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CRUSER Research

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

CRUSER has been seeding research since 2011. For past Annual Reports with project summaries, see the list below.

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CRUSER TechTalks

Dr. Peter Guest

Dr. Sean Kragelund

RoboDojo

CRUSER Funding image

CRUSER Funding FY12-20

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Current Funded Research

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

Ethical Control of Unmanned Systems: Repeatable Mission Evaluation Through
Unmanned Systems Data Strategy for UMAA/RAIL
Prof. Don Brutzman
Prof. Curtis Blais

Communication Dynamics of Human-Machine Teams in Context Sensitive Battle-Field Environment
Prof. Anthony Canan
Prof. Mustafa Dumir (ASU)

Developing operational planning simulations for defense against attacking drone swarms
Prof. Abram Clark
Prof. Isaac Kaminer

Expediting Swarm System Development with High Fidelity Live/Virtual Modeling and Simulation
Prof. Duane Davis
Prof. Kevin Jones
Prof. Katy Giles, CDR, USN

Priority Legal and Policy Issues of UxS
Kristen Fletcher
Eric Hahn

Behavior Automation for UxV Networked Control Systems
Prof. Douglas Horner
Prof. Geoffrey Xie
Prof. Ruriko Yoshida

Aqua-Quad Vector Sensor Integration and Participation in Trident Warrior 2021
Jones
Prof. Vladimir Dobrokhodov
Dr. Paul Leary
Prof. Kevin Smith

Hybrid USV Attacks for Counter-Swarm Experimentation 
Prof. Sean Kragelund
Prof. Isaac Kaminer

Predictive Failure Analysis for Autonomous Networked Ground Stations
Prof. Jim Newman
Giovanni Minelli

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

sUAS-based Environmental Sampling in Support of High Energy Laser Weapon Systems
Prof. Qing Wang
Ryan Yamaguchi

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

Enhancing c-UAS Capabilities using a 3D LiDAR
Prof. Oleg Yakimenko

2020 Funded Research

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, Scot Miller, CAPT, USN, (Ret.) Prof. Curtis Blais
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
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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 

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

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
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Prior Funded Research

To see research funded prior to 2017, please see our Annual Reports.

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.

2019
2018
2017
2016
2011-2016