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Ashitey Trebi-Ollennu, Ph.D, CEng FIEE, SMIEE
Group Lead, Senior Member of Engineering Staff

Dynamics and Control Systems:
  1. Sanjay S. Joshi, Diana M. Acosta, Jeffrey Payne, Shivanjli Sharma, Alberto Elfes, Ashitey Trebi-Ollennu, and Jeffrey L. Hall, "Dynamics and Control Study of a Titan Aerobot from a System Design Perspective," AIAA Guidance, Navigation, and Control (GN&C) Conference 15 - 18 Aug 2005 Hyatt Regency San Francisco at Embarcadero Center, San Francisco, California, 2005.
  2. Ashitey Trebi-Ollennu, Terry Huntsberger, Yang Cheng, E. T. Baumgartner, and Brett Kennedy, "Design and Analysis of a Sun Sensor for Planetary Rover Absolute Heading Detection," IEEE Trans. Robotics and Automation, Vol. 17, No. 6, 2001, 2001, 939 -947.
  3. Ashitey. Trebi-Ollennu, John M. Dolan and Pradeep K. Khosla, "Adaptive Fuzzy Throttle Control for an All Terrain Vehicle," IMechE Part I: Journal of Systems and Control Engineering,vol. 215, 2001, 189-198.
  4. Ashitey Trebi-Ollennu and B. A. White, "Robust Output Tracking for MIMO Nonlinear Systems: An Adaptive Fuzzy Systems Approach," IEE Proceedings, Control Theory and Applications, Vol.144, No.6, November 1997, 1997, 537-544.
  5. Ashitey Trebi-Ollennu and B. A. White, "A Robust Nonlinear Control Design for Remotely Operated Vehicle Depth Control Systems," Transactions of the Institute of Measurement and Control (UK), Vol. 19 No.3, 1997, 1997, 119-125.
  6. Ashitey Trebi-Ollennu and B. A. White, "Multi-objective Fuzzy Genetic Algorithm Optimisation Approach to Non-linear Control System Design," IEE Proceedings, Control Theory and Applications, Vol.144 No. 2, 1997, 137  142.
  7. Ashitey Trebi-Ollennu, B. A. Stacey, and B. A. White, "A Multivariable Decoupling Design of an ROV Depth Control System, A Direct Adaptive Fuzzy SMC Approach," Transactions of the ASME, Journal of Dynamic Systems, Measurement, and Control, Vol. 119, No. 1 March, 1997, 89 -94.
  8. Ashitey Trebi-Ollennu and B. A. White, "Non-linear Robust Control Designs for a Remotely Operated Underwater Vehicle Depth Control System," IMechE Part I: Journal of Systems and Control Engineering Volume 210, 1996, 201-214.

Mission Operations:
  1. Edward Tunstel, Mark Maimone, Ashitey Trebi-Ollennu, Jeng Yen, Rich Petras, Reg Willson, "Mars Exploration Rover Mobility and Robotic Arm Operational Performance," 2005 IEEE International Conference on Systems, Man, and Cybernetics, October 10-12, 2005, Waikoloa Hilton Village, The Big Island, Hawaii, USA, 2005.
  2. 3. Jeffrey J. Biesiadecki, Eric T. Baumgartner, Robert G. Bonitz, Brian K. Cooper, Frank R. Hartman, P. Christopher Leger, Mark W. Maimone, Scott A. Maxwell, Ashitey Trebi-Ollennu, Edward W. Tunstel, John R. Wright, "Mars Exploration Rover Surface Operations: Driving Opportunity at at Meridiani Planum," 2005 IEEE International Conference on Systems, Man, and Cybernetics, October 10-12, 2005, Waikoloa Hilton Village, The Big Island, Hawaii, USA, 2005.
  3. Chris Leger, Ashitey Trebi-Ollennu, John Wright, Scott Maxwell, Bob Bonitz, Jeff Biesiadecki, Frank Hartman, Brian Cooper, Eric Baumgartner, Mark W. Maimone, "Mars Exploration Rover Surface Operations: Driving Spirit at Gusev Crater," 2005 IEEE International Conference on Systems, Man, and Cybernetics, October 10-12, 2005, Waikoloa Hilton Village, The Big Island, Hawaii, USA, 2005.
  4. John Wright, Ashitey Trebi-Ollennu, Frank Hartman, Brian Cooper, Scott Maxwell, Jeng Yen, Jack Morrison, "Terrain Modelling for In-situ Activity Planning and Rehearsal for the Mars Exploration Rovers," 2005 IEEE International Conference on Systems, Man, and Cybernetics, October 10-12, 2005, Waikoloa Hilton Village, The Big Island, Hawaii, USA, 2005.
  5. Edward Tunstel, Ayanna Howard, Mark Maimone and Ashitey Trebi-Ollennu, "Mars Exploration Rover Baseline for Flight Rover Autonomy Technology Assessment," in Proc. 8th Int'l Symp. Artificial Intelligence, Robotics and Automation in Space (ISAIRAS-05), B. Battrick, ed., ESA SP-603, 2005.
  6. J. Wright, A. Trebi-Ollennu, F. Hartman, B. Cooper, S. Maxwell, J. Yen, J. Morrison, "Driving a Rover on Mars Using the Rover Sequencing and Visualization Program," International Conference on Instrumentation, Control and Information Technology, August 8-10, 2005, Okayama University, Okayama, JAPAN, 2005.
  7. James Randolph, Jeffrey Plescia, Yoseph Bar-Cohen, Paul Bartlett, Donald Bickler, Roger Carlson, Gregory Carr, Michael Fong, Henrik Gronroos, P.J. Guske, Mark Herring, Hamid Javadi, David W. Johnson, Timothy Larson, Kalana Malaviarachchi, Stewart Sherrit, Scot Stride, Ashitey Trebi-Ollennu, Richard Warwick, "Urey: To Measure the Absolute Age of Mars," IEEE Aerospace Conference,2003, 2003, 2-723  2-732.
  8. Ashitey Trebi-Ollennu, Eric T. Baumgartner, Chris Leger, and Robert G. Bonitz, "Robotic Arm In-Situ Operations for the Mars Exploration Rovers Surface Mission," 2005 IEEE International Conference on Systems, Man, and Cybernetics, October 10-12, 2005, Waikoloa Hilton Village, The Big Island, Hawaii, USA, .
  9. Joel Krajewski, Kevin Burke, Chris Lewicki, Daniel Limonadi, Ashitey Trebi-Ollennu, and Chris Voorhees, "MER: From Landing to Six Wheels on Mars...Twice," 2005 IEEE International Conference on Systems, Man, and Cybernetics, October 10-12, 2005, Waikoloa Hilton Village, The Big Island, Hawaii, USA, .

Mission Planning:
  1. S. Stancliff, J. Dolan, and A. Trebi-Ollennu, "Planning to Fail: Mission Design for Modular Repairable Robot Teams," in Proc. 8th Int'l Symp. Artificial Intelligence, Robotics and Automation in Space (ISAIRAS-05), B. Battrick, ed., ESA SP-603, 2005.
  2. S. Stancliff, J. Dolan, and A. Trebi-Ollennu, "Mission Reliability Estimation for Repairable Robot Teams," in Proc. 1st Int'l Workshop on Multi-Agent Robotic Systems - MARS 2005, Peter Sapaty and Joaquim Filipe, eds., INSTICC Press, Portugal, 2005, 144-151.

Multi-Robot Systems:
  1. T. Huntsberger, A. Trebi-Ollennu, H. Aghazarian, P. S. Schenker, , P. Pirjanian, H. D. Nayar, "Distributed Control of Multi-Robot Systems Engaged in Tightly Coupled Tasks," Autonomous Robots, 2004, 15,1-13.
  2. T. Huntsberger, P. Pirjanian, A. Trebi-Ollennu, H. D. Nayar, H. Aghazarian, A. Ganino, M. Garrett, S. S. Joshi, P. S. Schenker, "CAMPOUT: A Control Architecture for Tightly Coupled Coordination of Multi-Robot Systems for Planetary Surface Exploration," IEEE Trans. Systems, Man & Cybernetics, Special Issue on Collective Intelligence, 2003.
  3. Ashitey Trebi-Ollennu, Terry Huntsberger, Brett Kennedy, John M. Dolan and Pradeep K. Khosla, "Autonomous Repair for Distributed Space Robotics," Proceedings of Robosphere 2002 Workshop, Self sustaining Robotic Ecologies, NASA Ames Research Center, Nov. 14 15 2002, 2002, 75 80.
  4. Ashitey Trebi-Ollennu, Hari Das, Hrand Aghazarian, Anthony Ganino, Paolo Pirjanian, Terry Huntsberger, and Paul Schenker, "Mars Rover Pair Cooperatively Transporting a Long Payload," Robotics and Automation Proceedings. ICRA 2002. IEEE International Conference on , Volume: 3 , 2002, 2002, 3136 3141.
  5. S. Oliver, M. Saptharishi, J. Dolan, A. Trebi-Ollennu, and P. Khosla, "Multi-robot Path Planning by Predicting Structure in a Dynamic Environment," Proceedings of the First IFAC Conference on Mechatronic Systems, Vol. II, September, 2000, 2002, 593-598.
  6. Mahesh Saptharishi, C. Spence Oliver, Christopher P. Diehl, Kiran S. Bhat, John M. Dolan, Ashitey Trebi-Ollennu and Pradeep K. Khosla, "Distributed Surveillance and Reconnaissance Using Multiple Autonomous ATVs: CyberScout," IEEE Transactions on Robotics and Automation, Volume: 18 Issue: 5, Oct 2002, 2002, 826 -836.
  7. 25. P. S. Schenker, P. Pirjanian, B. Balaram, K. S. Ali, A. Trebi-Ollennu, T. L. Huntsberger, H. Aghazarian, B. A. Kennedy and E. T. Baumgartner, Jet Propulsion Laboratory; K. Iagnemma, A. Rzepniewski, and S. Dubowsky, P. C. Leger and D. Apostolopoulos,G. T. McKee, "Reconfigurable robots for all terrain exploration," in Proc. SPIE Vol. 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, Boston, MA, Nov. 5-8, 2000, 2000.
  8. P. Pirjanian, T.L. Huntsberger, A. Trebi-Ollennu, H. Aghazarian, H. Das, S. Joshi, and P.S. Schenker, "CAMPOUT: A control architecture for multi-robot planetary outposts," Proc. SPIE Symposium on Sensor Fusion and Decentralized Control in Robotic Systems III, Vol. 4196, Boston, MA, Nov. 2000, 2000, . 221-230.
  9. P.S. Schenker, T.L. Huntsberger, P. Pirjanian, A. Trebi-Ollennu, H. Das, S. Joshi, H. Aghazarian, A.J. Ganino, B.A. Kennedy, and M.S. Garrett, "Robot work crews for planetary outposts: Close cooperation and coordination of multiple robots," Proc. SPIE Symposium on Sensor Fusion and Decentralized Control in Robotic Systems III, Vol. 4196, Boston, MA, Nov. 5-8, 2000, 2000, 210-220.
  10. A. Soto, M. Saptharishi, A. Trebi-Ollennu, J. Dolan, and P. Khosla, "Cyber-ATVs: Dynamic and Distributed Reconnaissance and Surveillance Using All-Terrain UGVs," Proceedings of the International Conference on Field and Service Robotics, August, 1999, 1999, 329-334.
  11. John M. Dolan, A. Trebi-Ollennu, Alvaro Soto and Pradeep Khosla, "Distributed Tactical Surveillance with ATVs," Proceedings of SPIE, Vol. 3693, AeroSense, Orlando, FL, 1999.
  12. Ashitey Trebi-Ollennu, Hari Das Nayar, Antony Ganino, Terry Huntsberger, and Paul Schenker, "Robot Work Crew as Construction Precursors for a Manned Mans Habitat," Proceedings of Robosphere 2002 Workshop, Self sustaining Robotic Ecologies, NASA Ames Research Center, Nov. 14 15 2002, 14 15, 2002.

NASA Technical Report:
  1. Ashitey Trebi-Ollennu, Terry Huntsberger, Yang Cheng, E. T. Baumgartner, and Brett Kennedy, "Design and Analysis of a Sun Sensor for Planetary Rover Absolute Heading Detection," National Aeronautics and Space Administration (NASA), Jet Propulsion Laboratory, California Institute of Technology, NASA CR-2001-210800, 2001, 1-30.

Planetary Robots:
  1. Tunstel, E., T. Huntsberger, H. Aghazarian, P. Backes, E. Baumgartner, Y, Cheng, M. Garrett, B. Kennedy, C. Leger, L. Magnone, J. Norris, M. Powell, A. Trebi-Ollennu and P. Schenker, "FIDO Rover Field Trials as Rehearsal for the 2003 Mars Exploration Rover Mission," 9th Intl. Symp. on Robotics & Applications, 5th World Automation Congress, Orlando, FL, Volume: 14, June, 2002, 320 -327.
  2. Huntsberger, T., H. Aghazarian, Y. Cheng, E.T. Baumgartner, E. Tunstel, C. Leger, A. Trebi-Ollennu, and P.S. Schenker, "Rover Autonomy for Long Range Navigation and Science Data Acquisition on Planetary Surfaces," Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on , Volume: 3, 2002, 3161 3168.
  3. Tunstel, E., T. Huntsberger, A. Trebi-Ollennu, H. Aghazarian, M. Garrett, C. Leger, B. Kennedy, E. Baumgartner and P. Schenker, "FIDO Rover System Enhancements for High-Fidelity Mission Simulations," 7th International Conference on Intelligent Autonomous Systems, Marina del Rey, CA, March., 2002.
  4. 20. P. S. Schenker, E. T. Baumgartner, L. I. Dorsky, P. G. Backes, H. Aghazarian, J. S. Norris, T. L. Huntsberger, Y. Cheng, A. Trebi-Ollennu, M. S. Garrett, B. A. Kennedy and A. J. Ganino,R. E. Arvidson,S. W. Squyres, "FIDO: a Field Integrated Design & Operations rover for Mars surface exploration," Proc. 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS-'01), Montreal, Canada, June 18-21, 2001.
  5. E. Baumgartner, H. Aghazarian, and A. Trebi-Ollennu, "Rover Localization Results for the FIDO Rover," SPIE Photinics East Conference, October, 2001.
  6. E.T. Baumgartner, H. Aghazarian, A. Trebi-Ollennu, T.L. Huntsberger, and M.S. Garrett, "State estimation and vehicle localization for the FIDO rover," Proc. SPIE Symposium on Sensor Fusion and Decentralized Control in Robotic Systems III, Vol. 4196, Boston, MA, Nov., 2000, 329-336.

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