Monique Chyba, Associate Professor

 UH Seal

Home | Research | Academics | Outreach Education | Contact

University of Hawaii at Manoa | Dept. of Mathematics

Publications
Books
  1. (with B. Bonnard) Singular Trajectories and their Role in Control Theory Springer-Verlag, Series: Mathematics and Applications: Vol 40, 357 pgs (2003).
 
Journals, Chapters in Books and Conferences
  1. (With R.N. Smith) A first extension of geometric control theory to underwater vehicles. Proceedings of Navigation Guidance & Control of Underwater Vehicles NGCUV08, 2008.
  2. (With T. Haberkorn, S.B. Singh, R.N. Smith, S.K. Choi) Increasing Underwater Vehicle Autonomy by Reducing Energy Consumption. Ocean Engineering. Submitted (Janvier 2008).
  3. (With T. Haberkorn, R.N. Smith, G.R. Wilkens) A Geometric Analysis of Trajectory Design for Underwater Vehicles. Discrete and Continuous Dynamical Systems-B. To be published (2008).
  4. (With T. Haberkorn, R.N. Smith, S.K. Choi, G. Marani, C. Mcleod) Efficient Control of an Autonomous Underwater Vehicle while Accounting for Thruster Failure. 7th International Conference on Computer Applications and Information Technology in the Maritime Industries (COMPIT), Belgium 2008.
  5. (With T. Haberkorn, R.N. Smith, S.K. Choi) Autonomous Underwater Vehicles: Development and Implementation of time and Energy Efficient Trajectories. Ship Technology Research, 55/2 (2008), pp.36-48
  6. (With T. Haberkorn, R.N. Smith, S.K. Choi) Design and implementation of time efficient trajectories for an underwater vehicle. Ocean Engineering, 35/1, pp. 63-76, 2008.
  7. (With T. Haberkorn, R.N. Smith, S.K. Choi) Implementable Efficient Time and Energy Consumption Trajectories Design for an Autonomous UNderwater Vehicle. 6th International Conference on Computer Applications and Information Technology in the Maritime Industries (COMPIT), Italy (2007)
  8. (With T. Haberkorn, R.N. Smith, S. WeatherWax, S.K. Choi) Hydrodynamic and Thruster Model Validation for Autonomous Underwater Vehicles. 26th International Conference on Offshore Mechanics and Artic Engineering (OMAE), USA (2007)
  9. (With T. Haberkorn) Singular Trajectories and Decoupling Vector Fields for Underwater Vehicles. F. Bullo and K. Fujimoto, editors. Lagrangian and Hamiltonian Methods for Nonlinear Control 2006, volume 366 of Lecture Notes in Control and Information Sciences, New York, 2007. Springer Verlag.
  10. (With Jean-Baptiste Caillau, Romain Dujol,T. Haberkorn) Planning of Keplerian orbits: computation of transfer and periodic trajectories, ENSEEIHT-IRIT Technical Report RT/APO/06/9.
  11. (With E. Hairer, G. Vilmart ) Symplectic integrators in sub-Riemannian geometry: the Martinet case, INRIA Research Report No. 6017.
  12. (With T. Haberkorn) Optimization Techniques for Autonomous Underwater Vehicles: A Practical Point of View. The Mathematical Theory of Networks and Systems. Conference Proceedings (2006)
  13. (with L. Baratchart and J.B. Pomet) A Grobman-Hartman Theorem for Control Systems. J. of Dynamics and Differential Equations (2006).
  14. (With T. Haberkorn, R.N. Smith, S. Zhao, S.K. Choi) Towards Practical Implementation of Time Optimal Trajectories for Underwater Vehicles. 25th International Conference on Offshore Mechanics and Artic Engineering (OMAE), Germany (2006)
  15. (with T. Haberkorn)Autonomous Underwater Vehicles: Singular Extremals and Chattering. Systems, Control, Modeling and Optimization (Eds. F. Ceragidi, A. Dontcher, H. Ruruta, K. Mashi, L. Pandofli). Springer-Verlag (2006)
  16. (with T. Haberkorn)Designing Efficient Trajectories for Underwater Vehicles Using Geometric Control Theory. 24th International Conference on Offshore Mechanics and Artic Engineering (OMAE), Greece (2005)
  17. (with H. Maurer, H. Sussmann, G. Vossen)Underwater Vehicles: The Minimum Time Problem. 43rd IEEE Conf. on Decision and Control, Bahamas (2004).
  18. (with N.E. Leonard and E.D. Sontag), Singular trajectories in the multi-input time-optimal problem: Application to controlled mechanical systems, 9, no. 1 (2003), 73-88, Journal on Dynamical and Control Systems.
  19. Underwater Vehicles: a surprising non time-optimal path. 42th IEEE Conf. on Decision and Control, Maui (2003).
  20. (with L. Baratchart and J.B. Pomet), Topological versus Smooth Linearization of Control Systems. Contemporary trends in non-linear geometric control theory and its applications; A. Anzaldo-Menses, B. Bonnard, J.P. Gauthier and F. Monroy-Perez, eds., World Scientific Publishers, Singapore (2001).
  21. (with N.E. Leonard and E.D. Sontag), Optimality for underwater vehicles, 40th IEEE Conf. on Decision and Control, Orlando (2001).
  22. (with N.E. Leonard and E.D. Sontag), Time-optimal paths for underwater vehicles, Proceedings and IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (2000).
  23. (with B. Bonnard), Méthodes géométriques et analytiques pour étudier l'application exponentielle, la sphère et le font d'onde en géométrie SR dans le cas Martinet, ESAIM/COCV (Control, Optimisation and Calculus of Variations) (1999), 245-335.
  24. (with S. Sekhavat), Nonholonomic Deformation of a Potential Field for Motion Planning, IEEE Int. Conf. Robot. Automat., Detroit (1999).
  25. (with S. Sekhavat), Time optimal paths for a mobile robot with one trailer, IEEE Int. Conf. Intelligent Robot and Systems (1999).
  26. (with L. Baratchart and J.B. Pomet), On the differentiability of the feedback linearization and the Hartman-Grobman theorem for control system, 38th IEEE Conf. on Decision and Control, Phoenix (1999).
  27. Numerical Methods for Sub-Riemannian geometry, 38th IEEE Conf. on Decision and Control, Phoenix (1999).
  28. (with B. Bonnard and E. Trélat), Sub-Riemannian geometry: one parameter deformation of the Martinet flat case, Journal on Dynamical and Control Systems 4 (1998), 1-18.
  29. Le Front d'Onde en Géométrie Sous-Riemannienne: Le cas Martinet, Séminaire de Théorie Spectrale et Géométrie, Institut Fourier, Grenoble, 23 pages (1998).
  30. (with B. Bonnard and I. Kupka), Non Integrable Geodesics in SR-Martinet Geometry, Proceedings of the 1997 Summer Research Institute on Differential Geometry and Control, 119-134.
  31. (with B. Bonnard), Sub-Riemannian geometry: the Martinet case, Richard Sharpe ed., Geometric Control and its Non-holonomic Problems, Can. Math. Soc. Conf. Proc. Ser. (1997), 79-100.
  32. (with A.A. Agrachev, B. Bonnard, and I. Kupka), Sub-Riemannian sphere in Martinet flat case, ESAIM/COCV (Control, Optimisation and Calculus of Variations) (1997), 377-448.
  33. (with B. Bonnard and H. Heutte), Contrôle Optimal Géométrique Appliqué, 141 pages, Preprint Laboratoire de Dijon (1996).
  34. (with A. Bellaiche and J.P. Laumond), Canonical nilpotent approximation of control systems: Application to nonholonomic motion planning, 32nd IEEE Conf. on Decision and Control, San Antonio (1993).
 
Thesis
  1. Le Cas Martinet en Géométrie Sous-Riemannienne, Ph.D. Thesis, University of Bourgogne (1997) (also Ph.D. thesis of the University of Geneva).
  2. Les espaces bornologiques, Master's thesis, University of Geneva (1993).
 
 
Presentation at Conferences
  1. 25th International Conference on Offshore Mechanics and Artic Engineering (OMAE). Towards Practical Implementation of Time Optimal Trajectories for Underwater Vehicles. Germany, 2006.
 
 
Seminars
  1. Mechanical Systems Seminar. Symplectic integrators for Sub-Riemannian geometry. March 19, 2007. University of Hawaii, Dept. of Mathematics.
  2. Seminar of numerical analysis. Conjugate points in Sub-Riemannian geometry. June 13, 2007. University of Geneva, Dept. of Mathematics.
 
Seminars by students
  1. Mechanical Systems Seminar. Trajectory design for a submerged rigid body with an application to underwater vehicle. April 9, 2007. University of Hawaii, Dept. of Mathematics. Speaker: R.N. Smith
  2. 6th International Conference on Computer Applications and Information Technology in the Maritime Industries (COMPIT). Implementation Results of Efficient Trajectories on a Testbed AUV. April 25, 2007. Italy. Speaker: R.N. Smith
  3. Automation and Robotics group. Implementable & Efficient Trajectory Design for an Autonomous Underwater. April 27, 2007. University of Pisa, Interdepartmental Research Center. Speaker: R.N. Smith.
 
 

 

Research | Academics | Outreach Education | Contact