Dylan Jones

Dylan Jones

PhD Candidate at Oregon State University in the Robotic Decision Making Lab under Geoff Hollinger. I am interested in work fusing Path Planning and Control for field robotic applications.

Publications

Coordinating Underwater Vehicle Teams to Conduct Large-Scale Geospatial Tasks

Published in Under Review in Journal of Ocean Engineering, 2020

In this work, we examine the problem of coordinating large teams of unmanned underwater vehicles with low levels of actuation using both policy and optimization based methods.

Recommended citation: M. Kuhlman, D. Jones, D. Sofge, G. Hollinger and S. Gupta, "Coordinating Underwater Vehicle Teams to Conduct Large-Scale Geospatial Tasks," Under Review in Journal of Ocean Engineering

Topology-Aware Self-Organizing Maps for Robotic Information Gathering

Published in In Review for IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020

In this work, we present a Self-Organizing Map (SOM) framework for discovering the underlying structure of an information field which enables local optimization algorithms to more likely converge to good extrema

Recommended citation: S. McCammon, D. Jones and G. Hollinger, "Topology-Aware Self-Organizing Maps for Robotic Information Gathering," Under Review for IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020

Shared Autonomy for Low-Cost Underwater Vehicles

Published in Journal of Field Robotics (JFR), 2019

This field report presents an overview of the development and testing of a semi‐autonomous underwater vehicle (sAUV)

Recommended citation: N. Lawrance, R. DeBortoli, D. Jones, S. McCammon, L. Milliken, A. Nicolai, T. Somers and G. Hollinger, "Shared autonomy for low-cost underwater vehicles," Journal of Field Robotics, vol. 36, no. 3, pp. 495-516, May 2019

Stochastic Optimization for Autonomous Vehicles with Limited Control Authority

Published in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018

In this work, we present a Stochastic Gradient Ascent (SGA) algorithm for multi-vehicle information gathering that accounts for limitations on a vehicle’s control authority caused by external forces.

Recommended citation: D. Jones, M. Kuhlman, D. Sofge, S. Gupta, and G. Hollinger, "Stochastic optimization for autonomous vehicles with limited control authority," in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, Oct. 2018 http://research.engr.oregonstate.edu/rdml/sites/research.engr.oregonstate.edu.rdml/files/iros_18_final_v2.pdf

Orchard Manoeuvring Strategy for a Robotic Bin-Handling Machine

Published in Biosystems Engineering, 2018

This paper is about how to coordinate different steering strategies for a system with four independent wheels in an orchard environment.

Recommended citation: Y. Ye, L. He, Z. Wang, D. Jones, G. Hollinger, M. Taylor, and Q. Zhang, "Orchard manoeuvring strategy for a robotic bin-handling machine," Biosystems Engineering, vol. 169, pp. 85-103, May 2018 https://www.sciencedirect.com/science/article/pii/S1537511016308571/

Planning Energy-Efficient Trajectories in Strong Disturbances

Published in IEEE Robotics and Automation Letters, 2017

We present a framework for planning energy-efficient trajectories through strong and uncertain disturbances, such as ocean currents and wind fields.

Recommended citation: D. Jones and G. Hollinger, "Planning energy-efficient trajectories in strong disturbances" IEEE Robotics and Automation Letters, vol. 2, no. 4, pp. 2080-2087, Oct. 2017 https://ieeexplore.ieee.org/document/7959079/

Ocean Deployment and Testing of a Semi-Autonomous Underwater Vehicle

Published in Proc. IEEE/MTS OCEANS Conference, 2016

We present the design overview and navigation performance for an offshore deployment of a semi-autonomous underwater vehicle (sAUV).

Recommended citation: N. Lawrance, T. Somers, D. Jones, S. McCammon and G. Hollinger, "Ocean deployment and testing of a semi-autonomous underwater vehicle," in Proc. IEEE/MTS OCEANS Conference, Monterey, CA, Sept. 2016. http://research.engr.oregonstate.edu/rdml/sites/research.engr.oregonstate.edu.rdml/files/oceans_abstract_qpdf.pdf

Real-Time Stochastic Optimization for Energy-Efficient Trajectories

Published in Proc. Robotics: Science and Systems Conference Workshop on Robot-Environment Interaction for Perception and Manipulation (RSS), 2016

We present an iterative optimization algorithm for path planning energy-efficient algorithms in ocean current.

Recommended citation: D. Jones and G. Hollinger, "Real-time stochastic optimization for energy-efficient trajectories," in Proc. Robotics: Science and Systems Conference Workshop on Robot-Environment Interaction for Perception and Manipulation (RSS), Ann Arbor, MI, June 2016. http://research.engr.oregonstate.edu/rdml/sites/research.engr.oregonstate.edu.rdml/files/real-time-stochastic_-planning-final.pdf

Ocean Deployment and Testing of a Semi-Autonomous Underwater Vehicle

Published in Proc. IEEE International Conference on Robotics and Automation Workshop on Marine Robot Localization and Navigation (ICRA), 2016

We present the design overview and results for an offshore deployment of a semi-autonomous underwater vehicle (sAUV)

Recommended citation: N. Lawrance, T. Somers, D. Jones, S. McCammon and G. Hollinger, "Ocean deployment and testing of a semi-autonomous underwater vehicle," in Proc. IEEE International Conference on Robotics and Automation Workshop on Marine Robot Localization and Navigation (ICRA), Stockholm, Sweden, May 2016. http://research.engr.oregonstate.edu/rdml/sites/research.engr.oregonstate.edu.rdml/files/02_lawrance_ocean-deployment-testing.pdf