Featured Posts
Vision-Based Autonomous Landing of a UAV on a Moving Ship
This is an extension of the Autonomous Landing of a UAV on a Moving Ship...
Generating Hybrid Images
A hybrid image is an image that is perceived in one of two different ways,...
Recent Posts
Whenever I find something interesting, I post them here. The most of them are here just so that I can use them as a quick reference in the future. But please feel free to use and share if you find any of them useful!
Autonomous Landing of a UAV on a Moving Ship
For an autonomous UAV, or for any aerial vehicle in general, one of the most...
C++ Copy Ellision
Copy elision in C++ is a powerful optimization technique where the compiler eliminates unnecessary copying...
Centrifugal vs Centripetal Forces
These two forces often get tangled up in physics discussions, especially when dealing with circular...
OpenCV rvec-tvec Definitions
The OpenCV library uses rvec and tvec to represent the rotations and translations, respectively. When...
Decoupled-Yaw Geometric Control for Unmanned Aerial Vehicles
A UAV is an inherently unstable system, which is similar to an inverted pendulum. The...
Loop Nest Optimization
Loop nest optimization is a powerful technique used in compiler design and performance engineering to...
Smart Pointer in C++
Smart pointers in C++ are powerful tools that help manage memory automatically, reducing the risk...
Measurements of Ship Air Wake Using Airborne Anemometers
When a ship moves on a water surface, we can clearly see a water wake...
Low-Pass Filters
Low-pass filters are basically an upgrade from the Averaging filters. If you are not familiar...
Averaging Filters
Any practical measurement has a some level of noise. To meaningfully utilize such measurements, we...
Ph.D. Dissertation
My Ph.D. dissertation, defended at GWU, titled Geometric Control and Estimation for Autonomous UAVs in Ocean Environments .