Publications

Journals

D. Hanley, K. Dhaliwal, M. Khadem, "On the Tradeoff Between Spatial Resolution and High Curvature Bending in FBG-based Shape Sensing." IEEE Sensors Journal, 23(23): 29003-29010, 2023. [doi][pdf]

B. Thamo, D. Hanley, K. Dhaliwal, M. Khadem, "Data-Driven Steering of Concentric Tube Robots in Unknown Environments via Dynamic Mode Decomposition." IEEE Robotics and Automation Letters, 8(2): 856-863, 2023. [doi][pdf]

J. Lee, D. Hanley, T. Bretl, "Extrinsic Calibration of Multiple Inertial Sensors from Arbitrary Trajectories." IEEE Robotics and Automation Letters, 7(2): 2055-2062, 2022. [doi]

D. Hanley, A. S. Dantas de Oliveira, X. Zhang, D. H. Kim, Y. Wei, and T. Bretl, “The Impact of Height on Indoor Positioning with Magnetic Fields.” IEEE Transactions on Instrumentation and Measurement, 70:1-19, 2021. [doi][pdf]

Conferences

S-Y. Choi, H. Dinkel, D. Hanley, T. Bretl, “Sensor Fusion for Distributed Inertial Measurement Units” in AAS/AIAA Space Flight Mechanics Meeting, Kaua’i, HI, Jan. 2025. [accepted]

J. Lee, D. Hanley, T. Bretl, "Efficient Extrinsic Self-Calibration of Multiple IMUs using Measurement Subset Selection" in IEEE/RSJ Internatlonal Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, Oct. 2024. [pdf]

D. Hanley, K. Dhaliwal, and M. Khadem. "Towards Unified Shape and Biosensing: Multiplexing Tilted and Standard Fiber Bragg Gratings." in International Symposium on Medical Robotics, Atlanta, GA, Jun. 2024. [pdf]

A. Augustyniak, D. Hanley, T. Bretl, N. J. Hejmanowski, and D. L. Carroll, “A Preliminary Framework and Feasibility Study for Spacecraft Disturbance Source Detection and Isolation with Distributed Inertial Sensors.” in AIAA SciTech, Nashville, TN, Jan. 2021. [doi]

D. Hanley, X. Zhang, A.S. Dantas de Oliveira, D. Steinberg, and T. Bretl, “Experimental Evaluation of the Planar Assumption in Magnetic Positioning,” in International Conference of Indoor Positioning and Indoor Navigation (IPIN), Nantes, France, Sep. 2018. [doi][pdf]

D. Hanley, A. B. Faustino, S.D. Zelman, D.A. Degenhardt, and T. Bretl, “MagPIE: A Dataset for Positioning with Magnetic Anomalies,” in International Conference of Indoor Positioning and Indoor Navigation (IPIN), Sapporo, Japan, Sep. 2017. [doi]

D. Hanley and T. Bretl, “An Improved Model-Based Observer for Inertial Navigation for Quadrotors with Low Cost IMUs,” in AIAA Guidance, Navigation, and Control Conference, San Diego, CA, Jan. 2016. [doi][pdf]

J. DeGol, D. Hanley, N. Aghasadeghi, and T. Bretl, “A passive mechanism for relocating payloads with a quadrotor,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, Sep. 2015. [doi][pdf]

Theses

D. Hanley, "Magnetic-Field-Based Navigation: Empirical Evidence of Robust Methods Over Contemporary Methods," for Doctor of Philosophy in Electrical and Computer Engineering, University of Illinois at Urbana-Champaign, 2022. [doi][pdf]

D. Hanley, "An Improved Model-Based Observer for Inertial Navigation for Quadrotors with Low Cost IMUs," for Master of Science in Aerospace Engineering, University of Illinois at Urbana-Champaign, 2015. [doi][pdf]