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Seghete, V., and T. D. Murphey, "Multiple Instantaneous Collisions in a Variational Framework", \i Proceedings of the 48th IEEE Conference on Decision and Control (CDC)\i0 , pp. 5015 -5020, dec., 2009.\par \par Caldwell, T. M., and T. D. Murphey, "Switching mode generation and optimal estimation with application to skid-steering", \i Automatica\i0 , vol. 47, no. 1, pp. 50 - 64, 2011.\par \par Caldwell, T. M., and T. D. Murphey, "Relaxed optimization for mode estimation in skid steering", \i Robotics and Automation (ICRA), 2010 IEEE International Conference on\i0 , pp. 5423 -5428, may, 2010.\par \par Schultz, J. A., and T. D. Murphey, "Trajectory generation for underactuated control of a suspended mass", \i 2012 IEEE International Conference on Robotics and Automation (ICRA)\i0 , 2012.\par \par Schultz, J. A., and T. D. Murphey, "Embedded Control Synthesis Using One-Step Methods in Discrete Mechanics", \i American Control Conference (ACC)\i0 , Washington, D.C., 2013.\par \par Seghete, V., and T. D. Murphey, "Variational solutions to simultaneous collisions between multiple rigid bodies", \i 2010 IEEE International Conference on Robotics and Automation (ICRA 2010)\i0 , Anchorage, AK, IEEE, 05/2010.\par \par Murphey, T. D., and J. W. Burdick, "Feedback control methods for distributed manipulation systems that involve mechanical contacts", \i The International Journal of Robotics Research\i0 , vol. 23, no. 7-8: SAGE Publications, pp. 763?781, 2004.\par \par Shucker, B., T. D. Murphey, and J. K. Bennett, "A method of cooperative control using occasional non-local interactions", \i Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on\i0 : IEEE, pp. 1324?1329, 2006.\par \par Egerstedt, M. B., T. D. Murphey, and J. Ludwig, "Motion programs for puppet choreography and control", \i Hybrid Systems: Computation and Control\i0 : Springer, pp. 190?202, 2007.\par \par Murphey, T. D., and J. W. Burdick, "Issues in controllability and motion planning for overconstrained wheeled vehicles", \i Proc. Int. Conf. Math. Theory of Networks and Systems (MTNS)\i0 : Citeseer, 2000.\par \par Shucker, B., T. D. Murphey, and J. K. Bennett, "Convergence-preserving switching for topology-dependent decentralized systems", \i Robotics, IEEE Transactions on\i0 , vol. 24, no. 6: IEEE, pp. 1405?1415, 2008.\par \par Murphey, T. D., and J. W. Burdick, "Nonsmooth controllability theory and an example", \i Decision and Control, 2002, Proceedings of the 41st IEEE Conference on\i0 , vol. 1: IEEE, pp. 370?376, 2002.\par \par Johnson, E., and T. D. Murphey, "Dynamic modeling and motion planning for marionettes: Rigid bodies articulated by massless strings", \i Robotics and automation, 2007 IEEE international conference on\i0 : IEEE, pp. 330?335, 2007.\par \par Johnson, E., and T. D. Murphey, "Scalable variational integrators for constrained mechanical systems in generalized coordinates", \i Robotics, IEEE Transactions on\i0 , vol. 25, no. 6: IEEE, pp. 1249?1261, 2009.\par \par Murphey, T. D., and J. W. Burdick, "On the stability and design of distributed manipulation control systems", \i IEEE International Conference on Robotics and Automation (ICRA)\i0 , vol. 3: IEEE, pp. 2686?2691, 2001.\par \par Murphey, T. D., and J. W. Burdick, "The power dissipation method and kinematic reducibility of multiple-model robotic systems", \i Robotics, IEEE Transactions on\i0 , vol. 22, no. 4: IEEE, pp. 694?710, 2006.\par \par Johnson, E., and T. D. Murphey, "Discrete and continuous mechanics for tree representations of mechanical systems", \i Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on\i0 : IEEE, pp. 1106?1111, 2008.\par \par Shucker, B., T. D. Murphey, and J. K. Bennett, "Switching rules for decentralized control with simple control laws", \i American Control Conference, 2007. ACC'07\i0 : IEEE, pp. 1485?1492, 2007.\par \par Shucker, B., T. D. Murphey, and J. K. Bennett, "An approach to switching control beyond nearest neighbor rules", \i American Control Conference, 2006\i0 : IEEE, pp. 7?pp, 2006.\par \par Murphey, T. D., D. Choi, J. D. Bernheisel, and K. M. Lynch, "Experiments in the use of stable limit sets for parts handling", \i MEMS, NANO and Smart Systems, 2004. ICMENS 2004. Proceedings. 2004 International Conference on\i0 : IEEE, pp. 218?224, 2004.\par \par Murphey, T. D., and J. W. Burdick, "Global exponential stabilizability for distributed manipulation systems", \i Robotics and Automation, 2002. Proceedings. ICRA'02. IEEE International Conference on\i0 , vol. 2: IEEE, pp. 1210?1216, 2002.\par \par Murphey, T. D., and J. W. Burdick, "A controllability test and motion planning primitives for overconstrained vehicles", \i IEEE International Conference on Robotics and Automation (ICRA)\i0 , vol. 3: IEEE, pp. 2716?2722, 2001.\par \par Murphey, T. D., "On multiple model control for multiple contact systems", \i Automatica\i0 , vol. 44, no. 2: Elsevier, pp. 451?458, 2008.\par \par Murphey, T. D., J. D. Bernheisel, D. Choi, and K. M. Lynch, "An example of parts handling and self-assembly using stable limit sets", \i IEEE Int. Conf. on Intelligent Robots and Systems (IROS)\i0 : IEEE, pp. 1624?1629, 2005.\par \par Murphey, T. D., \i Control of multiple model systems, \i0 : California Institute of Technology, 2002.\par \par Murphey, T. D., "Teaching rigid body mechanics using student-created virtual environments", \i Education, IEEE Transactions on\i0 , vol. 51, no. 1: IEEE, pp. 45?52, 2008.\par \par Murphey, T. D., and J. W. Burdick, "Global stability for distributed systems with changing contact states", \i IEEE/RSJ International Conference on Intelligent Robots and Systems\i0 , vol. 1: IEEE, pp. 214?219, 2001.\par \par Murphey, T. D., "Kinematic reductions for uncertain mechanical contact", \i Robotica\i0 , vol. 25, no. 6: Cambridge Univ Press, pp. 751?764, 2007.\par \par Caldwell, T. M., and T. D. Murphey, "Second-order optimal estimation of slip state for a simple slip-steered vehicle", \i Automation Science and Engineering, 2009. CASE 2009. IEEE International Conference on\i0 : IEEE, pp. 133?139, 2009.\par \par Murphey, T. D., "Motion planning for kinematically overconstrained vehicles using feedback primitives", \i Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on\i0 : IEEE, pp. 1643?1648, 2006.\par \par Johnson, E., and T. D. Murphey, "Second order switching time optimization for time-varying nonlinear systems", \i Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on\i0 : IEEE, pp. 5281?5286, 2009.\par \par Johnson, E., and T. D. Murphey, "Second-order switching time optimization for non-linear time-varying dynamic systems", \i Automatic Control, IEEE Transactions on\i0 , vol. 25, issue 6, no. 99: IEEE, pp. 1?1, 2011.\par \par Murphey, T. D., J. W. Burdick, J. Burgess, and A. Homyk, "Experiments in nonsmooth control of distributed manipulation", \i Robotics and Automation, 2003. Proceedings. ICRA'03. IEEE International Conference on\i0 , vol. 3: IEEE, pp. 3600?3606, 2003.\par \par Murphey, T. D., and J. W. Burdick, "A local controllability test for nonlinear multiple model systems", \i American Control Conference, 2002. Proceedings of the 2002\i0 , vol. 6: IEEE, pp. 4657?4661, 2002.\par \par Murphey, T. D., and M. B. Egerstedt, "Choreography for marionettes: Imitation, planning, and control", \i IEEE Int. Conf. on Intelligent Robots and Systems Workshop on Art and Robotics\i0 : IEEE, 2007.\par \par Murphey, T. D., and J. W. Burdick, "Feedback control for distributed manipulation", \i Algorithmic Foundations of Robotics V\i0 : Springer, pp. 487?504, 2004.\par \par Murphey, T. D., and M. Horowitz, "Adaptive cooperative manipulation with intermittent contact", \i Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on\i0 : IEEE, pp. 1483?1488, 2008.\par \par Murphey, T. D., and J. S. Falcon, "Programming from the ground up in controls laboratories using graphical programming", \i Advances in Control Education\i0 , vol. 7, no. 1, pp. 404?409, 2006.\par \par Johnson, E., K. Morris, and T. D. Murphey, "A variational approach to strand-based modeling of the human hand", \i Algorithmic Foundation of Robotics VIII\i0 : Springer, pp. 151?166, 2009.\par \par Nichols, K., and T. D. Murphey, "Variational integrators for constrained cables", \i Automation Science and Engineering, 2008. CASE 2008. IEEE International Conference on\i0 : IEEE, pp. 802?807, 2008.\par \par Murphey, T. D., and J. W. Burdick, "Kinematic reducibility of multiple model systems", \i Decision and Control, 2003. Proceedings. 42nd IEEE Conference on\i0 , vol. 5: IEEE, pp. 5307?5313, 2003.\par \par Snyder, K. L., and T. D. Murphey, "Second-order DMOC using projection", \i Decision and Control (CDC), 2010 49th IEEE Conference on\i0 : IEEE, pp. 1872?1878, 2010.\par \par Murphey, T. D., "Modeling and control of multiple-contact manipulation without modeling friction", \i American Control Conference, 2006\i0 : IEEE, pp. 8?pp, 2006.\par \par Johnson, E., and T. D. Murphey, "Local planning using switching time optimization", \i Automation Science and Engineering (CASE), 2010 IEEE Conference on\i0 : IEEE, pp. 828?834, 2010.\par \par Johnson, E., and T. D. Murphey, "Linearizations for mechanical systems in generalized coordinates", \i American Control Conference (ACC), 2010\i0 : IEEE, pp. 629?633, 2010.\par \par Caldwell, T. M., and T. D. Murphey, "An adjoint method for second-order switching time optimization", \i Decision and Control (CDC), 2010 49th IEEE Conference on\i0 : IEEE, pp. 2155?2162, 2010.\par \par Murphey, T. D., and K. M. Lynch, "Case Studies in Planar Part Feeding and Assembly Based on Design of Limit Sets", \i The International Journal of Robotics Research\i0 , vol. 27, no. 6: SAGE Publications, pp. 693?708, 2008.\par \par Murphey, T. D., and J. W. Burdick, "Smooth feedback control algorithms for distributed manipulators", \i Robotics and Automation, 2003. Proceedings. ICRA'03. IEEE International Conference on\i0 , vol. 3: IEEE, pp. 3619?3623, 2003.\par \par Murphey, T. D., "Filtering of interaction rules in cooperation", \i American Control Conference, 2008\i0 : IEEE, pp. 3733?3739, 2008.\par \par Caldwell, T. M., and T. D. Murphey, "Single integration optimization of linear time-varying switched systems", \i American Control Conference (ACC), 2011\i0 : IEEE, pp. 2024?2030, 2011.\par \par Travers, M., T. D. Murphey, and L. Pao, "Impulsive data association with an unknown number of targets", \i Proceedings of the 14th international conference on Hybrid systems: computation and control\i0 : ACM, pp. 261?270, 2011.\par \par Travers, M., T. D. Murphey, and L. Pao, "Impulse optimization for data association", \i Decision and Control (CDC), 2010 49th IEEE Conference on\i0 : IEEE, pp. 2204?2209, 2010.\par \par Travers, M., T. D. Murphey, and L. Pao, "Trajectory optimization estimator for impulsive data association", \i American Control Conference (ACC), 2011\i0 : IEEE, pp. 4514?4519, 2011.\par \par Johnson, E., and T. D. Murphey, "Automated trajectory synthesis from animation data using trajectory optimization", \i Automation Science and Engineering, 2009. CASE 2009. IEEE International Conference on\i0 : IEEE, pp. 274?279, 2009.\par \par Travers, M., T. D. Murphey, and L. Pao, "Data association with ambiguous measurements", \i American Control Conference, 2008\i0 : IEEE, pp. 1875?1880, 2008.\par \par Long, A. W., T. D. Murphey, and K. M. Lynch, "Optimal motion planning for a class of hybrid dynamical systems with impacts", \i Robotics and Automation (ICRA), 2011 IEEE International Conference on\i0 : IEEE, pp. 4220?4226, 2011.\par \par Johnson, E., and T. D. Murphey, "Dangers of two-point holonomic constraints for variational integrators", \i American Control Conference, 2009. ACC'09.\i0 : IEEE, pp. 4723?4728, 2009.\par \par Gibson, C., and T. D. Murphey, "Geometric integration of impact during an orbital docking procedure", \i Automation Science and Engineering (CASE), 2010 IEEE Conference on\i0 : IEEE, pp. 928?932, 2010.\par \par Travers, M., T. D. Murphey, and L. Pao, "Stochastic sampling based data association", \i American Control Conference (ACC), 2010\i0 : IEEE, pp. 1386?1391, 2010.\par \par Murphey, T. D., "Geometric Derived Information Spaces in Manipulation with Mechanical Contact", \i Automation Science and Engineering, 2007. CASE 2007. IEEE International Conference on\i0 : IEEE, pp. 338?345, 2007.\par \par Murphey, T. D., "On Observing Contact States in Overconstrained Manipulation", \i Multi-point Interaction with Real and Virtual Objects\i0 : Springer-Verlag, pp. 151?163, 2005.\par \par Murphey, T. D., and E. Johnson, "Control aesthetics in software architecture for robotic marionettes", \i American Control Conference (ACC), 2011\i0 : IEEE, pp. 3825?3830, 2011.\par \par Murphey, T. D., "Mechanical Manipulation Using Reduced Models of Uncertainty", \i Algorithmic Foundation of Robotics VII\i0 : Springer, pp. 359?374, 2008.\par \par Murphey, T. D., "Application of supervisory control methods to uncertain multiple contact mechanical systems", \i American Control Conference, 2005. Proceedings of the 2005\i0 : IEEE, pp. 774?780, 2005.\par \par Murphey, T. D., and J. S. Falcon, "Programming from the Ground Up in Control Laboratories", \i International Journal of Engineering Education\i0 , vol. 26, no. 5, pp. 1241, 2010.\par \par Martin, P., E. Johnson, T. D. Murphey, and M. B. Egerstedt, "Constructing and implementing motion programs for robotic marionettes", \i IEEE Transactions on Automatic Control\i0 , no. 99: IEEE, pp. 1?1, 2011.\par \par Pekarek, D., and T. D. Murphey, "A backwards error analysis approach for simulation and control of nonsmooth mechanical systems", \i Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on\i0 : IEEE, pp. 6942?6949, 2011.\par \par Seghete, V., and T. D. Murphey, "A propagative model of simultaneous impact: existence, uniqueness, and design consequences", \i IEEE Transactions on Automation Engineering\i0 , 2013.\par \par Seghete, V., and T. D. Murphey, "Conditions for uniqueness in simultaneous impact with application to mechanical design", \i IEEE International Conference on Robotics and Automation (ICRA)\i0 : IEEE, pp. 5006?5011, 2012.\par \par Tovar, B., and T. D. Murphey, "Trajectory tracking among landmarks and binary sensor-beams", \i IEEE International Conference on Robotics and Automation (ICRA)\i0 : IEEE, pp. 2121?2127, 2012.\par \par Pekarek, D., and T. D. Murphey, "Variational Nonsmooth Mechanics via a Projected Hamilton?s Principle", \i Proceedings of the American Control Conference\i0 , 2012.\par \par Johnson, E., and T. D. Murphey, "Automated trajectory morphing for marionettes using trajectory optimization", \i IEEE Conf. on Aut. Science and Eng.\i0 , 2009.\par \par Miller, L. M., and T. D. Murphey, "Simultaneous Optimal Parameter and Mode Transition Time Estimation", \i IEEE Int. Conf. on Intelligent Robots and Systems (IROS)\i0 , 2012.\par \par Caldwell, T. M., and T. D. Murphey, "Projection-Based Switched System Optimization", \i American Control Conference\i0 , 2012.\par \par Travers, M., T. D. Murphey, and L. Pao, "Linear Time-Varying Impulse Optimization for Data Association", \i American Control Conference (ACC)\i0 , 2012.\par \par Murphey, T. D., and B. Argall, "Making Robotic Marionettes Perform", \i ICRA Workshop on Robotics and Performance Arts: Reciprocal Influences\i0 , 2012.\par \par Murphey, T. D., \i Development of New First Year Engineering Projects Course, \i0 , 2007.\par \par Caldwell, T. M., and T. D. Murphey, "Projection-Based Switched System Optimization: Absolute Continuity of the Line Search", \i IEEE Int. Conf. on Decision and Control (CDC)\i0 , 2012.\par \par Fla\'dfkamp, K., T. D. Murphey, and S. Ober-Bl\'f6baum, "Switching Time Optimization in Discretized Hybrid Dynamical Systems", \i IEEE Int. Conf. on Decision and Control (CDC), Submitted\i0 , 2012.\par \par Pekarek, D., and T. D. Murphey, "Global Projections for Variational Nonsmooth Mechanics", \i IEEE Int. Conf. on Decision and Control (CDC)\i0 , 2012.\par \par Chirikjian, G. S., H. Choset, M. Morales, and T. D. Murphey, \i Algorithmic Foundations of Robotics VIII: Selected Contributions of the Eighth International Workshop on the Algorithmic Foundations of Robotics, \i0 , vol. 57: Springer, 2010.\par \par Lynch, K. M., and T. D. Murphey, "Control of nonprehensile manipulation", \i Control Problems in Robotics and Automation\i0 : Springer-Verlag, pp. 39?58, 2003.\par \par Miller, L. M., and T. D. Murphey, "Optimal contact decisions for ergodic exploration", \i IEEE Int. Conf. on Decision and Control (CDC)\i0 , 2012.\par \par Miller, L. M., and T. D. Murphey, "Simultaneous Optimal Estimation of Mode Transition Times and Parameters Applied to Simple Traction Models", \i IEEE Transactions on Robotics\i0 , vol. 29, issue 6, pp. 1503, Dec. 2013.\par \par Miller, L. M., and T. D. Murphey, "Trajectory Optimization for Continuous Ergodic Exploration", \i American Control Conference (ACC)\i0 , 2013.\par \par Ansari, A., and T. D. Murphey, "Minimal parametric sensitivity trajectories for nonlinear systems", \i American Control Conference (ACC)\i0 , 2013.\par \par Silverman, Y., L. M. Miller, M. A. MacIver, and T. D. Murphey, "Optimal Planning for Information Acquisition", \i IROS 2013\i0 , 2013.\par \par Wilson, A. D., and T. D. Murphey, "Optimal Trajectory Design for Well-Conditioned Parameter Estimation", \i IEEE Conference on Automation Science and Engineering (CASE)\i0 , pp. 13-19, 2013.\par \par Fla\'dfkamp, K., T. D. Murphey, and S. Ober-Bl\'f6baum, "Discretized Switching Time Optimization Problems", \i European Control Conference (ECC)\i0 , 2013.\par \par Fla\'dfkamp, K., T. D. Murphey, and S. Ober-Bl\'f6baum, "Optimization for Discretized Switched Systems", \i Annual Meeting of the International Association of Applied Mathematics and Mechanics\i0 , 2013.\par \par Ansari, A., and T. D. Murphey, "Minimal Sensitivity Control for Hybrid Environments", \i IROS\i0 , 2013.\par \par Caldwell, T. M., and T. D. Murphey, "Projection-based optimal mode scheduling", \i IEEE Conference on Decision and Control\i0 , 2013.\par \par Miller, L. M., and T. D. Murphey, "Trajectory optimization for continuous ergodic exploration on the motion group SE(2)", \i IEEE Conference on Decision and Control\i0 , 2013.\par \par Pekarek, D., and T. D. Murphey, "A projected Lagrange-d'Alembert principle for forced nonsmooth mechanics and optimal control", \i IEEE Conference on Decision and Control\i0 , 2013.\par \par Wilson, A. D., and T. D. Murphey, "Local E-optimality Conditions for Trajectory Design to Estimate Parameters in Nonlinear Systems", \i American Control Conference (ACC)\i0 , pp. 443-450, 2014.\par \par Schultz, J. A., and T. D. Murphey, "Extending Filter Performance Through Structured Integration", \i American Control Conference (ACC)\i0 , 2014.\par \par Tzorakoleftherakis, E., F. A. Mussa-Ivaldi, R. A. Scheidt, and T. D. Murphey, "Effects of Optimal Tactile Feedback in Balancing Tasks: a Pilot Study", \i American Control Conference (ACC)\i0 , 2014.\par \par Jochum, E., J. A. Schultz, E. Johnson, and T. D. Murphey, "Robotic Puppets and the Engineering of Autonomous Theater", \i Controls and Art\i0 : Springer International Publishing, pp. 107-128, 2014.\par \par Neveln, I. D., L. M. Miller, M. A. MacIver, and T. D. Murphey, "Improving Object Tracking through Distributed Exploration of an Information Map", \i IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2014\i0 , 2014.\par \par Wilson, A. D., J. A. Schultz, and T. D. Murphey, "Trajectory Optimization for Well-Conditioned Parameter Estimation", \i IEEE Transactions on Automation Science and Engineering\i0 , vol. 12, issue 1, pp. 28-36, 2015.\par \par Johnson, E., J. A. Schultz, and T. D. Murphey, "Structured Linearization of Discrete Mechanical Systems for Analysis and Optimal Control", \i IEEE Transactions on Automation Science and Engineering\i0 , vol. 12, issue 1, pp. 140-152, 2015.\par \par Wilson, A. D., J. A. Schultz, and T. D. Murphey, "Trajectory Synthesis for Fisher Information Maximization", \i IEEE Transactions on Robotics\i0 , vol. 30, issue 6, pp. 1358-1370, 2014.\par \par Quist, B. W., V. Seghete, L. A. Huet, T. D. Murphey, and M. J. Z. Hartmann, "Modeling Forces and Moments at the Base of a Rat Vibrissa during Noncontact Whisking and Whisking against an Object", \i Journal of Neuroscience\i0 , vol. 34, issue 30, pp. 9828 - 9844, 07/2014.\par \par Ansari, A., and T. D. Murphey, "Control-On-Request: Short-Burst Assistive Control for Long Time Horizon Improvement", \i American Control Conference (ACC)\i0 , 2015.\par \par Mavrommati, A., and T. D. Murphey, "Single-Integration Mode Scheduling for Linear Time-Varying Switched Systems", \i American Control Conference (ACC)\i0 , 2014.\par \par Mavrommati, A., A. Ansari, and T. D. Murphey, "Optimal Control-On-Request: An Application in Real-Time Assistive Balance Control", \i IEEE International Conference on Robotics and Automation (ICRA)\i0 , pp. 5928-5934, 2015.\par \par Ansari, A., and T. D. Murphey, "Sequential Action Control: Closed-Form Optimal Control for Nonlinear Systems", \i IEEE Transactions on Robotics\i0 , vol. 32, issue 5, pp. 1196 - 1214, Oct. 2016.\par \par Miller, L. M., Y. Silverman, M. A. MacIver, and T. D. Murphey, "Ergodic Exploration of Distributed Information", \i Transactions on Robotics\i0 , vol. 32, issue 1, pp. 36-52, 2016.\par \par Miller, L. M., and T. D. Murphey, "Optimal Planning for Target Localization and Coverage Using Range Sensing", \i IEEE Int. Conf. on Automation Science and Engineering (CASE)\i0 : 2015, pp. 501-508, 2015.\par \par Leong, Y. P., and T. D. Murphey, "Feature Localization Using Kinematics and Impulsive Hybrid Optimization", \i IEEE Transactions on Automation Science and Engineering\i0 , vol. 10, pp. 957-968, 2013.\par \par Leong, Y. P., and T. D. Murphey, "Second-order switching time and magnitude optimization for impulsive hybrid systems", \i American Control Conference (ACC)\i0 , pp. 6213-6218, 2013.\par \par Ansari, A., and T. D. Murphey, "A Variational Derivation of LQR for Piecewise Time-Varying Systems", \i American Control Conference (ACC)\i0 , 2015.\par \par Tzorakoleftherakis, E., M. C. Bengtson, F. A. Mussa-Ivaldi, R. A. Scheidt, and T. D. Murphey, "Tactile Proprioceptive Input in Robotic Rehabilitation After Stroke", \i IEEE Int. Conf. on Robotics and Automation (ICRA)\i0 , 2015.\par \par Wilson, A. D., and T. D. Murphey, "Maximizing Fisher Information Using Discrete Mechanics and Projection-Based Trajectory Optimization", \i IEEE Int. Conf. on Robotics and Automation (ICRA)\i0 , pp. 2403-2409, 2015.\par \par Wilson, A. D., J. A. Schultz, A. Ansari, and T. D. Murphey, "Real-time Trajectory Synthesis for Information Maximization using Sequential Action Control and Least-Squares Estimation", \i IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)\i0 , pp. 4935-4940, 2015.\par \par Ansari, A., K. Fla\'dfkamp, and T. D. Murphey, "Sequential Action Control for Tracking of Free Invariant Manifolds", \i Conference on Analysis and Design of Hybrid Systems\i0 , pp. 335-342, 2015.\par \par Ansari, A., and T. D. Murphey, "Minimum Sensitivity Control for Planning with Parametric and Hybrid Uncertainty", \i The International Journal of Robotics Research\i0 , 2015.\par \par Tzorakoleftherakis, E., and T. D. Murphey, "Controllers as Filters: Noise-Driven Swing-Up Control Based on Maxwell?s Demon", \i IEEE Conf. on Decision and Control (CDC)\i0 , 2015.\par \par Mamakoukas, G., M. A. MacIver, and T. D. Murphey, "Sequential Action Control for Models of Underactuated Underwater Vehicles in a Planar Ideal Fluid", \i American Control Conference (ACC)\i0 , Boston, MA, pp. 4500-4506, 07/2016.\par \par Schultz, J. A., E. Johnson, and T. D. Murphey, "Trajectory Optimization in Discrete Mechanics", \i Differential-Geometric Methods in Computational Multibody System Dynamics\i0 : Springer International Publishing, In Press.\par \par Fla\'dfkamp, K., and T. D. Murphey, "Variational integrators in linear optimal filtering", \i American Control Conference\i0 , pp. 5140--5145, 2015.\par \par Tzorakoleftherakis, E., A. Ansari, A. D. Wilson, J. A. Schultz, and T. D. Murphey, "Model-Based Reactive Control for Hybrid and High-Dimensional Robotic Systems", \i IEEE Robotics and Automation Letters\i0 , vol. 1, issue 1, pp. 431-438, 2016.\par \par Fitzsimons, K., E. Tzorakoleftherakis, and T. D. Murphey, "Optimal Human-In-The-Loop Interfaces Based on Maxwell's Demon", \i American Control Conference (ACC)\i0 , Boston, MA, pp. 4397-4402, 07/2016.\par \par Tzorakoleftherakis, E., T. D. Murphey, and R. A. Scheidt, "Augmenting sensorimotor control using ?goal?aware? vibrotactile stimulation during reaching and manipulation behaviors", \i Experimental Brain Research\i0 , 04/2016.\par \par Wilson, A. D., J. A. Schultz, A. Ansari, and T. D. Murphey, "Dynamic Task Execution Using Active Parameter Identification With the Baxter Research Robot", \i IEEE Transactions on Automation Science and Engineering\i0 , vol. 14, issue 1, pp. 391-397, 2017.\par \par MacIver, M. A., L. Schmitz, U. Mugan, T. D. Murphey, and C. Mobley, "Massive increase in visual range preceded the origin of terrestrial vertebrates", \i Proceeding of the National Academy of Sciences\i0 , vol. 114, pp. E2375-E2384, 03/2017.\par \par Prabhakar, A., K. Fla\'dfkamp, and T. D. Murphey, "Symplectic Integration for Optimal Ergodic Control", \i IEEE Int. Conf. on Decision and Control (CDC) 2015\i0 , 2015.\par \par Prabhakar, A., A. Mavrommati, J. A. Schultz, and T. D. Murphey, "Autonomous Visual Rendering using Physical Motion", \i Workshop on the Algorithmic Foundations in Robotics (WAFR) 2016\i0 , 2016.\par \par Abraham, I., A. Prabhakar, M. J. Z. Hartmann, and T. D. Murphey, "Ergodic Exploration using Binary Sensing for Non-Parametric Shape Estimation", \i IEEE Robotics and Automation Letters\i0 , vol. 2, issue 2, pp. 827-834, 2017.\par \par Fla\'dfkamp, K., A. Ansari, and T. D. Murphey, "Hybrid Control for Tracking of Invariant Manifolds", \i Nonlinear Analysis: Hybrid Systems\i0 , 2017.\par \par Mamakoukas, G., M. A. MacIver, and T. D. Murphey, "Feedback Synthesis for Controllable Underactuated Systems using Sequential Second Order Actions", \i Robotics: Science and Systems\i0 , 2017.\par \par Abraham, I., G. De La Torre, and T. D. Murphey, "Model-Based Control Using Koopman Operators", \i Robotics: Science and Systems\i0 , 2017.\par \par Tzorakoleftherakis, E., and T. D. Murphey, "Iterative Sequential Action Control for Stable, Model-Based Control of Nonlinear Systems", \i IEEE Transactions on Automatic Control\i0 , 2018.\par \par Mavrommati, A., E. Tzorakoleftherakis, I. Abraham, and T. D. Murphey, "Real-Time Area Coverage and Target Localization Using Receding-Horizon Ergodic Exploration", \i IEEE Transactions on Robotics\i0 , issue 34, pp. 62-80, Jan-01-2017, 2018.\par \par Mamakoukas, G., M. A. MacIver, and T. D. Murphey, "Feedback Synthesis For Underactuated Systems Using Sequential Second-Order Needle Variations", \i The International Journal of Robotics Research\i0 , 2018.\par \par Mamakoukas, G., M. A. MacIver, and T. D. Murphey, "Superlinear Convergence Using Controls Based on Second-Order Needle Variations", \i Conference on Decision and Control\i0 , 2018.\par \par Abraham, I., and T. D. Murphey, "Decentralized Ergodic Control: Distribution-Driven Sensing and Exploration for Multiagent Systems", \i IEEE Robotics and Automation Letters\i0 , vol. 3, pp. 2987-2994, Oct, 2018.\par \par Abraham, I., A. Mavrommati, and T. D. Murphey, "Data-Driven Measurement Models for Active Localization in Sparse Environments", \i Proceedings of Robotics: Science and Systems\i0 , 2018.\par \par Broad, A., I. Abraham, T. D. Murphey, and B. Argall, "Structured Neural Network Dynamics for Model-based Control", \i Learning and Inference in Robotics (LAIR) Workshop\i0 , 2018.\par \par Kalinowska, A., K. Fitzsimons, J. Dewald, and T. D. Murphey, "Online User Assessment for Minimal Intervention During Task-Based Robotic Assistance", \i Robotics: Science & Systems\i0 , 06/2018.\par \par Berrueta, T., A. Pervan, K. Fitzsimons, and T. D. Murphey, "Dynamical System Segmentation for Information Measures in Motion", \i IEEE Robotics and Automation Letters\i0 , vol. 4, issue 1, pp. 169 - 176, 01/2019.\par \par Berrueta, T., I. Abraham, and T. D. Murphey, "Experimental Applications of the Koopman Operator in Active Learning for Control", \i The Koopman Operator in Systems and Control: Theory, Numerics, and Applications\i0 : Springer, In Press.\par \par Broad, A., T. D. Murphey, and B. Argall, "Operation and Imitation under Safety-Aware Shared Control", \i Workshop on the Algorithmic Foundations of Robotics (WAFR)\i0 , 2018.\par \par Fan, T., J. A. Schultz, and T. D. Murphey, "Efficient Computation of Higher-Order Variational Integrators in Robotic Simulation and Trajectory Optimization", \i Workshop on the Algorithmic Foundations of Robotics (WAFR)\i0 , 2018.\par \par Abraham, I., A. Prabhakar, and T. D. Murphey, "Active Area Coverage from Equilibrium", \i Workshop on the Algorithmic Foundations of Robotics (WAFR)\i0 , 2018.\par \par Pervan, A., and T. D. Murphey, "Low Complexity Control Policy Synthesis for Embodied Computation in Synthetic Cells", \i Workshop on the Algorithmic Foundations of Robotics (WAFR)\i0 , 2018.\par \par Pervan, A., and T. D. Murphey, "Algorithmic materials: Embedding computation within material properties for autonomy", \i Robotic Systems and Autonomous Platforms\i0 : Woodhead Publishing, pp. 197-221, 2019.\par \par Fitzsimons, K., A. Maria Acosta, J. Dewald, and T. D. Murphey, "Ergodicity reveals assistance and learning from physical human-robot interaction", \i Science: Robotics\i0 , vol. 4, issue 29, 04/2019.\par \par Kalinowska, A., T. Berrueta, and T. D. Murphey, "Data-Driven Gait Segmentation for Walking Assistance in a Lower-Limb Assistive Device", \i International Conference on Robotics and Automation (ICRA)\i0 , 2019.\par \par }