Preprint archive

From MurrayWiki
(Redirected from Papers)
Jump to: navigation, search

This page contains a list of all papers, reports and preprints available on this wiki. Preprints are listed in reverse chronological order (more or less).

This is a searchable database.

2017b_dm17-cdc

Decomposing GR(1) Games with Singleton Liveness Guarantees for Efficient Synthesis
Sumanth Dathathri and Richard M. Murray
Submitted, 2017 Conference on Decision and Control (CDC)


2017b_ren+17-cdc

Population regulation in microbial consortia using dual feedback control
Xinying Ren, Ania-Ariadna Baetica, Anandh Swaminathan, Richard M. Murray
Submitted, 2017 Conference on Decision and Control (CDC)


2017b_fm17-cdc

Hiding variables when decomposing specifications into GR(1) contracts
Ioannis Filippidis and Richard M. Murray
Submitted, 2017 Conference on Decision and Control (CDC)


2017a_phm17-seed

Engineering pulsatile communication in bacterial consortia
James Parkin, Victoria Hsiao, Richard M Murray
Submitted, 2017 Synthetic Biology: Engineering, Evolution and Design (SEED) Conference


2017a_sm17-seed

Repressing Integrase attachment site operation with CRISPR-Cas9 in E. coli
Andrey Shur and Richard M Murray
Submitted, 2017 Synthetic Engineering: Engineering, Evolution and Design (SEED) Conference


2017a_shm17-seed

Quantitative Modeling of Integrase Dynamics Using a Novel Python Toolbox for Parameter Inference in Synthetic Biology
Anandh Swaminathan, Victoria Hsiao, Richard M Murray
Submitted, 2017 Synthetic Biology: Engineering, Evolution, and Design (SEED) Conference


2016k_gm16-cdc

Quantifying Resource Competition and its Effects in the TX-TL System
Andras Gyorgy and Richard M. Murray
2016 Conference on Decision and Control (CDC)


2016i_yeu+17-biorxiv

The Effect of Compositional Context on Synthetic Gene Networks
Enoch Yeung, Aaron J Dy, Kyle B Martin, Andrew H Ng, Domitilla Del Vecchio, James L Beck, James J. Collins, Richard M Murray
Submitted, Cell Systems (bioRxiv preprint)


2016h_ari+17-hscc

Fast Automatic Verification of Large-Scale Systems with Lookup Tables
Nikos Arichega, Sumanth Dathathri, Shashank Vernekar, Sicun Gao, Shin’Ichi Shiraishi, Richard M. Murray
Submitted, 2017 ACM International Conference on Hybrid Systems: Computation and Control (HSCC)


2016g_dlm17-iccps

Enhancing tolerance to unexpected jumps in GR(1) games
Sumanth Dathathri, Scott C. Livingston and Richard M. Murray
2017 Int'l Conference on Cyberphysical Systems (ICCPS)


2016f_gom17-acc

Connected Cruise Control Design Using Probabilistic Model Checking
Jin I. Ge, Gabor Orosz and Richard M. Murray
Submitted, 2017 American Control Conference (ACC)


2016e_fil+16-msc

Control design for hybrid systems with TuLiP: The temporal logic planning toolbox
Ioannis Filippidis, Sumanth Dathathri, Scott C. Livingston, Necmiye Ozay, Richard M. Murray
2016 IEEE Conference on Control Applications (CCA)


2016d_hsi+16-msb

A population-based temporal logic gate for timing and recording chemical events
Victoria Hsiao, Yutaka Hori, Paul W.K. Rothemund, Richard M. Murray
Molecular Systems Biology, 12: 869, 2016


2016c_ccom16-ssci

Synthesis of Control Protocols for Switched Electrical Power Systems for Commercial Applications with Safety Specifications
Benson Christalin, Michele Colledanchise, Petter Ogren, Richard M. Murray
2016 IEEE Symposium on Computational Intelligence in Control and Automation


2016b_hcm16-seed

Design and application of stationary phase combinatorial promoters
Victoria Hsiao, Aileen Cheng and Richard M. Murray
Submitted, 2016 Synthetic Biology: Engineering, Evolution and Design (SEED) Conference


2016b_ahhm16-seed

The role of single occupancy effects on integrase dynamics in a cell-free system
Georgios Artavanis, Victoria Hsiao, Clarmyra A. Hayes, Richard M. Murray
2016 Synthetic Biology: Engineering, Evolution and Design (SEED) Conference (17 May 2016)


2016b_swa+16-seed

Stochastic Gene Expression in Single Gene Oscillator Variants
Anandh Swaminathan, Marcella M. Gomez, David L. Shis,Matthew R. Bennett, and Richard M. Murray
2016 Synthetic Biology: Engineering, Evolution and Design (SEED) Conference


2016b_nwgm16-seed

Design Space Exploration of the Violacein Pathway in Escherichia coli Based Cell-Free System
Phuc H.B. Nguyen, Yong Wu, Shaobin Guo, Richard M Murray
Submitted, 2016 Synthetic Biology: Engineering, Evolution and Design (SEED) Conference


2016a_ram+16-tac

Model Predictive Control for Signal Temporal Logic Specifications
Vasumathi Raman, Alexandre Donze ́, Mehdi Maasoumy, Richard M. Murray, Alberto Sangiovanni-Vincentelli and Sanjit A. Seshia
Submitted, IEEE T. Automatic Control (2 Jan 2016)


2015n_far+16-ecc

Model Predictive Control for an Uncertain Smart Thermal Grid
Samira S. Farahani, Zofia Lukszo, Tamas Keviczky, Bart De Schutter, Richard M. Murray
2016 European Control Conference (ECC)


2015m_dlrm16-ieeeaero

Interfacing TuLiP with the JPL Statechart Autocoder: Initial progress toward synthesis of flight software from formal specifications
Sumanth Dathathri, Scott C. Livingston, Leonard J. Reder, and Richard M. Murray
IEEE Aerospace Conference, 2016


2015l_sfzm15-jrsi

An analytical approach to bistable biological circuit discrimination using real algebraic geometry
Dan Siegal-Gaskins, Elisa Franco, Tiffany Zhou, Richard M. Murray
J. R. Soc. Interface 2015 12 20150288; DOI: 10.1098/rsif.2015.0288.


2015k_dlm16-cdc

Identifying and exploiting tolerance to unexpected jumps in synthesized strategies for GR(1) specifications
Sumanth Dathathri, Scott C. Livingston and Richard M. Murray
Submitted, 2016 Conference on Decision and Control (CDC)


2015j_mbsm16-wqbio

Finding stationary solutions to the chemical master equation by gluing state spaces at one or two states recursively
Xianglin Meng, Ania A. Baetica, Vipul Singhal, and Richard M. Murray
Presented, 2016 Winter q-Bio Conference


2015j_hay+16-wqbio

Rapid in vitro engineering of 16 two-input logic gates
Clarmyra A. Hayes, Emmanuel L.C. de los Santos, Enoch Yeung, Sean R. Sanchez, Seung Y. Lee, and Richard M. Murray
Presented, 2016 Winter q-Bio


2015j_hhrm16-wqbio

Use of population-level cell-state switching for recording transient inducer pulses
Victoria Hsiao, Yutaka Hori, Paul W.K. Rothemund, Richard M. Murray
Presented, 2016 Winter q-Bio (5 Nov 2015)


2015i_nie15-elife

Rapid cell-free forward engineering of novel genetic ring oscillators
Henrike Niederholtmeyer, Zachary Sun, Yutaka Hori, Enoch Yeung, Amanda Verpoorte, Richard M Murray and Sebastian J Maerkl
eLife 2015;10.7554/eLife.09771


2015h_sm16-acc

Linear System Identifiability from Distributional and Time Series Data
Anandh Swaminathan and Richard M. Murray
2016 American Control Conference (ACC)


2015h_fm16-acc

Symbolic construction of GR(1) contracts for systems with full information
Ioannis Filippidis and Richard M. Murray
2016 American Control Conference (ACC)


2015g_gmb15-siads

The effects of time-varying temperature on delays in genetic networks
Marcella M. Gomez, Richard M. Murray and Matthew R. Bennett
Submitted, SIAM J. Applied Dynamical Systems (SIADS)


2015f_mm15-aiaa

Application of Correct-by-Construction Principles for a Resilient Risk-Aware Architecture
Catharine L. McGhan and Richard M. Murray
AIAA Space 2015 Conference and Exposition


2015e_tak+15-methods

Characterizing and Prototyping Genetic Networks with Cell-Free Transcription-Translation Reactions
Melissa K Takahashi, Clarmyra A. Hayes, James Chappell, Zachary Z. Sun, Richard M Murray, Vincent Noireaux, Julius B. Lucks
Methods, 15(85):60-72, 2015


2015d_bygm15-cdc

A stochastic framework for the design of transient and steady state behavior of biochemical reaction networks
Ania A. Baetica, Ye Yuan, Jorge Goncalves and Richard M. Murray
Submitted, 2015 Conference on Decision and Control (CDC)


2015d_ykgm15-cdc

Global Dynamical Structure Reconstruction from Reconstructed Dynamical Structure Subnetworks: Applications to Biochemical Reaction Networks
Enoch Yeung, Jongmin Kim, Jorge Gonc ̧alves, and Richard M. Murray
Submitted, 2015 Conference on Decision and Control (CDC)


2015d_sm15-cdc

Quantitative Performance Bounds in Biomolecular Circuits due to Temperature Uncertainty
Shaunak Sen and Richard M. Murray
Submitted, 2015 Conference on Decision and Control (CDC)


2015d_pm15-cdc

Control System Analysis on Symmetric Cones
Ivan Papusha and Richard M. Murray
Submitted, 2015 Conference on Decision and Control (CDC)


2015d_hmm15-cdc

Synthesis of Distributed Longitudinal Control 1 Protocols for a Platoon of Autonomous Vehicles
Duo Han, Yilin Mo, Richard M. Murray
Submitted, 2015 Conference on Decision and Control (CDC)


2015d_hm15-cdc

Engineering Principles of Synthetic Biochemical Oscillators with Negative Cyclic Feedback
Yutaka Hori and Richard M. Murray
Submitted, 2015 Conference on Decision and Control (CDC)


2015c_fmh15-synt

Synthesis from multi-paradigm specifications
Ioannis Filippidis, Richard M. Murray and Gerard J. Holzmann
Submitted, 2015 Workshop on Synthesis (SYNT)


2015b_wu+15-seed

Prototyping 1,4-butanediol (BDO) biosynthesis pathway in a cell-free transcription-translation (TX-TL) system
Yong Y Wu, Stephanie Culler, Julia Khandurina, Stephen Van Dien, Richard M Murray
Presented at Synthetic Biology: Engineering, Evolution and Design (SEED), 10-13 June 2015


2015b_sssm15-seed

Design of a Toolbox of RNA Thermometers
Rohit Satija, Shaunak Sen, Dan Siegal-Gaskins, Richard M. Murray
Presented at Synthetic Biology: Engineering, Evolution and Design (SEED), 10-13 June 2015


2015b_smmm15-seed

Engineering Transcriptional Regulator Effector Specificity using Computational Design and In Vitro Rapid Prototyping: Developing a Vanillin Sensor
Emmanuel Lorenzo Cornejo de los Santos, Joseph T Meyerowitz, Stephen L Mayo, Richard M Murray
ACS Synthetic Biology, 5(4):287–295, 2016.


2015a_mm15-ccc

Multi-dimensional state estimation in adversarial environment
Yilin Mo and Richard M. Murray
Submitted, 2015 Chinese Control Conference (CCC)


2015a_af15-ms

Rapid prototyping of biomolecular circuits through module characterization in cell-free expression systems
Anton Frisk
Masters Thesis, Lund University


2014n_frm15-adhs

Robust Model Predictive Control for Signal Temporal Logic Synthesis
Samira S. Farahani, Vasumathi Raman, and Richard M. Murray
2015 IFAC Conference on Analysis and Design of Hybrid Systems (ADHS)


2014m_hhm15-wqbio

Characterization of minimum inducer separation time for a two-input integrase-based event detector
Victoria Hsiao, Yutaka Hori, and Richard M Murray
Presented, 2015 Winter q-bio Conference (5 Nov 2014)


2014m_ghm15-wqbio

Systematic Design and Implementation of a Novel Synthetic Fold-Change Detector Biocircuit In Vivo
Shaobin Guo, Yutaka Hori, and Richard M Murray
Submitted, 2015 Winter q-bio Conference (5 Nov 2014)


2014l_mcg+15-ieeeaero

A Risk-Aware Architecture for Resilient Spacecraft Operations
Catharine L. R. McGhan, Richard M. Murray, Romain Serra, Michel D. Ingham, Masahiro Ono, Tara Estlin and Brian C. Williams
Submitted, 2015 IEEE Aerospace Conference


2014k_hm15-ecc

A State-space Realization Approach to Set Identification of Biochemical Kinetic Parameters
Yutaka Hori and Richard M. Murray
2015 European Control Conference (ECC)


2014j_mmm15-hscc

An Iterative Abstraction Algorithm for Reactive Correct-by-Construction Controller Synthesis
Robert Mattila, Yilin Mo and Richard M. Murray
Submitted, 2015 International Conference on Hybrid Systems: Computation and Control (HSCC)


2014j_rfwm15-hscc

Online Horizon Selection in Receding Horizon Temporal Logic Planning
Vasumathi Raman, Mattias Fält, Tichakorn Wongpiromsarn, Richard M. Murray
Submitted, 2015 International Conference on Hybrid Systems: Computation and Control (HSCC)


2014j_ram+15-hscc

Reactive Synthesis from Signal Temporal Logic Specifications
Vasumathi Raman, Alexandre Donze, Dorsa Sadigh, Richard M. Murray and Sanjit A. Seshia
2015 International Conference on Hybrid Systems: Computation and Control (HSCC)


2014j_lwm15-hscc

Cross-entropy Temporal Logic Motion Planning
Scott C. Livingston, Eric M. Wolff, Richard M. Murray
Submitted, 2015 International Conference on Hybrid Systems: Computation and Control (HSCC)


2014i_frm15-acc

Variable Elimination for Scalable Receding Horizon Temporal Logic Planning
Mattias Fält, Vasumathi Raman, Richard M. Murray
Submitted, 2015 American Control Conference (ACC)


2014h_kqym14-biorxiv

Synthetic logic circuits using RNA aptamer against T7 RNA polymerase
Jongmin Kim, Juan F Quijano, Enoch Yeung, Richard M Murray
bioRxiv, 4 Sep 2014


2014g_smmm14-seed

Engineering Transcriptional Regulator Effector Specificity Through Rational Design and Rapid Prototyping
Emmanuel L.C. de los Santos, Joseph T. Meyerowitz, Stephen L. Mayo, and Richard M. Murray
Presented at Synthetic Biology: Engineering, Evolution and Design (SEED), 14-18 July 2014


2014g_sksm14-clpxp

Protein degradation in a TX-TL cell-free expression system using ClpXP protease
Zachary Z. Sun, Jongmin Kim, Vipul Singhal, Richard M. Murray
Technical Report, 7 July 2014


2014f_hwm14-iros

A Compositional Approach to Stochastic Optimal Control with Co-safe Temporal Logic Specifications
Matanya B. Horowitz, Eric M. Wolff, Richard M. Murray
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)


2014e_kksm14-nar

Synthetic circuit for exact adaptation and fold-change detection
Jongmin Kim, Ishan Khetarpal, Shaunak Sen and Richard M. Murray
Nucleic Acids Research, 42(9):6078-6089, 2014


2014d_fm14-cdc

Strategy-Driven Partitioning into Switching Modes for Piecewise-Affine Systems with Continuous Environments
Ioannis Filippidis and Richard M. Murray
Submitted, 2014 Conference on Decision and Control (CDC)


2014d_skm14-cdc

Designing Robustness to Temperature in a Feedforward Loop Circuit
Shaunak Sen, Jongmin Kim, Richard M. Murray
2014 Conference on Decision and Control (CDC)


2014d_ram+14-cdc

Model Predictive Control with Signal Temporal Logic Specifications
Vasumathi Raman, Alexandre Donze', Mehdi Maasoumy, Richard M. Murray, Alberto Sangiovanni-Vincentelli and Sanjit A. Seshia
2014 Conference on Decision and Control (CDC)


2014d_mm14-cdc

Privacy Preserving Average Consensus
Yilin Mo and Richard M. Murray
2014 Conference on Decision and Control (CDC)


2014d_lm+14-cdc

Hot-swapping robot task goals in reactive formal synthesis
Scott C. Livingston and Richard M. Murray
Submitted, 2014 Conference on Decision and Control (CDC)


2014d_jmm14-cdc

Synthesizing Combination Therapies for Evolutionary Dynamics of Disease for Nonlinear Pharmacodynamics
Vanessa Jonsson, Nikolai Matni and Richard M. Murray
2014 Conference on Decision and Control (CDC)


2014d_yeu+14-cdc

Modeling the Effects of Compositional Context on Promoter Activity in an E. Coli Extract based Transcription-Translation System
Enoch Yeung, Andrew Ng, Jongmin Kim, Zachary Z. Sun, and Richard M. Murray
2014 Conference on Decision and Control (CDC)


2014c_sm14-seed

Negative Feedback Facilitates Temperature Robustness in Biomolecular Circuit Dynamics
Shaunak Sen and Richard M. Murray
Submitted, Synthetic Biology: Engineering, Evolution and Design (SEED)


2014b_nuz+14-ieee

A Contract-Based Methodology for Aircraft Electric Power System Design
P. Nuzzo, H. Xu, N. Ozay, J. B. Finn, A. L. Sangiovanni-Vincentelli, R. M. Murray, A. Donze, S. A. Seshia
IEEE Access, 2014. DOI 10.1109/ACCESS.2013.2295764


2014a_vzme14-biorxiv

Population diversification in a yeast metabolic program promotes anticipation of environmental shifts
Ophelia S Venturelli, Ignacio Zuleta, Richard M Murray, Hana El-Samad
BioRxiv, 21 Feb 2014


2013r_plm13-emsoft

Pre-orders for Reasoning about Stability Properties with respect to Input of Hybrid Systems
Pavithra Prabhakar, Jun Liu, Richard M. Murray
International Conference on Embedded Software (EMSOFT)


2013q_cm13-ijrr

Bootstrapping bilinear models of simple vehicles
Andrea Censi and Richard M. Murray
Submitted, International Journal of Robotics Research (IJRR), Dec 2013


2013p_han+13-siopt

Convex Optimal Uncertainty Quantification
Shuo Han, Molei Tao, Ufuk Topcu, Houman Owhadi, and Richard M. Murray
Submitted, SIAM Journal on Optimization (28 Nov 2013)


2013o_s-g+13-biorxiv

Resource usage and gene circuit performance characterization in a cell-free ‘breadboard’
Dan Siegal-Gaskins, Zoltan A. Tuza, Jongmin Kim, Vincent Noireaux, Richard M. Murray
ACS Synthetic Biology, 3(6):416–425, 2014


2013n_hsi+15-ACS

Design and implementation of a synthetic biomolecular concentration tracker
Victoria Hsiao, Emmanuel LC de los Santos, Weston R Whitaker, John E Dueber, Richard M Murray
ACS Synthetic Biology, 4(2):150–161, 2015


2013m_xtm13-tcns

Specification and Synthesis of Reactive Protocols for Aircraft Electric Power Distribution
Huan Xu, Ufuk Topcu, and Richard M. Murray
Submitted, IEEE T. Control of Networked Systems (14 Nov 2013)


2013l_gbm14-wqbio

Analysis of Delays in Transcriptional Signaling Networks with Time-Varying Temperature-Dependent Rate Coefficients
Marcella M. Gomez, Matthew R. Bennett and Richard M. Murray
Submitted, 2014 Winter q-bio Conference (5 Nov 2013)


2013l_ygm14-wqbio

System identification of phosophorylation based insulator in a cell-free in vitro transcription-translation system
Enoch Yeung, Shaobin Guo, Richard M. Murray
Submitted, 2014 Winter q-bio Conference (5 Nov 2013)


2013l_guo+14-wqbio

Implementation And Simulation Of Phosphorylation-Based Insulator In Transcription-Translation Platform
Shaobin Guo, Enoch Yeung, Kayzad Soli Nilgiriwala, Domitilla Del Vecchio, Richard M. Murray
Submitted, 2014 Winter q-bio Conference (5 Nov 2013)


2013k_fgfm13-acs-synbio

Negative autoregulation matches production and demand in synthetic transcriptional networks
Elisa Franco, Giulia Giordano, Per-Ola Forsberg, Richard M. Murray
Submitted, ACS Synthetic Biology (4 Oct 2013)


2013j_gym14-acc

Time-Delayed Feedback Channel Design: Discrete Time H infty Approach
Marcella M. Gomez, Seungil You and Richard M. Murray
Submitted, 2014 American Control Conference (ACC)


2013j_sun+14-acc

Efficient control synthesis for augmented finite transition systems with an application to switching protocols
Fei Sun, Necmiye Ozay, Eric M. Wolff, Jun Liu and Richard M. Murray
Submitted, 2014 American Control Conference (ACC)


2013j_gqom14-acc

Exact Stability Analysis of Discrete-Time Linear Systems with Stochastic Delays
Marcella M. Gomez, Wubing B. Qin, Gabor Orosz and Richard M. Murray
Submitted, 2014 American Control Conference (ACC)


2013j_plm14-acc

Collaborative System Identification via Parameter Consensus
Ivan Papusha, Eugene Lavretsky and Richard M. Murray
2014 American Control Conference (ACC)


2013j_mom14-acc

Synthesis of Correct-by-construction Control Protocols for Hybrid Systems Using Partial State Information
Oscar Mickelin, Necmiye Ozay and Richard M. Murray
Submitted, 2014 American Control Conference (ACC)


2013j_jm14-acc

A Scalable Formulation for Engineering Combination Therapies for Evolutionary Dynamics of Disease
Vanessa Jonsson and Richard M. Murray
Submitted, 2014 American Control Conference (ACC)


2013j_hwm14-acc

A Compositional Approach to Stochastic Optimal Control with Temporal Logic Specifications
Matanya B. Horowitz, Eric M. Wolff, Richard M. Murray
Submitted, 2014 American Control Conference (ACC)


2013i_sun+13-jove

Protocols for Implementing an Escherichia coli Based TX-TL Cell-Free Expression System for Synthetic Biology
Zachary Z. Sun, Clarmyra A. Hayes, Jonghyeon Shin, Filippo Caschera, Richard M. Murray, Vincent Noireaux
Journal of Visualized Experiments (79), e50762, doi:10.3791/50762


2013h_sun+13-acs-synbio

Linear DNA for rapid prototyping of synthetic biological circuits in an Escherichia coli based TX-TL cell-free system
Zachary Z. Sun, Enoch Yeung, Clarmyra A. Hayes, Vincent Noireaux, Richard M. Murray
Submitted, ACS Synthetic Biology, September 2013


2013g_wtm14-icra

Optimization-based Control of Nonlinear Systems with Linear Temporal Logic Specifications
Eric M. Wolff, Ufuk Topcu, and Richard M. Murray
Submitted, 2014 International Conference on Robotics and Automation (ICRA)


2013g_lm14-icra

Moving bounding boxes and incremental synthesis for dynamic obstacles
Scott C. Livingston and Richard M. Murray
Submitted, 2014 International Conference on Robotics and Automation (ICRA)


2013f_rog+13-aiaa

Synthesis and Validation of Control Software For A Vehicular Electric Power Distribution Testbed
Robert Rogersten, Huan Xu, Necmiye Ozay, Ufuk Topcu and Richard M. Murray
Submitted, AIAA J. Aerospace Information Systems (Aug 2013)


2013e_camm13-automatica

A robust model predictive control algorithm augmented with a reactive safety mode
John M. Carson III, Behçet Açıkmeşe, Richard M. Murray, Douglas G. MacMartin
Automatica, 49(5):1251-1260


2013d_wm13-isrr

Optimal Control of Nonlinear Systems with Temporal Logic Specifications
Eric M. Wolff and Richard M. Murray
Submitted, 2013 International Symposium on Robotics Research (ISRR)


2013c_wtm13-iros

Automaton-Guided Controller Synthesis for Nonlinear Systems with Temporal Logic
Eric M. Wolff, Ufuk Topcu, and Richard M. Murray
To appear, 2013 International Conference on Intelligent Robots and Systems (IROS)


2013b_jmm13-cdc

Reverse Engineering Combination Therapies for Evolutionary Dynamics of Disease: An Hinfty Approach
Vanessa Jonsson, Nikolai Matni and Richard M. Murray
2013 Conference on Decison and Control (CDC)


2013b_ykm13-cdc

Resource Competition as a Source of Non-Minimum Phase Behavior in Transcription-Translation Systems
Enoch Yeung, Jongmin Kim, Richard M. Murray
Submitted, 2013 Conference on Decision and Control (CDC)


2013b_ybm13-cdc

Modeling Environmental Disturbances with the Chemical Master Equation
Enoch Yeung, James L. Beck, and Richard M. Murray
Submitted, 2013 Conference on Decision and Control (CDC)


2013b_wtm13-cdc

Optimal Control of Non-deterministic Systems for a Computationally Efficient Fragment of Temporal Logic
Eric M. Wolff, Ufuk Topcu, and Richard M. Murray
2013 Conference on Decison and Control (CDC)


2013b_sm13-cdc

Temperature Dependence of Biomolecular Circuit Designs
Shaunak Sen and Richard M. Murray
Submitted, 2013 Conference on Decison and Control (CDC)


2013b_mxom13-cdc

Dynamic State Estimation in Distributed Aircraft Electric Control Systems via Adaptive Submodularity
Quentin Maillet Huan Xu, Necmiye Ozay and Richard M. Murray
Submitted, 2013 Conference on Decison and Control (CDC)


2012z_wtm12-us

Synthesis of Control Protocols for Autonomous Systems
Tichakorn Wongpiromsarn, Ufuk Topcu and Richard M. Murray
Unmanned Systems, 1(1):21-39 (2013)


2012z_wtm12-arxiv

Synthesis of Reactive Protocols for Vehicle-to-Vehicle Communication
Clemens Wiltsche, Ufuk Topcu, Richard M. Murray
arXiv:1210.2035


2012y_vem12-pnas

Synergistic dual positive feedback loops established by molecular sequestration generate robust bimodal response
Ophelia S. Venturellia, Hana El-Samad and Richard M. Murray
To appear, Proceedings of the National Academy of Science (PNAS)


2012x_gom13-ecc

Stability of Discrete Time Systems with Stochastically Delayed Feedback
Marcella M. Gomez, Gabor Orosz and Richard M. Murray
Submitted, 2013 European Control Conference (ECC)


2012w_xom13-hscc

A Domain-Specific Language for Reactive Control Protocols for Aircraft Electric Power Systems
Huan Xu, Necmiye Ozay and Richard M. Murray
Submitted, Hybrid Systems: Computation and Control (HSCC) 2013


2012v_rog+13-hscc

An Aircraft Electric Power Testbed for Validating Automatically Synthesized Reactive Control Protocols
Robert Rogersten, Huan Xu, Necmiye Ozay, Ufuk Topcu, and Richard M. Murray
Submitted, Hybrid Systems: Computation and Control (HSCC) 2013


2012u_plm13-hscc

Pre-orders for Reasoning about Input-to-State Stability Properties of Hybrid Systems
Pavithra Prabhakar, Jun Liu and Richard M. Murray
Submitted, Hybrid Systems: Computation and Control (HSCC) 2013


2012t_gfm13-acc

Feedback architectures to regulate flux of components in artificial gene networks
Giulia Giordano, Elisa Franco and Richard M. Murray
Submitted, 2013 American Control Conference (ACC)


2012s_olpm13-acc

Computing Augmented Finite Transition Systems to Synthesize Switching Protocols for Polynomial Switched Systems
Necmiye Ozay, Jun Liu, Pavithra Prabhakar, and Richard M. Murray
2013 American Control Conference (ACC)


2012r_han+13-acc

Convex optimal uncertainty quantification: Algorithms and a case study in energy storage placement for power grids
Shuo Han, Ufuk Topcu, Molei Tao, Houman Owhadi, Richard M. Murray
To appear, 2013 American Control Conference (ACC)


2012q_dhm13-acc

Design and Implementation of a Biomolecular Circuit for Tracking Protein Concentration
Emmanuel L. C. de los Santos*, Victoria Hsiao* and Richard M. Murray
Presented, 2013 American Control Conference (ACC)


2012p_snm13-acc

Biomolecular resource utilization in elementary cell-free gene circuits
Dan Siegal-Gaskins, Vincent Noireaux, and Richard M. Murray
2013 American Control Conference (ACC)


2012o_lm13-icra

Just-in-time synthesis for motion planning with temporal logic
Scott C. Livingston and Richard M. Murray
2013 International Conference on Robotics and Automation (ICRA)


2012n_wtm13-icra

Efficient reactive controller synthesis for a fragment of linear temporal logic
Eric M. Wolff, Ufuk Topcu, and Richard M. Murray
Submitted, 2013 International Conference on Robotics and Automation (ICRA)


2012m_lpjm13-icra

Patching task-level robot controllers based on a local μ-calculus formula
Scott C. Livingston, Pavithra Prabhakar, Alex B. Jose and Richard M. Murray
2013 International Conference on Robotics and Automation (ICRA)


2012l_cnm13-icra

Motion planning in observations space with learned diffeomorphism models
Andrea Censi, Adam Nilsson and Richard M. Murray
Submitted, 2013 International Conference on Robotics and Automation (ICRA)


2012k_tmmk13-icra

Robot Navigation in Dense Human Crowds: the Case for Cooperation
Pete Trautman, Jeremy Ma, Richard M. Murray and Andreas Krause
Submitted, 2013 International Conference on Robotics and Automation


2012j_lotm12-tac

Synthesis of Reactive Switching Protocols from Temporal Logic Specifications
Jun Liu, Necmiye Ozay, Ufuk Topcu, and Richard M. Murray
To appear, IEEE T. Automatic Control


2012i_wtm12-rss

Optimal Control with Weighted Average Costs and Temporal Logic Specifications
Eric M. Wolff, Ufuk Topcu and Richard M. Murray
2012 Robotics: Systems and Science (RSS) Conference


2012h_yeu+12-cdc

Quantifying Crosstalk in Biochemical Systems
Enoch Yeung, Jongmin Kim, Ye Yuan, Jorge Goncalves and Richard M. Murray
2012 Conference on Decision and Control (CDC)


2012g_xtm12-cdc

Reactive Protocols for Aircraft Electric Power Distribution
Huan Xu, Ufuk Topcu, and Richard M. Murray
2012 Conference on Decision and Control (CDC)


2012e_sm12-cdc

Performance Metrics for a Biomolecular Step Response
Shaunak Sen and Richard M. Murray
2012 Conference on Decision and Control (CDC)


2012d_plm12-cdc

Bisimulations for Reasoning about Input-to-State Stability Properties of Hybrid Systems
Pavithra Prabhakar, Jun Liu and Richard M. Murray
Submitted, 2012 Conference on Decision and Control (CDC)


2012c_ltom12-cdc

Synthesis of Reactive Control Protocols for Differentially Flat Systems
Jun Liu, Ufuk Topcu, Necmiye Ozay, and Richard M. Murray
2012 Conference on Decision and Control (CDC)


2012b_cltbm12-icra

Towards Formal Synthesis of Reactive Controllers for Dexterous Robotic Manipulation
Sandeep Chinchali, Scott C. Livingston, Ufuk Topcu, Joel W. Burdick, and Richard M. Murray
2012 International Conference on Robotics and Automation (ICRA)


2012a_gm12-ifac

Stabilization of Feedback Systems via Distribution of Delays
Marcella M. Gomez and Richard M. Murray
2012 IFAC Workshop on Time Delay Systems


2011s_bm11-arxiv

Extremal Properties of Complex Networks
Dionysios Barmpoutis and Richard M. Murray


2011r_fra+11-pnas

Timing molecular motion and production with a synthetic transcriptional clock
Elisa Franco, Eike Friedrichs, Jongmin Kim, Ralf Jungmann, Richard Murray, Erik Winfree, Friedrich C. Simmel
In press, Proceedings of the National Academy of Science (PNAS)


2011q_tolm12-hscc

On Synthesizing Robust Discrete Controllers under Modeling Uncertainty
Ufuk Topcu, Necmiye Ozay, Jun Liu, and Richard M. Murray
Submitted, 2012 International Conf on Hybrid Systems: Computation and Control (HSCC)


2011p_lotm12-acc

Synthesis of Switching Protocols from Temporal Logic Specifications
Jun Liu, Necmiye Ozay, Ufuk Topcu and Richard M. Murray
Submitted, 2012 American Control Conference


2011o_notm12-acc

Temporal Logic Control of Switched Affine Systems with an Application in Fuel Balancing
Petter Nilsson, Necmiye Özay, Ufuk Topcu and Richard M. Murray
Submitted, 2012 American Control Conference (ACC)


2011n_oym12-acc

Parametric Delay-margin Maximization of Consensus Network Using Local Control Scheme
Linlin Ou, Ye Yuan and Richard M. Murray
Submitted, 2012 American Control Conference (ACC)


2011m_wtm12-acc

Robust Control of Uncertain Markov Decision Processes with Temporal Logic Specifications
Eric M. Wolff, Ufuk Topcu and Richard M. Murray
Submitted, 2012 American Control Conference (ACC)


2011l_gm12-acc

Delay-Based Approximations of Biological Systems for Analysis and Design
Marcella Gomez and Richard M. Murray
Submitted, 2012 American Control Conference (ACC)


2011k_ylmg12-acc

Decentralised minimal-time dynamic consensus
Ye Yuan, Jun Liu, Richard M. Murray and Jorge Gonçalves
Submitted, 2012 American Control Conference (ACC)


2011j_chm12-icra

Fault detection and isolation from uninterpreted data in robotic sensorimotor cascades
Andrea Censi, Magnus HÃ¥kansson and Richard M. Murray
Submitted, 2012 International Conference on Robotics and Automation (ICRA)


2011i_cm12-icra

Learning diffeomorphism models of robotic sensorimotor cascades
Andrea Censi and Richard M. Murray
Submitted, 2012 International Conference on Robotics and Automation


2011h_lmb12-icra

Backtracking temporal logic synthesis for uncertain environments
Scott C. Livingston, Richard M. Murray and Joel W. Burdick
2012 International Conference on Robotics and Automation (ICRA), submitted


2011g_fm11-robio

A hovercraft robot that uses insect-inspired visual autocorrelation for motion control in a corridor
Sawyer Fuller and Richard M. Murray
2011 IEEE International Conference on Robotics and Biomimetics (ROBIO)


2011e_km11-biocas

Analysis and design of a synthetic transcriptional network for exact adaptation
Jongmin Kim and Richard M. Murray
2011 IEEE Biomedical Circuits and Systems (BioCAS) Conference (submitted)


2011d_cm11-icdl

Uncertain semantics, representation nuisances, and necessary invariance properties of bootstrapping agents
A. Censi and R. M. Murray
IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL/EpiRob)


2011c_otm11-cdc

Distributed Power Allocation for Vehicle Management Systems
Necmiye Ozay, Ufuk Topcu and Richard M. Murray
2011 IEEE Conference on Decision and Control (CDC)


2011b_hm11-iros

Geometric trajectory filtering via numerical conformal mapping
Shuo Han and Richard M Murray
2011 IEEE/RSJ International Conference on Intelligent Robots and

Systems (IROS), Submitted
2011a_cm11-iros

A group-theoretic approach to formalizing bootstrapping problems
Andrea Censi and Richard M. Murray
2011 International Conference on Intelligent Robots and Systems (IROS)


2010p_slm11-acc

Fault-Tolerant Controller Design with Applications in Power Systems and Synthetic Biology
Somayeh Sojoudi, Javad Lavaei and Richard M Murray
2011 American Control Conference (ACC)


2010n_wtoxm11-hscc

TuLiP: A Software Toolbox for Receding Horizon Temporal Logic Planning
Tichakorn Wongpiromsarn, Ufuk Topcu, Necmiye Ozay, Huan Xu, Richard M Murray
International Conference on Hybrid Systems: Computation and Control (HSCC)


2010m_bm10b-arvix

Quantification and Minimization of Crosstalk Sensitivity in Networks
Dionysios Barmpoutis, Richard M Murray
arXiv, q-bio.MN


2010l_otwm11-iccps

Distributed Synthesis of Control Protocols for Smart Camera Networks
Necmiye Ozay, Ufuk Topcu, Tichakorn Wongpiromsarn, Richard M Murray
ACM/IEEE Second International Conference on Cyber-Physical Systems, 2011 (Submitted)


2010k_ttm11-ifac

Decentralized Multi-Agent Optimization via Dual Decomposition
Håkan Terelius, Ufuk Topcu, Richard M Murray
IFAC World Congress, 2011 (Submitted)


2010j_tm11-ifac

Stability and Performance of Non-Homogeneous Multi-Agent Systems on a Graph
Stefania Tonetti, Richard M Murray
IFAC World Congress, 2010 (Submitted)


2010i_ozm10-siads

Dynamics and Stability of Low Reynolds Number Swimming Near a Wall
Yizhar Or, Sebastian Zhang, Richard M Murray
SIAM Journal of Applied Dynamical Systems (SIADS), 10(3):1013–1041


2010h_bm10-arxiv

Networks with the Smallest Average Distance and the Largest Average Clustering
Dionysios Barmpoutis, Richard M Murray
arXiv, q-bio.MN


2010g_cm10-wafr

Bootstrapping bilinear models of robotic sensorimotor cascades
Andrea Censi, Richard M Murray
Workshop on the Algorithmic Foundations of Robotics (WAFR), 2010 (Submitted)


2010f_scjm10-cta

Resource optimisation in a wireless sensor network with guaranteed estimator performance
L Shi, A Capponi, K Johansson, R Murray
IET Control Theory and Applications, 4(5):710-723


2010e_lsm10-tac

Delay-Based Controller Design for Continuous-Time and Hybrid Applications
Javad Lavaei, Somayeh Sojoudi, Richard M Murray
IEEE Transactions on Automatic Control, 2010 (Submitted)


2010d_wtm10-tac

Receding Horizon Temporal Logic Planning
Tichakorn Wongpiromsarn, Ufuk Topcu, Richard M Murray
IEEE Transactions on Automatic Control, 2010 (Submitted)


2010c_sfm10-cdc

Tuning a synthetic in vitro oscillator using control-theoretic tools
Christopher Sturk, Elisa Franco, Richard M Murray
Conference on Decision and Control (CDC), 2010 (Submitted)


2010b_lsm10-cdc

Synthesis of Embedded Control Systems with High Sampling Frequencies
Javad Lavaei, Somayeh Sojoudi, Richard M Murray
Conference on Decision and Control (CDC), 2010 (Submitted)


2010a_hcsm10-iros

A bio-plausible design for visual pose stabilization
Shuo Han, Andrea Censi, Andrew D Straw, Richard M Murray
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010 (To appear)


2009t_wtm10-aaai

Automatic Synthesis of Robust Embedded Control Software
Tichakorn Wongpiromsarn, Ufuk Topcu, Richard M Murray
AAAI Spring Symposium on Embedded Reasoning: Intelligence in Embedded Systems, 2010 (To appear)


2009s_bftm09-jae

Cone invariance and rendezvous of multiple agents
R Bhattacharya, A Tiwari, J Fung, R Murray
Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 223(6):779-789


2009r_tm09-cds

Limits on the Network Sensitivity Function for Multi-Agent Systems on a Graph
Stefania Tonetti, Richard M Murray
CDS Technical Report 2009.001


2009q_cehm09-ptrs-a

Autonomous Driving in Urban Environments: Approaches, Lessons and Challenges
Mark Campbell, Magnus Egerstedt, Jonathan P How, Richard M Murray
Philosophical Transactions of the Royal Society - A, 2009 (Submitted)


2009p_wtm10-hscc

Receding Horizon Control for Temporal Logic Specifications
Tichakorn Wongpiromsarn, Ufuk Topcu, Richard M Murray
International Conference on Hybrid Systems: Computation and Control (HSCC)


2009o_zom10-acc

Experimental Demonstration of the Dynamics and Stability of a Low Reynolds Number Swimmer Near a Plane Wall
Sebastian Zhang, Yizhar Or, Richard M Murray
American Control Conference (ACC), 2010 (Submitted)


2009n_tm10-acc

Limits on the network sensitivity function for multi-agent systems on a graph
Stefania Tonetti, Richard M Murray
American Control Conference (ACC)


2009m_lsm10-acc

Simple Delay-Based Implementation of Continuous-Time Controllers
Javad Lavaei, Somayeh Sojoudi, Richard M Murray
American Control Conference (ACC)


2009l_omm09-ptrs-a

Controlling biological networks by time-delayed signals
G Orosz, J Moehlis, Richard M Murray
Philosophical Transactions of the Royal Society - A, 2009 (Submitted)


2009k_hcsm10-icra

A bootstrappable bio-plausible design for visual pose stabilization
Shuo Han, Andrea Censi, Andrew D Straw, Richard M Murray
International Conference on Robotics and Automation (ICRA), 2010 (Submitted)


2009j_om09-pre

Dynamics and stability of a class of low Reynolds number swimmers near a wall
Y Or, R Murray
Physical Review E, 19(4)


2009i_mm09-tac

To Drop or Not to Drop: Design Principles for Kalman Filtering Over Wireless Fading Channels
Y Mostofi, Richard M Murray
IEEE Transactions on Automatic Control, 54(2):376-381


2009g_zab+09-tbme

Flight dynamics and control of evasive maneuvers: the fruit fly's takeoff
Francisco A Zabala, Gwyneth M Card, Ebraheem I Fontaine, Michael H Dickinson, Richard M Murray
IEEE Transactions on Biomedical Engineering, 56(9), 2009 (To appear)


2009f_lm09-cdc

Quantized Consensus via Adaptive Stochastic Gossip Algorithm
Javad Lavaei, Richard M Murray
Conference on Decision and Control (CDC)


2009e_chfm09-cdc

A bio-plausible design for visual attitude stabilization
Andrea Censi, Shuo Han, Sawyer B Fuller, Richard M Murray
Conference on Decision and Control (CDC)


2009d_wtm09-cdc

Receding Horizon Temporal Logic Planning for Dynamical Systems
Tichakorn Wongpiromsarn, Ufuk Topcu, Richard M Murray
Conference on Decision and Control (CDC)


2009c_or+09-cdc

Geometric Control of Particle Manipulation in a Two-Dimensional Fluid
Yizhar Or, Joris Vankerschaver, Scott D Kelly, Richard M Murray, Jerrold E Marsden
Conference on Decision and Control (CDC)


2009a_tpm09-cdc

Compositional stability analysis based on dual decomposition
Ufuk Topcu, Andrew K Packard, Richard M Murray
Conference on Decision and Control (CDC), 2009 (Submitted)


2008w_mm08-ajc

Communication and sensing trade-offs in cooperative mobile networks
Y Mostofi, R Murray
Asian Journal of Control, 10(2):156-170


2008v_dun+08-naturegen

Regulatory activity revealed by dynamic correlations in gene expression noise
Mary J Dunlop, Robert Sidney Cox, Joseph H Levine, Richard M Murray, Michael B Elowitz
Nature Genetics, 40:1493-1498


2008t_bm09-icse

Automatic Conversion Software for the Safety Verification of Goal-Based Control Programs
Julia M B Braman, Richard M Murray
International Conference on Software Engineering, 2009 (submitted)


2008s_bm09-hscc

Probabilistic Safety Analysis of Sensor-Driven Hybrid Automata
Julia M B Braman, Richard M Murray
Hybrid Systems: Computation and Control, 2008 (submitted)


2008q_lm09a-acc

On Quantized Consensus by Means of Gossip Algorithm -- Part I: Convergence Proof
Javad Lavaei, Richard M Murray
American Control Conference (ACC)


2008q_lm09b-acc

On Quantized Consensus by Means of Gossip Algorithm -- Part II: Convergence Time
Javad Lavaei, Richard M Murray
American Control Conference (ACC)


2008p_cm09-acc

Real-valued average consensus over noisy quantized channels
Andrea Censi, Richard M Murray
American Control Conference (ACC)


2008n_bm09-infotech

Control Program Verification for a Sample Titan Aerobot Mission
Julia M B Braman, Richard M Murray
AIAA Infotech@Aerospace Conference and Exhibit, 2009 (submitted)


2008m_sjm08-cdc

Optimal Sensor Hop Selection: Sensor Energy Minimization and Network Lifetime Maximization with Guaranteed System Performance
Ling Shi, Karl Henrik Johansson, Richard M Murray
Conference on Decision and Control (CDC)


2008l_sxm08-automatica

Kalman Filtering Over A Packet-delaying Network: A Probabilistic Approach
Ling Shi, Lihua Xie, Richard M Murray
Automatica, 45(9):2134-2140


2008k_sem08-tac

Kalman Filtering Over A Packet Dropping Network: A Probabilistic Perspective
Ling Shi, Michael Epstein, Richard M Murray
IEEE Transactions on Automatic Control, 55(9):594-604


2008j_fm08-cdc

Design and performance of in vitro transcription rate regulatory circuit
Elisa Franco, Richard M Murray
Conference on Decision and Control (CDC)


2008i_estm08-automatica

Probabilistic Performance of State Estimation Across a Lossy Network
Michael Epstein, Ling Shi, Abhishek Tiwari, Richard M Murray
Automatica, 44(12):3046-3053, 2008 (to appear)


2008h_wm08-cdc

Formal Verification of an Autonomous Vehicle System
Tichakorn Wongpiromsarn, Richard M Murray
Conference on Decision and Control, 2008 (submitted)


2008g_zab+08-biorob

Analysis of Dynamics in Escaping Flight Initiation in Drosophila
Francisco A Zabala, Gwyneth M Card, Ebraheem I Fontaine, Richard M Murray, Michael H Dickinson
2008 IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2008), 8, 2008 (to appear)


2008f_bm08-cdc

Failure Probability of Verifiable Goal-based Control Programs due to State Estimation Uncertainty
Julia M B Braman, Richard M Murray
Conference on Decision and Control, 2008 (submitted)


2008e_sm08-ocam

Model reduction of interconnected linear systems
Henrik Sandberg, Richard M Murray
Optimal Control Applications and Methods, 2008 (to appear)


2008d_wm08-ivcs

Distributed Mission and Contingency Management for the DARPA Urban Challenge
Tichakorn Wongpiromsarn, Richard M Murray
International Workshop on Intelligent Vehicle Control Systems (IVCS)


2008c_dwbm08-ivcs

Situational Reasoning for Road Driving in an Urban Environment
Noel E DuToit, Tichakorn Wongpiromsarn, Joel W Burdick, Richard M Murray
International Workshop on Intelligent Vehicle Control Systems (IVCS), 2008 (submitted)


2008b_fdm08

Design of insulating devices for in vitro synthetic circuits
Elisa Franco, Domitilla Del Del Vecchio, Richard M Murray
Conference on Decision and Control (CDC), 2009 (Submitted)


2008b_immm08-jgcd

A Framework for Low--Observable Tra jectory Generation in the Presence of Multiple Radars
Tamer Inanc, Mehmet K Muezzinoglu, Kathleen Misovec, Richard M Murray
AIAA Journal of Guidance, Control and Dynamics, 2008 (submitted)


2008a_sem08-ajc

Control Over a Packet Dropping Network with Norm Bounded Uncertainties
Ling Shi, Michael Epstein, Richard M Murray
Asian Journal of Control, 2008 (in press)


2008_ju08-ms

Delay-dependent Stability of Genetic Regulatory Networks
Johan Ugander
Masters Thesis, Lund University


2008_camm08-aiaa

Robust Model Predictive Control with a Safety Mode: Applied to Small-Body Proximity Operations
John Carson, Behcet Acikmese, Richard Murray, and Douglas MacMynowski
AIAA Guidance, Navigation and Control Conference and Exhibit, Guidance, Navigation, and Control and Co-located Conferences, 2008


2007y_mef07-phd

Real-time trajectory generation for constrained nonlinear dynamical systems using non-uniform rational B-spline basis functions
Melvin E. Flores
PhD dissertation, Control and Dynamical Systems, Nov 2007


2007x_bur+07-dgc

Sensing, Navigation and Reasoning Technologies for the DARPA Urban Challenge
Joel W Burdick, Noel duToit, Andrew Howard, Christian Looman, Jeremy Ma, Richard M Murray, Tichakorn Wongpiromsarn
DARPA Urban Challenge Final Report


2007w_esm07-cdc

Estimation schemes for networked control systems using UDP-like communication
Michael Epstein, Ling Shi, Richard M Murray
Conference on Decision and Control (CDC), 3945 - 3951


2007v_ful+07-ine

Flight control in a flapping-wing fruit fly simulator
Sawyer B Fuller, Michael Epstein, Stephen Waydo, Will B Dickson, rew D Straw, Michael H Dickinson, Richard M Murray
The Neuromorphic Engineer


2007u_bm07-cds

Conversion and Verification Procedure for Goal-Based Control Programs
Julia M B Braman, Richard M Murray
CDS Technical Report, California Institute of Technology


2007q_camm08-ifac

A Robust Nonlinear Model Predictive Control Algorithm with a Safety Mode
John M Carson, Behcet Acikmese, Richard M Murray, Douglas G MacMynowski
International Federation of Automatic Control (IFAC) World Congress, 2008


2007p_eljm08-ifac

Using Hierarchical Decomposition to Speed Up Average Consensus
Michael Epstein, Kevin Lynch, Karl Henrik Johansson, Richard M Murray
International Federation of Automatic Control (IFAC) World Congress, 2008 (to appear)


2007o_sjm08-ifac

Estimation Over Wireless Sensor Networks: Tradeoff between Communication, Computation and Estimation Qualities
Ling Shi, Karl Henrik Johansson, Richard M Murray
International Federation of Automatic Control (IFAC) World Congress, 2008 (to appear)


2007n_bm08-acc

Safety Verification of Fault Tolerant Goal-based Control Programs with Estimation Uncertainty
Julia M B Braman, Richard M Murray
American Control Conference


2007m_dpbm08-acc

Convergence Properties of Dynamic Agents Consensus Networks with Broken Links
Stefano Di Cairano, A Pasini, A Bemporad, Richard M Murray
American Control Conference


2007l_lsm08-acc

Nonlinear Lateral Control Strategy for Nonholonomic Vehicles
Magnus Linderoth, Kristian Soltesz, Richard M Murray
American Control Conference


2007h_ghm07-scl

Optimal LQG control across packet-dropping links
V Gupta, B Hassibi, Richard M Murray
Systems and Control Letters, 56(6):439-446


2007g_gup+07-tac

Data Transmission over Networks for Estimation and Control
Vijay Gupta, Amir F Dana, Jo ao P Hespanha, Richard M Murray, Babak Hassibi
IEEE Transactions on Automatic Control, 2007 (submitted)


2007f_jm07-tac

Consensus Seeking Using Multi-Hop Relay Protocol
Zhipu Jin, Richard M Murray
IEEE Transactions on Automatic Control, 2007 (submitted)


2007e_meh+07-ieeetn

Asynchronous Distributed Averaging on Communication Networks
M Mehyar, D Spanos, J Pongsajapan, S Low, Richard M Murray
IEEE/ACM Transactions on Networking, 15(3):512 - 520


2007c_ofm07-ieeeproc

Consensus and Cooperation in Networked Multi-Agent Systems
R Olfati-Saber, J Fax, Richard M Murray
Proceedings of the IEEE, 95(1):215 - 233, 2007


2007a_sebm07-cca

Effective Sensor Scheduling Schemes in a Sensor Network by Employing Feedback in the Communication Loop
Ling Shi, M Epstein, B Sinopoli, Richard M Murray
IEEE International Conference onControl Applications (CCA), 1006 - 1011


2007_mse07-phd

Managing information in networked and multi-agent control systems
M Epstein
PhD Dissertation, Mechanical Engineering


2006x_dfm07-acc

A Multi-Model Approach to Identification of Biosynthetic Pathways
Mary J Dunlop, Elisa Franco, Richard M Murray
American Control Conference (ACC)


2006u_esdm07-ecc

Control Over a Network: Using Actuation Buffers to Reduce Transmission Frequency
Michael Epstein, Ling Shi, Stefano Di Cairano, Richard M Murray
European Control Conference, 2007 (Submitted)


2006t_udm07-acc

Analysis of a Digital Clock for Molecular Computing
Johan Ugander, Mary J Dunlop, Richard M Murray
American Control Conference, 2007 (submitted)


2006s_sesm07-acc

Effective Sensor Scheduling Schemes Employing Feedback in the Communication Loop
Ling Shi, Michael Epstein, Bruno Sinopoli and Richard.M.Murray
Submitted, 2007 American Control Conference (ACC)


2006r_sm07-acc

Frequency-Weighted Model Reduction with Applications to Structured Models
Henrik Sandberg and Richard M. Murray
To appear, 2007 American Control Conference (ACC)


2006q_eps+07-acc

Bioligically Inspired Feedback Design for Drosophila Flight
Michael Epstein, Stephen Waydo, Sawyer B. Fuller, Will Dickson, Andrew Straw, Michael H. Dickinson and Richard M. Murray
To appear, 2007 American Control Conference (ACC)


2006p_mur06-jgcd

Recent research in cooperative control of multivehicle systems
Richard M Murray
Journal Of Dynamic Systems Measurement And Control-Transactions Of The Asme, 129:571-583


2006l_btfm06-tac

Cone Invariance and Rendezvous of Multiple Agents
Raktim Bhattacharya, Abhishek Tiwari, Jimmy Fung and Richard M. Murray
Submitted, IEEE T. Automatic Control


2006k_km06-cdc

Optimization-Based Navigation for the DARPA Grand Challenge
Dmitriy Kogan and Richard M. Murray
Submitted, 2006 Conference on Decision and Control


2006j_whbkm06-tcst

UAV as a Reliable Wingman: A Flight Demonstration
S. Waydo, J. Hauser, R. Bailey, E. Klavins, R.M. Murray
Submitted, IEEE T. Control Systems Technology


2006h_sem06-cdc

The Effect of Sensor Health on State Estimation
Ling Shi, Michael Epstein, Richard M. Murray
2006 Conference on Decision and Control


2006g_esm06-cdc

An Estimation Algorithm for a Class of Networked Control Systems Using UDP-Like Communication Schemes
Michael Epstein, Ling Shi, Richard M. Murray
2006 Conference on Decision and Control


2006f_glm06-cdc

When are Distributed Algorithms Robust?
Vijay Gupta, Cedric Langbort, Richard M. Murray
To appear, 2006 Conference on Decision and Control (CDC)


2006e_dan+06-cdc

Estimation over Communication Networks: Performance Bounds and Achievability Results
Amir F. Dana, Vijay Gupta, Joao P. Hespanha, Babak Hassibi, Richard M. Murray
Submitted, 2006 Conference on Decision and Control


2006d_jm06-cdc

Multi-Hop Relay Protocols for Fast Consensus Seeking
Zhipu Jin, Richard M. Murray
Submitted, 2006 Conference on Decision and Control


2006c_sm06-cdc

Approximation of Subnetwork Models using Frequency-Domain Data
Henrik Sandberg, Richard M. Murray
Submitted, 2006 Conference on Decision and Control


2006b_gjm06-cdc

On Sensor Coverage by Mobile Sensors
Vijay Gupta, David E. Jeffcoat, Richard M. Murray
To appear, 2006 Conference on Decision and Control (CDC)


2006_lbc06-phd

System architectures and environment modeling for high-speed autonomous navigation
Lars B Cremean
PhD Dissertation, Mechanical Engineering


2006_dps06-phd

Distributed Gradient Systems and Dynamic Coordination
Demetri P. Spanos
PhD Dissertation, Control and Dynamical Systems


2006_cemm06-acc

Optimal nonlinear guidance with inner-loop feedback for hypersonic re-entry
J. M. Carson III, M. S. Epstein, D. G. MacMynowski and R. M. Murray
American Control Conference, 2006


2005u_cm06-icra

Model-Based Estimation of Off-Highway Road Geometry using Single-Axis LADAR and Inertial Sensing
Lars B. Cremean and Richard M. Murray
To appear, 2006 International Conference on Robotics and Automation (ICRA)


2005t_cre+06-jfr

Alice: An information-rich autonomous vehicle for high-speed desert navigation
C Rasmussen, A Stewart, J Burdick, Richard M Murray
Journal of Field Robotics, 23(9):777-810


2005s_sem06-mtns

Towards Robust Control Over a Packet Dropping Network
Ling Shi, Michael Epstein, Richard M. Murray
Submitted, 2006 International Symposium on Mathematical Theory of Networks and Systems (MTNS)


2005r_gdhm06-mtns

Data Transmission over Networks for Estimation
Vijay Gupta , Amir F. Dana, Joao P. Hespanha and Richard M. Murray
Submitted, 2006 International Symposium on Mathematical Theory of Networks and Systems (MTNS)


2005q_gdmh06-acc

On the Effect of Quantization on Performance
Vijay Gupta, Amir F. Dana, Richard M Murray, Babak Hassibi
Submitted, 2006 American Control Conference


2005p_glm06-acc

On a Cooperative Pursuit Strategy
Vijay Gupta, Cedric Langbort, Richard M. Murray
Submitted, 2006 American Control Conference


2005o_mm06-acc

Optimum Allocation of Computing Resources in Networked Sensing and Control
Yasamin Mostofi and Richard M. Murray
Submitted, 2006 American Control Conference


2005n_sm06-acc

Towards a Packet-based Control Theory - Part II: Rate Issues
Ling Shi and Richard M. Murray
Submitted, 2006 American Control Conference


2005m_meh+05-cdc

Distributed Averaging on Asynchronous Communication Networks
Mortada Mehyar, Demetri Spanos, John Pongsajapan, Steven H. Low, Richard M. Murray
2005 Conference on Decision and Control (CDC)


2005l_gmh05-cdc

On Sensor Fusion in the Presence of Packet-Dropping Communication Channels
Vijay Gupta, Richard M. Murray, Babak Hassibi
2005 Conference on Decision and Control (CDC)


2005k_hmd05-cdc

A Control-Oriented Analysis of Bio-Inspired Visuomotor Convergence
J. Sean Humbert and Richard M. Murray and Michael H. Dickinson
2005 Conference on Decision and Control (CDC)


2005j_sem06-acc

Robust Control over a Packet-Based Network
Ling Shi, Michael Epstein, Richard M. Murray
Submitted, 2006 American Control Conference


2005i_jgm05-automatica

State Estimation Over Packet Dropping Networks Using Multiple Description Coding
Zhipu Jin, Vijay Gupta, Richard M. Murray
Submitted, Automatica, July 2005


2005h_som05-ipsn

Approximate Distributed Kalman Filtering in Sensor Networks with Quantifiable Performance
Demetri P. Spanos, Reza Olfati-Saber, Richard M. Murray
2005 International Conference on Information Processing in Sensor Networks (IPSN)


2005g_sm05-ifac

Distributed Sensor Fusion Using Dynamic Consensus
Demetri P. Spanos and Richard M. Murray
2005 IFAC World Congress


2005f_som05-ifac

Dynamic Consensus for Mobile Networks
Demetri P. Spanos, Reza Olfati-Saber, Richard M. Murray
2005 IFAC World Congress


2005e_sm05-acc

Motion Planning with Wireless Network Constraints
Demetri P. Spanos and Richard M. Murray
2005 American Control Conference


2005d_jghm05-cdc

State Estimation Utilization Multiple Description Coding over Lossy Networks
Zhipu Jin, Vijay Gupta, Babak Hassibi, Richard M. Murray
2005 Conference on Decision and Control (CDC)


2005c_mm05-cdc

New Design Principles for Estimation over Fading Channels in Mobile Sensor Networks
Yasami Mostofi and Richard M. Murray
2005 Conference on Decision and Control (CDC)


2005b_setm05-cdc

Estimation with Information Loss: Asymptotic Analysis and Error Bounds
Ling Shi, Michael Epstein, Abhishek Tiwari and Richard M. Murray
2005 Conference on Decision and Control (CDC)


2005a_mcmb05-ipsn

Communication and Sensing Trade-Offs in Decentralized Mobile Sensor Networks: A Cross-Layer Design Approach
Yasamin Mostofi, Timothy H. Chung, Richard M. Murray, Joel W. Burdick
2005 International Conference on Information Processing in Sensor Networks (IPSN)


2005_jf05-phd

Coarse analysis of multiscale systems: diffuser flows, charged particle motion, and connections to averaging theory
Jimmy Fung
PhD Dissertation, Caltech Aeronautics, May 2005


2005_ddv05-phd

State Estimation in Multi-Agent Decision and Control Systems
Domitilla Del Vecchio
PhD Dissertation, Control and Dynamical Systems


2005_jsh05-phd

Bio-Inspired Visuomotor Convergence in Navigation and Flight Control Systems
J. Sean Humbert
PhD Dissertation, Control and Dynamical Systems


2004z_sm05b-acc

Towards a Packet-Based Control Theory - Part I: Stabilization over a Packet-Based Network
Ling Shi and Richard M. Murray
2005 American Control Conference (ACC)


2004y_mwcm04-csm

Appealing to a Non-traditional Audience: A New Approach to Teaching Feedback
Richard M. Murray, Stephen Waydo, Lars B. Cremean, Hideo Mabuchi
IEEE Control Systems Magazine, October 2004


2004x_gchm04-automatica

On a Stochastic Sensor Selection Algorithm with Applications in Sensor Scheduling and Sensor Coverage
Vijay Gupta, Timothy H. Chung, Babak Hassibi, Richard M.Murray
Submitted, Automatica, September 2004


2004w_tjjm05-ifac

The Dynamic Sensor Coverage Problem
Abhishek Tiwari, Myungsoo Jun, David E. Jeffcoat, Richard M. Murray
2005 IFAC World Congress


2004v_dm05-hscc

Existence of Cascade Discrete-Continuous State Estimators for Systems on a Partial Order
Domtilla Del Vecchio and Richard M. Murray
Lecture Notes in Computer Science 3414:226--241


2004u_cm05-icra

Uncertainty-based Sensor Fusion of Range Data for Real-time Digital Elevation Mapping (RTDEM)
Lars Cremean and Richard M. Murray
Submitted, 2005 International Conference on Robotics and Automation


2004t_cbm05-icra

On Decentralized Classification using a Network of Mobile Sensors
Timothy H. Chung, Joel W. Burdick, Richard M. Murray
Submitted, 2005 International Conference on Robotics and Automation


2004s_hmd05-ifac

Sensorimotor Convergence in Visual Navigation and Flight Control Systems
J. Sean Humbert, Richard M. Murray, Michael H. Dickinson
Submitted, 2005 IFAC World Congress


2004r_dm05-ifac

Cascade Discrete-Continuous State Estimators for a Class of Monotone Systems
Domitilla Del Vecchio and Richard M. Murray
Submitted, 2005 IFAC World Congress


2004q_ghm05-ijc

A Sub-optimal Algorithm to Synthesize Control Laws for a Network of Dynamic Agents
Vijay Gupta, Babak Hassibi, Richard M. Murray
International Journal of Control, 78(16):1302-1313


2004p_gshm05-acc

On LQG Control Across a Stochastic Packet-Dropping Link
Vijay Gupta, Demetri Spanos, Babak Hassibi, Richard M. Murray
Submitted, 2005 American Control Conference (ACC)


2004o_gshm04-scl

Optimal LQG Control Across a Packet-Dropping Link
Vijay Gupta, Demetri Spanos, Babak Hassibi, Richard M Murray
Submitted, Systems and Control Letters


2004n_tfbm04-cdc

Polyhedral Cone Invariance Applied to Rendezvous of Multiple Agents
Abhishek Tiwari, Jimmy Fung, Raktim Bhattacharya, Richard M. Murray
Submitted, 2004 Conference on Decision and Control (CDC)


2004m_mm04-csacn

Effect of Narrowband Channels on the Control
Yasamin Mostofi and Richard M. Murray
1st IEEE Conference on Sensor and Ad Hoc Communications and Networks


2004l_dmk04-automatica

Discrete State Estimators for Systems on a Lattice
Domitilla Del Vecchio, Richard M. Murray, Erik Klavins
To appear, Automatica


2004k_bftm04-cdc

Ellipsoidal Cones and Rendezvous of Multiple Agents
Raktim Bhattacharya, Jimmy Fung, Abhishek Tiwari, Richard M. Murray
Submitted, 2004 Conference on Decision and Control


2004j_imm04-cdc

Nonlinear Trajectory Generation for Unmanned Air Vehicles with Multiple Radars
Tamer Inanc, Kathy Misovec, Richard M. Murray
Submitted, 2004 Conference on Decision and Control (CDC)


2004i_sm04-cdc

Robust Connectivity of Networked Vehicles
Demetri P. Spanos and Richard M. Murray
Submitted, 2004 Conference on Decision and Control (CDC)


2004h_dm04-automatica

Distributed Receding Horizon Control with Applications to Multi-Vehicle Formation Stabilization
William B. Dunbar and Richard M. Murray
Submitted, Automatica


2004g_dm04-cdc

Receding Horizon Control of Multi-Vehicle Formations: A Distributed Implementation
William B. Dunbar and Richard M. Murray
Submitted, 2004 Conference on Decision and Control (CDC)


2004e_jin+04-acc.html

MVWT-II: The Second Generation Caltech Multi-Vehicle Wireless Testbed
Zhipu Jin, Stephen Waydo, Elisabeth B. Wildanger, Michael Lammers, Hans Scholze, Peter Foley, David Held, Richard M. Murray
2004 American Control Conference (ACC)


2004d_dm04b-cdc

Discrete State Estimators for a Class of Nondeterministic Hybrid Systems on a Lattice
Domitilla Del Vecchio and Richard M. Murray
Submitted, 2004 Conference on Decision and Control (CDC)


2004c_dm04a-cdc

Observability of a Class of Hybrid Systems on Bounded Lattices
Domitilla Del Vecchio and Richard M. Murray
Submitted, 2004 Conference on Decision and Control (CDC)


2004b_row+04-jfm

Linear models for control of cavity flow oscillations
C Rowley, D Williams, Tim Colonius, Richard M Murray and Douglas G. MacMartin
Journal of Fluid Mechanics, 547:317-330


2004a_cgbm04-cdc

On a Decentralized Active Sensing Strategy using Mobile Sensor Platforms in a Network
Timothy H. Chung, Vijay Gupta, Joel W. Burdick, Richard M. Murray
2004 Conference on Decisoin and Control (CDC)


2003y_gchm04-icassp

Sensor Scheduling Algorithms Requiring Limited Computation
Vijay Gupta, Timothy Chung, Babak Hassibi and Richard M. Murray
Submitted, 2004 International Conference on Acoustics, Speech, and Signal Processing (ICASSP)


2003w_chu+04-icra

Scheduling for Distributed Sensor Networks with Single Sensor Measurement per Time Step
Timothy Chung, Vijay Gupta, Babak Hassibi, Joel Burdick, Richard M. Murray
Submitted, 2004 International Conference on Robotics and Automation


2003v_wdm04-icra

Identification of Decision Rules in a Human-controlled System: Vehicles at a Traffic Intersection
Claire Walton, Domitilla Del Vecchio, Richard M. Murray
Submitted, 2004 International Conference on Robotics and Automation (ICRA)


2003u_dm04-hscc

Observers for a Class of Hybrid Systems on a Lattice
Domitilla Del Vecchio and Richard M. Murray
Lecture Notes in Computer Science, 2993:311-325


2003t_sm04-acc

A Constrained Optimization Framework for Wireless Networking in Multi-Vehicle Applications
Demetri P. Spanos and Richard M. Murray
Submitted, 2004 American Control Conference (ACC)


2003s_gm04-acc

A Frequency Domain Condition for Stability of Interconnected MIMO Systems
Ather Gattami and Richard M. Murray
Submitted, 2004 American Control Conference


2003r_ghm04-acc

On the Synthesis of Control Laws for a Network of Autonomous Agents
Vijay Gupta, Babak Hassibi, Richard M. Murray
Submitted, 2004 American Control Conference (ACC)


2003p_rei+03-acc

Vision as a Compensatory Mechanism for Disturbance Rejection in Upwind Flight
Michael B. Reiser, J. Sean Humbert, Mary J. Dunlop, Domitilla Del Vecchio, Richard M. Murray, Michael H. Dickinson
2004 American Control Conference


2003o_tiw+04-acc

A Framework for Lyapunov Certificates for Multi-Vehicle Rendezvous Problems
Abhishek Tiwari, Jimmy Fung, John Carson, Raktim Bhattacharya, Richard M. Murray
2004 American Control Conference


2003m_km04-ieeepc

Distributed Computation for Cooperative Control
Eric Klavins and Richard M. Murray
IEEE Pervasive Computing, 3(1):56-65


2003l_mur03-ejc

Future Directions in Control, Dynamics, and Systems: Overview, Grand Challenges, and New Courses
Richard M. Murray
European Journal of Control, 9(2):144-158


2003k_mdoc03-aiaa

Controller Synthesis for Constrained Flight Systems via Receding Horizon Optimization
Richard M. Murray, William B. Dunbar, Reza Olfati Saber, Lars B. Cremean
2nd AIAA "Unmanned Unlimited" Systems, Technologies, and Operations: Aerospace, Land, and Sea Conference and Workshop & Exhibit


2003j_fmm03-fluids

Dynamic Separation Control in a Low-Speed Asymmetric Diffuser with Varying Downstream Boundary Condition
Samantha H. Feakins, Douglas G. MacMartin, Richard M. Murray
2003 AIAA Fluid Dynamics Conference


2003i_ghm03-cdc

Stability Analysis of Stochastically Varying Formations of Dynamic Agents
Vijay Gupta, Babak Hassibi, Richard M. Murray
2003 Conference on Decision and Control (CDC)


2003h_cm03-cdc

Stability Analysis of Interconnected Nonlinear Systems Under Matrix Feedback
Lars B. Cremean and Richard M. Murray
Submitted, 2003 Conference on Decision and Control (CDC)


2003f_om04-tac

Consensus problems in networks of agents with switching topology and time-delays
R Olfati-Saber, Richard M Murray
IEEE Transactions on Automatic Control, 49(9):1520--1533


2003e_mfhm05-ieecta

Receding Horizon Control of a Vectored Thrust Flight Experiment
Mark B. Milam, Ryan Franz, John E. Hauser, Richard M. Murray
IEE Proceedings on Control Theory and Applications, 152(3):340-348


2003d_mmr03-cds

Flat systems, equivalence and trajectory generation
Phillipe Martin, Richard Murray, Pierre Rouchon
CDS Technical Report


2003c_om03-cdc

Agreement Problems in Networks with Directed Graphs and Switching Toplogy
Reza Olfati Saber and Richard M. Murray
2003 Conference on Decision and Control (CDC)


2003b_miwm03-cdc

Low-Observable Nonlinear Trajectory Generation for Unmanned Air Vehicles
Kathy Misovec, Tamer Inanc, Jerry Wohletz, Richard Murray
2003 Conference on Decision and Control (CDC)


2003a_mur+03-csm

Future Directions in Control in an Information-Rich World
Richard M. Murray, Karl J. Astrom, Stephen P. Boyd, Roger W. Brockett, Gunter Stein
IEEE Control Systems Magazine


2003_milam03-phd

Real-Time Optimal Trajectory Generation for Constrained Dynamical Systems
Mark B. Milam
PhD Dissertation, Control and Dynamical Systems


2002w_rcm04-physd

Model Reduction for Compressible Flows using POD and Galerkin Projection
Clarence W. Rowley, Tim Colonius, Richard M. Murray
Physica D, 189(1–2):115–129


2002v_gm03-acc

Model Reduction and System Identification for Master Equation Control Systems
Martha A. Gallivan and Richard M. Murray
2003 American Control Conference


2002t_dm03b-acc

The RoboFlag Competition
Raffaello D'Andrea and Richard M. Murray
2003 American Control Conference


2002r_csm03-ecc

Nonlinear Trajectory Generation for the Caltech Multi-Vehicle Wireless Testbed
Jonathan Chauvin, Laure Sinegre, Richard M. Murray
2003 European Control Conference


2002q_lm03-icra

Cooperative Task Planning of Multi-Robot Systems with Temporal Constraints
Feng-Li Lian and Richard M. Murray
Submitted, 2003 International Conference on Robotics and Automation


2002p_odm03-acc

Cooperative Control of Multi-Vehicle Systems using Cost Graphs and Optimization
Reza Olfati-Saber, William B. Dunbar, Richard M. Murray
2003 American Control Conference


2002o_om03-acc

Consensus Protocols for Networks of Dynamic Agents
Reza Olfati-Saber and Richard M. Murray
2003 American Control Conference


2002n_dmp03-ecc

Classification of Human Motion into Dynamics Based Primitives with Application to Drawing Tasks
Domitilla Del Vecchio, Richard M. Murray, Pietro Perona
2003 European Control Conference


2002m_dm03-acc

Observability and Local Observer Construction for Unknown Parameters in Linearly and Nonlinearly Parameterized Systems
Domitilla Del Vecchio and Richard M. Murray
2003 American Control Conference


2002l_dmp03-acc

Segmentation of Human Motion into Dynamics Based Primitives with Application to Drawing Tasks
Domitilla Del Vecchio, Richard M. Murray, Pietro Perona
2003 American Control Conference


2002k_wm02-icra

Vehicle Motion Planning Using Stream Functions
Stephen Waydo and Richard M. Murray
2003 International Conference on Robotics and Automation


2002i_gmh03-acc

On the Control of Jump Linear Markov Systems with Markov State Estimation
Vijay Gupta, Richard M. Murray, Babak Hassibi
2003 American Control Conference


2002g_lm02-cdc

Real-Time Trajectory Generation for the Cooperative Path Planning of Multi-Vehicle Systems
Feng-Li Lian and Richard M. Murray
2002 Conference on Decision and Control


2002f_dmp03-automatica

Decomposition of Human Motion into Dynamics Based Primitives with Application to Drawing Tasks
D. Del Vecchio, R. M. Murray and P. Perona
Automatica, 39(12):2085-2098


2002e_dm02-cdc

Model Predictive Control of Coordinated Multi-Vehicle Formations
William B. Dunbar and Richard M. Murray
Submitted, 2002 Conference on Decision and Control (CDC)


2002d_om02b-cdc

Distributed Structural Stabilization and Tracking for Formations of Dynamic Multi-Agents
Reza Olfati-Saber and Richard M. Murray
Submitted, 2002 Conference on Decision and Control (CDC)


2002b_cre+02-cdc

The Caltech Multi-Vehicle Wireless Testbed
Lars Cremean, William Dunbar, David van Gogh, Jason Hickey, Eric
 Klavins, Jason Meltzer, Richard M. Murray
2002 Conference on Decision and Control (CDC)


2002a_pmm02-ifac

A New Computational Method for Optimal Control of a Class of Constrained Systems Governed by Partial Differential Equations
N. Petit, M. B. Milam and R. M. Murray
2002 IFAC World Congress


2002_fax02-phd

Optimal and Cooperative Control of Vehicle Formations
J. Alexander Fax
PhD Dissertation


2002_mag02-phd

Modeling and Control of Epitaxial Thin Film Growth
Martha A. Gallivan
Caltech Mechanical Engineering


2002_wil+02-aiaa

Model-Based Control of Cavity Oscillations, Part I: Experiments
D. R. Williams, C. W. Rowley, T. Colonius, R. M. Murray, D. G. MacMartin, D. Fabris, and J. Albertson
AIAA Paper 2002-0971, 40th AIAA Aerospace Sciences Meeting , January 2002


2001o_row+02-aiaa

Model-Based Control of Cavity Oscillations, Part II: System Identificaion and Analysis
Clancy W. Rowley, David R. Williams, Tim Colonius, Richard M. Murray, Douglas G. MacMartin, Drazen Fabris
2002 AIAA Aerospace Sciences Meeting


2001n_mur+03-sec

Online Control Customization via Optimization-Based Control
Richard M. Murray et al.
In Software-Enabled Control: Information Technology for Dynamical Systems, T. Samad and G. Balas (eds.), IEEE Press, 2001 (submitted)


2001m_ggm04-prb

Effective Transition Rates for Epitaxial Growth Using Fast Modulation
Martha A. Gallivan, David G. Goodwin, Richard M. Murray
Physical Review B, 70(4), Art No. 045409


2001l_om02-ifac

Distributed Cooperative Control of Multiple Vehicle Formations Using Structural Potential Functions
Reza Olfati-Saber and Richard M. Murray
2002 IFAC World Congress


2001k_fm02b-ifac

Information Flow and Cooperative Control of Vehicle Formations
J. Alexander Fax and Richard M. Murray
2002 IFAC World Congress


2001j_mfm01-ifac

Real-Time Constrained Trajectory Generation Applied to a Flight Control Experiment
Mark B. Milam, Ryan Franz, Richard M. Murray
Submitted, 2002 IFAC World Congress


2001i_dmp01-cds

Primitives for Human Motion: A Dynamical Approach
Domitilla Del Vecchio, Richard M. Murray, Pietro Perona
2002 IFAC World Congress. CDS Technical Report 01-009


2001h_dmfm02-ifac

Model Predictive Control of a Thurst-Vectored Flight Control Experiment
William B. Dunbar, Mark B. Milam, Ryan Franz and Richard M. Murray
2002 IFAC World Congress


2001g_fm01-cds

Graph Laplacians and Stabilization of Vehicle Formations
J. Alexander Fax and Richard M. Murray
2002 IFAC World Congress


2001f_gmg01-ecs

Reduction Strategies for Kinetic Monte Carlo Models of Thin Film Growth
Martha A. Gallivan, Richard M. Murray, David G. Goodwin
Electrochemical Society, May 2001


2001e_rcm01-ceas

Dynamical Models for Control of Cavity Oscillations
Clarence W.Rowley, Tim Colonius, Richard M.Murray
7th AIAA/CEAS Aeroacoustics Conference


2001d_mvmp01-asme

Active Control of Integrated Inlet/Compression Systems: Initial Results
Douglas G. Macmartin, Ashish Verma, Richard M. Murray, James D. Paduano
2001 ASME Fluids Engineering Division Summer Meeting


2001c_ggm01-cdc

Modeling and Control of Thin Film Morphology Using Unsteady Processing Parameters: Problem Formulation and Initial Results
Martha A. Gallivan, David G. Goodwin and Richard M. Murray
Submitted, 2001 Conference on Decision and Control


2001b_mpm01-gnc

Constrained Trajectory Generation for Microsatellite Formation Flying
Mark B. Milam, Nicolas Petit and Richard M. Murray
Submitted, 2001 AIAA Guidance, Navigation and Control Conference


2001a_kmmm01-gnc

J2 Dynamics and Formation Flight
W. S. Koon, J. E. Marsden, J. Masdemont and R. M. Murray
Submitted, 2001 AIAA Guidance, Navigation and Control Conference


2000k_pmm01-nolcos

Inversion Based Trajectory Optimization
Nicolas Petit, Mark B. Milam and Richard M. Murray
Submitted, IFAC Symposium on Nonlinear Control Systems Design (NOLCOS)


2000j_mor+00-icra

Nonlinear Control Methods for Planar Carangiform Robot Fish
K. A. Morgansen, V. Duindam, R. J. Mason, J. W. Burdick and R. M. Murray
Submitted, IEEE International Conference on Robotics and Automation, May 2001


2000i_wm00-cdc

A Geometric Perspective on Bifurcation Control
Yong Wang and Richard M. Murray
2000 Conference on Decision and Control


2000h_km00-ijnrc

Modelling Efficient Pisciform Swimming for Control
Scott D. Kelly and Richard M. Murray
International Journal of Robust and Nonlinear Control, 10(4):217-241


2000g_rcm00-ceas

POD Based Models of Self-Sustained Oscillations in the Flow Past an Open Cavity
Clancy W. Rowley, Tim Colonius, Richard M. Murray
6th AIAA/CEAS Aeroacoustics Conference


2000f_mmm00-cdc

A Computational Approach to Real-Time Trajectory Generation for Constrained Mechanical Systems
Mark B. Milam, Kudah Mushambi, and Richard M. Murray
2000 Conference on Decision and Control


2000e_gmg-ecs

The Dynamics of Thin Film Growth: A Modeling Study
Martha A. Gallivan, Richard M. Murray, David G. Goodwin
Electrochemical Society, May 2000


2000d_gmg00-mrs

Kinetic Monte Carlo Simulation of Dynamic Phenomena in Thin Film Growth
Martha A. Gallivan, Richard M. Murray and David G. Goodwin
2000 Materials Research Society Spring Meeting


2000c_fam00-gnc

Differentially Flat Systems with Inequality Constraints: An Approach to Real-Time Feasible Trajectory Generation
Nadim Faiz, Sunil Agrawal and Richard Murray
J. Guidance, Control, and Dynamics, Vol. 24, No. 2, pp. 219-227,
 2001.


2000b_fm00-cdc

Optimal Control of Affine Connection Control Systems: A Variational Approach
Alex Fax and Richard Murray
2000 Conference on Decision and Control


2000a_fm00-cdc

Finite-Horizon Optimal Control and Stabilization of Time-Scalable Systems
Alex Fax and Richard Murray
2000 Conference on Decision and Control


2000_yw00-phd

Effects of Actuator Limits in Bifurcation Control with Applications to Active Control of Fluid Instabilities in Turbomachinery
Yong Wang
PhD Dissertation, California Institute of Technology, June 2000


1999h_wym99-automatica

Bifurcation Control of Rotating Stall with Actuator Magnitude and Rate Limits
Yong Wang, Simon Yeung, Richard Murray
Automatica 38(4):597-610 and 611-625


1999c_wm99-cdc

Feedback Stabilization of Steady-State and Hopf Bifurcations: the Multi-input Case
Yong Wang and Richard M. Murray
1999 Conference on Decision and Control


1999b_mur99-lund

Geometric Approaches to Control in the Presence of Magnitude and Rate Saturations
Richard M. Murray
In The Astrom Symposium on Control, pp. 43-72


1999a_wpm99-cca

Nonlinear Control Design for Rotating Stall and Surge with Magnetic Bearing Actuators
Yong Wang, James D. Paduano and Richard M. Murray
1999 Conference on Control Applications


1999_bs99-phd

Passive Control of Flutter and Forced Response in Bladed Disks via Mistuning
Benjamin Shapiro
PhD Dissertation


1998p_fhm99-cca

Robustness Analysis of Accelerometry Using an Electrostatically Suspended Gyroscope
J. Alex Fax, Daniel A. Hill, and Richard M. Murray
1999 IEEE Conference on Controls Applications


1998o_afm99-ifac

Feasible Trajectories of Linear Dynamic Systems with Inequality Constraints Using Higher-Order Representations
Sunil K. Agrawal, Nadeem Faiz, Richard M. Murray
1999 IFAC World Congress


1998n_mm99-cca

A Testbed for Nonlinear Flight Control Techniques: The Caltech Ducted Fan
Mark Milam and Richard M. Murray
1999 Conference on Control Applications


1998l_wm99-ifac

Effects of Magnitude Saturation in Control of Bifurcations
Yong Wang and Richard Murray
1999 IFAC World Congress


1998h_gmm98-cdc

Model Reduction via Centering and Karhunen Loeve Expansion
Sonja Glavaski, Jerrold E. Marsden, Richard M. Murray
1998 Conference on Decision and Control


1998g_mur98-wafr

Trajectory Generation for Mechanical Systems with Application to Robotic Locomotion
Richard M. Murray, Joel W. Burdick, Scott D. Kelly, James Radford
Proceedings, 1998 Workshop on Algorithmic Foundations of Robotics


1998f_wm98b-cdc

Effects of Noise and Actuator Limits on Active Control of Rotating Stall and Surge
Yong Wang and Richard Murray
1998 Conference on Decision and Control


1998e_wm98a-cdc

Feedback Stabilization of Steady-State and Hopf Bifurcations
Yong Wang and Richard Murray
1998 Conference on Decision and Control


1998d_rm98-cdc

Discrete Function Approximation: Numerical Tools for Nonlinear Control
Muruhan Rathinam and Richard Murray
1998 Conference on Decision and Control


1998c_ywm98-jpp

Evaluation of Bleed Valve Rate Requirements in Nonlinear Control of Rotating Stall
Simon Yeung, Yong Wang, and Richard Murray
J. Propulsion and Power, 16(5):781-791, 2000

CDS Technical Report 98-001
1998b_ym98-cca

Simultaneous Stabilization of Stall and Surge via Axisymmetric Air Injection
Simon Yeung and Richard M. Murray
Submitted, 1998 Conference on Control Applications


1998a_ggm98-cca

A Design Study for Thermal Control of a CVD Reactor for YBCO
Martha Gallivan, David Goodwin, and Richard M. Murray
1998 Conference on Control Applications


1998_sdk98-phd

The Mechanics and Control of Robotic Locomotion with Applications to Aquatic Vehicles
Scott D. Kelly
PhD Dissertation, Caltech, June 1998


1998_fb98-phd

Nonlinear Control of Mechanical Systems: A Reimannian Geometry Approach
Francesco Bullo
PhD Dissertation, Caltech, August 1998


1998_chy98-phd

Nonlinear Control of Rotating Stall and Surge with Axisymmetric Bleed and Air Injection on Axial Flow Compressors
Chung-hei (Simon) Yeung
PhD Dissertation, Caltech, August 1998


1997m_nm97-ecc

Outer flatness: trajectory generation for a model helicopter
Michiel van Nieuwstadt and Richard M. Murray
1997 European Control Conference


1997l_km98-nolcos

Lagrangian Mechanics and Carangiform Locomotion
Scott D. Kelly and Richard M. Murray
1998 IFAC Symposium on Nonlinear Control Systems Design (NOLCOS)


1997i_kel+98-acc

Modelling and Experimental Investigation of Carangiform Locomotion for Control
Scott D. Kelly, Richard J. Mason, Carl T. Anhalt, Richard M. Murray, Joel W. Burdick
1998 American Control Conference


1997g_sm97-icra

An Experimental Comparison of Tradeoffs in Using Compliant Manipulators for Robotic Grasping Tasks
Sudipto Sur and Richard M. Murray
1997 International Conference on Robotics and Automation


1997f_lm97-gnc

Stabilization of a Pitch Axis Flight Control Experiment with Input Rate Saturation
Trygve Lauvdal and Richard M. Murray
Modeling, Identification and Control, 20(4):225-240


1997e_ym97-jpc

Nonlinear Control of Rotating Stall Using Axisymmetric Bleed with Continuous Air Injection on a Low-Speed, Single Stage, Axial Compressor
Simon Yeung and Richard M. Murray
1997 Joint Propulsion Conference


1997d_wm97-cdc

Effects of Noise, Magnitude Saturation, and Rate Limits on Rotating Stall Control
Yong Wang and Richard M. Murray
1997 Conference on Decision and Control


1997b_ym97-cca

Reduction of Bleed Valve Bandwidth Requirements for Control of Rotating Stall using Continuous Air Injection
Simon Yeung and Richard M. Murray
1997 Conference on Control Applications


1997a_bm97-cds

Tracking for Fully Actuated Mechanical Systems: A Geometric Framework
Francesco Bullo and Richard M. Murray
Automatica 35: (1) 17-34


1997_ss97-phd

Robotic Manipulation with Flexible Link Fingers
Sudipto Sur
PhD Dissertation, Caltech, January 1997


1997_mr97-phd

Differentially Flat Nonlinear Control Systems
Muruhan Rathinam
PhD Dissertation, Caltech, May 1997


1997_cav97-eng

Autonomous Reorientation of a Manuever-Limited Spacecraft Under Simple Pointing Constraints
Charles A. Vannelli
Engineer's Thesis, Caltech, May 1997


1996t_bkmm96-arma

Nonholonomic Mechanical Systems with Symmetry
A. M. Bloch, P. S. Krishnaprasad, J. E. Marsden, R. M. Murray
Archive for Rational Mechanics and Analysis, 136(1):21-99


1996s_blm97-turbo

Characterizing the Effects of Air Injection on Compressor Performance for Use in Active Control of Rotating Stall
Robert L. Behnken, Mina Leung, and Richard M. Murray
1997 Turbo Expo


1996r_tkm97-acc

Uniting local and global controllers for the Caltech ducted fan
Andrew R. Teel, Oliver Kaiser, Richard M. Murray
1997 American Control Conference


1996q_sm97-acc

Simultaneous Force-Position Control for Grasping Using Flexible Link Manipulators
Sudipto Sur and Richard M. Murray
1997 American Control Conference


1996p_bm97-acc

Combined Air Injection Control of Rotating Stall and Bleed Valve Control of Surge
Robert L. Behnken and Richard M. Murray
1997 American Control Conference


1996o_nm96-jgcd

Rapid Hover to Forward Flight Transitions for a Thrust Vectored Aircraft
Michiel J. van Nieuwstadt and Richard M. Murray
J. Guidance, Control, and Dynamics, 21(1):93-100, Jan-Feb 1998


1996n_rm97-ecc

Differential Flatness of Two One-Forms in Arbitrary Number of Variables
Muruhan Rathinam and Richard M. Murray
Systems and Control Letters, 36:317-326, 1999.


1996m_bm97-ecc

Trajectory tracking for fully actuated mechanical systems
Francesco Bullo and Richard M. Murray
1997 European Control Conference


1996l_nm96-ijrnc

Real Time Trajectory Generation for Differentially Flat Systems
Michiel J. van Nieuwstadt and Richard M. Murray
Int'l. J. Robust & Nonlinear Control 8:(11) 995-1020


1996k_mur96-cdc

Real-Time Control Experiments for Instruction and Research at Caltech
Richard M. Murray
1996 Conference on Decision and Control


1996j_lm96-scl

Decompositions for Control Systems on Manifolds with an Affine Connection
Andrew Lewis and Richard M. Murray
Systems & Control Letters 31:199-205, 1997


1996i_nm96-cesa

Fast Mode Switching for a Thrust Vectored Aircraft
Michiel J. van Nieuwstadt and Richard M. Murray
1996 Multiconference on Computational Engineering in Systems Applications


1996g_rm96-cdc

Configuration Flatness of Lagrangian Systems Underactuated by One Control
Muruhan Rathinam and Richard M. Murray
SIAM J. Control and Optimization, 36(1):164-179


1996f_km96-cdc

The Geometry and Control of Dissipative Systems
Scott D. Kelly and Richard M. Murray
1996 IEEE Control and Decision Conference


1996e_tmw95-ijc

Nonholonomic control systems: from steering to stabilization with sinuoids
Andrew R. Teel, Richard M. Murray, Gregory C. Walsh
International Journal of Control 62(4):849-870


1996d_dm96-ifac

Robust Nonlinear Control Theory with Applications to Aerospace Vehicles
John C. Doyle and Richard M. Murray
1996 IFAC World Congress


1996c_bm96-ifac

Experimental Comparison of Trajectory Trackers for a Car with Trailers
Francesco Bullo and Richard M. Murray
1996 IFAC World Congress


1996b_mur96-ifac

Trajectory Generation for a Towed Cable System using Differential Flatness
Richard M. Murray
1996 IFAC World Congress


1996a_bhsm96-ifac

On Measures of Non-Integrability of Pfaffian Systems
Andrjez Banaszuk, John Hauser, Willem Sluis, Richard M. Murray
IFAC World Congress, July 1996


1996_rlb96-phd

Nonlinear Control and Modeling of Rotating Stall in an Axial Flow Compressor
Robert L. Behnken
PhD Dissertation, Caltech, Sep 1996


1996_mvn96-phd

Trajectory Generation for Nonlinear Control Systems
Michiel J. van Nieuwstadt
PhD Dissertation, Caltech, Jul 1996


1995r_sbhm95-cds

A Homotopy Algorithm for Approximating Geometric Distributions by Integrable Systems
Willem M. Sluis, Andzrej Banaszuk, John Hauser, Richard M. Murray
System and Control Letters, 27: (5) 285-291


1995p_dbm95-cds

Active Control of an Axial Flow Compressor via Pulsed Air Injection
Raffaello D'Andrea, Robert L. Behnken, Richard M. Murray
J. Turbomachinery, 119(4):742-752


1995n_bdm95-cdc

Control of Rotating Stall in a Low-Speed Axial Flow Compressor Using Pulsed Air Injection: Modeling, Simulations, and Experimental Validation
Robert L. Behnken, Raffaello D'Andrea, Richard M. Murray
1995 IEEE Conference on Decision and Control


1995l_lm95-cds

Configuration Controllability of Simple Mechanical Control Systems
Andrew D. Lewis and Richard M. Murray
SIAM J. Control and Optimization, 35(3):766-790


1995k_mrs95-imece

Differential Flatness of Mechanical Control Systems: A Catalog of Prototype Systems
Richard M. Murray, Muruhan Rathinam, Willem Sluis
1995 ASME Int'l Mechanical Engineering Congress and Exposition


1995j_nm96-ifac

Real Time Trajectory Generation for Differentially Flat Systems with Unstable Zero Dynamics
Michiel van Nieuwstadt and Richard M. Murray
1996 IFAC World Congress


1995g_mm95-ecc

Converting Smooth, Time-Varying, Asymptotic Stabilizers for Driftless Systems to Homogeneous, Exponential Stabilizers
Richard M. Murray and Robert T. M'Closkey
1995 European Control Conference (Rome)


1995f_mur95-nolcos

Nonlinear Control of Mechanical Systems: A Lagrangian Perspective
Richard M. Murray
Annual Reviews in Control, v21, pp 31-45


1995e_tm95-cdc

Robust Performance Analysis for a Class of Uncertain Nonlinear Systems
J. E. Tierno, R. M. Murray
1995 Conference on Decision and Control


1995d_lm95-cdc

Equilibrium Controllability for a Class of Mechanical Systems
A. D. Lewis, R. M. Murray
1995 Conference on Decision and Control


1995c_nm95-cdc

Approximate Trajectory Generation for Differentially Flat Systems with Zero Dynamics
M. van Nieuwstadt, R. M. Murray
1995 Conference on Decision and Control


1995b_dbm95-spie

Active Control of Rotating Stall Using Pulsed Air Injection: A Parametric Study on a Low-Speed, Axial Flow Compressor
R. D'Andrea, R. L. Behnken, R. M. Murray
1995 SPIE International Symposium on Aerospace/Defense Sensing & Control and Dual-Use Photonics


1995_adl95-phd

Aspects of Geometric Mechanics and Control of Mechanical Systems
Andrew D. Lewis
PhD Dissertation, Caltech, Jun 1995


1994r_sbm94-syroco

Grasping with Flexible Link Fingers: An Initial Study
Sudipto Sur, Robert L. Behnken, Richard M. Murray
1994 Symposium on Robot Control (SYROCO)


1994p_ljtm94-tra

A Motion Planner for Nonholonomic Robots
J-P. Laumond, P. E. Jacobs, M. Taix and R. M. Murray
IEEE T. Robotics and Automation, 10: (5) 577-593


1994o_lm94-cds

Variational Principles in Constrained Systems: Theory and Experiments
Andrew D. Lewis and Richard M. Murray
International Journal of Nonlinear Mechanics, 30(6): 793-815, 1995

CDS Technical Report 94-016
1994n_bm95-ecc

Proportional Derivative (PD) Control on the Euclidean Group
Francesco Bullo and Richard Murray
1995 European Control Conference (Rome)


1994l_km95-turbo

Experimental Evaluation of Air Injection for Actuation of Rotating Stall in a Low Speed, Axial Fan
Asif Khalak and Richard M. Murray
ASME Turbo Expo '95


1994k_tmd95-acc

An Efficient Algorithm for Performance Analysis of Nonlinear Control Systems
J. E. Tierno, R. M. Murray, J. C. Doyle
1995 American Control Conference


1994j_kbbm95-acc

An Experimental Comparison of Controllers for a Vectored Thrust, Ducted Fan Engine
M. Kantner, B. Bodenheimer, P. Bendotti, R. M. Murray
1995 American Control Conference


1994i_bms95-nolcos

Control on the Sphere and Reduced Attitude Stabilization
Francesco Bullo, Richard M. Murray, Augusto Sarti
1995 IFAC Symposium on Nonlinear Control Systems Design


1994h_km94-cds

Geometric Phases and Robotic Locomotion
Scott D. Kelly and Richard M. Murray
J. Robotic Systems, 12(6):417-431


1994g_bkmm94-cds

Nonholonomic Mechanical Systems and Symmetry
A. M. Bloch, P. S. Krishnaprasad, J. E. Marsden, R. M. Murray
CDS Technical Report 94-013
To appear Archive for Rational Mechanics and Analysis


1994f_mur94-nas

Geometric Phases, Control Theory, and Robotics
Richard M. Murray
Proceedings of the Board on Mathematical Sciences, Science and Technology Symposium, Washington DC, 12 April 1994


1994e_mm94-cdc

Exponential Stabilization of Driftless Nonlinear Control Systems via Time-varying, Homogeneous Feedback
Robert T. M'Closkey and Richard M. Murray
Proceedings of the 32nd Conference on Decision and Control
December 1994


1994d_nrm94-cdc

Differential Flatness and Absolute Equivalence of Nonlinear Control Systems
Michiel van Nieuwstadt, Muruhan Rathinam, Richard M. Murray
SIAM J. Control and Optimization, 36(4):1225-1239


1994b_wal+95-tac

Stabilization of Trajectories for Systems with Nonholonomic Constraints
G. Walsh, D. Tilbury, S. Sastry, R. Murray, and J-P. Laumond
IEEE T. Automatic Control, 39: (1) 216-222


1994a_mm94-syroco

Extending Exponential Stabilizers for Nonholonomic Systems from Kinematic Controllers to Dynamic Controllers
Robert T. M'Closkey and Richard M. Murray
1994 Symposium on Robot Control (SYROCO)


1994_rtm94-phd

Exponential Stabilization of Driftless Nonlinear Control Systems
Robert T. M'Closkey
PhD Dissertation, Caltech, Dec 1994


1993j_lomb94-icra

Nonholonomic Mechanics and Locomotion: The Snakeboard Example
Andrew D. Lewis, Richard M. Murray, James P. Ostrowski, Joel W. Burdick
1994 International Conference on Robotics and Automation


1993g_mm94-acc

Experiments in Exponential Stabilization of a Mobile Robot Towing a Trailer
Robert M'Closkey and Richard M. Murray
1994 American Control Conference


1993e_mur93-cdc

Applications and Extensions of Goursat Normal Form to Control of Nonlinear Systems
Richard M. Murray
Proceedings of the 32nd Conference on Decision and Control
December 1993


1993d_ms93

Nonholonomic Motion Planning: Steering Using Sinusoids
Richard M. Murray and S. Shankar Sastry
IEEE T. Automatic Control, 38(5):700-716


1993a_tms93-erl

Trajectory generation for the N-trailer problem using Goursat normal form
D. Tilbury, R. M. Murray and S. S. Sastry
IEEE T. Automatic Control, 40: (5) 802-819


1992a_mdps92-smc

Control Primitives for Robot Systems
Richard M. Murray, D. Curtis Deno, Kristofer S. J. Pister, S. S. Sastry
IEEE T. Systems, Man, and Cybernetics


1991c_mh91-erl

A Case Study in Approximate Linearization: The Acrobot Example
Richard M. Murray and John Hauser
ERL Technical Memo, May 1991


1990e_mur90-phd

Robotic Control and Nonholonomic Motion Planning
Richard M. Murray
PhD Dissertation, UC Berkeley, Dec 1990


1988a_mur88-ms

Experiments in Planar Manipulation and Grasping
Richard M. Murray
MS Project Report, UC Berkeley, Dec 1988