} {System} {Using} {State} {Estimation}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/3001},\n\tauthor = {Payne, Michael L. and Bevly, David M. and Hung, John Y. (John York) and Roppel, Thaddeus Adam},\n\tyear = {2012},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hill-beale-bevly-choe-tireforceestimationinoffroadvehiclesusingsuspensionstrainanddeflectionmeasurementselectronicresource-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/2966\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hill-beale-bevly-choe-tireforceestimationinoffroadvehiclesusingsuspensionstrainanddeflectionmeasurementselectronicresource-2012', 'http://hdl.handle.net/10415/2966', event);\">\n    Tire Force Estimation in Off-Road Vehicles Using Suspension Strain and Deflection Measurements. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hill, R. S.; Beale, D. G.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Choe, S.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2012.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/2966\"\n     onclick=\"log_download('hill-beale-bevly-choe-tireforceestimationinoffroadvehiclesusingsuspensionstrainanddeflectionmeasurementselectronicresource-2012', 'http://hdl.handle.net/10415/2966', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Tire Force Estimation in Off-Road Vehicles Using Suspension Strain and Deflection Measurements. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hill-beale-bevly-choe-tireforceestimationinoffroadvehiclesusingsuspensionstrainanddeflectionmeasurementselectronicresource-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hill-beale-bevly-choe-tireforceestimationinoffroadvehiclesusingsuspensionstrainanddeflectionmeasurementselectronicresource-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{hill_tire_2012,\n\ttitle = {Tire {Force} {Estimation} in {Off}-{Road} {Vehicles} {Using} {Suspension} {Strain} and {Deflection} {Measurements}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/2966},\n\tauthor = {Hill, Ryan Sessions and Beale, David G. and Bevly, David M. and Choe, Song-Yul},\n\tyear = {2012},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"brown-beale-bevly-sinha-rollbankestimationusinggpsinsandsuspensiondeflectionselectronicresource-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/3263\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'brown-beale-bevly-sinha-rollbankestimationusinggpsinsandsuspensiondeflectionselectronicresource-2012', 'http://hdl.handle.net/10415/3263', event);\">\n    Roll & Bank Estimation Using GPS/INS and Suspension Deflections. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Brown, L. S.; Beale, D. G.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Sinha, S. C. (. C.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2012.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/3263\"\n     onclick=\"log_download('brown-beale-bevly-sinha-rollbankestimationusinggpsinsandsuspensiondeflectionselectronicresource-2012', 'http://hdl.handle.net/10415/3263', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Roll &amp; Bank Estimation Using GPS/INS and Suspension Deflections. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/brown-beale-bevly-sinha-rollbankestimationusinggpsinsandsuspensiondeflectionselectronicresource-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('brown-beale-bevly-sinha-rollbankestimationusinggpsinsandsuspensiondeflectionselectronicresource-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{brown_roll_2012,\n\ttitle = {Roll \\&amp; {Bank} {Estimation} {Using} {GPS}/{INS} and {Suspension} {Deflections}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/3263},\n\tauthor = {Brown, Lowell S. and Beale, David G. and Bevly, David M. and Sinha, S. C. (Subhash Chandra), 1947-},\n\tyear = {2012},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"dawkins-bevly-jackson-evaluationoffractalterrainmodelforvehicledynamicsimulations-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edselp&amp;AN=S0022489812000547&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'dawkins-bevly-jackson-evaluationoffractalterrainmodelforvehicledynamicsimulations-2012', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edselp&amp;AN=S0022489812000547&amp;site=eds-live&amp;scope=site', event);\">\n    Evaluation of fractal terrain model for vehicle dynamic simulations.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Dawkins, J. J.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Jackson, R. L.\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Terramechanics</i>, 49(6): 299 – 307. December 2012.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edselp&amp;AN=S0022489812000547&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('dawkins-bevly-jackson-evaluationoffractalterrainmodelforvehicledynamicsimulations-2012', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edselp&amp;AN=S0022489812000547&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Evaluation of fractal terrain model for vehicle dynamic simulations [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/dawkins-bevly-jackson-evaluationoffractalterrainmodelforvehicledynamicsimulations-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('dawkins-bevly-jackson-evaluationoffractalterrainmodelforvehicledynamicsimulations-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{dawkins_evaluation_2012,\n\ttitle = {Evaluation of fractal terrain model for vehicle dynamic simulations},\n\tvolume = {49},\n\tissn = {0022-4898},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edselp&amp;AN=S0022489812000547&amp;site=eds-live&amp;scope=site},\n\tnumber = {6},\n\tjournal = {Journal of Terramechanics},\n\tauthor = {Dawkins, Jeremy J. and Bevly, David M. and Jackson, Robert L.},\n\tmonth = dec,\n\tyear = {2012},\n\tpages = {299 -- 307},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"miller-m-flowers-asystemfortrackinganautonomouslycontrolledcanine-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  A System for Tracking an Autonomously Controlled Canine.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Miller, J.; M, B. D.;  and Flowers, G.\n</span>\n\n  \n\n</span>\n\n  <i>The Journal of Navigation</i>, 64(3). July 2012.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/miller-m-flowers-asystemfortrackinganautonomouslycontrolledcanine-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('miller-m-flowers-asystemfortrackinganautonomouslycontrolledcanine-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{miller_system_2012,\n\ttitle = {A {System} for {Tracking} an {Autonomously} {Controlled} {Canine}},\n\tvolume = {64},\n\tnumber = {3},\n\tjournal = {The Journal of Navigation},\n\tauthor = {Miller, J. and M, Bevly D. and Flowers, G.},\n\tmonth = jul,\n\tyear = {2012},\n\tkeywords = {Canine, Extended Kalman Filter, Fuzzy Logic},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"woodall-bevly-biaz-hung-lowbandwidththreedimensionalmappingandlatencyreducingmodelpredictiontoimproveteleoperationofroboticvehicleselectronicresource-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/3264\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'woodall-bevly-biaz-hung-lowbandwidththreedimensionalmappingandlatencyreducingmodelpredictiontoimproveteleoperationofroboticvehicleselectronicresource-2012', 'http://hdl.handle.net/10415/3264', event);\">\n    Low-Bandwidth Three Dimensional Mapping and Latency Reducing Model Prediction to Improve Teleoperation of Robotic Vehicles. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Woodall, W.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Biaz, S.;  and Hung, J. Y.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2012.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/3264\"\n     onclick=\"log_download('woodall-bevly-biaz-hung-lowbandwidththreedimensionalmappingandlatencyreducingmodelpredictiontoimproveteleoperationofroboticvehicleselectronicresource-2012', 'http://hdl.handle.net/10415/3264', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Low-Bandwidth Three Dimensional Mapping and Latency Reducing Model Prediction to Improve Teleoperation of Robotic Vehicles. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/woodall-bevly-biaz-hung-lowbandwidththreedimensionalmappingandlatencyreducingmodelpredictiontoimproveteleoperationofroboticvehicleselectronicresource-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('woodall-bevly-biaz-hung-lowbandwidththreedimensionalmappingandlatencyreducingmodelpredictiontoimproveteleoperationofroboticvehicleselectronicresource-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{woodall_low-bandwidth_2012,\n\ttitle = {Low-{Bandwidth} {Three} {Dimensional} {Mapping} and {Latency} {Reducing} {Model} {Prediction} to {Improve} {Teleoperation} of {Robotic} {Vehicles}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/3264},\n\tauthor = {Woodall, William and Bevly, David M. and Biaz, Saad and Hung, John Y.},\n\tyear = {2012},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"clark-bevly-flowers-marghitu-sinclair-faultdetectionandexclusionindeeplyintegratedgpsinsnavigationelectronicresource-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/3416\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'clark-bevly-flowers-marghitu-sinclair-faultdetectionandexclusionindeeplyintegratedgpsinsnavigationelectronicresource-2012', 'http://hdl.handle.net/10415/3416', event);\">\n    Fault Detection and Exclusion in Deeply Integrated GPS/INS Navigation. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Clark, B. J.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Flowers, G. T.; Marghitu, D. B.;  and Sinclair, A. J.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2012.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/3416\"\n     onclick=\"log_download('clark-bevly-flowers-marghitu-sinclair-faultdetectionandexclusionindeeplyintegratedgpsinsnavigationelectronicresource-2012', 'http://hdl.handle.net/10415/3416', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Fault Detection and Exclusion in Deeply Integrated GPS/INS Navigation. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/clark-bevly-flowers-marghitu-sinclair-faultdetectionandexclusionindeeplyintegratedgpsinsnavigationelectronicresource-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('clark-bevly-flowers-marghitu-sinclair-faultdetectionandexclusionindeeplyintegratedgpsinsnavigationelectronicresource-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{clark_fault_2012,\n\ttitle = {Fault {Detection} and {Exclusion} in {Deeply} {Integrated} {GPS}/{INS} {Navigation}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/3416},\n\tauthor = {Clark, Benjamin J. and Bevly, David M. and Flowers, George T. and Marghitu, Dan B. and Sinclair, Andrew J.},\n\tyear = {2012},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wang-bevly-chen-lateraltireforceestimationwithunknowninputobserver-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://asmedigitalcollection.asme.org/DSCC/proceedings-abstract/DSCC2012-MOVIC2012/531/228798\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wang-bevly-chen-lateraltireforceestimationwithunknowninputobserver-2012', 'https://asmedigitalcollection.asme.org/DSCC/proceedings-abstract/DSCC2012-MOVIC2012/531/228798', event);\">\n    Lateral Tire Force Estimation with Unknown Input Observer.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wang, Y.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Chen, S. -.\n</span>\n\n  \n\n</span>\n\n  In volume 8712., October 2012. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://asmedigitalcollection.asme.org/DSCC/proceedings-abstract/DSCC2012-MOVIC2012/531/228798\"\n     onclick=\"log_download('wang-bevly-chen-lateraltireforceestimationwithunknowninputobserver-2012', 'https://asmedigitalcollection.asme.org/DSCC/proceedings-abstract/DSCC2012-MOVIC2012/531/228798', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Lateral Tire Force Estimation with Unknown Input Observer [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wang-bevly-chen-lateraltireforceestimationwithunknowninputobserver-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wang-bevly-chen-lateraltireforceestimationwithunknowninputobserver-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{wang_lateral_2012,\n\ttitle = {Lateral {Tire} {Force} {Estimation} with {Unknown} {Input} {Observer}},\n\tvolume = {8712.},\n\turl = {https://asmedigitalcollection.asme.org/DSCC/proceedings-abstract/DSCC2012-MOVIC2012/531/228798},\n\tauthor = {Wang, Y. and Bevly, D. M. and Chen, S. -K.},\n\tmonth = oct,\n\tyear = {2012},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wang-bevly-chen-longitudinaltireforceestimationwithunknowninputobserver-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.1053.1517&amp;rep=rep1&amp;type=pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wang-bevly-chen-longitudinaltireforceestimationwithunknowninputobserver-2012', 'http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.1053.1517&amp;rep=rep1&amp;type=pdf', event);\">\n    Longitudinal Tire Force Estimation with Unknown Input Observer.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wang, Y.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Chen, S. -.\n</span>\n\n  \n\n</span>\n\n  In volume 8710, October 2012. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.1053.1517&amp;rep=rep1&amp;type=pdf\"\n     onclick=\"log_download('wang-bevly-chen-longitudinaltireforceestimationwithunknowninputobserver-2012', 'http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.1053.1517&amp;rep=rep1&amp;type=pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Longitudinal Tire Force Estimation with Unknown Input Observer [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wang-bevly-chen-longitudinaltireforceestimationwithunknowninputobserver-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wang-bevly-chen-longitudinaltireforceestimationwithunknowninputobserver-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{wang_longitudinal_2012,\n\ttitle = {Longitudinal {Tire} {Force} {Estimation} with {Unknown} {Input} {Observer}},\n\tvolume = {8710},\n\turl = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.1053.1517&amp;rep=rep1&amp;type=pdf},\n\tauthor = {Wang, Y. and Bevly, D. M. and Chen, S. -K.},\n\tmonth = oct,\n\tyear = {2012},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"martin-britt-bevly-popovic-z-performanceanalysisofascalablenavigationsolutionusingvehiclesafetysensors-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Performance analysis of a scalable navigation solution using vehicle safety sensors.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Martin, S. ; R.; Britt, C. ;; Bevly, J. ;; Popovic, D. ;;  and Z.\n</span>\n\n  \n\n</span>\n\n  <i>Intelligent Vehicles Symposium (IV)</i>, 931: 926. June 2012.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/martin-britt-bevly-popovic-z-performanceanalysisofascalablenavigationsolutionusingvehiclesafetysensors-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('martin-britt-bevly-popovic-z-performanceanalysisofascalablenavigationsolutionusingvehiclesafetysensors-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{martin_performance_2012,\n\ttitle = {Performance analysis of a scalable navigation solution using vehicle safety sensors},\n\tvolume = {931},\n\tjournal = {Intelligent Vehicles Symposium (IV)},\n\tauthor = {Martin, S. ; Rose and Britt, C. ; and Bevly, J. ; and Popovic, D. ; and {Z.}},\n\tmonth = jun,\n\tyear = {2012},\n\tpages = {926},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"martin-bevly-comparisonofgpsbasedautonomousvehiclefollowingusingglobalandrelativepositioning-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Comparison of GPS-based autonomous vehicle following using global and relative positioning.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Martin, S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  <i>International Journal of Autonomous Vehicle Systems</i>, 10(3): 229–255.  2012.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/martin-bevly-comparisonofgpsbasedautonomousvehiclefollowingusingglobalandrelativepositioning-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('martin-bevly-comparisonofgpsbasedautonomousvehiclefollowingusingglobalandrelativepositioning-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{martin_comparison_2012,\n\ttitle = {Comparison of {GPS}-based autonomous vehicle following using global and relative positioning},\n\tvolume = {10},\n\tnumber = {3},\n\tjournal = {International Journal of Autonomous Vehicle Systems},\n\tauthor = {Martin, S. and Bevly, D. M.},\n\tyear = {2012},\n\tpages = {229--255},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"huang-bevly-setterrainbasedoptimalspeedlimitsforheavytrucksenergysaving-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Set terrain based optimal speed limits for heavy trucks energy saving.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Huang, W.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  <i>International Journal of. Powertrains, Vol. 1, No</i>, 1(4): 335–350.  2012.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/huang-bevly-setterrainbasedoptimalspeedlimitsforheavytrucksenergysaving-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('huang-bevly-setterrainbasedoptimalspeedlimitsforheavytrucksenergysaving-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{huang_set_2012,\n\ttitle = {Set terrain based optimal speed limits for heavy trucks energy saving},\n\tvolume = {1},\n\tnumber = {4},\n\tjournal = {International Journal of. Powertrains, Vol. 1, No},\n\tauthor = {Huang, W. and Bevly, D. M.},\n\tyear = {2012},\n\tpages = {335--350},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"dawkins-bevly-jackson-fractalterraingenerationforvehiclesimulation-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Fractal Terrain Generation for Vehicle Simulation.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Dawkins, J. J.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M</a>;  and Jackson, R.\n</span>\n\n  \n\n</span>\n\n  <i>International Journal of Vehicle Autonomous Systems</i>, 10(1/2): 3–18.  2012.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/dawkins-bevly-jackson-fractalterraingenerationforvehiclesimulation-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('dawkins-bevly-jackson-fractalterraingenerationforvehiclesimulation-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{dawkins_fractal_2012,\n\ttitle = {Fractal {Terrain} {Generation} for {Vehicle} {Simulation}},\n\tvolume = {10},\n\tnumber = {1/2},\n\tjournal = {International Journal of Vehicle Autonomous Systems},\n\tauthor = {Dawkins, J. J. and Bevly, D. M and Jackson, R.},\n\tyear = {2012},\n\tpages = {3--18},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lashley-bevly-howdovectordelaylockloopspredictthesatellitesignals-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  How do vector delay lock loops predict the satellite signals?.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Lashley, M.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  <i>Inside GNSS</i>,28–34. October 2012.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lashley-bevly-howdovectordelaylockloopspredictthesatellitesignals-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lashley-bevly-howdovectordelaylockloopspredictthesatellitesignals-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{lashley_how_2012,\n\ttitle = {How do vector delay lock loops predict the satellite signals?},\n\tjournal = {Inside GNSS},\n\tauthor = {Lashley, M. and Bevly, David},\n\tmonth = oct,\n\tyear = {2012},\n\tpages = {28--34},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2011\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2011')\"\n      onkeypress=\"toggleGroup('group_2011')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2011</span>\n      <span class=\"bibbase_group_count\">\n        \n        (13)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"britt-broderick-bevly-hung-dynamictestingandcalibrationofgaussianprocessesforvehicleattitudeestimation-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=86968314&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'britt-broderick-bevly-hung-dynamictestingandcalibrationofgaussianprocessesforvehicleattitudeestimation-2011', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=86968314&amp;site=eds-live&amp;scope=site', event);\">\n    Dynamic Testing and Calibration of Gaussian Processes for Vehicle Attitude Estimation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Britt, J.; Broderick, D. J.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hung, J. Y.\n</span>\n\n  \n\n</span>\n\n  In <i>2011 10th International Conference on Machine Learning & Applications & Workshops</i>, pages 124 – 128,  2011. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=86968314&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('britt-broderick-bevly-hung-dynamictestingandcalibrationofgaussianprocessesforvehicleattitudeestimation-2011', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=86968314&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Dynamic Testing and Calibration of Gaussian Processes for Vehicle Attitude Estimation. [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/britt-broderick-bevly-hung-dynamictestingandcalibrationofgaussianprocessesforvehicleattitudeestimation-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('britt-broderick-bevly-hung-dynamictestingandcalibrationofgaussianprocessesforvehicleattitudeestimation-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{britt_dynamic_2011,\n\ttitle = {Dynamic {Testing} and {Calibration} of {Gaussian} {Processes} for {Vehicle} {Attitude} {Estimation}.},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=86968314&amp;site=eds-live&amp;scope=site},\n\tabstract = {A method of estimating a vehicle&#x27;s attitude in relation to the road surface using only light detection and ranging (lidar) measurements is presented. Gaussian processes, a machine learning technique, is used to relate the measurements of the road surface to the pitch and roll of the vehicle. Testing was performed under normal driving conditions on a test track as well as under high dynamic maneuvers on a skid-pad to assess performance of the algorithm. On-vehicle results show that the attitude calculations are capable of being implemented in a real-time system and have been compared against a multi-antenna GPS attitude measurement for accuracy. [ABSTRACT FROM PUBLISHER], Copyright of 2011 10th International Conference on Machine Learning \\&amp; Applications \\&amp; Workshops is the property of IEEE and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder&#x27;s express written permission. However, users may print, download, or email articles )},\n\tbooktitle = {2011 10th {International} {Conference} on {Machine} {Learning} \\&amp; {Applications} \\&amp; {Workshops}},\n\tauthor = {Britt, Jordan and Broderick, David J. and Bevly, David M. and Hung, John Y.},\n\tyear = {2011},\n\tkeywords = {Estimation, Gaussian processes, Laser radar, Roads, Testing, Training, Training data, Vehicles, attitude, lidar},\n\tpages = {124 -- 128},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  A method of estimating a vehicle's attitude in relation to the road surface using only light detection and ranging (lidar) measurements is presented. Gaussian processes, a machine learning technique, is used to relate the measurements of the road surface to the pitch and roll of the vehicle. Testing was performed under normal driving conditions on a test track as well as under high dynamic maneuvers on a skid-pad to assess performance of the algorithm. On-vehicle results show that the attitude calculations are capable of being implemented in a real-time system and have been compared against a multi-antenna GPS attitude measurement for accuracy. [ABSTRACT FROM PUBLISHER], Copyright of 2011 10th International Conference on Machine Learning & Applications & Workshops is the property of IEEE and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles )\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"britt-miller-waggoner-bevly-hamilton-anembeddedsystemforrealtimenavigationandremotecommandofatrainedcanine-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000286002100008&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'britt-miller-waggoner-bevly-hamilton-anembeddedsystemforrealtimenavigationandremotecommandofatrainedcanine-2011', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000286002100008&amp;site=eds-live&amp;scope=site', event);\">\n    An embedded system for real-time navigation and remote command of a trained canine.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Britt, W. R.; Miller, J.; Waggoner, P.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hamilton, J. A.\n</span>\n\n  \n\n</span>\n\n  <i>PERSONAL AND UBIQUITOUS COMPUTING</i>, 15(1): 61 – 74. January 2011.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000286002100008&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('britt-miller-waggoner-bevly-hamilton-anembeddedsystemforrealtimenavigationandremotecommandofatrainedcanine-2011', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000286002100008&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"An embedded system for real-time navigation and remote command of a trained canine [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/britt-miller-waggoner-bevly-hamilton-anembeddedsystemforrealtimenavigationandremotecommandofatrainedcanine-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('britt-miller-waggoner-bevly-hamilton-anembeddedsystemforrealtimenavigationandremotecommandofatrainedcanine-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{britt_embedded_2011,\n\ttitle = {An embedded system for real-time navigation and remote command of a trained canine},\n\tvolume = {15},\n\tissn = {16174909},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000286002100008&amp;site=eds-live&amp;scope=site},\n\tnumber = {1},\n\tjournal = {PERSONAL AND UBIQUITOUS COMPUTING},\n\tauthor = {Britt, Winard R. and Miller, Jeffrey and Waggoner, Paul and Bevly, David M. and Hamilton, John A., Jr.},\n\tmonth = jan,\n\tyear = {2011},\n\tkeywords = {Canine augmentation technology, Canine guidance, DETECTORS, DOG behavior, EMBEDDED computer systems, Embedded systems, GLOBAL Positioning System, NAVIGATION, REAL-time computing, REMOTE control, Sensor aggregation, Sensor navigation},\n\tpages = {61 -- 74},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"broderick-ryan-bevly-simplecalibrationforvehicleposeestimationusinggaussianprocesses-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Simple Calibration for Vehicle Pose Estimation Using Gaussian Processes,.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Broderick, B.; Ryan;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In San Diego,  2011. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/broderick-ryan-bevly-simplecalibrationforvehicleposeestimationusinggaussianprocesses-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('broderick-ryan-bevly-simplecalibrationforvehicleposeestimationusinggaussianprocesses-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{broderick_simple_2011,\n\taddress = {San Diego},\n\ttitle = {Simple {Calibration} for {Vehicle} {Pose} {Estimation} {Using} {Gaussian} {Processes},},\n\tauthor = {Broderick, Britt and {Ryan} and Bevly, D. M.},\n\tyear = {2011},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lashley-m-comparisonintheperformanceofthevectordelayfrequencylockloopandequivalentscalartrackingloopsindensefoliageandurbancanyon-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Comparison in the Performance of the Vector Delay/Frequency Lock Loop and Equivalent Scalar Tracking Loops in Dense Foliage and Urban Canyon.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Lashley, M. B.;  and M, D.\n</span>\n\n  \n\n</span>\n\n  In  2011. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lashley-m-comparisonintheperformanceofthevectordelayfrequencylockloopandequivalentscalartrackingloopsindensefoliageandurbancanyon-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lashley-m-comparisonintheperformanceofthevectordelayfrequencylockloopandequivalentscalartrackingloopsindensefoliageandurbancanyon-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{lashley_comparison_2011,\n\ttitle = {Comparison in the {Performance} of the {Vector} {Delay}/{Frequency} {Lock} {Loop} and {Equivalent} {Scalar} {Tracking} {Loops} in {Dense} {Foliage} and {Urban} {Canyon}},\n\tauthor = {Lashley, M. Bevly and M, D.},\n\tyear = {2011},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"britt-rose-bevly-acomparativestudyoflidarandcamerabasedlanedeparturewarningsystems-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  A Comparative Study of Lidar and Camera-based Lane Departure Warning Systems.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Britt, J.; Rose, C.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In  2011. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/britt-rose-bevly-acomparativestudyoflidarandcamerabasedlanedeparturewarningsystems-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('britt-rose-bevly-acomparativestudyoflidarandcamerabasedlanedeparturewarningsystems-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{britt_comparative_2011,\n\ttitle = {A {Comparative} {Study} of {Lidar} and {Camera}-based {Lane} {Departure} {Warning} {Systems}},\n\tauthor = {Britt, Jordan and Rose, Christopher and Bevly, David M.},\n\tyear = {2011},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lashley-m-performancecomparisonsofdeepintegrationandtightcoupling-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Performance Comparisons of Deep Integration and Tight Coupling.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Lashley, M. B.;  and M, D.\n</span>\n\n  \n\n</span>\n\n  In  2011. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lashley-m-performancecomparisonsofdeepintegrationandtightcoupling-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lashley-m-performancecomparisonsofdeepintegrationandtightcoupling-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{lashley_performance_2011,\n\ttitle = {Performance {Comparisons} of {Deep} {Integration} and {Tight} {Coupling}},\n\tauthor = {Lashley, M. Bevly and M, D.},\n\tyear = {2011},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"martin-bevly-hung-marghitu-closelycoupledgpsinsrelativepositioningforautomatedvehicleconvoyselectronicresource-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/2533\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'martin-bevly-hung-marghitu-closelycoupledgpsinsrelativepositioningforautomatedvehicleconvoyselectronicresource-2011', 'http://hdl.handle.net/10415/2533', event);\">\n    Closely coupled GPS/INS relative positioning for automated vehicle convoys. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Martin, S. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Hung, J. Y.;  and Marghitu, D. B.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2011.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/2533\"\n     onclick=\"log_download('martin-bevly-hung-marghitu-closelycoupledgpsinsrelativepositioningforautomatedvehicleconvoyselectronicresource-2011', 'http://hdl.handle.net/10415/2533', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Closely coupled GPS/INS relative positioning for automated vehicle convoys. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/martin-bevly-hung-marghitu-closelycoupledgpsinsrelativepositioningforautomatedvehicleconvoyselectronicresource-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('martin-bevly-hung-marghitu-closelycoupledgpsinsrelativepositioningforautomatedvehicleconvoyselectronicresource-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{martin_closely_2011,\n\ttitle = {Closely coupled {GPS}/{INS} relative positioning for automated vehicle convoys. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/2533},\n\tauthor = {Martin, Scott M. and Bevly, David M. and Hung, John Y. and Marghitu, Dan B.},\n\tyear = {2011},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"jantz-bevly-choe-flowers-marghitu-controllingthespeedofamagneticallysuspendedrotorwithcompressedairelectronicresource-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/2521\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'jantz-bevly-choe-flowers-marghitu-controllingthespeedofamagneticallysuspendedrotorwithcompressedairelectronicresource-2011', 'http://hdl.handle.net/10415/2521', event);\">\n    Controlling the speed of a magnetically-suspended rotor with compressed air. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Jantz, R. P.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Choe, S.; Flowers, G. T.;  and Marghitu, D. B.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2011.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/2521\"\n     onclick=\"log_download('jantz-bevly-choe-flowers-marghitu-controllingthespeedofamagneticallysuspendedrotorwithcompressedairelectronicresource-2011', 'http://hdl.handle.net/10415/2521', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Controlling the speed of a magnetically-suspended rotor with compressed air. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/jantz-bevly-choe-flowers-marghitu-controllingthespeedofamagneticallysuspendedrotorwithcompressedairelectronicresource-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('jantz-bevly-choe-flowers-marghitu-controllingthespeedofamagneticallysuspendedrotorwithcompressedairelectronicresource-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{jantz_controlling_2011,\n\ttitle = {Controlling the speed of a magnetically-suspended rotor with compressed air. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/2521},\n\tauthor = {Jantz, Robert P. and Bevly, David M. and Choe, Song-yul and Flowers, George T. and Marghitu, Dan B.},\n\tyear = {2011},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"allen-beale-bevly-sinclair-useofvisionsensorsandlanemapstoaidgpsinsnavigationelectronicresource-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/2807\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'allen-beale-bevly-sinclair-useofvisionsensorsandlanemapstoaidgpsinsnavigationelectronicresource-2011', 'http://hdl.handle.net/10415/2807', event);\">\n    Use of Vision Sensors and Lane Maps to Aid GPS-INS Navigation. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Allen, J. W.; Beale, D. G.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Sinclair, A. J.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2011.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/2807\"\n     onclick=\"log_download('allen-beale-bevly-sinclair-useofvisionsensorsandlanemapstoaidgpsinsnavigationelectronicresource-2011', 'http://hdl.handle.net/10415/2807', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Use of Vision Sensors and Lane Maps to Aid GPS-INS Navigation. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/allen-beale-bevly-sinclair-useofvisionsensorsandlanemapstoaidgpsinsnavigationelectronicresource-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('allen-beale-bevly-sinclair-useofvisionsensorsandlanemapstoaidgpsinsnavigationelectronicresource-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{allen_use_2011,\n\ttitle = {Use of {Vision} {Sensors} and {Lane} {Maps} to {Aid} {GPS}-{INS} {Navigation}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/2807},\n\tauthor = {Allen, John W. and Beale, David G. and Bevly, David M. and Sinclair, Andrew J.},\n\tyear = {2011},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ryan-bevly-hung-sinha-afullyintegratedsensorfusionmethodcombiningasingleantennagpsunitwithelectronicstabilitycontrolsensorselectronicresource-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/2655\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ryan-bevly-hung-sinha-afullyintegratedsensorfusionmethodcombiningasingleantennagpsunitwithelectronicstabilitycontrolsensorselectronicresource-2011', 'http://hdl.handle.net/10415/2655', event);\">\n    A fully integrated sensor fusion method combining a single antenna GPS unit with electronic stability control sensors. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ryan, J.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Hung, J. Y.;  and Sinha, S. C.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2011.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/2655\"\n     onclick=\"log_download('ryan-bevly-hung-sinha-afullyintegratedsensorfusionmethodcombiningasingleantennagpsunitwithelectronicstabilitycontrolsensorselectronicresource-2011', 'http://hdl.handle.net/10415/2655', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A fully integrated sensor fusion method combining a single antenna GPS unit with electronic stability control sensors. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ryan-bevly-hung-sinha-afullyintegratedsensorfusionmethodcombiningasingleantennagpsunitwithelectronicstabilitycontrolsensorselectronicresource-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ryan-bevly-hung-sinha-afullyintegratedsensorfusionmethodcombiningasingleantennagpsunitwithelectronicstabilitycontrolsensorselectronicresource-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{ryan_fully_2011,\n\ttitle = {A fully integrated sensor fusion method combining a single antenna {GPS} unit with electronic stability control sensors. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/2655},\n\tauthor = {Ryan, Jonathan and Bevly, David M. and Hung, John Y. and Sinha, S. C.},\n\tyear = {2011},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"fingerman-gnssforvehiclecontrol-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=lxh&amp;AN=60657903&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'fingerman-gnssforvehiclecontrol-2011', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=lxh&amp;AN=60657903&amp;site=eds-live&amp;scope=site', event);\">\n    GNSS for vehicle control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Fingerman, S.\n</span>\n\n  \n\n</span>\n\n  <i>Sci-Tech News</i>, 65(1): 27 – 27.  2011.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=lxh&amp;AN=60657903&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('fingerman-gnssforvehiclecontrol-2011', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=lxh&amp;AN=60657903&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"GNSS for vehicle control. [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/fingerman-gnssforvehiclecontrol-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('fingerman-gnssforvehiclecontrol-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{fingerman_gnss_2011,\n\ttitle = {{GNSS} for vehicle control.},\n\tvolume = {65},\n\tissn = {00368059},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=lxh&amp;AN=60657903&amp;site=eds-live&amp;scope=site},\n\tabstract = {The article reviews the book &quot;GNSS for Vehicle Control,&quot; by David M. Bevly and Stewart Cobb.},\n\tnumber = {1},\n\tjournal = {Sci-Tech News},\n\tauthor = {Fingerman, Susan},\n\tyear = {2011},\n\tkeywords = {Bevly, Cobb, David M., GNSS for Vehicle Control (Book), Global Positioning System, Nonfiction, Stewart},\n\tpages = {27 -- 27},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The article reviews the book \"GNSS for Vehicle Control,\" by David M. Bevly and Stewart Cobb.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"travis-martin-w-bevly-nonlineofsightautomatedvehiclefollowingusingadynamicbasertksystem-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Non Line of Sight Automated Vehicle Following Using a Dynamic Base RTK System.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Travis, W.; Martin, S. H.; W, D.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  <i>Navigation: Journal of the Institute of Navigation</i>, 58(4): 241–255.  2011.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/travis-martin-w-bevly-nonlineofsightautomatedvehiclefollowingusingadynamicbasertksystem-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('travis-martin-w-bevly-nonlineofsightautomatedvehiclefollowingusingadynamicbasertksystem-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{travis_non_2011,\n\ttitle = {Non {Line} of {Sight} {Automated} {Vehicle} {Following} {Using} a {Dynamic} {Base} {RTK} {System}},\n\tvolume = {58},\n\tnumber = {4},\n\tjournal = {Navigation: Journal of the Institute of Navigation},\n\tauthor = {Travis, W. and Martin, S. Hodo and W, D. and Bevly, D. M.},\n\tyear = {2011},\n\tpages = {241--255},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"travis-martin-bevly-automatedshortdistancevehiclefollowingusingadynamicbasertksystem-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Automated Short Distance Vehicle Following Using a Dynamic Base RTK System.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Travis, W.; Martin, S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  <i>International Journal of Vehicle Autonomous Systems</i>, 9(1/2): 126–141.  2011.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/travis-martin-bevly-automatedshortdistancevehiclefollowingusingadynamicbasertksystem-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('travis-martin-bevly-automatedshortdistancevehiclefollowingusingadynamicbasertksystem-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{travis_automated_2011,\n\ttitle = {Automated {Short} {Distance} {Vehicle} {Following} {Using} a {Dynamic} {Base} {RTK} {System}},\n\tvolume = {9},\n\tnumber = {1/2},\n\tjournal = {International Journal of Vehicle Autonomous Systems},\n\tauthor = {Travis, W. and Martin, S. and Bevly, D. M.},\n\tyear = {2011},\n\tpages = {126--141},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2010\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2010')\"\n      onkeypress=\"toggleGroup('group_2010')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2010</span>\n      <span class=\"bibbase_group_count\">\n        \n        (22)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"edwards-clark-bevly-implementationdetailsofadeeplyintegratedgpsinssoftwarereceiver-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=81644261&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'edwards-clark-bevly-implementationdetailsofadeeplyintegratedgpsinssoftwarereceiver-2010', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=81644261&amp;site=eds-live&amp;scope=site', event);\">\n    Implementation details of a deeply integrated GPS/INS software receiver.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Edwards, W. L.; Clark, B. J.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2010 IEEE/ION Position Location & Navigation Symposium (PLANS)</i>, pages 1137 – 1146,  2010. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=81644261&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('edwards-clark-bevly-implementationdetailsofadeeplyintegratedgpsinssoftwarereceiver-2010', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=81644261&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Implementation details of a deeply integrated GPS/INS software receiver. [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/edwards-clark-bevly-implementationdetailsofadeeplyintegratedgpsinssoftwarereceiver-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('edwards-clark-bevly-implementationdetailsofadeeplyintegratedgpsinssoftwarereceiver-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{edwards_implementation_2010,\n\ttitle = {Implementation details of a deeply integrated {GPS}/{INS} software receiver.},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=81644261&amp;site=eds-live&amp;scope=site},\n\tbooktitle = {2010 {IEEE}/{ION} {Position} {Location} \\&amp; {Navigation} {Symposium} ({PLANS})},\n\tauthor = {Edwards, W. Luke and Clark, Benjamin J. and Bevly, David M.},\n\tyear = {2010},\n\tpages = {1137 -- 1146},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"martin-travis-bevly-performancecomparisonofsingleanddualfrequencycloselycoupledgpsinsrelativepositioningsystems-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=81644321&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'martin-travis-bevly-performancecomparisonofsingleanddualfrequencycloselycoupledgpsinsrelativepositioningsystems-2010', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=81644321&amp;site=eds-live&amp;scope=site', event);\">\n    Performance comparison of single and dual frequency closely coupled GPS/INS relative positioning systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Martin, S.; Travis, W.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2010 IEEE/ION Position Location & Navigation Symposium (PLANS)</i>, pages 544 – 551,  2010. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=81644321&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('martin-travis-bevly-performancecomparisonofsingleanddualfrequencycloselycoupledgpsinsrelativepositioningsystems-2010', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=81644321&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Performance comparison of single and dual frequency closely coupled GPS/INS relative positioning systems. [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/martin-travis-bevly-performancecomparisonofsingleanddualfrequencycloselycoupledgpsinsrelativepositioningsystems-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('martin-travis-bevly-performancecomparisonofsingleanddualfrequencycloselycoupledgpsinsrelativepositioningsystems-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{martin_performance_2010,\n\ttitle = {Performance comparison of single and dual frequency closely coupled {GPS}/{INS} relative positioning systems.},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=81644321&amp;site=eds-live&amp;scope=site},\n\tbooktitle = {2010 {IEEE}/{ION} {Position} {Location} \\&amp; {Navigation} {Symposium} ({PLANS})},\n\tauthor = {Martin, Scott and Travis, William and Bevly, David},\n\tyear = {2010},\n\tpages = {544 -- 551},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"allen-bevly-relatinglocalvisionmeasurementstoglobalnavigationsatellitesystemsusingwaypointbasedmaps-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Relating Local Vision Measurements to Global Navigation Satellite Systems Using Waypoint Based Maps.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Allen, J. W.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In Palm Springs, CA,  2010. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/allen-bevly-relatinglocalvisionmeasurementstoglobalnavigationsatellitesystemsusingwaypointbasedmaps-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('allen-bevly-relatinglocalvisionmeasurementstoglobalnavigationsatellitesystemsusingwaypointbasedmaps-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{allen_relating_2010,\n\taddress = {Palm Springs, CA},\n\ttitle = {Relating {Local} {Vision} {Measurements} to {Global} {Navigation} {Satellite} {Systems} {Using} {Waypoint} {Based} {Maps}},\n\tauthor = {Allen, J. W. and Bevly, D. M.},\n\tyear = {2010},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lashley-m-hung-analysisofdeeplyintegratedandtightlycoupledarchitectures-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Analysis of Deeply Integrated and Tightly Coupled Architectures.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Lashley, M. B.; M, D.;  and Hung, J. W.\n</span>\n\n  \n\n</span>\n\n  In  2010. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lashley-m-hung-analysisofdeeplyintegratedandtightlycoupledarchitectures-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lashley-m-hung-analysisofdeeplyintegratedandtightlycoupledarchitectures-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{lashley_analysis_2010,\n\ttitle = {Analysis of {Deeply} {Integrated} and {Tightly} {Coupled} {Architectures}},\n\tauthor = {Lashley, M. Bevly and M, D. and Hung, J. W.},\n\tyear = {2010},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"britt-bevly-lidarattitudeestimationforvehiclesafetysystems-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  LiDAR Attitude Estimation for Vehicle Safety Systems.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Britt, J. H.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  In April 2010. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/britt-bevly-lidarattitudeestimationforvehiclesafetysystems-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('britt-bevly-lidarattitudeestimationforvehiclesafetysystems-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{britt_lidar_2010,\n\ttitle = {{LiDAR} {Attitude} {Estimation} for {Vehicle} {Safety} {Systems}},\n\tauthor = {Britt, Jordan Hugh and Bevly, David},\n\tmonth = apr,\n\tyear = {2010},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ryan-d-lu-stateestimationforvehiclestabilitycontrolakinematicapproachusingonlygpsandvscsensors-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  State Estimation for Vehicle Stability Control: A Kinematic Approach Using Only GPS and VSC Sensors.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ryan, J. ; B.; D.;  and Lu, J.\n</span>\n\n  \n\n</span>\n\n  In September 2010. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ryan-d-lu-stateestimationforvehiclestabilitycontrolakinematicapproachusingonlygpsandvscsensors-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ryan-d-lu-stateestimationforvehiclestabilitycontrolakinematicapproachusingonlygpsandvscsensors-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{ryan_state_2010,\n\ttitle = {State {Estimation} for {Vehicle} {Stability} {Control}: {A} {Kinematic} {Approach} {Using} {Only} {GPS} and {VSC} {Sensors}},\n\tauthor = {Ryan, J. ; Bevly and {D.} and Lu, J.},\n\tmonth = sep,\n\tyear = {2010},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"brown-dawkins-s-bevly-roadbankestimationonuneventerrainforunmannedgroundvehicles-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Road Bank Estimation on Uneven Terrain for Unmanned Ground Vehicles.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Brown, L. S.; Dawkins, J. J. H.; S, R.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In Boston, MA, September 2010. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/brown-dawkins-s-bevly-roadbankestimationonuneventerrainforunmannedgroundvehicles-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('brown-dawkins-s-bevly-roadbankestimationonuneventerrainforunmannedgroundvehicles-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{brown_road_2010,\n\taddress = {Boston, MA},\n\ttitle = {Road {Bank} {Estimation} on {Uneven} {Terrain} for {Unmanned} {Ground} {Vehicles}},\n\tauthor = {Brown, L. S. and Dawkins, J. J. Hill and S, R. and Bevly, D. M.},\n\tmonth = sep,\n\tyear = {2010},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"broderick-m-hung-modelingvehiclelateraldynamicsbygaussianprocesses-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Modeling Vehicle Lateral Dynamics by Gaussian Processes.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Broderick, D. J. ; B.; M, D.;  and Hung, J. Y.\n</span>\n\n  \n\n</span>\n\n  In Boston, MA, September 2010. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/broderick-m-hung-modelingvehiclelateraldynamicsbygaussianprocesses-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('broderick-m-hung-modelingvehiclelateraldynamicsbygaussianprocesses-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{broderick_modeling_2010,\n\taddress = {Boston, MA},\n\ttitle = {Modeling {Vehicle} {Lateral} {Dynamics} by {Gaussian} {Processes}},\n\tauthor = {Broderick, D. J. ; Bevly and M, D. and Hung, J. Y.},\n\tmonth = sep,\n\tyear = {2010},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"britt-l-bevly-astatemachinecontrollerfortheautonomousguidanceofatrainedcanine-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  A State Machine Controller for the Autonomous Guidance of a Trained Canine.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Britt, W. R. ; L.; L, W.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In September 2010. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/britt-l-bevly-astatemachinecontrollerfortheautonomousguidanceofatrainedcanine-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('britt-l-bevly-astatemachinecontrollerfortheautonomousguidanceofatrainedcanine-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{britt_state_2010,\n\ttitle = {A {State} {Machine} {Controller} for the {Autonomous} {Guidance} of a {Trained} {Canine}},\n\tauthor = {Britt, W. R. ; Lyles and L, W. and Bevly, D. M.},\n\tmonth = sep,\n\tyear = {2010},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"martin-dawkins-travis-bevly-terraincharacterizationandfeatureextractionforautomatedconvoys-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Terrain Characterization and Feature Extraction for Automated Convoys.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Martin, S.; Dawkins, J.; Travis, W. E.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In  2010. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/martin-dawkins-travis-bevly-terraincharacterizationandfeatureextractionforautomatedconvoys-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('martin-dawkins-travis-bevly-terraincharacterizationandfeatureextractionforautomatedconvoys-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{martin_terrain_2010,\n\ttitle = {Terrain {Characterization} and {Feature} {Extraction} for {Automated} {Convoys}},\n\tauthor = {Martin, S. and Dawkins, J. and Travis, W. E. and Bevly, D. M.},\n\tyear = {2010},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lashley-bevly-hung-avalidcomparisonofvectorandscalartrackingloops-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=81644244&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lashley-bevly-hung-avalidcomparisonofvectorandscalartrackingloops-2010', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=81644244&amp;site=eds-live&amp;scope=site', event);\">\n    A valid comparison of vector and scalar tracking loops.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Lashley, M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hung, J. Y.\n</span>\n\n  \n\n</span>\n\n  In <i>2010 IEEE/ION Position Location & Navigation Symposium (PLANS)</i>, pages 464 – 474,  2010. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=81644244&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('lashley-bevly-hung-avalidcomparisonofvectorandscalartrackingloops-2010', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=81644244&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A valid comparison of vector and scalar tracking loops. [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lashley-bevly-hung-avalidcomparisonofvectorandscalartrackingloops-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lashley-bevly-hung-avalidcomparisonofvectorandscalartrackingloops-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{lashley_valid_2010,\n\ttitle = {A valid comparison of vector and scalar tracking loops.},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=81644244&amp;site=eds-live&amp;scope=site},\n\tbooktitle = {2010 {IEEE}/{ION} {Position} {Location} \\&amp; {Navigation} {Symposium} ({PLANS})},\n\tauthor = {Lashley, Matthew and Bevly, David M. and Hung, John Y.},\n\tyear = {2010},\n\tpages = {464 -- 474},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"anderson-bevly-usinggpswithamodelbasedestimatortoestimatecriticalvehiclestates-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=55028346&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'anderson-bevly-usinggpswithamodelbasedestimatortoestimatecriticalvehiclestates-2010', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=55028346&amp;site=eds-live&amp;scope=site', event);\">\n    Using GPS with a model-based estimator to estimate critical vehicle states.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Anderson, R.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  <i>Vehicle System Dynamics</i>, 48(12): 1413 – 1438.  2010.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=55028346&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('anderson-bevly-usinggpswithamodelbasedestimatortoestimatecriticalvehiclestates-2010', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=55028346&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Using GPS with a model-based estimator to estimate critical vehicle states. [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/anderson-bevly-usinggpswithamodelbasedestimatortoestimatecriticalvehiclestates-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('anderson-bevly-usinggpswithamodelbasedestimatortoestimatecriticalvehiclestates-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{anderson_using_2010,\n\ttitle = {Using {GPS} with a model-based estimator to estimate critical vehicle states.},\n\tvolume = {48},\n\tissn = {00423114},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=55028346&amp;site=eds-live&amp;scope=site},\n\tabstract = {This paper demonstrates a method to estimate the vehicle states sideslip, yaw rate, and heading using GPS and yaw rate gyroscope measurements in a model-based estimator. The model-based estimator using GPS measurements provides accurate and observable estimates of sideslip, yaw rate, and heading even if the vehicle model is in neutral steer or if the gyro fails. This method also reduces estimation errors introduced by gyroscope errors such as the gyro bias and gyro scale factor. The GPS and Inertial Navigation System measurements are combined using a Kalman filter to generate estimates of the vehicle states. The residuals of the Kalman filter provide insight to determine if the estimator model is correct and therefore providing accurate state estimates. Additionally, a method to predict the estimation error due to errors in the estimator model is presented. The algorithms are tested in simulation with a correct and incorrect model as well as with sensor errors. Finally, the estimation)},\n\tnumber = {12},\n\tjournal = {Vehicle System Dynamics},\n\tauthor = {Anderson, Rusty and Bevly, David M.},\n\tyear = {2010},\n\tkeywords = {CHEVROLET Blazer truck, GLOBAL Positioning System, GPS, GYROSCOPES, INERTIAL navigation systems, KALMAN filtering, Kalman filter, estimation, sideslip, vehicle},\n\tpages = {1413 -- 1438},\n}\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper demonstrates a method to estimate the vehicle states sideslip, yaw rate, and heading using GPS and yaw rate gyroscope measurements in a model-based estimator. The model-based estimator using GPS measurements provides accurate and observable estimates of sideslip, yaw rate, and heading even if the vehicle model is in neutral steer or if the gyro fails. This method also reduces estimation errors introduced by gyroscope errors such as the gyro bias and gyro scale factor. The GPS and Inertial Navigation System measurements are combined using a Kalman filter to generate estimates of the vehicle states. The residuals of the Kalman filter provide insight to determine if the estimator model is correct and therefore providing accurate state estimates. Additionally, a method to predict the estimation error due to errors in the estimator model is presented. The algorithms are tested in simulation with a correct and incorrect model as well as with sensor errors. Finally, the estimation)\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"travis-bevly-flowers-sinclair-pathduplicationusinggpscarrierbasedrelativepositionforautomatedgroundvehicleconvoyselectronicresource-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/2109\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'travis-bevly-flowers-sinclair-pathduplicationusinggpscarrierbasedrelativepositionforautomatedgroundvehicleconvoyselectronicresource-2010', 'http://hdl.handle.net/10415/2109', event);\">\n    Path duplication using GPS carrier based relative position for automated ground vehicle convoys. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Travis, W. E.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Flowers, G. T.;  and Sinclair, A. J.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2010.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/2109\"\n     onclick=\"log_download('travis-bevly-flowers-sinclair-pathduplicationusinggpscarrierbasedrelativepositionforautomatedgroundvehicleconvoyselectronicresource-2010', 'http://hdl.handle.net/10415/2109', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Path duplication using GPS carrier based relative position for automated ground vehicle convoys. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/travis-bevly-flowers-sinclair-pathduplicationusinggpscarrierbasedrelativepositionforautomatedgroundvehicleconvoyselectronicresource-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('travis-bevly-flowers-sinclair-pathduplicationusinggpscarrierbasedrelativepositionforautomatedgroundvehicleconvoyselectronicresource-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{travis_path_2010,\n\ttitle = {Path duplication using {GPS} carrier based relative position for automated ground vehicle convoys. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/2109},\n\tauthor = {Travis, William E. and Bevly, David M. and Flowers, George T. and Sinclair, Andrew J.},\n\tyear = {2010},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"huang-beale-bevly-choe-sinclair-designandevaluationofa3droadgeometrybasedheavytruckfueloptimizationsystemelectronicresource-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/2252\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'huang-beale-bevly-choe-sinclair-designandevaluationofa3droadgeometrybasedheavytruckfueloptimizationsystemelectronicresource-2010', 'http://hdl.handle.net/10415/2252', event);\">\n    Design and evaluation of a 3D road geometry based heavy truck fuel optimization system. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Huang, W.; Beale, D. G.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Choe, S.;  and Sinclair, A. J.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2010.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/2252\"\n     onclick=\"log_download('huang-beale-bevly-choe-sinclair-designandevaluationofa3droadgeometrybasedheavytruckfueloptimizationsystemelectronicresource-2010', 'http://hdl.handle.net/10415/2252', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Design and evaluation of a 3D road geometry based heavy truck fuel optimization system. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/huang-beale-bevly-choe-sinclair-designandevaluationofa3droadgeometrybasedheavytruckfueloptimizationsystemelectronicresource-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('huang-beale-bevly-choe-sinclair-designandevaluationofa3droadgeometrybasedheavytruckfueloptimizationsystemelectronicresource-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{huang_design_2010,\n\ttitle = {Design and evaluation of a {3D} road geometry based heavy truck fuel optimization system. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/2252},\n\tauthor = {Huang, Wei and Beale, David G. and Bevly, David M. and Choe, Song-yul and Sinclair, Andrew J.},\n\tyear = {2010},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"miller-bevly-amaximumeffortcontrolsystemforthetrackingandcontrolofaguidedcanineelectronicresource-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/2400\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'miller-bevly-amaximumeffortcontrolsystemforthetrackingandcontrolofaguidedcanineelectronicresource-2010', 'http://hdl.handle.net/10415/2400', event);\">\n    A maximum effort control system for the tracking and control of a guided canine. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Miller, J. D.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2010.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/2400\"\n     onclick=\"log_download('miller-bevly-amaximumeffortcontrolsystemforthetrackingandcontrolofaguidedcanineelectronicresource-2010', 'http://hdl.handle.net/10415/2400', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A maximum effort control system for the tracking and control of a guided canine. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/miller-bevly-amaximumeffortcontrolsystemforthetrackingandcontrolofaguidedcanineelectronicresource-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('miller-bevly-amaximumeffortcontrolsystemforthetrackingandcontrolofaguidedcanineelectronicresource-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{miller_maximum_2010,\n\ttitle = {A maximum effort control system for the tracking and control of a guided canine. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/2400},\n\tauthor = {Miller, Jeffrey David and Bevly, David M.},\n\tyear = {2010},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"edwards-bevly-hung-developmentofagpssoftwarereceiveronanfpgafortestingadvancedtrackingalgorithmselectronicresource-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/2239\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'edwards-bevly-hung-developmentofagpssoftwarereceiveronanfpgafortestingadvancedtrackingalgorithmselectronicresource-2010', 'http://hdl.handle.net/10415/2239', event);\">\n    Development of a GPS software receiver on an FPGA for testing advanced tracking algorithms. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Edwards, W. L.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hung, J. Y.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2010.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/2239\"\n     onclick=\"log_download('edwards-bevly-hung-developmentofagpssoftwarereceiveronanfpgafortestingadvancedtrackingalgorithmselectronicresource-2010', 'http://hdl.handle.net/10415/2239', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Development of a GPS software receiver on an FPGA for testing advanced tracking algorithms. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/edwards-bevly-hung-developmentofagpssoftwarereceiveronanfpgafortestingadvancedtrackingalgorithmselectronicresource-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('edwards-bevly-hung-developmentofagpssoftwarereceiveronanfpgafortestingadvancedtrackingalgorithmselectronicresource-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{edwards_development_2010,\n\ttitle = {Development of a {GPS} software receiver on an {FPGA} for testing advanced tracking algorithms. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/2239},\n\tauthor = {Edwards, W. Luke and Bevly, David M. and Hung, John Y.},\n\tyear = {2010},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"britt-bevly-hung-roppel-lanedetectioncalibrationandattitudedeterminationwithamultilayerlidarforvehiclesafetysystemselectronicresource-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/2366\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'britt-bevly-hung-roppel-lanedetectioncalibrationandattitudedeterminationwithamultilayerlidarforvehiclesafetysystemselectronicresource-2010', 'http://hdl.handle.net/10415/2366', event);\">\n    Lane detection, calibration, and attitude determination with a multi-layer lidar for vehicle safety systems. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Britt, J. H.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Hung, J. Y.;  and Roppel, T. A.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2010.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/2366\"\n     onclick=\"log_download('britt-bevly-hung-roppel-lanedetectioncalibrationandattitudedeterminationwithamultilayerlidarforvehiclesafetysystemselectronicresource-2010', 'http://hdl.handle.net/10415/2366', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Lane detection, calibration, and attitude determination with a multi-layer lidar for vehicle safety systems. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/britt-bevly-hung-roppel-lanedetectioncalibrationandattitudedeterminationwithamultilayerlidarforvehiclesafetysystemselectronicresource-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('britt-bevly-hung-roppel-lanedetectioncalibrationandattitudedeterminationwithamultilayerlidarforvehiclesafetysystemselectronicresource-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{britt_lane_2010,\n\ttitle = {Lane detection, calibration, and attitude determination with a multi-layer lidar for vehicle safety systems. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/2366},\n\tauthor = {Britt, Jordan H. and Bevly, David M. and Hung, John Y. and Roppel, Thaddeus Adam},\n\tyear = {2010},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"allen-bevly-performanceevaluationofrangeinformationprovidedbydedicatedshortrangecommunicationdsrcradios-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Performance Evaluation of Range Information Provided by Dedicated Short Range Communication (DSRC) Radios.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Allen, J.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In  2010. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/allen-bevly-performanceevaluationofrangeinformationprovidedbydedicatedshortrangecommunicationdsrcradios-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('allen-bevly-performanceevaluationofrangeinformationprovidedbydedicatedshortrangecommunicationdsrcradios-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{allen_performance_2010,\n\ttitle = {Performance {Evaluation} of {Range} {Information} {Provided} by {Dedicated} {Short} {Range} {Communication} ({DSRC}) {Radios}},\n\tauthor = {Allen, J. and Bevly, D. M.},\n\tyear = {2010},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"loos-kautz-schwandt-anderson-chen-bevly-ting-asplitcrankbicycleergometerusesservomotorstoprovideprogrammablepedalforcesforstudiesinhumanbiomechanics-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  A Split-Crank Bicycle Ergometer Uses Servomotors to Provide Programmable Pedal Forces for Studies in Human Biomechanics.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Loos, H. F. M. V. d.; Kautz, S.; Schwandt, D.; Anderson, J.; Chen, G.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Ting, L.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Neural Systems & Rehabilitation Engineering, Vol 18, No</i>, 4: 445–452. August 2010.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/loos-kautz-schwandt-anderson-chen-bevly-ting-asplitcrankbicycleergometerusesservomotorstoprovideprogrammablepedalforcesforstudiesinhumanbiomechanics-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('loos-kautz-schwandt-anderson-chen-bevly-ting-asplitcrankbicycleergometerusesservomotorstoprovideprogrammablepedalforcesforstudiesinhumanbiomechanics-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{loos_split-crank_2010,\n\ttitle = {A {Split}-{Crank} {Bicycle} {Ergometer} {Uses} {Servomotors} to {Provide} {Programmable} {Pedal} {Forces} for {Studies} in {Human} {Biomechanics}},\n\tvolume = {4},\n\tjournal = {IEEE Transactions on Neural Systems \\&amp; Rehabilitation Engineering, Vol 18, No},\n\tauthor = {Loos, H. F. Machiel Van der and Kautz, Steven and Schwandt, Douglas and Anderson, James and Chen, George and Bevly, David M. and Ting, Lena},\n\tmonth = aug,\n\tyear = {2010},\n\tpages = {445--452},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"huang-bevly-evaluationof3droadgeometrybasedheavytruckfueloptimization-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Evaluation of 3D road geometry based heavy truck fuel optimization.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Huang, W.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  <i>International Journal of Vehicle Autonomous Systems</i>, 8(1): 39–55.  2010.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/huang-bevly-evaluationof3droadgeometrybasedheavytruckfueloptimization-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('huang-bevly-evaluationof3droadgeometrybasedheavytruckfueloptimization-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{huang_evaluation_2010,\n\ttitle = {Evaluation of {3D} road geometry based heavy truck fuel optimization},\n\tvolume = {8},\n\tnumber = {1},\n\tjournal = {International Journal of Vehicle Autonomous Systems},\n\tauthor = {Huang, W. and Bevly, D. M.},\n\tyear = {2010},\n\tpages = {39--55},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bevly-gebraegziabher-parkinson-erroranalysisofadeadreckoningnavigatorforgroundvehicleguidanceandcontrol-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Error Analysis of a Dead Reckoning Navigator for Ground Vehicle Guidance and Control.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>; Gebra-Egziabher, D.;  and Parkinson, B.\n</span>\n\n  \n\n</span>\n\n  In <i>Volume VII of the GPS Red Book: Integrated Systems</i>. Artech, Norwood, MA,  2010.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bevly-gebraegziabher-parkinson-erroranalysisofadeadreckoningnavigatorforgroundvehicleguidanceandcontrol-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bevly-gebraegziabher-parkinson-erroranalysisofadeadreckoningnavigatorforgroundvehicleguidanceandcontrol-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@incollection{bevly_error_2010,\n\taddress = {Norwood, MA},\n\ttitle = {Error {Analysis} of a {Dead} {Reckoning} {Navigator} for {Ground} {Vehicle} {Guidance} and {Control}},\n\tbooktitle = {Volume {VII} of the {GPS} {Red} {Book}: {Integrated} {Systems}},\n\tpublisher = {Artech},\n\tauthor = {Bevly, David and Gebra-Egziabher, Demoz and Parkinson, B.W.},\n\tyear = {2010},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bevly-cobb-gnssforvehiclecontrol-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  GNSS For Vehicle Control.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>;  and Cobb, S.\n</span>\n\n  \n\n</span>\n\n  Artech, Norwood, MA,  2010.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bevly-cobb-gnssforvehiclecontrol-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bevly-cobb-gnssforvehiclecontrol-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@book{bevly_gnss_2010,\n\taddress = {Norwood, MA},\n\ttitle = {{GNSS} {For} {Vehicle} {Control}},\n\tpublisher = {Artech},\n\tauthor = {Bevly, David and Cobb, Steward},\n\tyear = {2010},\n}\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2009\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2009')\"\n      onkeypress=\"toggleGroup('group_2009')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2009</span>\n      <span class=\"bibbase_group_count\">\n        \n        (11)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"bevly-gebraegziabher-petovello-integrationofgnssandinspart2-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Integration of GNSS and INS: Part 2.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>; Gebra-Egziabher, D.;  and Petovello, M.\n</span>\n\n  \n\n</span>\n\n  In <i>GNSS Applications and Methods</i>, pages 177–189. Artech House, Norwood, MA,  2009.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bevly-gebraegziabher-petovello-integrationofgnssandinspart2-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bevly-gebraegziabher-petovello-integrationofgnssandinspart2-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@incollection{bevly_integration_2009,\n\taddress = {Norwood, MA},\n\ttitle = {Integration of {GNSS} and {INS}: {Part} 2},\n\tbooktitle = {{GNSS} {Applications} and {Methods}},\n\tpublisher = {Artech House},\n\tauthor = {Bevly, David and Gebra-Egziabher, Demoz and Petovello, Mark},\n\tyear = {2009},\n\tpages = {177--189},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bevly-gebraegziabher-petovello-integrationofgnssandinsparti-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Integration of GNSS and INS: Part I.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>; Gebra-Egziabher, D.;  and Petovello, M.\n</span>\n\n  \n\n</span>\n\n  In <i>GNSS Applications and Methods</i>, pages 149–176. Artech House, Norwood, MA,  2009.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bevly-gebraegziabher-petovello-integrationofgnssandinsparti-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bevly-gebraegziabher-petovello-integrationofgnssandinsparti-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@incollection{bevly_integration_2009,\n\taddress = {Norwood, MA},\n\ttitle = {Integration of {GNSS} and {INS}: {Part} {I}},\n\tbooktitle = {{GNSS} {Applications} and {Methods}},\n\tpublisher = {Artech House},\n\tauthor = {Bevly, David and Gebra-Egziabher, Demoz and Petovello, Mark},\n\tyear = {2009},\n\tpages = {149--176},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"derrick-bevly-adaptivesteeringcontrolofafarmtractorwithvaryingyawrateproperties-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=39055443&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'derrick-bevly-adaptivesteeringcontrolofafarmtractorwithvaryingyawrateproperties-2009', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=39055443&amp;site=eds-live&amp;scope=site', event);\">\n    Adaptive steering control of a farm tractor with varying yaw rate properties.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Derrick, J. B.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Field Robotics</i>, 26(6/7): 519 – 536.  2009.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=39055443&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('derrick-bevly-adaptivesteeringcontrolofafarmtractorwithvaryingyawrateproperties-2009', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=39055443&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Adaptive steering control of a farm tractor with varying yaw rate properties. [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/derrick-bevly-adaptivesteeringcontrolofafarmtractorwithvaryingyawrateproperties-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('derrick-bevly-adaptivesteeringcontrolofafarmtractorwithvaryingyawrateproperties-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{derrick_adaptive_2009,\n\ttitle = {Adaptive steering control of a farm tractor with varying yaw rate properties.},\n\tvolume = {26},\n\tissn = {15564959},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=39055443&amp;site=eds-live&amp;scope=site},\n\tabstract = {This paper presents a novel application of a model reference adaptive control (MRAC) system to control the lateral position of a farm tractor tracking a straight path. Farm tractors can be configured with various implements, and the tractor yaw rate dynamics vary with each implement. It is desired that the lateral position response of the farm tractor remain consistent with respect to different implement configurations. Therefore, a MRAC system is implemented on the farm tractor to compensate for yaw rate plant variations by adapting the feed-forward yaw rate controller. Simulation results of the algorithm are shown that display poor performance due to neglected steering actuator dynamics and saturation. Modifications are made to the algorithm to account for the steering actuator properties, and more simulated results are presented that display ideal performance. Finally, the MRAC algorithm is implemented on a John Deere 8420 farm tractor, and experimental results are presented. © 200)},\n\tnumber = {6/7},\n\tjournal = {Journal of Field Robotics},\n\tauthor = {Derrick, J. Benton and Bevly, David M.},\n\tyear = {2009},\n\tkeywords = {ACTUATORS, ADAPTIVE control systems, AGRICULTURAL development, AGRICULTURAL equipment, CULTIVARS, FARM tractors, GENETIC algorithms, GLOBAL Positioning System},\n\tpages = {519 -- 536},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper presents a novel application of a model reference adaptive control (MRAC) system to control the lateral position of a farm tractor tracking a straight path. Farm tractors can be configured with various implements, and the tractor yaw rate dynamics vary with each implement. It is desired that the lateral position response of the farm tractor remain consistent with respect to different implement configurations. Therefore, a MRAC system is implemented on the farm tractor to compensate for yaw rate plant variations by adapting the feed-forward yaw rate controller. Simulation results of the algorithm are shown that display poor performance due to neglected steering actuator dynamics and saturation. Modifications are made to the algorithm to account for the steering actuator properties, and more simulated results are presented that display ideal performance. Finally, the MRAC algorithm is implemented on a John Deere 8420 farm tractor, and experimental results are presented. © 200)\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lashley-bevly-hung-performanceanalysisofvectortrackingalgorithmsforweakgpssignalsinhighdynamics-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000268377200011&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lashley-bevly-hung-performanceanalysisofvectortrackingalgorithmsforweakgpssignalsinhighdynamics-2009', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000268377200011&amp;site=eds-live&amp;scope=site', event);\">\n    Performance Analysis of Vector Tracking Algorithms for Weak GPS Signals in High Dynamics.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Lashley, M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hung, J. Y.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE JOURNAL OF SELECTED TOPICS IN SIGNAL PROCESSING</i>, 3(4): 661 – 673. August 2009.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000268377200011&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('lashley-bevly-hung-performanceanalysisofvectortrackingalgorithmsforweakgpssignalsinhighdynamics-2009', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000268377200011&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Performance Analysis of Vector Tracking Algorithms for Weak GPS Signals in High Dynamics [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lashley-bevly-hung-performanceanalysisofvectortrackingalgorithmsforweakgpssignalsinhighdynamics-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lashley-bevly-hung-performanceanalysisofvectortrackingalgorithmsforweakgpssignalsinhighdynamics-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{lashley_performance_2009,\n\ttitle = {Performance {Analysis} of {Vector} {Tracking} {Algorithms} for {Weak} {GPS} {Signals} in {High} {Dynamics}},\n\tvolume = {3},\n\tissn = {19324553},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000268377200011&amp;site=eds-live&amp;scope=site},\n\tnumber = {4},\n\tjournal = {IEEE JOURNAL OF SELECTED TOPICS IN SIGNAL PROCESSING},\n\tauthor = {Lashley, Matthew and Bevly, David M. and Hung, John Y.},\n\tmonth = aug,\n\tyear = {2009},\n\tkeywords = {Delay lock loop, Global Positioning System, Global Positioning System (GPS), Kalman filter, Performance analysis, Satellite broadcasting, Satellite navigation systems, Signal processing, Signal processing algorithms, Signal to noise ratio, Tracking loops, Vehicle dynamics, Working environment noise, frequency lock loop, vector tracking},\n\tpages = {661 -- 673},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lyles-bevly--evolutionofparametersforanautonomouscaninecontrolalgorithm-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Evolution of Parameters for an Autonomous Canine Control Algorithm.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Lyles, W. ; B.; Bevly, W. ;;  and ;, D.\n</span>\n\n  \n\n</span>\n\n  In December 2009. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lyles-bevly--evolutionofparametersforanautonomouscaninecontrolalgorithm-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lyles-bevly--evolutionofparametersforanautonomouscaninecontrolalgorithm-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{lyles_evolution_2009,\n\ttitle = {Evolution of {Parameters} for an {Autonomous} {Canine} {Control} {Algorithm}},\n\tauthor = {Lyles, W. ; Britt and Bevly, W. ; and D. ;},\n\tmonth = dec,\n\tyear = {2009},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lashley-bevly-hung-modelingandperformanceanalysisofgpsvectortrackingalgorithmselectronicresource-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/2009\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lashley-bevly-hung-modelingandperformanceanalysisofgpsvectortrackingalgorithmselectronicresource-2009', 'http://hdl.handle.net/10415/2009', event);\">\n    Modeling and performance analysis of GPS vector tracking algorithms. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Lashley, M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hung, J. Y.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2009.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/2009\"\n     onclick=\"log_download('lashley-bevly-hung-modelingandperformanceanalysisofgpsvectortrackingalgorithmselectronicresource-2009', 'http://hdl.handle.net/10415/2009', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Modeling and performance analysis of GPS vector tracking algorithms. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lashley-bevly-hung-modelingandperformanceanalysisofgpsvectortrackingalgorithmselectronicresource-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lashley-bevly-hung-modelingandperformanceanalysisofgpsvectortrackingalgorithmselectronicresource-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{lashley_modeling_2009,\n\ttitle = {Modeling and performance analysis of {GPS} vector tracking algorithms. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/2009},\n\tauthor = {Lashley, Matthew and Bevly, David M. and Hung, John Y.},\n\tyear = {2009},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"britt-bevly-hamilton-asoftwareandhardwaresystemfortheautonomouscontrolandnavigationofatrainedcanineelectronicresource-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/1800\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'britt-bevly-hamilton-asoftwareandhardwaresystemfortheautonomouscontrolandnavigationofatrainedcanineelectronicresource-2009', 'http://hdl.handle.net/10415/1800', event);\">\n    A software and hardware system for the autonomous control and navigation of a trained canine. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Britt, W.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hamilton, J. A.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2009.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/1800\"\n     onclick=\"log_download('britt-bevly-hamilton-asoftwareandhardwaresystemfortheautonomouscontrolandnavigationofatrainedcanineelectronicresource-2009', 'http://hdl.handle.net/10415/1800', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A software and hardware system for the autonomous control and navigation of a trained canine. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/britt-bevly-hamilton-asoftwareandhardwaresystemfortheautonomouscontrolandnavigationofatrainedcanineelectronicresource-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('britt-bevly-hamilton-asoftwareandhardwaresystemfortheautonomouscontrolandnavigationofatrainedcanineelectronicresource-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{britt_software_2009,\n\ttitle = {A software and hardware system for the autonomous control and navigation of a trained canine. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/1800},\n\tauthor = {Britt, Winard and Bevly, David M. and Hamilton, John A.},\n\tyear = {2009},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"nevin-bevly-hodel-roppel-registrationandtrackingofobjectswithcomputervisionforautonomousvehicleselectronicresource-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/1633\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'nevin-bevly-hodel-roppel-registrationandtrackingofobjectswithcomputervisionforautonomousvehicleselectronicresource-2009', 'http://hdl.handle.net/10415/1633', event);\">\n    Registration and tracking of objects with computer vision for autonomous vehicles. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Nevin, A.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Hodel, A. S.;  and Roppel, T. A.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2009.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/1633\"\n     onclick=\"log_download('nevin-bevly-hodel-roppel-registrationandtrackingofobjectswithcomputervisionforautonomousvehicleselectronicresource-2009', 'http://hdl.handle.net/10415/1633', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Registration and tracking of objects with computer vision for autonomous vehicles. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/nevin-bevly-hodel-roppel-registrationandtrackingofobjectswithcomputervisionforautonomousvehicleselectronicresource-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('nevin-bevly-hodel-roppel-registrationandtrackingofobjectswithcomputervisionforautonomousvehicleselectronicresource-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{nevin_registration_2009,\n\ttitle = {Registration and tracking of objects with computer vision for autonomous vehicles. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/1633},\n\tauthor = {Nevin, Andrew and Bevly, David M. and Hodel, A. Scottedward and Roppel, Thaddeus Adam},\n\tyear = {2009},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"clanton-bevly-hodel-alowcostsolutionforanintegratedmultisensorlanedeparturewarningsystem-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000263919800006&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'clanton-bevly-hodel-alowcostsolutionforanintegratedmultisensorlanedeparturewarningsystem-2009', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000263919800006&amp;site=eds-live&amp;scope=site', event);\">\n    A Low-Cost Solution for an Integrated Multisensor Lane Departure Warning System.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Clanton, J. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hodel, A. S.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE TRANSACTIONS ON IN℡LIGENT TRANSPORTATION SYSTEMS</i>, 10(1): 47 – 59. March 2009.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000263919800006&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('clanton-bevly-hodel-alowcostsolutionforanintegratedmultisensorlanedeparturewarningsystem-2009', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000263919800006&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Low-Cost Solution for an Integrated Multisensor Lane Departure Warning System [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/clanton-bevly-hodel-alowcostsolutionforanintegratedmultisensorlanedeparturewarningsystem-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('clanton-bevly-hodel-alowcostsolutionforanintegratedmultisensorlanedeparturewarningsystem-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{clanton_low-cost_2009,\n\ttitle = {A {Low}-{Cost} {Solution} for an {Integrated} {Multisensor} {Lane} {Departure} {Warning} {System}},\n\tvolume = {10},\n\tissn = {15249050},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000263919800006&amp;site=eds-live&amp;scope=site},\n\tnumber = {1},\n\tjournal = {IEEE TRANSACTIONS ON IN℡LIGENT TRANSPORTATION SYSTEMS},\n\tauthor = {Clanton, Joshua M. and Bevly, David M. and Hodel, A. Scottedward},\n\tmonth = mar,\n\tyear = {2009},\n\tkeywords = {GPS, Kalman filter, image processing, inertial measurement unit, inertial navigation sensor (INS), intelligent transportation system (ITS), lane departure warning (LDW), vision},\n\tpages = {47 -- 59},\n}\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"enoch-auburnuniversityfordteamuptoimprovestabilityinvehicles-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=pwh&amp;AN=2W62259199668&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'enoch-auburnuniversityfordteamuptoimprovestabilityinvehicles-2009', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=pwh&amp;AN=2W62259199668&amp;site=eds-live&amp;scope=site', event);\">\n    Auburn University, Ford team up to improve stability in vehicles.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Enoch, E.\n</span>\n\n  \n\n</span>\n\n  October 2009.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=pwh&amp;AN=2W62259199668&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('enoch-auburnuniversityfordteamuptoimprovestabilityinvehicles-2009', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=pwh&amp;AN=2W62259199668&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Auburn University, Ford team up to improve stability in vehicles [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/enoch-auburnuniversityfordteamuptoimprovestabilityinvehicles-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('enoch-auburnuniversityfordteamuptoimprovestabilityinvehicles-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@misc{enoch_auburn_2009,\n\ttitle = {Auburn {University}, {Ford} team up to improve stability in vehicles},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=pwh&amp;AN=2W62259199668&amp;site=eds-live&amp;scope=site},\n\tpublisher = {Opelika-Auburn News (AL)},\n\tauthor = {Enoch, Ed},\n\tmonth = oct,\n\tyear = {2009},\n}\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lashley-bevly-whatarevectortrackingloopsandwhataretheirbenefitsanddrawbacks-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  What are vector tracking loops and what are their benefits and drawbacks.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Lashley, M.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>\n</span>\n\n  \n\n</span>\n\n  <i>Inside GNSS</i>,16–21. June 2009.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lashley-bevly-whatarevectortrackingloopsandwhataretheirbenefitsanddrawbacks-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lashley-bevly-whatarevectortrackingloopsandwhataretheirbenefitsanddrawbacks-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{lashley_what_2009,\n\ttitle = {What are vector tracking loops and what are their benefits and drawbacks},\n\tjournal = {Inside GNSS},\n\tauthor = {Lashley, M. and Bevly, David},\n\tmonth = jun,\n\tyear = {2009},\n\tpages = {16--21},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2008\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2008')\"\n      onkeypress=\"toggleGroup('group_2008')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2008</span>\n      <span class=\"bibbase_group_count\">\n        \n        (13)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"henderson-bevly-relativepositioningofunmannedgroundvehiclesusingultrasonicsensorselectronicresource-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/9\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'henderson-bevly-relativepositioningofunmannedgroundvehiclesusingultrasonicsensorselectronicresource-2008', 'http://hdl.handle.net/10415/9', event);\">\n    Relative positioning of unmanned ground vehicles using ultrasonic sensors. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Henderson, H. P.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2008.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/9\"\n     onclick=\"log_download('henderson-bevly-relativepositioningofunmannedgroundvehiclesusingultrasonicsensorselectronicresource-2008', 'http://hdl.handle.net/10415/9', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Relative positioning of unmanned ground vehicles using ultrasonic sensors. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/henderson-bevly-relativepositioningofunmannedgroundvehiclesusingultrasonicsensorselectronicresource-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('henderson-bevly-relativepositioningofunmannedgroundvehiclesusingultrasonicsensorselectronicresource-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{henderson_relative_2008,\n\ttitle = {Relative positioning of unmanned ground vehicles using ultrasonic sensors. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/9},\n\tauthor = {Henderson, Harold P. and Bevly, David M.},\n\tyear = {2008},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"edwards-bevly-parameterestimationtechniquesfordeterminingsafevehiclespeedsinugvselectronicresource-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/10\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'edwards-bevly-parameterestimationtechniquesfordeterminingsafevehiclespeedsinugvselectronicresource-2008', 'http://hdl.handle.net/10415/10', event);\">\n    Parameter estimation techniques for determining safe vehicle speeds in UGVs. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Edwards, D. L.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2008.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/10\"\n     onclick=\"log_download('edwards-bevly-parameterestimationtechniquesfordeterminingsafevehiclespeedsinugvselectronicresource-2008', 'http://hdl.handle.net/10415/10', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Parameter estimation techniques for determining safe vehicle speeds in UGVs. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/edwards-bevly-parameterestimationtechniquesfordeterminingsafevehiclespeedsinugvselectronicresource-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('edwards-bevly-parameterestimationtechniquesfordeterminingsafevehiclespeedsinugvselectronicresource-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{edwards_parameter_2008,\n\ttitle = {Parameter estimation techniques for determining safe vehicle speeds in {UGVs}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/10},\n\tauthor = {Edwards, Dustin L. and Bevly, David M.},\n\tyear = {2008},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"derrick-bevly-adaptivecontrolofafarmtractorwithvaryingyawpropertiesaccountingforactuatordynamicsandnonlinearitieselectronicresource-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/6\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'derrick-bevly-adaptivecontrolofafarmtractorwithvaryingyawpropertiesaccountingforactuatordynamicsandnonlinearitieselectronicresource-2008', 'http://hdl.handle.net/10415/6', event);\">\n    Adaptive control of a farm tractor with varying yaw properties accounting for actuator dynamics and nonlinearities. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Derrick, J. B.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2008.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/6\"\n     onclick=\"log_download('derrick-bevly-adaptivecontrolofafarmtractorwithvaryingyawpropertiesaccountingforactuatordynamicsandnonlinearitieselectronicresource-2008', 'http://hdl.handle.net/10415/6', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Adaptive control of a farm tractor with varying yaw properties accounting for actuator dynamics and nonlinearities. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/derrick-bevly-adaptivecontrolofafarmtractorwithvaryingyawpropertiesaccountingforactuatordynamicsandnonlinearitieselectronicresource-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('derrick-bevly-adaptivecontrolofafarmtractorwithvaryingyawpropertiesaccountingforactuatordynamicsandnonlinearitieselectronicresource-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{derrick_adaptive_2008,\n\ttitle = {Adaptive control of a farm tractor with varying yaw properties accounting for actuator dynamics and nonlinearities. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/6},\n\tauthor = {Derrick, J. Benton and Bevly, David M.},\n\tyear = {2008},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"daily-bevly-streamfunctionpathplanningandcontrolforunmannedgroundvehicleselectronicresource-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/1222\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'daily-bevly-streamfunctionpathplanningandcontrolforunmannedgroundvehicleselectronicresource-2008', 'http://hdl.handle.net/10415/1222', event);\">\n    Stream function path planning and control for unmanned ground vehicles. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Daily, R. L.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2008.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/1222\"\n     onclick=\"log_download('daily-bevly-streamfunctionpathplanningandcontrolforunmannedgroundvehicleselectronicresource-2008', 'http://hdl.handle.net/10415/1222', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Stream function path planning and control for unmanned ground vehicles. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/daily-bevly-streamfunctionpathplanningandcontrolforunmannedgroundvehicleselectronicresource-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('daily-bevly-streamfunctionpathplanningandcontrolforunmannedgroundvehicleselectronicresource-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{daily_stream_2008,\n\ttitle = {Stream function path planning and control for unmanned ground vehicles. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/1222},\n\tauthor = {Daily, Robert L. and Bevly, David M.},\n\tyear = {2008},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"clark-bevly-gpsinsoperationinshadowedenvironmentselectronicresource-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/1223\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'clark-bevly-gpsinsoperationinshadowedenvironmentselectronicresource-2008', 'http://hdl.handle.net/10415/1223', event);\">\n    GPS/INS operation in shadowed environments. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Clark, B. J.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2008.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/1223\"\n     onclick=\"log_download('clark-bevly-gpsinsoperationinshadowedenvironmentselectronicresource-2008', 'http://hdl.handle.net/10415/1223', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"GPS/INS operation in shadowed environments. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/clark-bevly-gpsinsoperationinshadowedenvironmentselectronicresource-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('clark-bevly-gpsinsoperationinshadowedenvironmentselectronicresource-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{clark_gpsins_2008,\n\ttitle = {{GPS}/{INS} operation in shadowed environments. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/1223},\n\tauthor = {Clark, Benjamin J. and Bevly, David M.},\n\tyear = {2008},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"henderson-bevly-relativepositionofugvsinconstrainedenvironmentsusinglowcostimuandgpsaugmentedwithultrasonicsensors-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.4570080&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'henderson-bevly-relativepositionofugvsinconstrainedenvironmentsusinglowcostimuandgpsaugmentedwithultrasonicsensors-2008', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.4570080&amp;site=eds-live&amp;scope=site', event);\">\n    Relative position of UGVs in constrained environments using low cost IMU and GPS augmented with ultrasonic sensors.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Henderson, H. P.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In May 2008. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.4570080&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('henderson-bevly-relativepositionofugvsinconstrainedenvironmentsusinglowcostimuandgpsaugmentedwithultrasonicsensors-2008', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.4570080&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Relative position of UGVs in constrained environments using low cost IMU and GPS augmented with ultrasonic sensors [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/henderson-bevly-relativepositionofugvsinconstrainedenvironmentsusinglowcostimuandgpsaugmentedwithultrasonicsensors-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('henderson-bevly-relativepositionofugvsinconstrainedenvironmentsusinglowcostimuandgpsaugmentedwithultrasonicsensors-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{henderson_relative_2008,\n\ttitle = {Relative position of {UGVs} in constrained environments using low cost {IMU} and {GPS} augmented with ultrasonic sensors},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.4570080&amp;site=eds-live&amp;scope=site},\n\tabstract = {This paper presents a low cost approach to improve the relative position accuracy of unmanned ground vehicles (UGV) in a constrained environment through the use of ultrasonic sensors. A low cost MEMS IMU is integrated with a low cost GPS module to estimate the absolute position of the UGVs using an Extended Kalman Filter. The inherent limitations of GPS and MEMS sensors limit the estimatepsilas utility for determining the relative position of a pair of UGVs in close proximity. The estimator is augmented with range and bearing measurements from the ultrasonic sensors to overcome these limitations. The PPS from the GPS provides a common time to the ultrasonic sensors on each of the UGVs. This approach removes the necessity to differentiate between multiple returns for measuring the distance between UGV. Experiments were performed with a pair of sensors in urban terrain to evaluate the accuracy of the relative position estimate using this method. The results display the accuracy and precision of the relative position achieved. The results are compared with estimates from a pair of navigation estimators to illustrate the performance gains.},\n\tpublisher = {IEEE},\n\tauthor = {Henderson, Harold P. and Bevly, David M.},\n\tmonth = may,\n\tyear = {2008},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper presents a low cost approach to improve the relative position accuracy of unmanned ground vehicles (UGV) in a constrained environment through the use of ultrasonic sensors. A low cost MEMS IMU is integrated with a low cost GPS module to estimate the absolute position of the UGVs using an Extended Kalman Filter. The inherent limitations of GPS and MEMS sensors limit the estimatepsilas utility for determining the relative position of a pair of UGVs in close proximity. The estimator is augmented with range and bearing measurements from the ultrasonic sensors to overcome these limitations. The PPS from the GPS provides a common time to the ultrasonic sensors on each of the UGVs. This approach removes the necessity to differentiate between multiple returns for measuring the distance between UGV. Experiments were performed with a pair of sensors in urban terrain to evaluate the accuracy of the relative position estimate using this method. The results display the accuracy and precision of the relative position achieved. The results are compared with estimates from a pair of navigation estimators to illustrate the performance gains.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"huang-bevly-schnick-li-using3droadgeometrytooptimizeheavytruckfuelefficiency-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.4732656&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'huang-bevly-schnick-li-using3droadgeometrytooptimizeheavytruckfuelefficiency-2008', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.4732656&amp;site=eds-live&amp;scope=site', event);\">\n    Using 3D road geometry to optimize heavy truck fuel efficiency.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Huang, W.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Schnick, S.;  and Li, X.\n</span>\n\n  \n\n</span>\n\n  In October 2008. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.4732656&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('huang-bevly-schnick-li-using3droadgeometrytooptimizeheavytruckfuelefficiency-2008', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.4732656&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Using 3D road geometry to optimize heavy truck fuel efficiency [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/huang-bevly-schnick-li-using3droadgeometrytooptimizeheavytruckfuelefficiency-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('huang-bevly-schnick-li-using3droadgeometrytooptimizeheavytruckfuelefficiency-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{huang_using_2008,\n\ttitle = {Using {3D} road geometry to optimize heavy truck fuel efficiency},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edseee&amp;AN=edseee.4732656&amp;site=eds-live&amp;scope=site},\n\tabstract = {This paper investigates the benefit of using a 3D road geometry based optimal powertrain control system in reducing the fuel consumption of heavy trucks. The optimal control system, using constrained nonlinear programming, is designed to predict the optimal throttle, gear shifting and velocity trajectory, to minimize the fuel consumption and travel time. Computer simulations of a Class 8 truck model are conducted with Intermap 3D road geometry. Simulation results show that the optimal control system is able to reduce the fuel consumption with equal travel time, when compared to the defined baseline. Additionally, sensitivity analyses are conducted to investigate how the change of the terrain and the errors in the road map affect the gain of fuel economy and system behavior.},\n\tpublisher = {IEEE},\n\tauthor = {Huang, Wei and Bevly, David M. and Schnick, Steve and Li, Xiaopeng},\n\tmonth = oct,\n\tyear = {2008},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper investigates the benefit of using a 3D road geometry based optimal powertrain control system in reducing the fuel consumption of heavy trucks. The optimal control system, using constrained nonlinear programming, is designed to predict the optimal throttle, gear shifting and velocity trajectory, to minimize the fuel consumption and travel time. Computer simulations of a Class 8 truck model are conducted with Intermap 3D road geometry. Simulation results show that the optimal control system is able to reduce the fuel consumption with equal travel time, when compared to the defined baseline. Additionally, sensitivity analyses are conducted to investigate how the change of the terrain and the errors in the road map affect the gain of fuel economy and system behavior.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"henderson-relativepositioningofunmannedgroundvehiclesusingultrasonicsensors-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/9\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'henderson-relativepositioningofunmannedgroundvehiclesusingultrasonicsensors-2008', 'https://etd.auburn.edu//handle/10415/9', event);\">\n    Relative Positioning of Unmanned Ground Vehicles Using Ultrasonic Sensors.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Henderson, H.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, May 2008.\n  <span class=\"note\">Accepted: 2008-09-09T21:12:42Z</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/9\"\n     onclick=\"log_download('henderson-relativepositioningofunmannedgroundvehiclesusingultrasonicsensors-2008', 'https://etd.auburn.edu//handle/10415/9', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Relative Positioning of Unmanned Ground Vehicles Using Ultrasonic Sensors [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/henderson-relativepositioningofunmannedgroundvehiclesusingultrasonicsensors-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('henderson-relativepositioningofunmannedgroundvehiclesusingultrasonicsensors-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{henderson_relative_2008,\n\ttype = {Thesis},\n\ttitle = {Relative {Positioning} of {Unmanned} {Ground} {Vehicles} {Using} {Ultrasonic} {Sensors}},\n\turl = {https://etd.auburn.edu//handle/10415/9},\n\tabstract = {In this thesis, a Global Positioning System/Inertial Navigation System (GPS/INS) is developed and applied to a tracked Unmanned Ground Vehicle (UGV) to provide estimates of position, heading, and velocity.  The navigation estimator is then augmented with ultrasonic sensors to accurately determine the relative position of a pair of tracked UGVs.  The estimator provides estimates on critical system parameters to allow for automation or collaboration.  The capabilities of UGVs can be greatly increased through automation and collaboration of multiple UGVs.  Automation reduces the operator workload and allows the UGV to continue operations during a loss of communication.  Collaboration allows multiple small UGVs to accomplish tasks previously requiring a single large UGV. A microcontroller uses the ultra-precise Pulse Per Second (PPS) from the GPS to trigger the ultrasonic sensors.  This configuration minimizes the problems traditionally encountered with use of ultrasonic sensors in an outdoor environment while providing additional information to the navigation estimator.  Small, low cost sensors using MEMS technology are employed to minimize size and cost, providing a solution that can be implemented on current UGVs.  Experimental results are presented to compare the performance using GPS alone, GPS/INS, and GPS/INS/Ultrasonic sensors for estimating relative positions and headings of multiple UGVs.},\n\tlanguage = {en\\_US},\n\turldate = {2022-04-20},\n\tauthor = {Henderson, Harold},\n\tmonth = may,\n\tyear = {2008},\n\tnote = {Accepted: 2008-09-09T21:12:42Z},\n}\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In this thesis, a Global Positioning System/Inertial Navigation System (GPS/INS) is developed and applied to a tracked Unmanned Ground Vehicle (UGV) to provide estimates of position, heading, and velocity. The navigation estimator is then augmented with ultrasonic sensors to accurately determine the relative position of a pair of tracked UGVs. The estimator provides estimates on critical system parameters to allow for automation or collaboration. The capabilities of UGVs can be greatly increased through automation and collaboration of multiple UGVs. Automation reduces the operator workload and allows the UGV to continue operations during a loss of communication. Collaboration allows multiple small UGVs to accomplish tasks previously requiring a single large UGV. A microcontroller uses the ultra-precise Pulse Per Second (PPS) from the GPS to trigger the ultrasonic sensors. This configuration minimizes the problems traditionally encountered with use of ultrasonic sensors in an outdoor environment while providing additional information to the navigation estimator. Small, low cost sensors using MEMS technology are employed to minimize size and cost, providing a solution that can be implemented on current UGVs. Experimental results are presented to compare the performance using GPS alone, GPS/INS, and GPS/INS/Ultrasonic sensors for estimating relative positions and headings of multiple UGVs.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"edwards-parameterestimationtechniquesfordeterminingsafevehiclespeedsinugvs-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/10\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'edwards-parameterestimationtechniquesfordeterminingsafevehiclespeedsinugvs-2008', 'https://etd.auburn.edu//handle/10415/10', event);\">\n    Parameter Estimation Techniques for Determining Safe Vehicle Speeds in UGVs.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Edwards, D.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, May 2008.\n  <span class=\"note\">Accepted: 2008-09-09T21:12:43Z</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/10\"\n     onclick=\"log_download('edwards-parameterestimationtechniquesfordeterminingsafevehiclespeedsinugvs-2008', 'https://etd.auburn.edu//handle/10415/10', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Parameter Estimation Techniques for Determining Safe Vehicle Speeds in UGVs [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/edwards-parameterestimationtechniquesfordeterminingsafevehiclespeedsinugvs-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('edwards-parameterestimationtechniquesfordeterminingsafevehiclespeedsinugvs-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{edwards_parameter_2008,\n\ttype = {Thesis},\n\ttitle = {Parameter {Estimation} {Techniques} for {Determining} {Safe} {Vehicle} {Speeds} in {UGVs}},\n\turl = {https://etd.auburn.edu//handle/10415/10},\n\tabstract = {This thesis develops simplified equations to predict a velocity in which vehicle rollover or tire saturation occurs. These equations are functions of different vehicle parameters that are important to vehicle handling characteristics. Therefore, various algorithms are developed to estimate parameters such as vehicle tire stiffness, peak tire force, and center of gravity position on-line. A number of vehicle control systems have been developed in order to reduce rollover and help maintain vehicle stability. However, many of these control systems do not take into account changing vehicle parameters. Therefore using the on-line estimates of these parameters, the control systems could be more effective in decreasing the number of vehicle accidents. \n    The thesis first explains the fundamentals of lateral vehicle dynamics. Basic vehicle dynamic models are derived and validated to show the effectiveness and shortcomings of the different models. Many assumptions are used to simplify the models. The assumptions leads to simplified equations that predict a velocity in which vehicle rollover or tire saturation occur. An equation to predict the vehicle stopping distance is also derived. Experiments are run to control the vehicle speed to the predictive velocity. This velocity is updated with the identified parameters from the estimation algorithms. By providing the updated velocity to the steering controller, a vehicle is able to transverse a maneuver at a safe speed.},\n\tlanguage = {en\\_US},\n\turldate = {2022-04-20},\n\tauthor = {Edwards, Dustin},\n\tmonth = may,\n\tyear = {2008},\n\tnote = {Accepted: 2008-09-09T21:12:43Z},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This thesis develops simplified equations to predict a velocity in which vehicle rollover or tire saturation occurs. These equations are functions of different vehicle parameters that are important to vehicle handling characteristics. Therefore, various algorithms are developed to estimate parameters such as vehicle tire stiffness, peak tire force, and center of gravity position on-line. A number of vehicle control systems have been developed in order to reduce rollover and help maintain vehicle stability. However, many of these control systems do not take into account changing vehicle parameters. Therefore using the on-line estimates of these parameters, the control systems could be more effective in decreasing the number of vehicle accidents. The thesis first explains the fundamentals of lateral vehicle dynamics. Basic vehicle dynamic models are derived and validated to show the effectiveness and shortcomings of the different models. Many assumptions are used to simplify the models. The assumptions leads to simplified equations that predict a velocity in which vehicle rollover or tire saturation occur. An equation to predict the vehicle stopping distance is also derived. Experiments are run to control the vehicle speed to the predictive velocity. This velocity is updated with the identified parameters from the estimation algorithms. By providing the updated velocity to the steering controller, a vehicle is able to transverse a maneuver at a safe speed.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"derrick-bevly-adaptivecontrolofafarmtractorwithvaryingyawdynamicsaccountingforactuatordynamicsandsaturations-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Adaptive control of a farm tractor with varying yaw dynamics accounting for actuator dynamics and saturations.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Derrick, J. B.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2008 IEEE International Conference on Control Applications</i>, pages 547–552, September 2008. \n  <span class=\"note\">ISSN: 1085-1992</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/CCA.2008.4629591\"\n     onclick=\"log_download('derrick-bevly-adaptivecontrolofafarmtractorwithvaryingyawdynamicsaccountingforactuatordynamicsandsaturations-2008', 'http://doi.org/10.1109/CCA.2008.4629591', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/derrick-bevly-adaptivecontrolofafarmtractorwithvaryingyawdynamicsaccountingforactuatordynamicsandsaturations-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('derrick-bevly-adaptivecontrolofafarmtractorwithvaryingyawdynamicsaccountingforactuatordynamicsandsaturations-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{derrick_adaptive_2008,\n\ttitle = {Adaptive control of a farm tractor with varying yaw dynamics accounting for actuator dynamics and saturations},\n\tdoi = {10.1109/CCA.2008.4629591},\n\tabstract = {This paper presents an adaptive control system implemented on an automatically steered farm tractor. The yaw dynamics of the tractor are time varying due to different attached implements and soil conditions; therefore, a model reference adaptive control (MRAC) system is developed to automatically adjust the feed-forward yaw rate controller to changes in the current yaw plant. The MRAC algorithm is next modified from itpsilas original form to account for steering actuator dynamics and nonlinearities. Simulated results are presented that demonstrate the algorithmpsilas performance under ideal conditions. Experimental results are presented that show that the algorithm performs well on a real system with changing yaw dynamics. Finally, experimental results are shown that demonstrate improved tracking performance verses a fixed-gain configuration.},\n\tbooktitle = {2008 {IEEE} {International} {Conference} on {Control} {Applications}},\n\tauthor = {Derrick, J. Benton and Bevly, David M.},\n\tmonth = sep,\n\tyear = {2008},\n\tnote = {ISSN: 1085-1992},\n\tkeywords = {Conferences, Control systems, USA Councils},\n\tpages = {547--552},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper presents an adaptive control system implemented on an automatically steered farm tractor. The yaw dynamics of the tractor are time varying due to different attached implements and soil conditions; therefore, a model reference adaptive control (MRAC) system is developed to automatically adjust the feed-forward yaw rate controller to changes in the current yaw plant. The MRAC algorithm is next modified from itpsilas original form to account for steering actuator dynamics and nonlinearities. Simulated results are presented that demonstrate the algorithmpsilas performance under ideal conditions. Experimental results are presented that show that the algorithm performs well on a real system with changing yaw dynamics. Finally, experimental results are shown that demonstrate improved tracking performance verses a fixed-gain configuration.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gartley-bevly-onlineadaptivecontrolofafarmtractorbycompensationofparametervariations-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2005/42169/977/311905\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gartley-bevly-onlineadaptivecontrolofafarmtractorbycompensationofparametervariations-2008', 'https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2005/42169/977/311905', event);\">\n    On-Line Adaptive Control of a Farm Tractor by Compensation of Parameter Variations.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gartley, E. R.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  In pages 977–985, February 2008. American Society of Mechanical Engineers Digital Collection\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2005/42169/977/311905\"\n     onclick=\"log_download('gartley-bevly-onlineadaptivecontrolofafarmtractorbycompensationofparametervariations-2008', 'https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2005/42169/977/311905', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"On-Line Adaptive Control of a Farm Tractor by Compensation of Parameter Variations [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1115/IMECE2005-81344\"\n     onclick=\"log_download('gartley-bevly-onlineadaptivecontrolofafarmtractorbycompensationofparametervariations-2008', 'http://doi.org/10.1115/IMECE2005-81344', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gartley-bevly-onlineadaptivecontrolofafarmtractorbycompensationofparametervariations-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gartley-bevly-onlineadaptivecontrolofafarmtractorbycompensationofparametervariations-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{gartley_-line_2008,\n\ttitle = {On-{Line} {Adaptive} {Control} of a {Farm} {Tractor} by {Compensation} of {Parameter} {Variations}},\n\turl = {https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2005/42169/977/311905},\n\tdoi = {10.1115/IMECE2005-81344},\n\tlanguage = {en},\n\turldate = {2022-04-11},\n\tpublisher = {American Society of Mechanical Engineers Digital Collection},\n\tauthor = {Gartley, Evan R. and Bevly, David M.},\n\tmonth = feb,\n\tyear = {2008},\n\tpages = {977--985},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"travis-bevly-compensationofvehicledynamicinducednavigationerrorswithdualantennagpsattitudemeasurements-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Compensation of Vehicle Dynamic Induced Navigation Errors with Dual Antenna GPS Attitude Measurements.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Travis, W.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  <i>International Journal of Measurement</i>, 8(3): 212–224.  2008.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/travis-bevly-compensationofvehicledynamicinducednavigationerrorswithdualantennagpsattitudemeasurements-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('travis-bevly-compensationofvehicledynamicinducednavigationerrorswithdualantennagpsattitudemeasurements-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{travis_compensation_2008,\n\ttitle = {Compensation of {Vehicle} {Dynamic} {Induced} {Navigation} {Errors} with {Dual} {Antenna} {GPS} {Attitude} {Measurements}},\n\tvolume = {8},\n\tnumber = {3},\n\tjournal = {International Journal of Measurement},\n\tauthor = {Travis, W. and Bevly, D. M.},\n\tyear = {2008},\n\tpages = {212--224},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gartley-bevly-onlineestimationofimplementdynamicsforadaptivesteeringcontrolofafarmtractor-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  On-line Estimation of Implement Dynamics for Adaptive Steering Control of a Farm Tractor.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gartley, E.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE/ASME Transactions on Mechatronics</i>, 13(4): 429–440. August 2008.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gartley-bevly-onlineestimationofimplementdynamicsforadaptivesteeringcontrolofafarmtractor-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gartley-bevly-onlineestimationofimplementdynamicsforadaptivesteeringcontrolofafarmtractor-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{gartley_-line_2008,\n\ttitle = {On-line {Estimation} of {Implement} {Dynamics} for {Adaptive} {Steering} {Control} of a {Farm} {Tractor}},\n\tvolume = {13},\n\tnumber = {4},\n\tjournal = {IEEE/ASME Transactions on Mechatronics},\n\tauthor = {Gartley, E. and Bevly, D. M.},\n\tmonth = aug,\n\tyear = {2008},\n\tpages = {429--440},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2007\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2007')\"\n      onkeypress=\"toggleGroup('group_2007')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2007</span>\n      <span class=\"bibbase_group_count\">\n        \n        (6)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"lambert-astudyofvehiclepropertiesthatinfluencerolloverandtheireffectonelectronicstabilitycontrollers-2007\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/112\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lambert-astudyofvehiclepropertiesthatinfluencerolloverandtheireffectonelectronicstabilitycontrollers-2007', 'https://etd.auburn.edu//handle/10415/112', event);\">\n    A Study of Vehicle Properties That Influence Rollover and Their Effect on Electronic Stability Controllers.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Lambert, K.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, December 2007.\n  <span class=\"note\">Accepted: 2008-09-09T21:14:07Z</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/112\"\n     onclick=\"log_download('lambert-astudyofvehiclepropertiesthatinfluencerolloverandtheireffectonelectronicstabilitycontrollers-2007', 'https://etd.auburn.edu//handle/10415/112', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Study of Vehicle Properties That Influence Rollover and Their Effect on Electronic Stability Controllers [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lambert-astudyofvehiclepropertiesthatinfluencerolloverandtheireffectonelectronicstabilitycontrollers-2007\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lambert-astudyofvehiclepropertiesthatinfluencerolloverandtheireffectonelectronicstabilitycontrollers-2007')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{lambert_study_2007,\n\ttype = {Thesis},\n\ttitle = {A {Study} of {Vehicle} {Properties} {That} {Influence} {Rollover} and {Their} {Effect} on {Electronic} {Stability} {Controllers}},\n\turl = {https://etd.auburn.edu//handle/10415/112},\n\tabstract = {In this thesis, the vehicle properties that most influence rollover are investigated, and methods to improve stability are examined. Every year, vehicle rollover is the cause of thousands of fatalities on US highways. Electronic Stability Controllers (ESC) have been proven to reduce the incidence of rollover; however, improvement is still possible and necessary. With the development of a detailed vehicle model that includes roll and individual wheel dynamics, research has been done to investigate the properties that most affect rollover. Using these key vehicle properties, equations are developed to estimate the maximum lateral acceleration and velocity allowed before rollover. With a good knowledge of the stability limits, ESC systems are developed in simulation, and testing is done to investigate how these controllers can be optimized to greater ensure stability during evasive maneuvers. Results prove that stability can be improved and that rollover can be averted with correct execution of ESC limits and outputs.},\n\tlanguage = {en\\_US},\n\turldate = {2022-04-20},\n\tauthor = {Lambert, Kenneth},\n\tmonth = dec,\n\tyear = {2007},\n\tnote = {Accepted: 2008-09-09T21:14:07Z},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In this thesis, the vehicle properties that most influence rollover are investigated, and methods to improve stability are examined. Every year, vehicle rollover is the cause of thousands of fatalities on US highways. Electronic Stability Controllers (ESC) have been proven to reduce the incidence of rollover; however, improvement is still possible and necessary. With the development of a detailed vehicle model that includes roll and individual wheel dynamics, research has been done to investigate the properties that most affect rollover. Using these key vehicle properties, equations are developed to estimate the maximum lateral acceleration and velocity allowed before rollover. With a good knowledge of the stability limits, ESC systems are developed in simulation, and testing is done to investigate how these controllers can be optimized to greater ensure stability during evasive maneuvers. Results prove that stability can be improved and that rollover can be averted with correct execution of ESC limits and outputs.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pearson-bevly-modelingandvalidationofhitchloadingeffectsontractoryawdynamics-2007\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=32497685&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pearson-bevly-modelingandvalidationofhitchloadingeffectsontractoryawdynamics-2007', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=32497685&amp;site=eds-live&amp;scope=site', event);\">\n    Modeling and validation of hitch loading effects on tractor yaw dynamics.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Pearson, P.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Terramechanics</i>, 44(6): 439 – 450.  2007.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=32497685&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('pearson-bevly-modelingandvalidationofhitchloadingeffectsontractoryawdynamics-2007', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=32497685&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Modeling and validation of hitch loading effects on tractor yaw dynamics [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pearson-bevly-modelingandvalidationofhitchloadingeffectsontractoryawdynamics-2007\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pearson-bevly-modelingandvalidationofhitchloadingeffectsontractoryawdynamics-2007')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{pearson_modeling_2007,\n\ttitle = {Modeling and validation of hitch loading effects on tractor yaw dynamics},\n\tvolume = {44},\n\tissn = {00224898},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=32497685&amp;site=eds-live&amp;scope=site},\n\tabstract = {Abstract: This paper develops a yaw dynamic model for a farm tractor with a hitched implement, which can be used to understand the effect of tractor handling characteristics for design applications and for new automated steering control systems. Dynamic equations which use a tire-like model to capture the characteristics of the implement are found to adequately describe the tractor implement yaw dynamics. This model is termed the “3-wheeled” Bicycle Model since it uses an additional wheel (from the traditional bicycle model used to capture lateral dynamics of passenger vehicles) to account for the implement forces. The model only includes effects of lateral forces as it neglects differential longitudinal or draft forces between inner and outer sides of the vehicle. Experiments are taken to verify the hitch model using a three-dimensional force dynamometer. This data shows the implement forces are indeed proportional to lateral velocity and that differential draft forces can be neglect)},\n\tnumber = {6},\n\tjournal = {Journal of Terramechanics},\n\tauthor = {Pearson, Paul and Bevly, David M.},\n\tyear = {2007},\n\tkeywords = {AGRICULTURAL equipment, EXPERIMENTS, FARM tractors, TRACTORS, Tractor implement modeling, Tractor yaw dynamics, VEHICLES},\n\tpages = {439 -- 450},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Abstract: This paper develops a yaw dynamic model for a farm tractor with a hitched implement, which can be used to understand the effect of tractor handling characteristics for design applications and for new automated steering control systems. Dynamic equations which use a tire-like model to capture the characteristics of the implement are found to adequately describe the tractor implement yaw dynamics. This model is termed the “3-wheeled” Bicycle Model since it uses an additional wheel (from the traditional bicycle model used to capture lateral dynamics of passenger vehicles) to account for the implement forces. The model only includes effects of lateral forces as it neglects differential longitudinal or draft forces between inner and outer sides of the vehicle. Experiments are taken to verify the hitch model using a three-dimensional force dynamometer. This data shows the implement forces are indeed proportional to lateral velocity and that differential draft forces can be neglect)\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bevly-parkinson-cascadedkalmanfiltersforaccurateestimationofmultiplebiasesdeadreckoningnavigationandfullstatefeedbackcontrolofgroundvehicles-2007\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000245247800001&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bevly-parkinson-cascadedkalmanfiltersforaccurateestimationofmultiplebiasesdeadreckoningnavigationandfullstatefeedbackcontrolofgroundvehicles-2007', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000245247800001&amp;site=eds-live&amp;scope=site', event);\">\n    Cascaded Kalman filters for accurate estimation of multiple biases, dead-reckoning navigation, and full state feedback control of ground vehicles.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Parkinson, B.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY</i>, 15(2): 199 – 208. March 2007.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000245247800001&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('bevly-parkinson-cascadedkalmanfiltersforaccurateestimationofmultiplebiasesdeadreckoningnavigationandfullstatefeedbackcontrolofgroundvehicles-2007', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000245247800001&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Cascaded Kalman filters for accurate estimation of multiple biases, dead-reckoning navigation, and full state feedback control of ground vehicles [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bevly-parkinson-cascadedkalmanfiltersforaccurateestimationofmultiplebiasesdeadreckoningnavigationandfullstatefeedbackcontrolofgroundvehicles-2007\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bevly-parkinson-cascadedkalmanfiltersforaccurateestimationofmultiplebiasesdeadreckoningnavigationandfullstatefeedbackcontrolofgroundvehicles-2007')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{bevly_cascaded_2007,\n\ttitle = {Cascaded {Kalman} filters for accurate estimation of multiple biases, dead-reckoning navigation, and full state feedback control of ground vehicles},\n\tvolume = {15},\n\tissn = {10636536},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edswsc&amp;AN=000245247800001&amp;site=eds-live&amp;scope=site},\n\tnumber = {2},\n\tjournal = {IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY},\n\tauthor = {Bevly, David M. and Parkinson, Bradford},\n\tmonth = mar,\n\tyear = {2007},\n\tkeywords = {AIR traffic control, CONTROL theory (Engineering), Cascaded estimation, FARM tractors, FEEDBACK control systems, GLOBAL Positioning System, KALMAN filtering, cascaded estimation, dead-reckoning navigation, decentralized Kalman filters, ground vehicle navigation},\n\tpages = {199 -- 208},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hodo-developmentofanautonomousmobilerobottrailersystemforuxodetection-2007\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/888\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hodo-developmentofanautonomousmobilerobottrailersystemforuxodetection-2007', 'https://etd.auburn.edu//handle/10415/888', event);\">\n    Development of an Autonomous Mobile Robot-Trailer System for UXO Detection.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hodo, D.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, August 2007.\n  <span class=\"note\">Accepted: 2008-09-09T21:24:41Z</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/888\"\n     onclick=\"log_download('hodo-developmentofanautonomousmobilerobottrailersystemforuxodetection-2007', 'https://etd.auburn.edu//handle/10415/888', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Development of an Autonomous Mobile Robot-Trailer System for UXO Detection [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hodo-developmentofanautonomousmobilerobottrailersystemforuxodetection-2007\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hodo-developmentofanautonomousmobilerobottrailersystemforuxodetection-2007')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{hodo_development_2007,\n\ttype = {Thesis},\n\ttitle = {Development of an {Autonomous} {Mobile} {Robot}-{Trailer} {System} for {UXO} {Detection}},\n\turl = {https://etd.auburn.edu//handle/10415/888},\n\tabstract = {The process of finding and removing unexploded ordnance (UXO) from contaminated sites is an expensive and time consuming task.  In this thesis, an autonomous mobile robot-trailer system is developed for this purpose.  It is proposed that an autonomous robot can perform the task of UXO detected more efficiently and safely than current methods. \n \nIn this thesis, a method of complete coverage path planning is developed that allows a path for surveying a field to be automatically generated.  Simple methods of obstacle avoidance are given that allow isolated, known obstacles in the field to be avoided.  A feedback control law is designed to guide a towed trailer to precisely follow a given path.  An experimental platform is designed consisting of a Segway RMP robot towing a trailer, guided by a GPS/INS positioning system.  Simulation and experimental results are provided to validate the control law. \n \nThe effects of hitch angle measurement errors and noise in the GPS measurements on path tracking performance are analyzed.  The effects are examined for different sensor placements. Guidelines are provided for where the positioning sensors should be placed based on expected sensor errors and controller tunings.},\n\tlanguage = {en\\_US},\n\turldate = {2022-04-18},\n\tauthor = {Hodo, David},\n\tmonth = aug,\n\tyear = {2007},\n\tnote = {Accepted: 2008-09-09T21:24:41Z},\n}\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The process of finding and removing unexploded ordnance (UXO) from contaminated sites is an expensive and time consuming task. In this thesis, an autonomous mobile robot-trailer system is developed for this purpose. It is proposed that an autonomous robot can perform the task of UXO detected more efficiently and safely than current methods. In this thesis, a method of complete coverage path planning is developed that allows a path for surveying a field to be automatically generated. Simple methods of obstacle avoidance are given that allow isolated, known obstacles in the field to be avoided. A feedback control law is designed to guide a towed trailer to precisely follow a given path. An experimental platform is designed consisting of a Segway RMP robot towing a trailer, guided by a GPS/INS positioning system. Simulation and experimental results are provided to validate the control law. The effects of hitch angle measurement errors and noise in the GPS measurements on path tracking performance are analyzed. The effects are examined for different sensor placements. Guidelines are provided for where the positioning sensors should be placed based on expected sensor errors and controller tunings.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hodo-hung-bevly-millhouse-effectsofsensorplacementanderrorsonpathfollowingcontrolofamobilerobottrailersystem-2007\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Effects of Sensor Placement and Errors on Path Following Control of a Mobile Robot-Trailer System.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hodo, D. W.; Hung, J. Y.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Millhouse, S.\n</span>\n\n  \n\n</span>\n\n  In <i>2007 American Control Conference</i>, pages 2165–2170, July 2007. \n  <span class=\"note\">ISSN: 2378-5861</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ACC.2007.4282739\"\n     onclick=\"log_download('hodo-hung-bevly-millhouse-effectsofsensorplacementanderrorsonpathfollowingcontrolofamobilerobottrailersystem-2007', 'http://doi.org/10.1109/ACC.2007.4282739', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hodo-hung-bevly-millhouse-effectsofsensorplacementanderrorsonpathfollowingcontrolofamobilerobottrailersystem-2007\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hodo-hung-bevly-millhouse-effectsofsensorplacementanderrorsonpathfollowingcontrolofamobilerobottrailersystem-2007')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{hodo_effects_2007,\n\ttitle = {Effects of {Sensor} {Placement} and {Errors} on {Path} {Following} {Control} of a {Mobile} {Robot}-{Trailer} {System}},\n\tdoi = {10.1109/ACC.2007.4282739},\n\tabstract = {In this paper, effects of sensor location and measurement errors on path tracking control of a mobile robot pulling a trailer are reported. A model for a two-wheeled robot towing a trailer is presented, followed by a state feedback controller designed to position the trailer along a path consisting of lines and circular arcs. An incremental encoder is used to measure the hitch angle between the robot and trailer. A combined GPS/IMU system is used to measure position and orientation of either the robot or the trailer (but not both). The choice of mounting location for the GPS/IMU system, and consequent effects on trailer path tracking performance are explored. The sensitivity of the system to hitch angle errors is also examined for both cases. It is shown that the system is less sensitive to errors in the hitch angle measurement when the GPS/IMU system is located on the trailer.},\n\tbooktitle = {2007 {American} {Control} {Conference}},\n\tauthor = {Hodo, David W. and Hung, John Y. and Bevly, David M. and Millhouse, Scott},\n\tmonth = jul,\n\tyear = {2007},\n\tnote = {ISSN: 2378-5861},\n\tkeywords = {Control systems, Error correction, Global Positioning System, Goniometers, Measurement errors, Mobile robots, Position measurement, Robot sensing systems, Sensor systems, State feedback},\n\tpages = {2165--2170},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In this paper, effects of sensor location and measurement errors on path tracking control of a mobile robot pulling a trailer are reported. A model for a two-wheeled robot towing a trailer is presented, followed by a state feedback controller designed to position the trailer along a path consisting of lines and circular arcs. An incremental encoder is used to measure the hitch angle between the robot and trailer. A combined GPS/IMU system is used to measure position and orientation of either the robot or the trailer (but not both). The choice of mounting location for the GPS/IMU system, and consequent effects on trailer path tracking performance are explored. The sensitivity of the system to hitch angle errors is also examined for both cases. It is shown that the system is less sensitive to errors in the hitch angle measurement when the GPS/IMU system is located on the trailer.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"daily-travis-bevly-cascadedestimatorstoimprovelateralvehiclestateandtireparameterestimates-2007\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Cascaded Estimators to Improve Lateral Vehicle State and Tire Parameter Estimates.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Daily, R.; Travis, W.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M</a>\n</span>\n\n  \n\n</span>\n\n  <i>International Journal of Vehicle Autonomous Systems</i>, 5(3-4): 230–255.  2007.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/daily-travis-bevly-cascadedestimatorstoimprovelateralvehiclestateandtireparameterestimates-2007\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('daily-travis-bevly-cascadedestimatorstoimprovelateralvehiclestateandtireparameterestimates-2007')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{daily_cascaded_2007,\n\ttitle = {Cascaded {Estimators} to {Improve} {Lateral} {Vehicle} {State} and {Tire} {Parameter} {Estimates}},\n\tvolume = {5},\n\tnumber = {3-4},\n\tjournal = {International Journal of Vehicle Autonomous Systems},\n\tauthor = {Daily, R. and Travis, W. and Bevly, D. M},\n\tyear = {2007},\n\tpages = {230--255},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2006\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2006')\"\n      onkeypress=\"toggleGroup('group_2006')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2006</span>\n      <span class=\"bibbase_group_count\">\n        \n        (12)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"travis-daily-bevly-knoedler-behringer-hemetsberger-kogler-kubinger-etal-sciautonicsauburnengineeringslowcosthighspeedatvforthe2005darpagrandchallenge-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=23643055&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'travis-daily-bevly-knoedler-behringer-hemetsberger-kogler-kubinger-etal-sciautonicsauburnengineeringslowcosthighspeedatvforthe2005darpagrandchallenge-2006', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=23643055&amp;site=eds-live&amp;scope=site', event);\">\n    SciAutonics-Auburn Engineering's low-cost high-speed ATV for the 2005 DARPA grand challenge.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Travis, W.; Daily, R.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Knoedler, K.; Behringer, R.; Hemetsberger, H.; Kogler, J.; Kubinger, W.;  and Alefs, B.\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Field Robotics</i>, 23(8): 579 – 597.  2006.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=23643055&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('travis-daily-bevly-knoedler-behringer-hemetsberger-kogler-kubinger-etal-sciautonicsauburnengineeringslowcosthighspeedatvforthe2005darpagrandchallenge-2006', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=23643055&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"SciAutonics-Auburn Engineering&#x27;s low-cost high-speed ATV for the 2005 DARPA grand challenge. [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/travis-daily-bevly-knoedler-behringer-hemetsberger-kogler-kubinger-etal-sciautonicsauburnengineeringslowcosthighspeedatvforthe2005darpagrandchallenge-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('travis-daily-bevly-knoedler-behringer-hemetsberger-kogler-kubinger-etal-sciautonicsauburnengineeringslowcosthighspeedatvforthe2005darpagrandchallenge-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{travis_sciautonics-auburn_2006,\n\ttitle = {{SciAutonics}-{Auburn} {Engineering}&#x27;s low-cost high-speed {ATV} for the 2005 {DARPA} grand challenge.},\n\tvolume = {23},\n\tissn = {15564959},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=23643055&amp;site=eds-live&amp;scope=site},\n\tabstract = {This paper presents a summary of SciAutonics-Auburn Engineering&#x27;s efforts in the 2005 DARPA Grand Challenge. The areas discussed in detail include the team makeup and strategy, vehicle choice, software architecture, vehicle control, navigation, path planning, and obstacle detection. In particular, the advantages and complications involved in fielding a low budget all-terrain vehicle are presented. Emphasis is placed on detailing the methods used for high-speed control, customized navigation, and a novel stereo vision system. The platform chosen required a highly accurate model and a well-tuned navigation system in order to meet the demands of the Grand Challenge. Overall, the vehicle completed three out of four runs at the National Qualification Event and traveled 16 miles in the Grand Challenge before a hardware failure disabled operation. The performance in the events is described, along with a success and failure analysis. © 2006 Wiley Periodicals, Inc. [ABSTRACT FROM AUTHOR], Copy)},\n\tnumber = {8},\n\tjournal = {Journal of Field Robotics},\n\tauthor = {Travis, William and Daily, Robert and Bevly, David M. and Knoedler, Kevin and Behringer, Reinhold and Hemetsberger, Hannes and Kogler, Jürgen and Kubinger, Wilfried and Alefs, Bram},\n\tyear = {2006},\n\tkeywords = {ALL terrain vehicles, AUTOMOTIVE electronics, AUTOMOTIVE engineering, FAILURE analysis},\n\tpages = {579 -- 597},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper presents a summary of SciAutonics-Auburn Engineering's efforts in the 2005 DARPA Grand Challenge. The areas discussed in detail include the team makeup and strategy, vehicle choice, software architecture, vehicle control, navigation, path planning, and obstacle detection. In particular, the advantages and complications involved in fielding a low budget all-terrain vehicle are presented. Emphasis is placed on detailing the methods used for high-speed control, customized navigation, and a novel stereo vision system. The platform chosen required a highly accurate model and a well-tuned navigation system in order to meet the demands of the Grand Challenge. Overall, the vehicle completed three out of four runs at the National Qualification Event and traveled 16 miles in the Grand Challenge before a hardware failure disabled operation. The performance in the events is described, along with a success and failure analysis. © 2006 Wiley Periodicals, Inc. [ABSTRACT FROM AUTHOR], Copy)\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"newlin-bevly-hung-designanddevelopmentofagpsintermediatefrequencyandimudataacquisitionsystemforadvancedintegratedarchitectureselectronicresource-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/614\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'newlin-bevly-hung-designanddevelopmentofagpsintermediatefrequencyandimudataacquisitionsystemforadvancedintegratedarchitectureselectronicresource-2006', 'http://hdl.handle.net/10415/614', event);\">\n    Design and development of a GPS intermediate frequency and IMU data acquisition system for advanced integrated architectures. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Newlin, M. L.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hung, J. Y.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2006.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/614\"\n     onclick=\"log_download('newlin-bevly-hung-designanddevelopmentofagpsintermediatefrequencyandimudataacquisitionsystemforadvancedintegratedarchitectureselectronicresource-2006', 'http://hdl.handle.net/10415/614', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Design and development of a GPS intermediate frequency and IMU data acquisition system for advanced integrated architectures. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/newlin-bevly-hung-designanddevelopmentofagpsintermediatefrequencyandimudataacquisitionsystemforadvancedintegratedarchitectureselectronicresource-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('newlin-bevly-hung-designanddevelopmentofagpsintermediatefrequencyandimudataacquisitionsystemforadvancedintegratedarchitectureselectronicresource-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{newlin_design_2006,\n\ttitle = {Design and development of a {GPS} intermediate frequency and {IMU} data acquisition system for advanced integrated architectures. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/614},\n\tauthor = {Newlin, Michael Linton and Bevly, David M. and Hung, John Y.},\n\tyear = {2006},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"heffernan-bevly-simulationestimationandexperimentationofvehiclelongitudinaldynamicsthateffectfueleconomyelectronicresource-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/239\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'heffernan-bevly-simulationestimationandexperimentationofvehiclelongitudinaldynamicsthateffectfueleconomyelectronicresource-2006', 'http://hdl.handle.net/10415/239', event);\">\n    Simulation, estimation, and experimentation of vehicle longitudinal dynamics that effect fuel economy. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Heffernan, M. E.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2006.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/239\"\n     onclick=\"log_download('heffernan-bevly-simulationestimationandexperimentationofvehiclelongitudinaldynamicsthateffectfueleconomyelectronicresource-2006', 'http://hdl.handle.net/10415/239', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Simulation, estimation, and experimentation of vehicle longitudinal dynamics that effect fuel economy. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/heffernan-bevly-simulationestimationandexperimentationofvehiclelongitudinaldynamicsthateffectfueleconomyelectronicresource-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('heffernan-bevly-simulationestimationandexperimentationofvehiclelongitudinaldynamicsthateffectfueleconomyelectronicresource-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{heffernan_simulation_2006,\n\ttitle = {Simulation, estimation, and experimentation of vehicle longitudinal dynamics that effect fuel economy. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/239},\n\tauthor = {Heffernan, Matthew Evan and Bevly, David M.},\n\tyear = {2006},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"travis-bevly-methodsforminimizingnavigationerrorsinducedbygroundvehicledynamicselectronicresource-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/400\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'travis-bevly-methodsforminimizingnavigationerrorsinducedbygroundvehicledynamicselectronicresource-2006', 'http://hdl.handle.net/10415/400', event);\">\n    Methods for minimizing navigation errors induced by ground vehicle dynamics. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Travis, W. E.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2006.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/400\"\n     onclick=\"log_download('travis-bevly-methodsforminimizingnavigationerrorsinducedbygroundvehicledynamicselectronicresource-2006', 'http://hdl.handle.net/10415/400', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Methods for minimizing navigation errors induced by ground vehicle dynamics. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/travis-bevly-methodsforminimizingnavigationerrorsinducedbygroundvehicledynamicselectronicresource-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('travis-bevly-methodsforminimizingnavigationerrorsinducedbygroundvehicledynamicselectronicresource-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{travis_methods_2006,\n\ttitle = {Methods for minimizing navigation errors induced by ground vehicle dynamics. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/400},\n\tauthor = {Travis, William E. and Bevly, David M.},\n\tyear = {2006},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bevly-ryu-gerdes-integratinginssensorswithgpsvelocitymeasurementsforcontinuousestimationofvehiclesideslipandtirecorneringstiffness-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Integrating INS Sensors with GPS Velocity Measurements for Continuous Estimation of Vehicle Side-Slip and Tire Cornering Stiffness.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Ryu, J.;  and Gerdes, J. C\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Intelligent Transportation Systems</i>, 7(4): 483–493. December 2006.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bevly-ryu-gerdes-integratinginssensorswithgpsvelocitymeasurementsforcontinuousestimationofvehiclesideslipandtirecorneringstiffness-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bevly-ryu-gerdes-integratinginssensorswithgpsvelocitymeasurementsforcontinuousestimationofvehiclesideslipandtirecorneringstiffness-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{bevly_integrating_2006,\n\ttitle = {Integrating {INS} {Sensors} with {GPS} {Velocity} {Measurements} for {Continuous} {Estimation} of {Vehicle} {Side}-{Slip} and {Tire} {Cornering} {Stiffness}},\n\tvolume = {7},\n\tnumber = {4},\n\tjournal = {IEEE Transactions on Intelligent Transportation Systems},\n\tauthor = {Bevly, D. M. and Ryu, J. and Gerdes, J. C},\n\tmonth = dec,\n\tyear = {2006},\n\tkeywords = {GPS sideslip measurements, Global Positioning System (GPS)/Inertial Navigation System (INS) vehicle state estimation, roll estimation, sideslip estimation},\n\tpages = {483--493},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lashley-bevly-hung-kalmanfilterbasedtrackingalgorithmsforsoftwaregpsreceiverselectronicresource-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/611\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lashley-bevly-hung-kalmanfilterbasedtrackingalgorithmsforsoftwaregpsreceiverselectronicresource-2006', 'http://hdl.handle.net/10415/611', event);\">\n    Kalman filter based tracking algorithms for software GPS receivers. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Lashley, M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hung, J. Y.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2006.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/611\"\n     onclick=\"log_download('lashley-bevly-hung-kalmanfilterbasedtrackingalgorithmsforsoftwaregpsreceiverselectronicresource-2006', 'http://hdl.handle.net/10415/611', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Kalman filter based tracking algorithms for software GPS receivers. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lashley-bevly-hung-kalmanfilterbasedtrackingalgorithmsforsoftwaregpsreceiverselectronicresource-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lashley-bevly-hung-kalmanfilterbasedtrackingalgorithmsforsoftwaregpsreceiverselectronicresource-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{lashley_kalman_2006,\n\ttitle = {Kalman filter based tracking algorithms for software {GPS} receivers. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/611},\n\tauthor = {Lashley, Matthew and Bevly, David M. and Hung, John Y.},\n\tyear = {2006},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"clanton-bevly-hodel-gpsandinertialsensorenhancementsforvisionbasedhighwaylanetrackingelectronicresource-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/324\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'clanton-bevly-hodel-gpsandinertialsensorenhancementsforvisionbasedhighwaylanetrackingelectronicresource-2006', 'http://hdl.handle.net/10415/324', event);\">\n    GPS and Inertial sensor enhancements for vision-based highway lane tracking. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Clanton, J. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hodel, A. S.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2006.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/324\"\n     onclick=\"log_download('clanton-bevly-hodel-gpsandinertialsensorenhancementsforvisionbasedhighwaylanetrackingelectronicresource-2006', 'http://hdl.handle.net/10415/324', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"GPS and Inertial sensor enhancements for vision-based highway lane tracking. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/clanton-bevly-hodel-gpsandinertialsensorenhancementsforvisionbasedhighwaylanetrackingelectronicresource-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('clanton-bevly-hodel-gpsandinertialsensorenhancementsforvisionbasedhighwaylanetrackingelectronicresource-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{clanton_gps_2006,\n\ttitle = {{GPS} and {Inertial} sensor enhancements for vision-based highway lane tracking. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/324},\n\tauthor = {Clanton, Joshua M. and Bevly, David M. and Hodel, A. Scottedward},\n\tyear = {2006},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"newlin-designanddevelopmentofagpsintermediatefrequencyandimudataacquisitionsystemforadvancedintegratedarchitectures-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/614\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'newlin-designanddevelopmentofagpsintermediatefrequencyandimudataacquisitionsystemforadvancedintegratedarchitectures-2006', 'https://etd.auburn.edu//handle/10415/614', event);\">\n    Design and Development of a GPS Intermediate Frequency and IMU Data Acquisition System for Advanced Integrated Architectures.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Newlin, M.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, December 2006.\n  <span class=\"note\">Accepted: 2008-09-09T21:20:30Z</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/614\"\n     onclick=\"log_download('newlin-designanddevelopmentofagpsintermediatefrequencyandimudataacquisitionsystemforadvancedintegratedarchitectures-2006', 'https://etd.auburn.edu//handle/10415/614', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Design and Development of a GPS Intermediate Frequency and IMU Data Acquisition System for Advanced Integrated Architectures [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/newlin-designanddevelopmentofagpsintermediatefrequencyandimudataacquisitionsystemforadvancedintegratedarchitectures-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('newlin-designanddevelopmentofagpsintermediatefrequencyandimudataacquisitionsystemforadvancedintegratedarchitectures-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{newlin_design_2006,\n\ttype = {Thesis},\n\ttitle = {Design and {Development} of a {GPS} {Intermediate} {Frequency} and {IMU} {Data} {Acquisition} {System} for {Advanced} {Integrated} {Architectures}},\n\turl = {https://etd.auburn.edu//handle/10415/614},\n\tabstract = {Advanced levels of GPS and INS integration, including Deeply Integrated and Ultra- \nTightly Coupled, have been reported to provide significant gains in anti-jamming capa- \nbility and reduced susceptibility to loss of GPS signal lock. This thesis provides the \ndesign and development of a GPS intermediate frequency and IMU data acquisition \nsystem that can be used for the implementation of these advanced GPS and INS inte- \ngrated algorithms. Details of the design of the system are covered, including GPS chip \nset selection, signal conditioning, and data collection. The system is capable of syn- \nchronizing IMU measurement collection to the collection of digitized GPS intermediate \nfrequency in real-time using a derivative of the GPS IF sampling clock to sample the \nIMU measurements. This synchronization is necessary for proper integrated algorithm \nimplementation. The system was installed on a moving platform and the results of the \nexperiment are shown using a GPS software receiver for the validation of the digitized \nGPS IF and the plotting of the IMU measurements.},\n\tlanguage = {en\\_US},\n\turldate = {2022-04-18},\n\tauthor = {Newlin, Michael},\n\tmonth = dec,\n\tyear = {2006},\n\tnote = {Accepted: 2008-09-09T21:20:30Z},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Advanced levels of GPS and INS integration, including Deeply Integrated and Ultra- Tightly Coupled, have been reported to provide significant gains in anti-jamming capa- bility and reduced susceptibility to loss of GPS signal lock. This thesis provides the design and development of a GPS intermediate frequency and IMU data acquisition system that can be used for the implementation of these advanced GPS and INS inte- grated algorithms. Details of the design of the system are covered, including GPS chip set selection, signal conditioning, and data collection. The system is capable of syn- chronizing IMU measurement collection to the collection of digitized GPS intermediate frequency in real-time using a derivative of the GPS IF sampling clock to sample the IMU measurements. This synchronization is necessary for proper integrated algorithm implementation. The system was installed on a moving platform and the results of the experiment are shown using a GPS software receiver for the validation of the digitized GPS IF and the plotting of the IMU measurements.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"heffernan-simulationestimationandexperimentationofvehiclelongitudinaldynamicsthateffectfueleconomy-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://etd.auburn.edu//handle/10415/239\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'heffernan-simulationestimationandexperimentationofvehiclelongitudinaldynamicsthateffectfueleconomy-2006', 'https://etd.auburn.edu//handle/10415/239', event);\">\n    Simulation, Estimation, and Experimentation of Vehicle Longitudinal Dynamics That Effect Fuel Economy.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Heffernan, M.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, August 2006.\n  <span class=\"note\">Accepted: 2008-09-09T21:15:31Z</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://etd.auburn.edu//handle/10415/239\"\n     onclick=\"log_download('heffernan-simulationestimationandexperimentationofvehiclelongitudinaldynamicsthateffectfueleconomy-2006', 'https://etd.auburn.edu//handle/10415/239', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Simulation, Estimation, and Experimentation of Vehicle Longitudinal Dynamics That Effect Fuel Economy [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/heffernan-simulationestimationandexperimentationofvehiclelongitudinaldynamicsthateffectfueleconomy-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('heffernan-simulationestimationandexperimentationofvehiclelongitudinaldynamicsthateffectfueleconomy-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{heffernan_simulation_2006,\n\ttype = {Thesis},\n\ttitle = {Simulation, {Estimation}, and {Experimentation} of {Vehicle} {Longitudinal} {Dynamics} {That} {Effect} {Fuel} {Economy}},\n\turl = {https://etd.auburn.edu//handle/10415/239},\n\tabstract = {In this thesis, longitudinal vehicle dynamics are researched with an emphasis on heavy trucks and fuel economy. Commercial vehicles display large variations in their parameters, and due to many current trends in transportation systems, estimating these parameters has been the subject of much research. Additionally, fuel economy enhancement has become a major issue due to man-kind’s reliance on oil. In this research a longitudinal truck model is developed and the longitudinal dynamics are simulated in various conditions. Algorithms are developed to estimate vehicle parameters and are used in simulation to perform an analysis of their accuracy. Simulated results show the difficulty of estimating individual vehicle parameters in the presence of sensor noise and low levels of vehicle excitation, such as with the heavy trucks at the Auburn University National Center for Asphalt Technology facility. Finally, a class 8 commercial vehicle is instrumented as a test-bed. Estimation results from the test bed support the simulation, while simple parameters are shown to be identified with reasonable accuracy. Road load data for fuel economy evaluation was also collected on the trucks and variations over the asphalt sections are shown.},\n\tlanguage = {en\\_US},\n\turldate = {2022-04-18},\n\tauthor = {Heffernan, Matthew},\n\tmonth = aug,\n\tyear = {2006},\n\tnote = {Accepted: 2008-09-09T21:15:31Z},\n}\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In this thesis, longitudinal vehicle dynamics are researched with an emphasis on heavy trucks and fuel economy. Commercial vehicles display large variations in their parameters, and due to many current trends in transportation systems, estimating these parameters has been the subject of much research. Additionally, fuel economy enhancement has become a major issue due to man-kind’s reliance on oil. In this research a longitudinal truck model is developed and the longitudinal dynamics are simulated in various conditions. Algorithms are developed to estimate vehicle parameters and are used in simulation to perform an analysis of their accuracy. Simulated results show the difficulty of estimating individual vehicle parameters in the presence of sensor noise and low levels of vehicle excitation, such as with the heavy trucks at the Auburn University National Center for Asphalt Technology facility. Finally, a class 8 commercial vehicle is instrumented as a test-bed. Estimation results from the test bed support the simulation, while simple parameters are shown to be identified with reasonable accuracy. Road load data for fuel economy evaluation was also collected on the trucks and variations over the asphalt sections are shown.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"clanton-bevly-hodel-highwaylanetrackingusinggpsinconjunctionwithonboardimuandvisionbasedlanetrackingmeasurements-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.ion.org/publications/abstract.cfm?jp=p&amp;articleID=6777\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'clanton-bevly-hodel-highwaylanetrackingusinggpsinconjunctionwithonboardimuandvisionbasedlanetrackingmeasurements-2006', 'http://www.ion.org/publications/abstract.cfm?jp=p&amp;articleID=6777', event);\">\n    Highway Lane Tracking Using GPS in Conjunction With Onboard IMU and Vision-based Lane Tracking Measurements.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Clanton, J. M.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hodel, A. S.\n</span>\n\n  \n\n</span>\n\n  In pages 1076–1084, September 2006. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.ion.org/publications/abstract.cfm?jp=p&amp;articleID=6777\"\n     onclick=\"log_download('clanton-bevly-hodel-highwaylanetrackingusinggpsinconjunctionwithonboardimuandvisionbasedlanetrackingmeasurements-2006', 'http://www.ion.org/publications/abstract.cfm?jp=p&amp;articleID=6777', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Highway Lane Tracking Using GPS in Conjunction With Onboard IMU and Vision-based Lane Tracking Measurements [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/clanton-bevly-hodel-highwaylanetrackingusinggpsinconjunctionwithonboardimuandvisionbasedlanetrackingmeasurements-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('clanton-bevly-hodel-highwaylanetrackingusinggpsinconjunctionwithonboardimuandvisionbasedlanetrackingmeasurements-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{clanton_highway_2006,\n\ttitle = {Highway {Lane} {Tracking} {Using} {GPS} in {Conjunction} {With} {Onboard} {IMU} and {Vision}-based {Lane} {Tracking} {Measurements}},\n\turl = {http://www.ion.org/publications/abstract.cfm?jp=p&amp;articleID=6777},\n\tabstract = {When a vehicle’s Lane Departure Warning (LDW) system fails to detect lane markers on the roadway ahead of the vehicle, it loses its ability to alert the driver of an unintended lane departure. Therefore, it has been a recent trend in LDW research to explore the use of use multiple sensors, such as GPS and inertial measurement units (IMU) to assist the LDW vision system in the event of a lane detection failure [5][7]. These multi-sensor systems typically use differential GPS or even real-time kinematic (RTK) GPS combined with high accuracy maps to locate the vehicle to within a particular lane on a roadway. Although these advanced positioning systems are highly accurate, they are currently not deployed in the consumer automobile market, so therefore, are currently not cost effective solutions. The goal of this research is to use regular GPS, combined with inertial sensors and a high accuracy map to assist a vision-based lane departure warning system. In-car GPS navigation systems are available in many automobiles, as well as automotive grade inertial sensors. The low accuracy of a typical GPS receiver found in an automotive navigation system is largely attributed to a position error. This error is too large to allow the GPS receiver to locate a vehicle in a particular lane on a roadway. This work will present a method to measure this error using a vision-based lane departure warning system together with a high-accuracy map. With the error known, the accuracy of the GPS receiver is increased to a high-enough level to localize the vehicle on a particular lane. Next, this work will present a method fusing GPS/INS/Vision and a high accuracy map for highway lane tracking. The goal of this method is to provide a backup lateral offset measurement that can be used for lane departure warning, when the LDW vision system loses track of the lane markings.},\n\tlanguage = {en},\n\turldate = {2022-04-11},\n\tauthor = {Clanton, J. M. and Bevly, D. M. and Hodel, A. S.},\n\tmonth = sep,\n\tyear = {2006},\n\tpages = {1076--1084},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  When a vehicle’s Lane Departure Warning (LDW) system fails to detect lane markers on the roadway ahead of the vehicle, it loses its ability to alert the driver of an unintended lane departure. Therefore, it has been a recent trend in LDW research to explore the use of use multiple sensors, such as GPS and inertial measurement units (IMU) to assist the LDW vision system in the event of a lane detection failure [5][7]. These multi-sensor systems typically use differential GPS or even real-time kinematic (RTK) GPS combined with high accuracy maps to locate the vehicle to within a particular lane on a roadway. Although these advanced positioning systems are highly accurate, they are currently not deployed in the consumer automobile market, so therefore, are currently not cost effective solutions. The goal of this research is to use regular GPS, combined with inertial sensors and a high accuracy map to assist a vision-based lane departure warning system. In-car GPS navigation systems are available in many automobiles, as well as automotive grade inertial sensors. The low accuracy of a typical GPS receiver found in an automotive navigation system is largely attributed to a position error. This error is too large to allow the GPS receiver to locate a vehicle in a particular lane on a roadway. This work will present a method to measure this error using a vision-based lane departure warning system together with a high-accuracy map. With the error known, the accuracy of the GPS receiver is increased to a high-enough level to localize the vehicle on a particular lane. Next, this work will present a method fusing GPS/INS/Vision and a high accuracy map for highway lane tracking. The goal of this method is to provide a backup lateral offset measurement that can be used for lane departure warning, when the LDW vision system loses track of the lane markings.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"plumlee-hodel-bevly-controlallocationingroundvehicles-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Control Allocation in Ground Vehicles.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Plumlee, J.; Hodel, S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  <i>International Journal of Vehicle Design</i>, 42(3): 215–243.  2006.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/plumlee-hodel-bevly-controlallocationingroundvehicles-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('plumlee-hodel-bevly-controlallocationingroundvehicles-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{plumlee_control_2006,\n\ttitle = {Control {Allocation} in {Ground} {Vehicles}},\n\tvolume = {42},\n\tnumber = {3},\n\tjournal = {International Journal of Vehicle Design},\n\tauthor = {Plumlee, J. and Hodel, S. and Bevly, D. M.},\n\tyear = {2006},\n\tpages = {215--243},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bevly-gebreegziabher-parkinson-erroranalysisofadeadreckoningnavigatorforgroundvehicleguidanceandcontrol-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Error Analysis of a Dead Reckoning Navigator for Ground Vehicle Guidance and Control.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Gebre-Egziabher, D.;  and Parkinson, B. W.\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Navigation</i>, 53(3).  2006.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bevly-gebreegziabher-parkinson-erroranalysisofadeadreckoningnavigatorforgroundvehicleguidanceandcontrol-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bevly-gebreegziabher-parkinson-erroranalysisofadeadreckoningnavigatorforgroundvehicleguidanceandcontrol-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{bevly_error_2006,\n\ttitle = {Error {Analysis} of a {Dead} {Reckoning} {Navigator} for {Ground} {Vehicle} {Guidance} and {Control}},\n\tvolume = {53},\n\tnumber = {3},\n\tjournal = {Journal of Navigation},\n\tauthor = {Bevly, D. M. and Gebre-Egziabher, D. and Parkinson, B. W.},\n\tyear = {2006},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2005\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2005')\"\n      onkeypress=\"toggleGroup('group_2005')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2005</span>\n      <span class=\"bibbase_group_count\">\n        \n        (4)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"whitehead-bevly-astudyofthepropertiesthatinfluencevehiclerolloverpropensityelectronicresource-2005\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/379\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'whitehead-bevly-astudyofthepropertiesthatinfluencevehiclerolloverpropensityelectronicresource-2005', 'http://hdl.handle.net/10415/379', event);\">\n    A study of the properties that influence vehicle rollover propensity. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Whitehead, R. J.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2005.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/379\"\n     onclick=\"log_download('whitehead-bevly-astudyofthepropertiesthatinfluencevehiclerolloverpropensityelectronicresource-2005', 'http://hdl.handle.net/10415/379', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A study of the properties that influence vehicle rollover propensity. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/whitehead-bevly-astudyofthepropertiesthatinfluencevehiclerolloverpropensityelectronicresource-2005\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('whitehead-bevly-astudyofthepropertiesthatinfluencevehiclerolloverpropensityelectronicresource-2005')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{whitehead_study_2005,\n\ttitle = {A study of the properties that influence vehicle rollover propensity. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/379},\n\tauthor = {Whitehead, Randall John and Bevly, David M.},\n\tyear = {2005},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hamm-bevly-hodel-analysisofsimulatedperformanceofintegratedvectortrackingandnavigationloopsforgpselectronicresource-2005\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/378\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hamm-bevly-hodel-analysisofsimulatedperformanceofintegratedvectortrackingandnavigationloopsforgpselectronicresource-2005', 'http://hdl.handle.net/10415/378', event);\">\n    Analysis of simulated performance of integrated vector tracking and navigation loops for GPS. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hamm, C. R.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Hodel, A. S.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2005.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/378\"\n     onclick=\"log_download('hamm-bevly-hodel-analysisofsimulatedperformanceofintegratedvectortrackingandnavigationloopsforgpselectronicresource-2005', 'http://hdl.handle.net/10415/378', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Analysis of simulated performance of integrated vector tracking and navigation loops for GPS. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hamm-bevly-hodel-analysisofsimulatedperformanceofintegratedvectortrackingandnavigationloopsforgpselectronicresource-2005\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hamm-bevly-hodel-analysisofsimulatedperformanceofintegratedvectortrackingandnavigationloopsforgpselectronicresource-2005')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{hamm_analysis_2005,\n\ttitle = {Analysis of simulated performance of integrated vector tracking and navigation loops for {GPS}. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/378},\n\tauthor = {Hamm, Christopher Robert and Bevly, David M. and Hodel, A. Scottedward},\n\tyear = {2005},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gartley-bevly-onlineestimationofimplementdynamicsforadaptivesteeringcontroloffarmtractorselectronicresource-2005\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/354\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gartley-bevly-onlineestimationofimplementdynamicsforadaptivesteeringcontroloffarmtractorselectronicresource-2005', 'http://hdl.handle.net/10415/354', event);\">\n    On-line estimation of implement dynamics for adaptive steering control of farm tractors. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gartley, E. R.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2005.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/354\"\n     onclick=\"log_download('gartley-bevly-onlineestimationofimplementdynamicsforadaptivesteeringcontroloffarmtractorselectronicresource-2005', 'http://hdl.handle.net/10415/354', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"On-line estimation of implement dynamics for adaptive steering control of farm tractors. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gartley-bevly-onlineestimationofimplementdynamicsforadaptivesteeringcontroloffarmtractorselectronicresource-2005\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gartley-bevly-onlineestimationofimplementdynamicsforadaptivesteeringcontroloffarmtractorselectronicresource-2005')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{gartley_-line_2005,\n\ttitle = {On-line estimation of implement dynamics for adaptive steering control of farm tractors. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/354},\n\tauthor = {Gartley, Evan Robert and Bevly, David M.},\n\tyear = {2005},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"flenniken-bevly-modelinginertialmeasurementunitsandanalyzingtheeffectoftheirerrorsinnavigationapplicationselectronicresource-2005\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://hdl.handle.net/10415/329\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'flenniken-bevly-modelinginertialmeasurementunitsandanalyzingtheeffectoftheirerrorsinnavigationapplicationselectronicresource-2005', 'http://hdl.handle.net/10415/329', event);\">\n    Modeling inertial measurement units and analyzing the effect of their errors in navigation applications. [electronic resource].\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Flenniken, W. S.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis,  2005.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hdl.handle.net/10415/329\"\n     onclick=\"log_download('flenniken-bevly-modelinginertialmeasurementunitsandanalyzingtheeffectoftheirerrorsinnavigationapplicationselectronicresource-2005', 'http://hdl.handle.net/10415/329', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Modeling inertial measurement units and analyzing the effect of their errors in navigation applications. [electronic resource] [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/flenniken-bevly-modelinginertialmeasurementunitsandanalyzingtheeffectoftheirerrorsinnavigationapplicationselectronicresource-2005\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('flenniken-bevly-modelinginertialmeasurementunitsandanalyzingtheeffectoftheirerrorsinnavigationapplicationselectronicresource-2005')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{flenniken_modeling_2005,\n\ttitle = {Modeling inertial measurement units and analyzing the effect of their errors in navigation applications. [electronic resource]},\n\turl = {http://hdl.handle.net/10415/329},\n\tauthor = {Flenniken, Warren S. and Bevly, David M.},\n\tyear = {2005},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2004\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2004')\"\n      onkeypress=\"toggleGroup('group_2004')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2004</span>\n      <span class=\"bibbase_group_count\">\n        \n        (6)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"whitehead-travis-bevly-flowers-astudyoftheeffectofvariousvehiclepropertiesonrolloverpropensity-2004\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  A Study of the Effect of Various Vehicle Properties on Rollover Propensity.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Whitehead, Y.; Travis, W.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Flowers, G.\n</span>\n\n  \n\n</span>\n\n  In  2004. SAE International\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/whitehead-travis-bevly-flowers-astudyoftheeffectofvariousvehiclepropertiesonrolloverpropensity-2004\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('whitehead-travis-bevly-flowers-astudyoftheeffectofvariousvehiclepropertiesonrolloverpropensity-2004')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{whitehead_study_2004,\n\ttitle = {A {Study} of the {Effect} of {Various} {Vehicle} {Properties} on {Rollover} {Propensity}},\n\tabstract = {Copyright © 2004 SAE International This paper investigates the effect of various vehicle parameters on rollover propensity using computer simulation. The computer simulation’s accuracy is verified by comparing it to experimental data from NHTSA’s Phase IV testing on rollover of passenger vehicles. The vehicle model used in the simulation study considers the non-linear, transient dynamics of both yaw and roll motion. The vehicle model is subjected to a specific steering input defined by NHTSA, the Fishhook 1a. A correlation between the vehicle parameter of center of gravity location and rollover propensity is found using the validated vehicle simulation.},\n\tpublisher = {SAE International},\n\tauthor = {Whitehead, Y. and Travis, William and Bevly, David M. and Flowers, George},\n\tyear = {2004},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Copyright © 2004 SAE International This paper investigates the effect of various vehicle parameters on rollover propensity using computer simulation. The computer simulation’s accuracy is verified by comparing it to experimental data from NHTSA’s Phase IV testing on rollover of passenger vehicles. The vehicle model used in the simulation study considers the non-linear, transient dynamics of both yaw and roll motion. The vehicle model is subjected to a specific steering input defined by NHTSA, the Fishhook 1a. A correlation between the vehicle parameter of center of gravity location and rollover propensity is found using the validated vehicle simulation.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bevly-globalpositioningsystemgpsalowcostvelocitysensorforcorrectinginertialsensorerrorsongroundvehicles-2004\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsgao&amp;AN=edsgcl.121647052&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bevly-globalpositioningsystemgpsalowcostvelocitysensorforcorrectinginertialsensorerrorsongroundvehicles-2004', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsgao&amp;AN=edsgcl.121647052&amp;site=eds-live&amp;scope=site', event);\">\n    Global Positioning System (GPS): a low-cost velocity sensor for correcting inertial sensor errors on ground vehicles.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Dynamic Systems, Measurement, and Control</i>, 126(2): 255. June 2004.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsgao&amp;AN=edsgcl.121647052&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('bevly-globalpositioningsystemgpsalowcostvelocitysensorforcorrectinginertialsensorerrorsongroundvehicles-2004', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsgao&amp;AN=edsgcl.121647052&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Global Positioning System (GPS): a low-cost velocity sensor for correcting inertial sensor errors on ground vehicles [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bevly-globalpositioningsystemgpsalowcostvelocitysensorforcorrectinginertialsensorerrorsongroundvehicles-2004\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bevly-globalpositioningsystemgpsalowcostvelocitysensorforcorrectinginertialsensorerrorsongroundvehicles-2004')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{bevly_global_2004,\n\ttitle = {Global {Positioning} {System} ({GPS}): a low-cost velocity sensor for correcting inertial sensor errors on ground vehicles},\n\tvolume = {126},\n\tissn = {0022-0434},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsgao&amp;AN=edsgcl.121647052&amp;site=eds-live&amp;scope=site},\n\tabstract = {This paper demonstrates the ability of a standard low-cost Global Positioning System (GPS) receiver to reduce errors inherent in low-cost accelerometers and rate gyroscopes used on ground vehicles. Specifically GPS velocity is used to obtain vehicle course, velocity, and road grade, as well as to correct inertial sensors errors, providing accurate longitudinal and lateral acceleration, and pitch, roll, and yaw angular velocities. Additionally, it is shown that transient changes in sideslip (or lateral velocity), roll, and pitch angles can be measured. The method utilizes GPS velocity measurements to determine the inertial sensor errors using a kinematic Kalman Filter estimator. Simple models of the inertial sensors, which take into account the sensor noise and bias drift properties, are developed and used to design the estimator. Based on the characteristics of low-cost GPS receivers and IMU sensors, this paper presents the achievable performance of the combined system using the covariance analysis from the Kalman filter. Subsequent simulations and experiments validate both the error analysis and the methodology for utilizing GPS as a velocity sensor for correcting low-cost inertial sensor errors and providing critical vehicle state measurements. [DOI: 10.1115/1.1766027]},\n\tnumber = {2},\n\tjournal = {Journal of Dynamic Systems, Measurement, and Control},\n\tauthor = {Bevly, David M.},\n\tmonth = jun,\n\tyear = {2004},\n\tkeywords = {ACCELEROMETERS, AUTOMATIC control systems, DETECTORS, GLOBAL Positioning System, GYROSCOPES, Global Positioning System, Global Positioning System – Analysis, Motor vehicles – Analysis, United States, VEHICLES},\n\tpages = {255},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper demonstrates the ability of a standard low-cost Global Positioning System (GPS) receiver to reduce errors inherent in low-cost accelerometers and rate gyroscopes used on ground vehicles. Specifically GPS velocity is used to obtain vehicle course, velocity, and road grade, as well as to correct inertial sensors errors, providing accurate longitudinal and lateral acceleration, and pitch, roll, and yaw angular velocities. Additionally, it is shown that transient changes in sideslip (or lateral velocity), roll, and pitch angles can be measured. The method utilizes GPS velocity measurements to determine the inertial sensor errors using a kinematic Kalman Filter estimator. Simple models of the inertial sensors, which take into account the sensor noise and bias drift properties, are developed and used to design the estimator. Based on the characteristics of low-cost GPS receivers and IMU sensors, this paper presents the achievable performance of the combined system using the covariance analysis from the Kalman filter. Subsequent simulations and experiments validate both the error analysis and the methodology for utilizing GPS as a velocity sensor for correcting low-cost inertial sensor errors and providing critical vehicle state measurements. [DOI: 10.1115/1.1766027]\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"daily-bevly-theuseofgpsforvehiclestabilitycontrolsystems-2004\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsgao&amp;AN=edsgcl.115903053&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'daily-bevly-theuseofgpsforvehiclestabilitycontrolsystems-2004', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsgao&amp;AN=edsgcl.115903053&amp;site=eds-live&amp;scope=site', event);\">\n    The use of GPS for vehicle stability control systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Daily, R.;  and <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Industrial Electronics</i>, 51(2): 270. April 2004.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsgao&amp;AN=edsgcl.115903053&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('daily-bevly-theuseofgpsforvehiclestabilitycontrolsystems-2004', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsgao&amp;AN=edsgcl.115903053&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"The use of GPS for vehicle stability control systems [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/daily-bevly-theuseofgpsforvehiclestabilitycontrolsystems-2004\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('daily-bevly-theuseofgpsforvehiclestabilitycontrolsystems-2004')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{daily_use_2004,\n\ttitle = {The use of {GPS} for vehicle stability control systems},\n\tvolume = {51},\n\tissn = {0278-0046},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsgao&amp;AN=edsgcl.115903053&amp;site=eds-live&amp;scope=site},\n\tabstract = {This paper presents a method for using global positioning system (GPS) velocity measurements to improve vehicle lateral stability control systems. GPS can be used to calculate the sideslip angle of a vehicle without knowing the vehicle model. This measurement is combined with other traditional measurements to control the lateral motion of the vehicle. Noise estimates are provided for all measurement systems to allow the sensors to be accurately represented. Additionally, a method to calculate the lateral forces at the tires is presented. It is shown that the tire estimation algorithm performs well outside the linear region of the tire. Results for the controller and force calculations are shown using a nonlinear model to simulate the vehicle and the force calculations are validated with experimental measurements on a test vehicle. Index Terms–Global positioning system (GPS), lateral stability, road vehicle control, vehicle dynamic control.},\n\tnumber = {2},\n\tjournal = {IEEE Transactions on Industrial Electronics},\n\tauthor = {Daily, Robert and Bevly, David M.},\n\tmonth = apr,\n\tyear = {2004},\n\tkeywords = {Global Positioning System, Global Positioning System – Research},\n\tpages = {270},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper presents a method for using global positioning system (GPS) velocity measurements to improve vehicle lateral stability control systems. GPS can be used to calculate the sideslip angle of a vehicle without knowing the vehicle model. This measurement is combined with other traditional measurements to control the lateral motion of the vehicle. Noise estimates are provided for all measurement systems to allow the sensors to be accurately represented. Additionally, a method to calculate the lateral forces at the tires is presented. It is shown that the tire estimation algorithm performs well outside the linear region of the tire. Results for the controller and force calculations are shown using a nonlinear model to simulate the vehicle and the force calculations are validated with experimental measurements on a test vehicle. Index Terms–Global positioning system (GPS), lateral stability, road vehicle control, vehicle dynamic control.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hamm-iv-bevly-lawerence-comparativeperformanceanalysisofaidedcarriertrackingloopalgorithmsinhighnoisehighdynamicenvironments-2004\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.ion.org/publications/abstract.cfm?jp=p&amp;articleID=5728\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hamm-iv-bevly-lawerence-comparativeperformanceanalysisofaidedcarriertrackingloopalgorithmsinhighnoisehighdynamicenvironments-2004', 'http://www.ion.org/publications/abstract.cfm?jp=p&amp;articleID=5728', event);\">\n    Comparative Performance Analysis of Aided Carrier Tracking Loop Algorithms in High Noise/High Dynamic Environments.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hamm, C. R.; Iv, W. S. F.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>;  and Lawerence, D. E.\n</span>\n\n  \n\n</span>\n\n  In pages 523–532, September 2004. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.ion.org/publications/abstract.cfm?jp=p&amp;articleID=5728\"\n     onclick=\"log_download('hamm-iv-bevly-lawerence-comparativeperformanceanalysisofaidedcarriertrackingloopalgorithmsinhighnoisehighdynamicenvironments-2004', 'http://www.ion.org/publications/abstract.cfm?jp=p&amp;articleID=5728', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Comparative Performance Analysis of Aided Carrier Tracking Loop Algorithms in High Noise/High Dynamic Environments [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hamm-iv-bevly-lawerence-comparativeperformanceanalysisofaidedcarriertrackingloopalgorithmsinhighnoisehighdynamicenvironments-2004\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hamm-iv-bevly-lawerence-comparativeperformanceanalysisofaidedcarriertrackingloopalgorithmsinhighnoisehighdynamicenvironments-2004')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{hamm_comparative_2004,\n\ttitle = {Comparative {Performance} {Analysis} of {Aided} {Carrier} {Tracking} {Loop} {Algorithms} in {High} {Noise}/{High} {Dynamic} {Environments}},\n\turl = {http://www.ion.org/publications/abstract.cfm?jp=p&amp;articleID=5728},\n\tabstract = {Five different approaches to GPS carrier tracking loops were compared in a simulated environment for their performance against a high dynamic/high noise environment. The loops tested were a second order loop, a third order loop, an aided second order loop, a Kalman filter, and an adaptive order loop. The simulation varied the jammer-to-signal (J/S) while holding inertial quality and acceleration profile constant. Similarly, the acceleration profile was varied with other factors constant. In a final test, the quality of inertial measurements was varied such as to resemble various qualities of available sensors and the other parameters held constant. Under high dynamics and high noise, the aided second order tracking loop provided the least amount of phase error. The adaptive order provides a good measured response under these configurations and does not requiring highly accurate accelerometer measurements.},\n\tlanguage = {en},\n\turldate = {2022-04-11},\n\tauthor = {Hamm, Christopher R. and Iv, Warren S. Flenniken and Bevly, David M. and Lawerence, Daniel E.},\n\tmonth = sep,\n\tyear = {2004},\n\tpages = {523--532},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Five different approaches to GPS carrier tracking loops were compared in a simulated environment for their performance against a high dynamic/high noise environment. The loops tested were a second order loop, a third order loop, an aided second order loop, a Kalman filter, and an adaptive order loop. The simulation varied the jammer-to-signal (J/S) while holding inertial quality and acceleration profile constant. Similarly, the acceleration profile was varied with other factors constant. In a final test, the quality of inertial measurements was varied such as to resemble various qualities of available sensors and the other parameters held constant. Under high dynamics and high noise, the aided second order tracking loop provided the least amount of phase error. The adaptive order provides a good measured response under these configurations and does not requiring highly accurate accelerometer measurements.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"plumlee-bevly-hodel-controlofagroundvehicleusingquadraticprogrammingbasedcontrolallocationtechniques-2004\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/1384055/\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'plumlee-bevly-hodel-controlofagroundvehicleusingquadraticprogrammingbasedcontrolallocationtechniques-2004', 'https://ieeexplore.ieee.org/document/1384055/', event);\">\n    Control of a ground vehicle using quadratic programming based control allocation techniques.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Plumlee, J.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>;  and Hodel, A.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 2004 American Control Conference</i>, pages 4704–4709 vol.5, Boston, MA, USA,  2004. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/1384055/\"\n     onclick=\"log_download('plumlee-bevly-hodel-controlofagroundvehicleusingquadraticprogrammingbasedcontrolallocationtechniques-2004', 'https://ieeexplore.ieee.org/document/1384055/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Control of a ground vehicle using quadratic programming based control allocation techniques [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.23919/ACC.2004.1384055\"\n     onclick=\"log_download('plumlee-bevly-hodel-controlofagroundvehicleusingquadraticprogrammingbasedcontrolallocationtechniques-2004', 'http://doi.org/10.23919/ACC.2004.1384055', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/plumlee-bevly-hodel-controlofagroundvehicleusingquadraticprogrammingbasedcontrolallocationtechniques-2004\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('plumlee-bevly-hodel-controlofagroundvehicleusingquadraticprogrammingbasedcontrolallocationtechniques-2004')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{plumlee_control_2004,\n\taddress = {Boston, MA, USA},\n\ttitle = {Control of a ground vehicle using quadratic programming based control allocation techniques},\n\tisbn = {978-0-7803-8335-7},\n\turl = {https://ieeexplore.ieee.org/document/1384055/},\n\tdoi = {10.23919/ACC.2004.1384055},\n\tabstract = {This paper examines the use of control allocation techniques for the control of multiple inputs to a ground vehicle to track a desired yaw rate trajectory while minimizing vehicle sideslip. The proposed controller uses quadratic programming accompanied by linear quadratic regulator gains designed around a linear vehicle model to arrive at a combination of vehicle commands. Several failure scenarios are examined and the results for two different quadratic programming approaches are presented along with a discussion of the advantages each method has to offer.},\n\tlanguage = {en},\n\turldate = {2022-04-11},\n\tbooktitle = {Proceedings of the 2004 {American} {Control} {Conference}},\n\tpublisher = {IEEE},\n\tauthor = {Plumlee, J.H. and Bevly, D.M. and Hodel, A.S.},\n\tyear = {2004},\n\tpages = {4704--4709 vol.5},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper examines the use of control allocation techniques for the control of multiple inputs to a ground vehicle to track a desired yaw rate trajectory while minimizing vehicle sideslip. The proposed controller uses quadratic programming accompanied by linear quadratic regulator gains designed around a linear vehicle model to arrive at a combination of vehicle commands. Several failure scenarios are examined and the results for two different quadratic programming approaches are presented along with a discussion of the advantages each method has to offer.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bevly-gpsalowcostvelocitysensorforcorrectinginertialsensorerrorsongroundvehicles-2004\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  GPS: A Low Cost Velocity Sensor for Correcting Inertial Sensor Errors on Ground Vehicles.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Dynamic Systems, Measurement, and Control</i>, 126(2): 255–264. June 2004.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bevly-gpsalowcostvelocitysensorforcorrectinginertialsensorerrorsongroundvehicles-2004\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bevly-gpsalowcostvelocitysensorforcorrectinginertialsensorerrorsongroundvehicles-2004')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{bevly_gps_2004,\n\ttitle = {{GPS}: {A} {Low} {Cost} {Velocity} {Sensor} for {Correcting} {Inertial} {Sensor} {Errors} on {Ground} {Vehicles}},\n\tvolume = {126},\n\tnumber = {2},\n\tjournal = {Journal of Dynamic Systems, Measurement, and Control},\n\tauthor = {Bevly, D. M.},\n\tmonth = jun,\n\tyear = {2004},\n\tpages = {255--264},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2002\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2002')\"\n      onkeypress=\"toggleGroup('group_2002')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2002</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"bevly-gerdes-wilson-theuseofgpsbasedvelocitymeasurementsformeasurementofsideslipandwheelslip-2002\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=7266436&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bevly-gerdes-wilson-theuseofgpsbasedvelocitymeasurementsformeasurementofsideslipandwheelslip-2002', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=7266436&amp;site=eds-live&amp;scope=site', event);\">\n    The Use of GPS Based Velocity Measurements for Measurement of Sideslip and Wheel Slip.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Gerdes, J. C.;  and Wilson, C.\n</span>\n\n  \n\n</span>\n\n  <i>Vehicle System Dynamics</i>, 38(2): 127.  2002.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=7266436&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('bevly-gerdes-wilson-theuseofgpsbasedvelocitymeasurementsformeasurementofsideslipandwheelslip-2002', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=7266436&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"The Use of GPS Based Velocity Measurements for Measurement of Sideslip and Wheel Slip. [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bevly-gerdes-wilson-theuseofgpsbasedvelocitymeasurementsformeasurementofsideslipandwheelslip-2002\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bevly-gerdes-wilson-theuseofgpsbasedvelocitymeasurementsformeasurementofsideslipandwheelslip-2002')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{bevly_use_2002,\n\ttitle = {The {Use} of {GPS} {Based} {Velocity} {Measurements} for {Measurement} of {Sideslip} and {Wheel} {Slip}.},\n\tvolume = {38},\n\tissn = {00423114},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edb&amp;AN=7266436&amp;site=eds-live&amp;scope=site},\n\tabstract = {Discusses a global positioning system (GPS)-based method for measuring wheel slip, body sideslip angle and tire sideslip angle. Velocity measurement; Stochastic noise in GPS; State estimation.},\n\tnumber = {2},\n\tjournal = {Vehicle System Dynamics},\n\tauthor = {Bevly, David M. and Gerdes, J. Christian and Wilson, Christopher},\n\tyear = {2002},\n\tkeywords = {GLOBAL Positioning System, VEHICLES, WHEELS},\n\tpages = {127},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Discusses a global positioning system (GPS)-based method for measuring wheel slip, body sideslip angle and tire sideslip angle. Velocity measurement; Stochastic noise in GPS; State estimation.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bevly-gerdes-parkinson-anewyawdynamicmodelforimprovedhighspeedcontrolofafarmtractor-2002\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsgao&amp;AN=edsgcl.96645722&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bevly-gerdes-parkinson-anewyawdynamicmodelforimprovedhighspeedcontrolofafarmtractor-2002', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsgao&amp;AN=edsgcl.96645722&amp;site=eds-live&amp;scope=site', event);\">\n    A new yaw dynamic model for improved high speed control of a farm tractor.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Gerdes, J. C.;  and Parkinson, B. W.\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Dynamic Systems, Measurement, and Control</i>, 124(4): 659. December 2002.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsgao&amp;AN=edsgcl.96645722&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('bevly-gerdes-parkinson-anewyawdynamicmodelforimprovedhighspeedcontrolofafarmtractor-2002', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsgao&amp;AN=edsgcl.96645722&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A new yaw dynamic model for improved high speed control of a farm tractor [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bevly-gerdes-parkinson-anewyawdynamicmodelforimprovedhighspeedcontrolofafarmtractor-2002\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bevly-gerdes-parkinson-anewyawdynamicmodelforimprovedhighspeedcontrolofafarmtractor-2002')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{bevly_new_2002,\n\ttitle = {A new yaw dynamic model for improved high speed control of a farm tractor},\n\tvolume = {124},\n\tissn = {0022-0434},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsgao&amp;AN=edsgcl.96645722&amp;site=eds-live&amp;scope=site},\n\tabstract = {This paper presents the system identification of a new model for the farm tractor yaw dynamics in order to improve automatic control at higher speeds and understand controller limitations from neglecting these dynamics. As speed increases, higher order models are required to maintain accurate lateral control of the vehicle. Neglecting these dynamics can cause the controller to become unstable at the bandwidths required for accurate control at higher speeds. The yaw dynamic model, which is found to be dominated by a second order response, is identified for multiple speeds to determine the effect of velocity on the model. The second order yaw dynamics cannot be represented by the traditional bicycle model. An analytical derivation shows that the model characteristics can, however, be captured by a model consisting of a significant (non-negligible) relaxation length in the front tire. Experimental results are presented showing that the new yaw dynamic model can provide lateral control of the tractor to within 4 cm (1[sigma]) at speeds up to 8 m/s. These results are shown to be an improvement, at high speeds, over controllers based on models (such as a kinematic model) previously used for control of farm equipment. [DOI: 10.1115/1.1515329]},\n\tnumber = {4},\n\tjournal = {Journal of Dynamic Systems, Measurement, and Control},\n\tauthor = {Bevly, David M. and Gerdes, J. Christian and Parkinson, Bradford W.},\n\tmonth = dec,\n\tyear = {2002},\n\tkeywords = {Control equipment – Models, SYSTEM identification, TRACTOR dynamics, Yawing (Aerodynamics) – Equipment and supplies, Yawing (Aerodynamics) – Models, Yawing (Aerodynamics) – Prevention},\n\tpages = {659},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper presents the system identification of a new model for the farm tractor yaw dynamics in order to improve automatic control at higher speeds and understand controller limitations from neglecting these dynamics. As speed increases, higher order models are required to maintain accurate lateral control of the vehicle. Neglecting these dynamics can cause the controller to become unstable at the bandwidths required for accurate control at higher speeds. The yaw dynamic model, which is found to be dominated by a second order response, is identified for multiple speeds to determine the effect of velocity on the model. The second order yaw dynamics cannot be represented by the traditional bicycle model. An analytical derivation shows that the model characteristics can, however, be captured by a model consisting of a significant (non-negligible) relaxation length in the front tire. Experimental results are presented showing that the new yaw dynamic model can provide lateral control of the tractor to within 4 cm (1[sigma]) at speeds up to 8 m/s. These results are shown to be an improvement, at high speeds, over controllers based on models (such as a kinematic model) previously used for control of farm equipment. [DOI: 10.1115/1.1515329]\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2000\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2000')\"\n      onkeypress=\"toggleGroup('group_2000')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2000</span>\n      <span class=\"bibbase_group_count\">\n        \n        (3)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"bevly-dubowsky-asimplifiedcartesiancomputedtorquecontrollerforhighlygearedsystemsanditsapplication-2000\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=3092584&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bevly-dubowsky-asimplifiedcartesiancomputedtorquecontrollerforhighlygearedsystemsanditsapplication-2000', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=3092584&amp;site=eds-live&amp;scope=site', event);\">\n    A Simplified Cartesian-Computed Torque Controller for Highly Geared Systems and its Application...\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>;  and Dubowsky, S.\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Dynamic Systems, Measurement, & Control</i>, 122(1): 27.  2000.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=3092584&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('bevly-dubowsky-asimplifiedcartesiancomputedtorquecontrollerforhighlygearedsystemsanditsapplication-2000', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=3092584&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Simplified Cartesian-Computed Torque Controller for Highly Geared Systems and its Application... [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bevly-dubowsky-asimplifiedcartesiancomputedtorquecontrollerforhighlygearedsystemsanditsapplication-2000\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bevly-dubowsky-asimplifiedcartesiancomputedtorquecontrollerforhighlygearedsystemsanditsapplication-2000')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{bevly_simplified_2000,\n\ttitle = {A {Simplified} {Cartesian}-{Computed} {Torque} {Controller} for {Highly} {Geared} {Systems} and its {Application}...},\n\tvolume = {122},\n\tissn = {00220434},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=aph&amp;AN=3092584&amp;site=eds-live&amp;scope=site},\n\tabstract = {Presents a simplified Cartesian computed torque control scheme for mobile robots. Application to an experimental climbing robot called Limbed Intelligent Basic Robot Acender; Block diagram of the control scheme; Cartesian control of manipulators.},\n\tnumber = {1},\n\tjournal = {Journal of Dynamic Systems, Measurement, \\&amp; Control},\n\tauthor = {Bevly, David and Dubowsky, Steven},\n\tyear = {2000},\n\tkeywords = {CONTROL theory (Engineering), MANIPULATORS (Machinery), MOBILE robots},\n\tpages = {27},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Presents a simplified Cartesian computed torque control scheme for mobile robots. Application to an experimental climbing robot called Limbed Intelligent Basic Robot Acender; Block diagram of the control scheme; Cartesian control of manipulators.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bevly-dubowsky-mavroidis-asimplifiedcartesiancomputedtorquecontrollerforhighlygearedsystemsanditsapplicationtoanexperimentalclimbingrobot-2000\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsgao&amp;AN=edsgcl.62195506&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bevly-dubowsky-mavroidis-asimplifiedcartesiancomputedtorquecontrollerforhighlygearedsystemsanditsapplicationtoanexperimentalclimbingrobot-2000', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsgao&amp;AN=edsgcl.62195506&amp;site=eds-live&amp;scope=site', event);\">\n    A Simplified Cartesian-Computed Torque Controller for Highly Geared Systems and Its Application to an Experimental Climbing Robot.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>; Dubowsky, S.;  and Mavroidis, C.\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Dynamic Systems, Measurement, and Control</i>, 122(1): 27. March 2000.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsgao&amp;AN=edsgcl.62195506&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('bevly-dubowsky-mavroidis-asimplifiedcartesiancomputedtorquecontrollerforhighlygearedsystemsanditsapplicationtoanexperimentalclimbingrobot-2000', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsgao&amp;AN=edsgcl.62195506&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Simplified Cartesian-Computed Torque Controller for Highly Geared Systems and Its Application to an Experimental Climbing Robot [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bevly-dubowsky-mavroidis-asimplifiedcartesiancomputedtorquecontrollerforhighlygearedsystemsanditsapplicationtoanexperimentalclimbingrobot-2000\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bevly-dubowsky-mavroidis-asimplifiedcartesiancomputedtorquecontrollerforhighlygearedsystemsanditsapplicationtoanexperimentalclimbingrobot-2000')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{bevly_simplified_2000,\n\ttitle = {A {Simplified} {Cartesian}-{Computed} {Torque} {Controller} for {Highly} {Geared} {Systems} and {Its} {Application} to an {Experimental} {Climbing} {Robot}},\n\tvolume = {122},\n\tissn = {0022-0434},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsgao&amp;AN=edsgcl.62195506&amp;site=eds-live&amp;scope=site},\n\tabstract = {A simplified Cartesian computed torque (SCCT) control scheme and its application to an experimental climbing robot named LIBRA is presented. SCCT control is developed exploiting some of the characteristics of highly geared mobile robots. The effectiveness of the method is shown by simulation and experimental results using the LIBRA robot. SCCT control is shown to have improved performance, over traditional Jacobian transpose control, for the LIBRA multilimbed robot. [S0022-0434(00)03501-2]},\n\tnumber = {1},\n\tjournal = {Journal of Dynamic Systems, Measurement, and Control},\n\tauthor = {Bevly, David and Dubowsky, Steven and Mavroidis, Constantinos},\n\tmonth = mar,\n\tyear = {2000},\n\tkeywords = {Computer simulation – Analysis, Dynamics – Research, Robots – Analysis, Torque – Analysis, United States},\n\tpages = {27},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  A simplified Cartesian computed torque (SCCT) control scheme and its application to an experimental climbing robot named LIBRA is presented. SCCT control is developed exploiting some of the characteristics of highly geared mobile robots. The effectiveness of the method is shown by simulation and experimental results using the LIBRA robot. SCCT control is shown to have improved performance, over traditional Jacobian transpose control, for the LIBRA multilimbed robot. [S0022-0434(00)03501-2]\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bevly-rekow-parkinson-comparisonofaninsvscarrierphasedgpsattitudeinthecontrolofoffroadvehicles-2000\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Comparison of an INS vs Carrier Phase DGPS Attitude in the Control of Off-Road Vehicles.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Rekow, A.;  and Parkinson, B.\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Navigation</i>, 42(4).  2000.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bevly-rekow-parkinson-comparisonofaninsvscarrierphasedgpsattitudeinthecontrolofoffroadvehicles-2000\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bevly-rekow-parkinson-comparisonofaninsvscarrierphasedgpsattitudeinthecontrolofoffroadvehicles-2000')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{bevly_comparison_2000,\n\ttitle = {Comparison of an {INS} vs {Carrier} {Phase} {DGPS} {Attitude} in the {Control} of {Off}-{Road} {Vehicles}},\n\tvolume = {42},\n\tnumber = {4},\n\tjournal = {Journal of Navigation},\n\tauthor = {Bevly, D. M. and Rekow, A. and Parkinson, B.},\n\tyear = {2000},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_1999\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_1999')\"\n      onkeypress=\"toggleGroup('group_1999')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>1999</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"rekow-bell-bevly-parkinson-systemidentificationandadaptivesteeringoftractorsutilizingdifferentialglobalpositioningsystem-1999\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsare&amp;AN=edsare.2.4456&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'rekow-bell-bevly-parkinson-systemidentificationandadaptivesteeringoftractorsutilizingdifferentialglobalpositioningsystem-1999', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsare&amp;AN=edsare.2.4456&amp;site=eds-live&amp;scope=site', event);\">\n    System Identification and Adaptive Steering of Tractors Utilizing Differential Global Positioning System.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Rekow, A.; Bell, T.; <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>;  and Parkinson, B.\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Guidance, Control, and Dynamics</i>, 22(5): 671 – 674. September 1999.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsare&amp;AN=edsare.2.4456&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('rekow-bell-bevly-parkinson-systemidentificationandadaptivesteeringoftractorsutilizingdifferentialglobalpositioningsystem-1999', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsare&amp;AN=edsare.2.4456&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"System Identification and Adaptive Steering of Tractors Utilizing Differential Global Positioning System [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/rekow-bell-bevly-parkinson-systemidentificationandadaptivesteeringoftractorsutilizingdifferentialglobalpositioningsystem-1999\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('rekow-bell-bevly-parkinson-systemidentificationandadaptivesteeringoftractorsutilizingdifferentialglobalpositioningsystem-1999')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{rekow_system_1999,\n\ttitle = {System {Identification} and {Adaptive} {Steering} of {Tractors} {Utilizing} {Differential} {Global} {Positioning} {System}},\n\tvolume = {22},\n\tissn = {0731-5090, 1533-3884},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsare&amp;AN=edsare.2.4456&amp;site=eds-live&amp;scope=site},\n\tnumber = {5},\n\tjournal = {Journal of Guidance, Control, and Dynamics},\n\tauthor = {Rekow, Andrew and Bell, Thomas and Bevly, David and Parkinson, Bradford},\n\tmonth = sep,\n\tyear = {1999},\n\tpages = {671 -- 674},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bevly-rekow-parkinson-incorporatinginswithcarrierphasedifferentialgpsforautomaticsteeringcontrolofafarmtractor-1999\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsjsr&amp;AN=edsjsr.44723056&amp;site=eds-live&amp;scope=site\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bevly-rekow-parkinson-incorporatinginswithcarrierphasedifferentialgpsforautomaticsteeringcontrolofafarmtractor-1999', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsjsr&amp;AN=edsjsr.44723056&amp;site=eds-live&amp;scope=site', event);\">\n    Incorporating INS with Carrier-Phase Differential GPS for Automatic Steering Control of a Farm Tractor.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D. M.</a>; Rekow, A.;  and Parkinson, B.\n</span>\n\n  \n\n</span>\n\n  <i>SAE Transactions</i>, 108: 339 – 345. January 1999.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsjsr&amp;AN=edsjsr.44723056&amp;site=eds-live&amp;scope=site\"\n     onclick=\"log_download('bevly-rekow-parkinson-incorporatinginswithcarrierphasedifferentialgpsforautomaticsteeringcontrolofafarmtractor-1999', 'https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsjsr&amp;AN=edsjsr.44723056&amp;site=eds-live&amp;scope=site', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Incorporating INS with Carrier-Phase Differential GPS for Automatic Steering Control of a Farm Tractor [link]\"\n       title=\"Http://spot.lib.auburn.edu/login?url\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Http://spot.lib.auburn.edu/login?url</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bevly-rekow-parkinson-incorporatinginswithcarrierphasedifferentialgpsforautomaticsteeringcontrolofafarmtractor-1999\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bevly-rekow-parkinson-incorporatinginswithcarrierphasedifferentialgpsforautomaticsteeringcontrolofafarmtractor-1999')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{bevly_incorporating_1999,\n\ttitle = {Incorporating {INS} with {Carrier}-{Phase} {Differential} {GPS} for {Automatic} {Steering} {Control} of a {Farm} {Tractor}},\n\tvolume = {108},\n\tissn = {0096736X, 25771531},\n\turl = {http://spot.lib.auburn.edu/login?url=https://search.ebscohost.com/login.aspx?direct=true&amp;db=edsjsr&amp;AN=edsjsr.44723056&amp;site=eds-live&amp;scope=site},\n\tabstract = {This paper evaluates the use of a low cost inertial navigation system (INS) combined with Carrier-Phase Differential GPS (DGPS), to provide continuous position and attitude estimation for the control of a farm tractor. The INS system is used for dead-reckoning navigation to control the vehicle through short GPS outages. An Extended Kalman filter combines INS and Doppler radar measurements with cm-level Carrier-Phase Differential GPS measurements for continuous position and attitude estimation of the tractor. Results are given which verify the ability of the INS system to provide a heading accuracy within ±0.6° for control of the tractor. Additionally it is shown that the dead-reckoning system can provide position and attitude estimation to control the tractor to within ±0.3 meters through a short GPS outage.},\n\tjournal = {SAE Transactions},\n\tauthor = {Bevly, David M. and Rekow, Andrew and Parkinson, Bradford},\n\tmonth = jan,\n\tyear = {1999},\n\tpages = {339 -- 345},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper evaluates the use of a low cost inertial navigation system (INS) combined with Carrier-Phase Differential GPS (DGPS), to provide continuous position and attitude estimation for the control of a farm tractor. The INS system is used for dead-reckoning navigation to control the vehicle through short GPS outages. An Extended Kalman filter combines INS and Doppler radar measurements with cm-level Carrier-Phase Differential GPS measurements for continuous position and attitude estimation of the tractor. Results are given which verify the ability of the INS system to provide a heading accuracy within ±0.6° for control of the tractor. Additionally it is shown that the dead-reckoning system can provide position and attitude estimation to control the tractor to within ±0.3 meters through a short GPS outage.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_undefined\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_undefined')\"\n      onkeypress=\"toggleGroup('group_undefined')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>undefined</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"bevly-martin-navigationinadvanceddriverassistedsystemsandautomateddriving\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Navigation in Advanced Driver-Assisted Systems and Automated Driving.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.eng.auburn.edu/sites/gavlab/publicationsgroups.html\">Bevly, D.</a>;  and Martin, S.\n</span>\n\n  \n\n</span>\n\n  In Morton, Y. J.; van Diffelen, F.; Spilker Jr., J.;  and Parkinson, B., editor(s), <i>Position, Navigation, and Timing Technologies in the 21st Century: Integrated Satellite Navigation, Sensor Systems, and Civil Applications</i>.  .\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bevly-martin-navigationinadvanceddriverassistedsystemsandautomateddriving\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bevly-martin-navigationinadvanceddriverassistedsystemsandautomateddriving')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@incollection{bevly_navigation_nodate,\n\ttitle = {Navigation in {Advanced} {Driver}-{Assisted} {Systems} and {Automated} {Driving}},\n\tbooktitle = {Position, {Navigation}, and {Timing} {Technologies} in the 21st {Century}: {Integrated} {Satellite} {Navigation}, {Sensor} {Systems}, and {Civil} {Applications}},\n\tauthor = {Bevly, David and Martin, Scott},\n\teditor = {Morton, Y. Jade and van Diffelen, Frank and Spilker Jr., James and Parkinson, Brad},\n\tcollaborator = {Lo, Sherman and Gao, Grace},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lashley-modelingandperformanceanalysisofgpsvectortrackingalgorithms\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.proquest.com/docview/304830161/abstract/D637655D4F56458EPQ/1\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lashley-modelingandperformanceanalysisofgpsvectortrackingalgorithms', 'https://www.proquest.com/docview/304830161/abstract/D637655D4F56458EPQ/1', event);\">\n    Modeling and performance analysis of GPS vector tracking algorithms.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Lashley, M.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, Auburn University, United States – Alabama,  .\n  <span class=\"note\">ISBN: 9781109626452</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.proquest.com/docview/304830161/abstract/D637655D4F56458EPQ/1\"\n     onclick=\"log_download('lashley-modelingandperformanceanalysisofgpsvectortrackingalgorithms', 'https://www.proquest.com/docview/304830161/abstract/D637655D4F56458EPQ/1', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Modeling and performance analysis of GPS vector tracking algorithms [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lashley-modelingandperformanceanalysisofgpsvectortrackingalgorithms\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lashley-modelingandperformanceanalysisofgpsvectortrackingalgorithms')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{lashley_modeling_nodate,\n\taddress = {United States -- Alabama},\n\ttype = {Ph.{D}.},\n\ttitle = {Modeling and performance analysis of {GPS} vector tracking algorithms},\n\tcopyright = {Database copyright ProQuest LLC; ProQuest does not claim copyright in the individual underlying works.},\n\turl = {https://www.proquest.com/docview/304830161/abstract/D637655D4F56458EPQ/1},\n\tabstract = {This dissertation provides a detailed analysis of GPS vector tracking algorithms and the advantages they have over traditional receiver architectures. Standard GPS receivers use a decentralized architecture that separates the tasks of signal tracking and position/velocity estimation. Vector tracking algorithms combine the two tasks into a single algorithm. The signals from the various satellites are processed collectively through a Kalman filter.\nThe advantages of vector tracking over traditional, scalar tracking methods are thoroughly investigated. A method for making a valid comparison between vector and scalar tracking loops is developed. This technique avoids the ambiguities encountered when attempting to make a valid comparison between tracking loops (which are characterized by noise bandwidths and loop order) and the Kalman filters (which are characterized by process and measurement noise covariance matrices) that are used by vector tracking algorithms. The improvement in performance offered by vector tracking is calculated in multiple different scenarios.\nRule of thumb analysis techniques for scalar Frequency Lock Loops (FLL) are extended to the vector tracking case. The analysis tools provide a simple method for analyzing the performance of vector tracking loops. The analysis tools are verified using Monte Carlo simulations. Monte Carlo simulations are also used to study the effects of carrier to noise power density (C/N0) ratio estimation and the advantage offered by vector tracking over scalar tracking. The improvement from vector tracking ranges from 2.4 to 6.2 dB in various scenarios.\nThe difference in the performance of the three vector tracking architectures is analyzed. The effects of using a federated architecture with and without information sharing between the receiver’s channels are studied. A combination of covariance analysis and Monte Carlo simulation is used to analyze the performance of the three algorithms. The federated algorithm without information sharing performs poorer than the other two architectures. However, at low C/N0 ratios the difference in the performance of the three algorithms becomes virtually zero.\nThe analysis of different vector tracking architectures is then extended to an analysis of different Deeply Integrated (DI) architectures. The effects of using a federated filtering architecture on DI’s performance are investigated. Covariance analysis and Monte Carlo simulation are also used to study the performance of the different DI algorithms. The results from the DI analysis mirror the results from the analysis of different vector tracking algorithms. The different DI architectures exhibit the same performance at low C/N0 ratios.\nThe vector tracking algorithms are also implemented in MATLAB. The algorithms are tested using data collected from an environment with dense foliage (having widely fluctuating signal levels) and from an urban canyon type environment. The performance of the vector tracking algorithms is compared to that of a NovAtel ProPak-V3 receiver in the same scenarios. The vector tracking algorithms provide near continuous coverage through both environments while the NovAtel receiver exhibits periods of prolonged outages.},\n\tlanguage = {English},\n\turldate = {2022-04-21},\n\tschool = {Auburn University},\n\tauthor = {Lashley, Matthew},\n\tnote = {ISBN: 9781109626452},\n\tkeywords = {Applied sciences, Delay lock loops, Ultratight coupling, Vector tracking},\n}\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This dissertation provides a detailed analysis of GPS vector tracking algorithms and the advantages they have over traditional receiver architectures. Standard GPS receivers use a decentralized architecture that separates the tasks of signal tracking and position/velocity estimation. Vector tracking algorithms combine the two tasks into a single algorithm. The signals from the various satellites are processed collectively through a Kalman filter. The advantages of vector tracking over traditional, scalar tracking methods are thoroughly investigated. A method for making a valid comparison between vector and scalar tracking loops is developed. This technique avoids the ambiguities encountered when attempting to make a valid comparison between tracking loops (which are characterized by noise bandwidths and loop order) and the Kalman filters (which are characterized by process and measurement noise covariance matrices) that are used by vector tracking algorithms. The improvement in performance offered by vector tracking is calculated in multiple different scenarios. Rule of thumb analysis techniques for scalar Frequency Lock Loops (FLL) are extended to the vector tracking case. The analysis tools provide a simple method for analyzing the performance of vector tracking loops. The analysis tools are verified using Monte Carlo simulations. Monte Carlo simulations are also used to study the effects of carrier to noise power density (C/N0) ratio estimation and the advantage offered by vector tracking over scalar tracking. The improvement from vector tracking ranges from 2.4 to 6.2 dB in various scenarios. The difference in the performance of the three vector tracking architectures is analyzed. The effects of using a federated architecture with and without information sharing between the receiver’s channels are studied. A combination of covariance analysis and Monte Carlo simulation is used to analyze the performance of the three algorithms. The federated algorithm without information sharing performs poorer than the other two architectures. However, at low C/N0 ratios the difference in the performance of the three algorithms becomes virtually zero. The analysis of different vector tracking architectures is then extended to an analysis of different Deeply Integrated (DI) architectures. The effects of using a federated filtering architecture on DI’s performance are investigated. Covariance analysis and Monte Carlo simulation are also used to study the performance of the different DI algorithms. The results from the DI analysis mirror the results from the analysis of different vector tracking algorithms. The different DI architectures exhibit the same performance at low C/N0 ratios. The vector tracking algorithms are also implemented in MATLAB. The algorithms are tested using data collected from an environment with dense foliage (having widely fluctuating signal levels) and from an urban canyon type environment. The performance of the vector tracking algorithms is compared to that of a NovAtel ProPak-V3 receiver in the same scenarios. The vector tracking algorithms provide near continuous coverage through both environments while the NovAtel receiver exhibits periods of prolonged outages.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n\n\n\n  </div>\n\n\n  <!-- Modal -->\n\n  <!-- <iframe id=\"bibbase_network_frame\" -->\n  <!--         src=\"//bibbase.org/network/control\" -->\n  <!--         style=\"display: none;\"> -->\n  <!-- </iframe> -->\n\n</div>\n"}; document.write(bibbase_data.data);