Annual Reports

Annual Reports

CRUSER annual reports, available beginning with FY11, include a summary of activities for the year as well as seeded research project summaries. These reports, all processed as NPS Technical Reports, are available through the NPS Dudley Knox Library.

2023
2022
2021
2020 - email CRUSER for link
2019
2018
2017
2016
2011-2016

2025 Funded Research

Asset Publisher
Topic
Principal Investigators
Adaptive Target Tracking and Trail with Maritime Autonomous Systems: A Multi-Fidelity and Explainable Reinforcement Learning Approach
Brian Bingham, Michael McCarrin
Application of Machine-Learning Techniques to Improve AUV Performance as a Passive Sonar

Oleg A. Godin

Beyond Human Error: Assurance for Human- Machine Teams with Advanced Autonomy
Joshua A. Kroll
COordinated Multi-domain Engagement Teams (COMET)
Sean Kragelund, Isaac Kaminer
Fixed-Wing Drones for ISR and Communications in Contested and GPS-denied Environments
Oleg Yakimenko
Flight Evaluation of an 'aPNT Service' for UxS GPS-Denied Operations
Mark Karpenko
Integrating Machine Learning Architectures for Unmanned Ground Vehicle Operations
Hyatt Moore IV, Oleg Yakimenko
Integration of Language Model Based Reasoning and Interpretation for Explainable Autonomous Systems
Jae Jun Kim
Intelligent Armed Unmanned Aerial Systems (AUAS) on an Interdiction Mission in the Presence of Interceptors
Moshe Kress, Michael Atkinson
Intelligent Awareness with Acoustic Vector Sensors towards Undersea Glider Autonomy
Paul Leary, Doug Horner
Irregular Warfare in the Gobi: Unmanned Systems Supporting Mongolian Sovereignty – Phase 2
Shannon Houck
LUSV Cyber Defense
Scott Jasper
Network Integration of Bio-Inspired MEMS Acoustic Vector Sensors (AVS) for Counter UAS Target Acquisition –Phase II
Carl Oros
Robot Theory of Mind from Modal Logic
Adam Pease
Wide-area remote sensing of hydrodynamic signals with μAUVs (Year 2)
John Joseph, Timour Radko

2024 Funded Research

Asset Publisher
Topic
Principal Investigators
Archimedes-Force Quiescent UUVs for Large-Scale Distributed Offensive Mine Operations
Dr. Emil Kartalov
Coordinated Multi-domain Engagement Teams (COMET)
Dr. Sean Kragelund, Dr. Isaac Kaminer
Low-cost, computer-vision using COTS capabilities
Dr. James Newman, Dr. Mathias Kolsch
MAD-CAT: Modular Autonomous Drone-Configurable Aero Target
Dr. Mark Karpenko

2023 Funded Research

Asset Publisher
Topic
Principal Investigators
Data Strategy for Unmanned Systems Field Experimentation (FX), Simulation and Analysis
Prof. Don Brutzman, Dr. Curtis Blais
Tightly Coupled Formation Flight of Swarms to Support Extended Range and Deception
Dr. Duane Davis Prof. Kevin Jones CDR Katy Giles
The Impact of Intelligent Autonomous Systems (IAS) Integration on Human-IAS Teams and Their Effectiveness
Prof. Mustafa Canan
The Role of Unmanned Systems in Meeting Climate Challenges
Kristen Fletcher Marina Lesse
UxS Manned/Unmanned Secure Teaming Platform Evaluation in Contested Littoral Environments
Dr. Britta Hale Aurelio Monarrez Joseph Lukefahr
Multirobot Temporal Logic Optimal Control
Prof. Douglas Horner Prof. Geoffrey Xie Prof. Ruriko Yoshida
Persistent Smart Acoustic Profiler (PSAP)
Prof. John Joseph
Collaborative Hyper-Enabled Operations in Contested Environments (CHOICE)
Prof. Isaac Kaminer Aurelio Monarrez Joseph Lukefahr
MAD-CAT: Modular Autonomous Drone-Configurable Aero Target
Prof. Mark Karpenko
Manipulating Control Surface Roughness on Uncrewed Underwater Vehicles to Achieve Scale-Independent Performance
Prof. Joseph Klamo Prof. Alexander Laun (USNA) Prof. Justin Brown
Mechanical Design and COMSOL Analysis of Archimedes-Force Quiescent UUVs for Large-Scale Distributed Offensive Mine Operations
Prof. Emil Kartalov
Hybrid Swarm Attacks in Contested Environments
Prof. Sean Kragelund, Prof. Violet Mwaffo (USNA)
Human-Autonomy Teaming: Control of Multi-Domain UxV's
Prof. Mollie McGuire Aurelio Monarrez
sUAS-based Remote Sensing of Surface Waves and Breaking using an EO/IR Camera System
Prof. David Ortiz-Suslow
Orchestrated Autonomous Maritime Collection
Prof. James Scrofani Prof. Ed Waltz Dr. Jihane Mimih
Traffic Anomaly Detection and Analysis for 5G Enabled Autonomous Vehicle Systems
Prof. Preetha Thulasiraman

2022 Funded Research

Asset Publisher
Topic
Principal Investigators
Extending the Endurance of Multi-rotor UAVs with Boron Nitride Nanotube (BNNT)-based Piezoelectric Composites
Prof. Troy Ansell
COTS Unmanned Systems and Partner Force Innovation
Prof. Leo Blanken, Cecilia Panella, Michael Stevens
Counter Aerial UxS Munition Delivery System
Prof. Christopher Brophy, Prof. Joshua Codoni
Operational Planning Simulations of HPM-equipped Swarm Engagements
Prof. Abe Clark, Prof. Isaac Kaminer
Interactive Synthetic Environment (ISE) to Evaluate Zero-Carbon UAS Launch Platforms in the Arctic
Prof. Nick Dew, Prof. Imre Balogh
Advancing Clarity: Analysis of UxS Legal Questions
Kristen Fletcher, Eric Hahn, Marina Lesse
UxS Manned/Unmanned Secure Teaming
Prof. Britta Hale, Prof. Douglas Van Bossuyt
BION - Behavior Integration and Optimization for Networked Control Systems (NCS)
Prof. Douglas Horner, Prof. Geoffrey Xie, Prof. Ruriko Yoshida
Aqua-Quad Sensor Integration and Participation in Trident Warrior 2022
Prof. Kevin Jones, Prof. Vladimir Dobrokhodov, Dr. Paul Leary, Prof. Kevin Smith
Persistent Smart Acoustic Profiler (PSAP)
Prof. John Joseph, Yi Chao (Seatrec Inc), John Ryan (MBARI)
Collaborative Hyper-Enabled Operations in Contested Environments (CHOICE)
Prof. Isaac Kaminer, Aurelio Monarrez
Proof-of-concept: Achieving Free Propulsion for Flexible UUVs Using Vortical Wakes
Prof. Joseph Klamo, Prof. Jarema Didoszak, Prof. Young Kwon
SURFACE: Swarming USVs and Resilient Formations Against Contested Environments
Prof. Sean Kragelund, Prof. Matt Feemster (USNA), Prof. Violet Mwaffo (USNA), CDR Paul Frontera (USNA)
Human-Autonomy Teaming: Control of Multi-Domain UxV's
Prof. Mollie McGuire, Aurelio Monarrez
sUAS-based Remote Sensing of Surface Waves and Breaking using an EO/IR Camera System
Prof. David Ortiz-Suslow, Ryan Yamaguchi
Who Makes Johnny 5 Come Alive? Using Diverse Perspectives to Drive Requirements for Human-Robot Teams
Prof. Robert Semmens, Kristen Fletcher, Prof. Douglas Van Bossuyt, Prof. Britta Hale

2021 Funded Research

Asset Publisher
Topic
Principal Investigators
Aqua-Quad Novel Sensor Integration and Participation in Trident Warrior 2021
Kevin Jones, Prof. Vladimir Dobrokhodov, Dr. Paul Leary, Prof. Kevin Smith
Behavior Automation for UxV Networked Control Systems
Prof. Douglas Horner, Prof. Geoffrey Xie, Prof. Ruriko Yoshida
Communication Dynamics of Human-Machine Teams in Context Sensitive Battle-Field Environment
Prof. Anthony Canan, Prof. Mustafa Dumir (ASU)
COTS Unmanned Systems and Partner Force Innovation
Prof. Leo Blanken, Prof. Justin Davis
Counter Aerial UxS Munition Delivery System
Prof. Christopher Brophy, Prof. Joshua Codoni
Developing operational planning simulations for defense against attacking drone swarms
Prof. Abram Clark, Prof. Isaac Kaminer
Enhancing c-UAS Capabilities using a 3D LiDAR
Prof. Oleg Yakimenko
Ethical Control of Unmanned Systems: Repeatable Mission Evaluation Through Unmanned Systems Data Strategy for UMAA/RAIL
Prof. Don Brutzman, Prof. Curtis Blais
Expediting Swarm System Development with High Fidelity Live/Virtual Modeling and Simulation
Prof. Duane Davis, Prof. Kevin Jones, Prof. Katy Giles, CDR, USN
Formation, Implementation, and Verification of Requirements for Human-Autonomy Teaming
Prof. Douglas Van Bossuyt, Prof. Robert Semmens, Kristen Fletcher, Kristin Weger, Bryan Mesmer, Nathan Tenhundfeld, Nicholaos Jones
Hybrid USV Attacks for Counter-Swarm Experimentation
Prof. Sean Kragelund, Prof. Isaac Kaminer
Localization of Unmanned Ground Systems Using the Zero Velocity Update Technique and a 3-D LiDAR in the Absence of GNSS
Prof. Xiaoping Yun, Prof. James Calusdian
Predictive Failure Analysis for Autonomous Networked Ground Stations
Prof. Jim Newman, Giovanni Minelli
Priority Legal and Policy Issues of UxS
Kristen Fletcher, Eric Hahn
sUAS-based Environmental Sampling in Support of High Energy Laser Weapon Systems
Prof. Qing Wang, Ryan Yamaguchi

2020 Funded Research

Asset Publisher
Topic
Principal Investigators
Counter Aerial UxS Munition Delivery System
Christopher Brophy, Joshua Codoni
Robodata Daffodil: Converting Actual and Simulated Robot Telemetry and Metadata for Archival DTIC Publication
Prof. Don Brutzman
Self Powering of AUVs via Energy Harvesting from Ocean Wave Energy
Prof. Jarema Didoszak
Evaluation of Novel Carbon Nano Tube Materials for Defeating Counter UxV Methods by Enabling EMI/RFI/ESD Shielding
Prof. Vladimir Dobrokhodov, Prof. Claudia Luhrs, Dr. Paul Leary
WIEVLE – Development and Testing of a Spherical UUV Platform
Ross Eldred, Prof. Tony Pollman
Next Generation PNT via Automatic Calibration of Dynamic Coherent Radar UAV Swarm Arrays
Prof. David Garren, Prof. Phillip Pace
Advanced Topics in Mixed-Initiative, UxV Networked Control Systems
Prof. Douglas Horner, Prof. Geoffrey Xie, Prof. Ruriko Yoshida
Cross-eye Jamming Using UAVs
Prof. David Jenn
Multi-Domain UxS Swarming
Prof. Kevin Jones, Prof. Katy Giles, CDR, USN, Prof. Duane Davis
Robust Counter UxS Strategies Against Multi-Domain Super Swarms
Prof. Isaac Kaminer, Prof. Claire Walton, Prof. Sean Kragelund, Prof. Wei Kang
Optimizations of 3D-Printable Artificial Muscles for Quiet UUV Propulsion
Prof. Emil Kartalov
Persistent Mobile Surveillance and Real-Time Target Motion Estimation from a Wave Glider SV3
Dr. Paul Leary, Prof. Kevin Smith
Human Machine Teaming in a Hybrid Network Control System
Prof. Mollie McGuire, Prof. Aurelio Monarrez
Human Machine Teaming: The Trust and Utilization of Robotic Systems during Infantry Operations in an Urban Environment
Prof. Mollie McGuire, Prof. Christian Fitzpatrick
Development of Autonomous Capabilities for MC3 Satellites and Ground Stations
Prof. Jim Newman, Giovanni Minelli
Remote sensing of submarine wakes using USVs and UUVs
Prof. Timour Radko, Prof. John Joseph
ROS 2 Cyber Network Performance Using Scalable Quality of Service and Security Classifications
Prof. Preetha Thulasiraman
Motivating Use of Unmanned Assets in Human-Autonomy Teaming
Prof. Douglas Van Bossuyt, Prof. Robert Semmens
Rotary-Wing UAS for Evaporation Duct Measurements Using mini-Dropsondes
Prof. Qing Wang, Ryan Yamaguchi
Localization of Unmanned Ground Systems Using the Zero Velocity Update Technique in the Absence of GNSS
Prof. Xiaoping Yun, Prof. James Calusdian

2019 Funded Research

Asset Publisher
Topic
Principal Investigators
Unmanned Systems Interoperability Standardization: US Navy and International Community Activities
Prof. Curtis Blais
Short-Term Self-Moving Maritime-Land Mesh Networks
Prof. Alex Bordetsky
A Sourcing Strategy for Scaling Unmanned Mine Countermeasure Capabilities
Prof. John Dillard
Enable Real-Time Access to Underwater Acoustic and Beam-Forming Data on a Hybrid Aqua-Quad Vehicle
Prof. Vlad Dobrokhodov, Prof. Kevin Jones, Dr. Paul Leary
Dynamic Automatic Calibration of Coherent Radar UAV Swarm Arrays
Prof. David Garren, Prof. Phil Pace
Distributed Adaptive Submodularity for Mixed-Initiative, UxV Networked Control Systems
Prof. Doug Horner, Prof. Sean Kragelund
Environmental Hardening and At-Sea Testing of the Aqua-Quad Hybrid Platform
Prof. Kevin Jones, Prof. Vlad Dobrokhodov, Dr. Paul Leary
Long endurance, wide-area maritime surveillance system
Prof. John Joseph, Prof. Doug Horner, Prof. Kevin Smith
Multi-Domain Super Swarm: Robust Tactics for Engaging an Attacking Large-Scale Swarm
Prof. Isaac Kaminer, Prof. Claire Walton
3D-Printable Artificial Muscles for UUV propulsion
Prof. Emil Kartalov
Bio-inspired MEMS acoustic sensor for small flying UAS localization
Dist. Prof.Gamani Karunasiri, Prof. Fabio Alves
Identification of Wave Environments that Degrade the Performance of AUVs Operating Near-Surface
Prof. Joseph Klamo, Dist. Prof. Young Kwon
The effect of stress on the decision to rely on automation: An investigation into transparency and anthropomorphism on decision making with autonomy under stress
Prof. Mollie McGuire
Development of Autonomous, Optimized Capabilities for MC3
Prof. Jim Newman, Mr. Gio Minelli
Dynamics and Control of an Autonomous "Tugboat-Spacecraft" to maneuver a passive Resident Space Object
Prof. Marcello Romano
Deterministic Artificial Intelligence for Surmounting Battle Damage
Dr. Timothy Sands, COL., USAF
Acoustic Target Motion Analysis from Novel Autonomous Systems Using Light-Weight, Low-Power Data Acquisition Systems
Prof. Kevin Smith, Prof. Vlad Dobrokhodov
Cybersecurity Evaluation and Testing of the ROS 2 Architecture for Networked UAV Systems
Prof. Preetha Thulasiriaman
Autonomous systems adoption challenges and requirements management solutions
Prof. Douglas Van Bossuyt, Prof. Bryan Mesmer (UAH), Prof. Kristin Weger (UAH)
Air Superiority via Decentralized Swarming Tactics and Autonomous Pursuit
Dist. Prof. Oleg Yakimenko

2018 Funded Research

Asset Publisher
Topic
Principal Investigators
ROS 2: Cyber Security and Network Robustness for Robotics
Prof. Brian Bingham, Prof. Preetha Thulasiriman
Manned Unmanned Teaming (MUM-T) for Marine Fire Teams
Prof. Dan Boger, Scot Miller, CAPT, USN, (Ret.)
Short-Living Nodes and Links for Littoral Mesh Networking
Prof. Alex Bordetsky
Aerial Swarm Behavior Development in Support of USMC Training
Prof. Dwayne Davis, Prof. Kevin Jones, Prof. Katy Giles, CDR, USN
Adaptive Submodularity for Mixed-Initiative UxV Network Control Systems
Prof. Doug Horner
Swarm Future Platforms
Prof. Kevin Jones, Prof. Dwayne Davis
Bio-inspired MEMS acoustic sensor for robotic autonomous systems applications
Dist. Prof.Gamani Karunasiri, Dr. Fabio Alves
The Decision to Rely on Automation Under Stress: The Debut Experimentation Effort for the Human Cognition and Automation Lab
Prof. Mollie McGuire
Cooperative Autonomous ScanEagle
Prof. Aurelio Monarrez, Prof. Sean Kragelund
Development of Autonomous, Optimized Capabilities for MC3
Prof. Jim Newman
Simultaneous visual and IR UAV imaging of littoral systems for AI driven change detection
Prof. Mara Orescanin
Data Farming Explorations of the Tactics and Benefits of Unmanned Systems and Unmanned-Manned Teaming
Prof. Susan Sanchez, Prof. Tom Lucas
Network Enabled Digital Swarm Image Synthesis (NEDSIS) Phase 2
Prof. Phillip Pace, Prof. Ric Romero
Acoustic Vector Sensing from Novel Autonomous Systems Using Light-Weight, Low-Power Data Acquisition Systems
Prof. Kevin Smith, Prof. Vlad Dobrokhodov
Study of Cybersecurity Requirements for the Military Robot Operating System (ROS-M) using ROS 2.0 on Unmanned Aerial Networks
Prof. Preetha Thulasiriaman
Mission Planning in Support of SAR Operations Involving Heterogeneous UxSs
Dist. Prof. Oleg Yakimenko

2017 Funded Research

Asset Publisher
Topic
Principal Investigators
Investigation of Requirements and Capabilities of Next Generation Mine Warfare (MIW) Unmanned Underwater Vehicles (UUVs)
Prof. Paul Beery, Prof. Eugene Paulo RADM, (Ret.) Prof. Rick Williams
Multi-Domain Mesh Network of Short Appearance Unmanned Nodes
Prof. Alex Bordetsky
Alternative PNT for Persistent Undersea Navigation
Prof. Doug Horner
Arctic Scan Eagle
Prof. Doug Horner, Prof. Aurelio Monarrez
UAV EM Sensors for Spectrum Sensing and Propagation Environment Assessment
Prof. David Jenn
Cooperative Underwater Sensing with Aqua-Quad
Prof. Kevin Jones, Prof. Vladimir Dobrokhodov, Prof. Doug Horner
Low-Cost Expendable UAS with Application to Low Altitude Atmospheric Measurements - Phase II
Prof. Kevin Jones, Prof. Qing Wang
Bio-inspired MEMS acoustic sensor for robotic autonomous systems applications
Dist. Prof. Gamani Karunasiri, Prof. Fabio Alves
C2 Design for Asymmetric Advantage: Teams of Autonomous Systems & People
Prof. Mark Nissen
Multi-Modal Sensor Fusion from Autonomous Platforms with 3D Modeling
Prof. R. C. Olsen
Network Enabled Digital Swarm Image Synthesis (NEDSIS)
Prof. Ric Romero, Prof. Phillip Pace
Study of Security Primitives for the Robot Operating System (ROS) of UAV Swarms
Prof. Preetha Thulasiraman
Autonomous Wave Glider Based Measurements and Analyses In Support of Electromagnetic Maneuver Warfare (EMW)
Prof. Qing Wang
Vision-Based Navigation and Guidance for Swarm UAS
Dist. Prof. Oleg Yakimenko
Prototyping of Air-Launched Fast Recon UAS
Dist. Prof. Oleg Yakimenko
Optimal Trajectory Generation for Small Drones Used as Micro Interceptors
Dist. Prof. Xiaoping Yun, Prof. James Calusdian
Closing the Experimental Gap in the Search and MCM Communities
Prof. Isaac Kaminer, Prof. Sean Kragelund
Investigation of unsteady hydrodynamic loads on a UUV during near surface operations
Prof. Joseph T. Klamo, Prof. Young W. Kwon
Innovations in unmanned technologies for humanitarian assistance, nonlethal weapons, and more
Prof. Susan M. Sanchez, Prof. Thomas W. Lucas

2016 Funded Research

Asset Publisher