Publications
Unmanned Aerial Systems
De Petrillo, M., Beard, J., Gu, Y., Gross, J. N., “Search Planning of a UAV/UGV Team with Localization Uncertainty in a Subterranean Environment”, IEEE Aerospace and Electronic Systems Magazine, Vol 36, No. 6, pp 6-16. 2021 https://doi.org/10.1109/MAES.2021.3065041
Tian, P., Chao, H., Rhudy, M., Gross, J. N., We, H., “Wind Sensing and Estimation Using Small Fixed-Wing UAVs: A Survey” Journal of Aerospace Information Systems (AIAA), Accepted for Publication December 2020. https://doi.org/10.2514/1.I010885
in Challenging GNSS Environments”, Aerospace Science and Technology, Vol. 82-83, 11/2018, pp. 575-582.
https://doi.org/10.1016/j.ast.2018.09.035
Sivaneri, V., Gross, J. "UGV-to-UAV Cooperative Ranging for Robust Navigation in GNSS-Challenged Environments," Aerospace Science and Technology, Vol. 71, 12/2017, pp. 245-255 . https://doi.org/10.1016/j.ast.2017.09.024
Rhudy, M., Gross, J., Gu, Y. "Determination of Stochastic Wind Speed Model Parameters Using Allan Deviation Approach." Proceedings of the 2017 AIAA Modeling and Simulation Technologies Conference - AVIATION 2017, Denver, Colorado, Jun. 2017.
D'Urso, S., Gross, J., "Sensitivity of Unmanned Aerial Vehicle Model-Aided Navigation," AIAA Modeling and Simulation Technologies Conference, AIAA SciTech Forum, (AIAA 2017-0808).
Chao, H., Gu, Y., Gross, J., Rhudy, M., Napolitano, M. "Flight-Test Evaluation of Navigation Information in Wide-Field Optical Flow," Journal of Aerospace Information Systems, Vol. 13, No. 11, 2016, pp. 419-432.
Sivaneri, V. and Gross, J., "Cooperative Navigation between a Ground Vehicle and an Unmanned Aerial Vehicle in GNSS-Challenged Environments." Proceedings of the 29th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+ 2016), Portland, Oregon, Sept. 12-16, 2016.
Rhudy, M., Gu, Y. Gross, J., Chao, H., "Onboard Wind Velocity Estimation Comparison for Unmanned Aircraft Systems," IEEE Transactions on Aerospace and Electronic Systems, Vol 53., No. 1, Feb. 2017, pp. 55-66.
Hardy, J., Strader, J., Gross, J., Gu, Y., Keck, M., Douglas, J., Taylor, C. "Unmanned Aerial Vehicle Relative Navigation in GPS Denied Environments," IEEE/ION PLANS, Savannah, Georgia, Apr. 2016.
+Strader, J., Gu, Y., Gross, J., De Pertrillo, M., Hardy, J. "Cooperative Relative Localization for Moving UAVs with Single Link Range Measurements," IEEE/ION PLANS, Savannah, Georgia, Apr. 2016. +Selected as Best Paper of the 2016 PLANS Track B: Perception for Autonomous and Semi-Autonomous Systems
Gu, Y., Gross, J., Rhudy, M., Lassak, K, "A Fault-Tolerant Multiple Sensor Fusion Approach Applied to UAV Attitude Estimation," Vol. 2016, International Journal of Aerospace Engineering, 12 pgs.
Rhudy, M. B., Gu, Y., Chao, H., Gross, J. "Unmanned Aerial Vehicle Navigation Using Wide-Field Optical Flow and Inertial Sensors," Journal of Robotics, Vol. 2015, 12 pgs.
Gross, J., Yu Gu, and Matthew B. Rhudy. "Robust UAV Relative Navigation With DGPS, INS, and Peer-to-Peer Radio Ranging," IEEE Transactions on Automation Science and Engineering, Vol 12, Is. 3, pp 935-944, 2015. doi: 10.1109/TASE.2014.2383357.
Gross, J., Gu,Y., Dewberry, B. "Tightly-Coupled GPS/UWB-Ranging for Relative Navigation During Formation Flight." Proceedings of the 27th International Technical Meeting of the Satellite Division of the Institute of Navigation (2014 ION GNSS+), Tampa, Florida, Sept. 8-12, 2014.
Chao, H., Gu, Y., Gross, J., Guo, G., Fravolini, M.L., and Napolitano, M.R., "A Comparative Study of Optical Flow and Traditional Sensors in UAV Navigation," 2013 American Control Conference, Washington, DC, 2013.
Rhudy, M., Gu, Y., Gross, J., Gururajan, S., and Napolitano, M. "Sensitivity Analysis of Extended and Unscented Kalman Filters for Attitude Estimation," Journal of Aerospace Information Systems, vol. 10, no. 3, pp. 131-143, 2013.
Rhudy, M., Gross, J. Gu, Y. Napolitano M., "Fusion of GPS and Redundant IMU Data for Attitude Estimation," AIAA Guidance, Navigation and Control Conference and Exhibit, Minneapolis, Minnesota, August 2012.
Gross, J., Gu, Y., Rhudy, M., Gururajan, S., Napolitano, M. "Flight Test Evaluation of Sensor Fusion Algorithms for Attitude Estimation," IEEE Transactions on Aerospace Electronic Systems, Vol. 48 Is. 3, July, 2012.
Rhudy, M. Gu, Y., Gross, J., Napolitano, M. "Evaluation of Matrix Square Root Operations for UKF within a UAV GPS/INS Sensor Fusion Application," International Journal of Navigation and Observation, vol. 2011, Article ID 416828, 11 pages, 2011. doi:10.1155/2011/416828
Gross, J., Gu, Y., Rhudy, M., Barchesky, F., Napolitano, M. "On-line Modeling and Calibration of Low-Cost Navigation Sensors," AIAA Modeling and Simulation Technologies Conference, Portland, Oregon, August 2011.
Barchesky, F., Gross, J., Gu, Y., Rhudy, M., Gururajan, S., Napolitano, M. "Development of a GPS/INS Sensor Fusion Simulation Environment Using Flight Data," AIAA Modeling and Simulation Technologies Conference, Portland, Oregon, August 2011.
Rhudy, M., Gu, Y., Gross, J., Napolitano, M. "Sensitivity Analysis of EKF and UKF in GPS/INS Sensor Fusion", AIAA Guidance, Navigation and Conference and Exhibit, Portland, OR, August 2011.
Gross, J., Gu, Y., Gururajan, S., Seanor B., and Napolitano, M.R., "A Comparison of Extended Kalman Filter, Sigma-Point Kalman Filter, and Particle Filter in GPS/INS Sensor Fusion," 2010 AIAA Guidance, Navigation, and Control, Toronto, Ontario, Canada, Aug. 2-5, 2010.
Gross, J., Gu. Y., Napolitano, M. "A Systematic Approach for Extended Kalman Filter Tuning and Low-Cost Inertial Sensor Calibration within a GPS/INS Application," AIAA Guidance Navigation and Controls Conference and Exhibit, Toronto, Ontario, Canada, August 2010.
Global Navigation Satellite Systems
Watson, R., Taylor, C., Leishman, R., Gross, J.“Batch Measurement Error Covariance Estimation for Robust Localization” Proceedings of the 31st International Technical Meeting Satellite Division of the Institute of Navigation (ION GNSS+), Miami, FL, Sept. 2018. pp. 2429-2439. https://doi.org/10.33012/2018.15974
Watson, R., Gross, J., "Evaluation of Kinematic Precise Point Positioning Convergence with an Incremental Graph Optimizer", IEEE/ION Position, Location, and Navigation Symposium (PLANS), Monterey, CA, April 24-26 2018. https://doi.org/10.1109/PLANS.2018.8373431
Gross, J. N., Kilic, C., Humphreys, T. E., "Maximum-Likelihood Power-Distortion Monitoring for GNSS Signal Authentication" IEEE Transactions on Aerospace and Electronic Systems, Vol. 55, No. 1, pp. 469-475, Feb. 2019 10.1109/TAES.2018.2848318 PDML-Detector Software Repository
Tehrani, N., Gross, J.N., "Performance Trades for Multiantenna GNSS Multi-Sensor Attitude Determination Systems", International Journal of Aerospace Engineering, Volume 2018 (2018), Article ID 4871239, 12 pages https://doi.org/10.1155/2018/4871239
Wesson, K.D., Gross, J.N., Humphreys, T.E., Evans, B.L., "GNSS Signal Authentication via Power and Distortion Monitoring." IEEE Transactions on Aerospace
and Electronic Systems, Vol. 54., No. 8, pp. 739-754, April 2018.
DOI: 10.1109/TAES.2017.276525 PD-Detector Software Repository
+Watson, R., Gross, J. "Robust Navigation in GNSS Degraded Environments Using Graph Optimization" Proceedings of the 30th International Technical Meeting of the Satellite Division of the Institute
of Navigation (ION GNSS+ 2017), Portland, Oregon, Sept. 25-29, 2016. RobustGNSS Software Repository +Selected as Best Presentation in the 2017 GNSS+ Multisensor Navigation in Challenging Environments Session
Watson, R., Gross, J.N., Bar-Sever, Y., Bertiger, W., Haines, B., "Flight Data Assessment of Tightly Coupled PPP/INS using Real-Time Products." IEEE Aerospace and Electronic Systems Magazine, Vol. 32, No. 8, pp. 10-21, 2017. 10.1109/MAES.2017.160169
Gross, J.N., Humphreys, T.E., "GNSS Spoofing, Jamming, and Multipath Interference Classification using a Maximum-Likelihood Multi-tap Multi-path Estimator," Proceedings of the 2017 Institute of Navigation International Technical Meeting (ION-ITM 2017), Monterey, California, Feb. 2017.
Tehrani, N., Gross, J. "Characterization of Multi-Antenna GNSS, Multi-Sensor Attitude Determination for Stratospheric Balloon Platforms." AIAA Modeling and Simulation Technologies Conference, AIAA SciTech Forum, (AIAA 2017-1554).
Gross, J. and Watson, R., "Advances in GIPSY GNSS/IMU integrated positioning and application to UAVs," NOAA National Geodetic Survey's Airborne Gravity for Geodesy Summer School, Washington DC, June 2016.
Gross, J., Watson, R., D'Urso, S., Gu, Y., "Flight-Test Evaluation of Kinematic Precise Point Positioning of Small UAVs," International Journal of Aerospace Engineering, Vol. 2016, 11 pgs.
Gross, J., Gu, Y., Rhudy, M. "Fixed-Wing UAV Attitude Estimation Using Single Antenna GPS Signal Strength Measurements," Aerospace, 2016; 3(2):14.
Bertiger, W., Bar-Sever, Y., Gross, J., Miller, M., Romans, L., Sibois, A., Sibthorpe, A., Vallisneri, M., Weiss, J., "Systematic Errors in Estimation of GPS Clock States," 2016 International GNSS Service (IGS) Workshop, Sydney, Australia, Jan. 2016.
Watson, R., Sivaneri, V., Gross, J. "Performance Evaluation of Tightly-Coupled GNSS Precise Point Positioning Inertial Navigation System Integration in a Simulation Environment." Proceedings of the 2016 AIAA Guidance Navigation and Control Conference, San Diego, California. Jan. 2016.
Gross, J., Watson, R., Sivaneri, V., Bar-Sever, Y., Bertiger, W., Haines, B. "Integration of Inertial Navigation into Real-Time GIPSY-X (RTGx)." Proceedings of the 28th International Technical Meeting of the Satellite Division of the Institute of Navigation (2015 ION GNSS+), Tampa, Florida, Sept. 14-18, 2015.
Bar-Sever, Y., Bertiger, W., Dorsey, A., Harvey, N., Lu, Miller, K., Miller, M., Romans, L., Sibthorpe, A., Weiss, J., Fernandez, M., Gross J.. "Real-Time and Post-Processed Orbit Determination and Positioning." U.S. Patent No 9,057,780 B2 (Granted June 18, 2015) .
Desai, S, Haines, B., Gross, J., Stowers, D. "Verification and Validation of the GNSS Stations at the Prototype Core Site for NASA's Next Generation Space Geodesy Network," American Geophysical Union Fall Meeting, San Francisco, California, November 2013.
Bertiger W., Bar-Sever Y., Bokor, E., Butala, M., Dorsey, A., Gross, J., Harvey, N., Lu, W., Miller, K., Miller, M., Romans, L, Sibthorpe, A., Weiss, J.P, Jones, M. Holden, J., Donigan, A., Saha, P. "First Orbit Determination Performance Assessment For The OCX Navigation Software In An Operational Environment," ION Fall GNSS Meeting, Nashville, Tennessee, 2012.
Desai, S. D., Bertiger, W. Gross, J. Haines, B. Harvey, N. Selle, C., Sibthorpe, A. , Weiss, J.P. "Results from the Reanalysis of Global GPS Data in the IGS08 Reference Frame," American Geophysical Union Fall Meeting, San Francisco, California, November 2011.
Robotics Systems
De Petrillo, M., Beard, J., Gu, Y., Gross, J.N., “Search Planning of a UAV/UGV Team with Localization Uncertainty in a Subterranean Environment”, IEEE Aerospace and Electronic Systems Magazine, Accepted to Appear January 2021. https://arxiv.org/abs/2102.06069
Ross, D., De Petrillo, M., Strader, J., Gross, J.N. “Uncertainty Estimation for Stereo Visual Odometry ” Proceedings of the 34th Annual International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+), St. Louis, MO/Virtual, Sept., 2021. https://doi.org/10.33012/2021.18063
Dhanaraj, N., Hewitt, N., Edmonds-Estes, C., Jarman, R., Seo,
J., Gunner, H., Hatfield, A., Jonshon, T., Yifru, L., Maffeo, J.,
Pereira, G., Gross, J., Gu, Y. “Adaptable Plaform for Interactive Swarm Robotics (APIS): A Human-Sward Interactions Research Tesbed” 2019 IEEE Conference on Advanced Robotics (ICAR) , Belo-Horizonte, Brazil, Dec. 2019
Kilic, C., Gross, J. N., Ohi, N., Watson, R., Strader, J., Swiger, T., ... & Gu, Y.. “Improved Planetary Rover Inertial Navigation and Wheel Odometry Performance through Periodic Use of Zero-Type Constraints”. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, Nov. 2019. https://doi.org/10.1109/IROS40897.2019.8967634
Yang, C., Watson, R.,Gross, J.N., Gu, Y. “Localization Algorithm Design and Evaluation for an Autonomous Pollination Robot” Proceedings of the 32nd Annual International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+), Miami, FL, Sept., 2019. pp. 2702-2710. https://doi.org/10.33012/2019.17099
Kassas, Z. M., Closas, P, Gross, J. "Navigation Systems Panel Report, Navigation Systems for Autonomous and Semi-Autonomous Vehicles: Current Trends and Future Challenges." IEEE Aerospace and Electronic Systems Magazine Vol. 34, No. 5 (2019), pp 82-84. (Invited Review Paper) https://doi.org/10.1109/MAES.2019.2906971
Ohi, N., Lassak, K., Watson, R., Strader, J., Yixin, D., Yang, C., Hedrick, G., Nguyen, J., Harper, S., Reynolds, D., Kilic., C., Hikes, J., Mills, S., Castle, C., Waterland, N., Gross, J. Park, Y-L., Li, X., Gu, Y., “Design of an Autonomous Precision Pollination Robot”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, Oct. 2018
Watson, R., Ohi, N., Harper, S., Kilic, C., Yang, C., Hikes, J., De Petrillo, M., Strader, J., Hedrick, G., Nichols, H., Upton, E. , Kirk, C., Hendricks, K., Reynolds, D., Darr,, J., Bredu, J., Langnese, E. , Gu, Y.,Gross, J. “A Rover and Drone Team for Subterranean Environments: System Design Overview.” Robotics Science & Systems Workshop on Challenges and Opportunities for Resilient Collective Intelligence in Subterranean Environments, Pittsburgh PA, June 30, 2018. Gu, Y., Strader, J., Ohi, N., Harper, S., Lassak, K., Yang, C., Kogan, L., Hu, B., Gramlich, M., Kavi, R., Gross, J., "Robot Foraging: Autonomous Sample Return in a Large Outdoor Environment" IEEE Robotics and Automation Magazine, January 2018.
Gu, Y., Ohi, N., Lassak, K., Strader, J., Kogan, L., Hypes, A., Harper, S., Hu, B., Gramlich, M., Kavi, R., Watson, R., Cheng, M., Gross, J. "Cataglyphis: An Autonomous Sample Return Rover," Journal of Field Robotics, July 2017.
Jones, K. H., Gross, J. "Reducing Size, Weight, and Power of Perception Systems in Small Autonomous Aerial Systems," AIAA Aviation Technology, Integration, and Operations Conference, Atlanta, Georgia, June 2014.
Gu, Y. Gross, J., Barchesky, F., Chao, H, Napolitano M. "Avionics Design for a Sub-scale Fault-tolerant Flight Control Test-bed," Recent Advances in Aircraft Technology, Ramesh K. Agarwal (Ed.), ISBN: 978-953-51-0150-5
Gross, J., Gu, Y., Seanor, B., Gururajan, S., Napolitano, M. "Advanced Research Integrated Avionics System for Fault-tolerant Flight Research," AIAA Guidance Navigation and Controls Conference and Exhibit, Chicago, Illinois, August.
Space Systems
Martinez, B., Kilic, C., Tatsch, C., Pereira, B., Gross, J. N. “Multi-Robot Cooperation for Lunar In-Situ Resource Utilization" Frontiers in Robotics and AI, Vol. 10, 2023. https://doi.org/10.3389/frobt.2023.1149080
Kilic C., Gu, Y., Gross, J.N. “Proprioceptive Slip Detection for Planetary Rovers in Perceptually Degraded Extraterrestrial Environments” Field Robotics, Vol., 2, pp. 1754-1778., 2022. https://doi.org/10.55417/fr.2022054
Kilic C., Martinez B.R.Jr., Tatsch C., Beard J., Strader J., Das S., Ross D., Gu Y., Pereira G.A.S., and Gross J.N., “NASA Space Robotics Challenge 2 Qualification Round: An Approach to Autonomous Lunar Rover Operations”, IEEE Aerospace and Electronic Systems Society Magazine, Vol. 36, No. 12, 2021 https://doi.org/10.1109/MAES.2021.3115897
Wang, K., Allahvirdi-Zadeh, A., El-Mowafy, A., Gross, J.N., “A Sensitivity Study of POD Using Dual-Frequency GPS for CubeSats Data Limitation and Resources”, Remote Sensing, Vol. 12, No. 13, 2020. https://doi.org/10.3390/rs12132107
Budzien, S.A., Powell, S. P., O’ Hanlon, B., Humphreys, T., Bishop, R. L., Stephan, A.W., Gross, J., Chakrabarti, S. “Ionospheric Remote Sensing using GPSRadio Occultation and Ultraviolet Photometry aboard the ISS”, American Geophysical Union Fall Meeting, New Orleans, LA, Dec. 2017.
Lantto, S., Gross, J. "Precise Orbit Determination Using Duty Cycled GPS Observation", Proceedings of the 2018 AIAA Modeling and Simulation Technologies Conference - SciTech Forum 2018, Kississimee, FL, Jan 8-12, 2018.
Vassiliadis, D., Christian, J., Keesee, A., Spencer, E., Gross, J., Lusk, G. "Bringing Space Science to the Undergraduate Classroom: NASA's USIP Mission." Poster Presented at American Geophysical Union Fall Meeting. San Francisco, California, Dec. 2015.
Gross, J., Keesee, A., Christian, J., Gu, Y., Scime, E., Komjathy, A., Lightsey, E.G., Pollock, C. "The CuSPED Mission: CubeSat for GNSS Sounding of the Ionosphere-Plasmasphere Electron Density." Proceedings of the 2016 AIAA Aerospace Sciences Meeting, San Diego, California, January 2016.
Morris, J., Zemerick, S., Grubb, M., Lucas, J., Jaridi, M., Gross, J., Ohi, N., Christian, J., Vassiliadis, D., Kadiyala, A., Pachol, M., Dawson, J., Korakakis, D., Bishop, R. "Simulation-To-Flight (STF-1): A Mission to Enable CubeSat Software-based Validation and Verification." Proceedings of the 2016 AIAA Aerospace Sciences Meeting, San Diego, California, January 2016.
Romero-Wolf, A., Gross, J., Zarifian, P, Gorham, P., Wessel, S., Saltzberg, D. "The CHIRP Mission Concept: A CubeSat Pathfinder for the Development of Cosmic Ray Astronomy," 33rd Annual International Cosmic Ray Conference, Rio De Janeiro, Brazil, July 2013.