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2015
Ansari, A., and T. D. Murphey, "Control-On-Request: Short-Burst Assistive Control for Long Time Horizon Improvement", American Control Conference (ACC), 2015.  (484.24 KB)
Ansari, A., and T. D. Murphey, "Minimum Sensitivity Control for Planning with Parametric and Hybrid Uncertainty", The International Journal of Robotics Research, 2015.  (755.17 KB) (4.97 MB)
Ansari, A., K. Flaßkamp, and T. D. Murphey, "Sequential Action Control for Tracking of Free Invariant Manifolds", Conference on Analysis and Design of Hybrid Systems, pp. 335-342, 2015.  (1.9 MB)
Ansari, A., and T. D. Murphey, "A Variational Derivation of LQR for Piecewise Time-Varying Systems", American Control Conference (ACC), 2015.
Bai, Y., J. B. Snyder, M. A. Peshkin, and M. A. MacIver, "Finding and identifying simple objects underwater with active electrosense", The International Journal of Robotics Research, 2015.  (3.68 MB)
Bale, R., I. D. Neveln, A. Pal Singh Bhalla, M. A. MacIver, and N. A. Patankar, "Convergent evolution of mechanically optimal locomotion in aquatic invertebrates and vertebrates", PLOS Biology, vol. 13, issue 4, 04/2015.  (4.35 MB)
Flaßkamp, K., and T. D. Murphey, "Variational integrators in linear optimal filtering", American Control Conference, pp. 5140--5145, 2015.
Friesen, R. Fenton, M. Wiertlewski, M. A. Peshkin, and J. E. Colgate, "Bioinspired artificial fingertips that exhibit friction reduction when subjected to transverse ultrasonic vibrations", World Haptics Conference (WHC), 2015 IEEE: IEEE, pp. 208–213, 2015.  (1.08 MB)
Hobbs, J. A., R. B. Towal, and M. J. Z. Hartmann, "Probability distributions of whisker-surface contact: quantifying elements of the rat vibrissotactile natural scene", Journal of Experimental Biology, vol. 218, issue 16, pp. 2551 - 2562, Jan-08-2015.  (370.8 KB) (3.63 MB) (1.1 MB) (274.89 KB)
Huet, L. A., C. L. Schroeder, and M. J. Z. Hartmann, "Tactile signals transmitted by the vibrissa during active whisking behavior", Journal of Neurophysiology, vol. 113, issue 10, pp. 3511 - 3518, Jan-06-2015.  (660.46 KB)
Johnson, E., J. A. Schultz, and T. D. Murphey, "Structured Linearization of Discrete Mechanical Systems for Analysis and Optimal Control", IEEE Transactions on Automation Science and Engineering, vol. 12, issue 1, pp. 140-152, 2015.  (340.62 KB)
Mavrommati, A., A. Ansari, and T. D. Murphey, "Optimal Control-On-Request: An Application in Real-Time Assistive Balance Control", IEEE International Conference on Robotics and Automation (ICRA), pp. 5928-5934, 2015.  (1.6 MB)
Miller, L. M., and T. D. Murphey, "Optimal Planning for Target Localization and Coverage Using Range Sensing", IEEE Int. Conf. on Automation Science and Engineering (CASE): 2015, pp. 501-508, 2015.  (2.93 MB)
Prabhakar, A., K. Flaßkamp, and T. D. Murphey, "Symplectic Integration for Optimal Ergodic Control", IEEE Int. Conf. on Decision and Control (CDC) 2015, 2015.  (1.14 MB)
Shi, J., J. Z. Woodruff, and K. M. Lynch, "Dynamic In-hand Sliding Manipulation", Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, Hamburg, Germany, IEEE, pp. 870 - 877, Sept. 2015.  (4.82 MB) (32.58 MB)
Shultz, C., M. A. Peshkin, and E. J. Colgate, "Surface haptics via electroadhesion: Expanding electrovibration with Johnsen and Rahbek", 2015 IEEE World Haptics Conference (WHC)2015 IEEE World Haptics Conference (WHC), Evanston, IL, IEEE, pp. 57 - 62, 2015.
Tzorakoleftherakis, E., and T. D. Murphey, "Controllers as Filters: Noise-Driven Swing-Up Control Based on Maxwell’s Demon", IEEE Conf. on Decision and Control (CDC), 2015.  (567.76 KB)
Tzorakoleftherakis, E., M. C. Bengtson, F. A. Mussa-Ivaldi, R. A. Scheidt, and T. D. Murphey, "Tactile Proprioceptive Input in Robotic Rehabilitation After Stroke", IEEE Int. Conf. on Robotics and Automation (ICRA), 2015.  (1.03 MB)
Wilson, A. D., and T. D. Murphey, "Maximizing Fisher Information Using Discrete Mechanics and Projection-Based Trajectory Optimization", IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 2403-2409, 2015.  (290.26 KB)
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", IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 4935-4940, 2015.  (841.46 KB) (7.1 MB)
Wilson, A. D., J. A. Schultz, and T. D. Murphey, "Trajectory Optimization for Well-Conditioned Parameter Estimation", IEEE Transactions on Automation Science and Engineering, vol. 12, issue 1, pp. 28-36, 2015.  (720.18 KB)
2016
Ansari, A., and T. D. Murphey, "Sequential Action Control: Closed-Form Optimal Control for Nonlinear Systems", IEEE Transactions on Robotics, vol. 32, issue 5, pp. 1196 - 1214, Oct. 2016.  (1.12 MB)
Bai, Y., I. D. Neveln, M. Peshkin, and M. A. MacIver, "Enhanced detection performance in electrosense through capacitive sensing", Bioinspiration & Biomimetics, vol. 11, pp. 055001, 2016.  (1.96 MB)
Belli, H., A. E. T. Yang, C. S. Bresee, and M. J. Z. Hartmann, "Variations in vibrissal geometry across the rat mystacial pad: base diameter, medulla, and taper", Journal of Neurophysiology, pp. jn.00054.2016, Nov-11-2016.
Bush, N. E., C. L. Schroeder, J. A. Hobbs, A. E. T. Yang, L. A. Huet, S. A. Solla, and M. J. Z. Hartmann, "Decoupling kinematics and mechanics reveals coding properties of trigeminal ganglion neurons in the rat vibrissal system", eLife, vol. 5, pp. e13969, Jun-27-2016.
Elwin, M. L., R. A. Freeman, and K. M. Lynch, "Environmental Estimation with Distributed Finite Element Agents", 55th IEEE Conference on Decision and Control, pp. 5918–5924, Dec, 2016.  (855.89 KB)
Fang, S., M. A. Peshkin, and M. A. MacIver, "Human-in-the-loop active electrosense", Bioinspiration & Biomimetics, vol. 12, issue 1, pp. 014001, 12/2016.  (1.28 MB)
Fitzsimons, K., E. Tzorakoleftherakis, and T. D. Murphey, "Optimal Human-In-The-Loop Interfaces Based on Maxwell's Demon", American Control Conference (ACC), Boston, MA, pp. 4397-4402, 07/2016.  (465.51 KB)
Friesen, R. Fenton, M. Wiertlewski, and J. E. Colgate, "The role of damping in ultrasonic friction reduction", Haptics Symposium (HAPTICS), 2016 IEEE: IEEE, pp. 167–172, 2016.
Hobbs, J. A., R. B. Towal, and M. J. Z. Hartmann, "Evidence for Functional Groupings of Vibrissae across the Rodent Mystacial Pad", PLOS Computational Biology, vol. 12, issue 1, pp. e1004109, Aug-01-2016.
Hobbs, J. A., R. B. Towal, and M. J. Z. Hartmann, "Spatiotemporal Patterns of Contact Across the Rat Vibrissal Array During Exploratory Behavior", Frontiers in Behavioral Neuroscience, vol. 9, May-01-2016.
Huet, L. A., and M. J. Z. Hartmann, "Simulations of a Vibrissa Slipping along a Straight Edge and an Analysis of Frictional Effects during Whisking", IEEE Transactions on Haptics, pp. 158-169, Jan-01-2016.  (234.85 KB) (590.91 KB) (224.61 KB)
Kaloti, A. S., E. C. Johnson, C. S. Bresee, S. N. Naufel, M. G. Perich, D. L. Jones, and M. J. Z. Hartmann, "Representation of Stimulus Speed and Direction in Vibrissal-Sensitive Regions of the Trigeminal Nuclei: A Comparison of Single Unit and Population Responses", PLOS ONE, vol. 11, issue 7, pp. e0158399, Jul-27-2016.
Lynch, K. M., N. D. Marchuk, and M. L. Elwin, Embedded Computing and Mechatronics with the PIC32 Microcontroller, , Oxford, Newnes, 2016.
Mamakoukas, G., M. A. MacIver, and T. D. Murphey, "Sequential Action Control for Models of Underactuated Underwater Vehicles in a Planar Ideal Fluid", American Control Conference (ACC), Boston, MA, pp. 4500-4506, 07/2016.  (713.34 KB)
Mavrommati, A., and T. D. Murphey, "Automatic synthesis of control alphabet policies", IEEE International Conference on Automation Science and Engineering (CASE), pp. 313 - 320, 2016.  (1.89 MB)
Mavrommati, A., J. A. Schultz, and T. D. Murphey, "Real-Time Dynamic-Mode Scheduling Using Single-Integration Hybrid Optimization", IEEE Transactions on Automation Science and Engineering, vol. 13, issue 3, pp. 1385 - 1398, Jan-07-2016.  (2.97 MB) (12.89 MB)
Miller, L. M., Y. Silverman, M. A. MacIver, and T. D. Murphey, "Ergodic Exploration of Distributed Information", Transactions on Robotics, vol. 32, issue 1, pp. 36-52, 2016.  (1.01 MB) (25.09 MB)
Prabhakar, A., A. Mavrommati, J. A. Schultz, and T. D. Murphey, "Autonomous Visual Rendering using Physical Motion", Workshop on the Algorithmic Foundations in Robotics (WAFR) 2016, 2016.  (5.71 MB) (19.2 MB)
Tzorakoleftherakis, E., T. D. Murphey, and R. A. Scheidt, "Augmenting sensorimotor control using “goal‑aware” vibrotactile stimulation during reaching and manipulation behaviors", Experimental Brain Research, 04/2016.  (1.27 MB)
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", IEEE Robotics and Automation Letters, vol. 1, issue 1, pp. 431-438, 2016.  (689 KB) (9.04 MB)
Wang, H., and M. Rubenstein, "Autonomous mobile robot with independent control and externally driven actuation", IEEE/RSJ International Conference on Intelligent Robots and Systems , 2016.  (704.09 KB)
Wiertlewski, M., R. Fenton Friesen, and J. E. Colgate, "Partial squeeze film levitation modulates fingertip friction", Proceedings of the National Academy of Sciences, vol. 113, pp. 9210–9215, 2016.
Yang, A. E. T., and M. J. Z. Hartmann, "Whisking Kinematics Enables Object Localization in Head-Centered Coordinates Based on Tactile Information from a Single Vibrissa", Frontiers in Behavioral Neuroscience, vol. 10, pp. Article 145, Jul-19-2016.
Yu, Y. S. W., M. M. Graff, and M. J. Z. Hartmann, "Mechanical responses of rat vibrissae to airflow", Journal of Experimental Biology, vol. 219, issue 7, pp. 937 - 948, Jan-04-2016.  (1.19 MB)
Yu, Y. S. W., M. M. Graff, C. S. Bresee, Y. B. Man, and M. J. Z. Hartmann, "Whiskers aid anemotaxis in rats", Science Advances, vol. 2, issue 8, pp. e1600716, Aug-24-2016.  (4.14 MB) (29.4 MB) (1.85 MB)
2017
Abraham, I., A. Prabhakar, M. J. Z. Hartmann, and T. D. Murphey, "Ergodic Exploration using Binary Sensing for Non-Parametric Shape Estimation", IEEE Robotics and Automation Letters, vol. 2, issue 2, pp. 827-834, 2017.  (2.25 MB) (10.19 MB)
Abraham, I., G. De La Torre, and T. D. Murphey, "Model-Based Control Using Koopman Operators", Robotics: Science and Systems, 2017.  (2.38 MB) (8.34 MB)
Bhattacharyya, K. D., D. L. McLean, and M. A. MacIver, "Visual threat assessment and reticulospinal encoding of calibrated responses in larval zebrafish", Current Biology, 09/2017.  (4.07 MB)
Elwin, M. L., R. A. Freeman, and K. M. Lynch, "Distributed Voronoi Neighbor Identification From Inter-Robot Distances", IEEE Robotics and Automation Letters, vol. 2, pp. 1320-1327, July, 2017.  (503.31 KB)
Flaßkamp, K., A. Ansari, and T. D. Murphey, "Hybrid Control for Tracking of Invariant Manifolds", Nonlinear Analysis: Hybrid Systems, 2017.  (2.21 MB)
Friesen, R. Fenton, M. Wiertlewski, M. A. Peshkin, and J. E. Colgate, "The contribution of air to ultrasonic friction reduction", World Haptics Conference (WHC), 2017 IEEE: IEEE, pp. 517–522, 2017.
Gyongyosi, M., A. Daley, B. Resnick, and M. Rubenstein, "Low cost sensing and communication system for rotor-craft.", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 17), 2017.  (465.85 KB)
Krakauer, J. W., A. A. Ghazanfar, A. Gomez-Marin, M. A. MacIver, and D. Poeppel, "Neuroscience needs behavior: correcting a reductionist bias", Neuron, vol. 93, pp. 480--490, 02/2017.  (897.57 KB)
MacIver, M. A., L. Schmitz, U. Mugan, T. D. Murphey, and C. Mobley, "Massive increase in visual range preceded the origin of terrestrial vertebrates", Proceeding of the National Academy of Sciences, vol. 114, pp. E2375-E2384, 03/2017.  (368 bytes)
Malley, M., M. Rubenstein, and R. Nagpal, " Flippy: A soft, autonomous climber with simple sensing and control", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 17), 2017.  (5.49 MB)
Mamakoukas, G., M. A. MacIver, and T. D. Murphey, "Feedback Synthesis for Controllable Underactuated Systems using Sequential Second Order Actions", Robotics: Science and Systems, 2017.  (2.1 MB) (7.24 MB)
Rosa, N., and K. M. Lynch, "Using Equilibria and Virtual Holonomic Constraints to Generate Families of Walking Gaits", Dynamic Walking Conference, Mariehamn, Finland, 06/2017.  (455.77 KB)
Shi, J., J. Z. Woodruff, P. Umbanhowar, and K. M. Lynch, "Dynamic In-hand Sliding Manipulation", IEEE Transactions on Robotics, vol. 33, issue 4, pp. 778-795, 08/2017.  (4.08 MB) (37.57 MB)
Shultz, C., M. A. Peshkin, and E. J. Colgate, "The application of tactile, audible, and ultrasonic forces to human fingertips using broadband electroadhesion", 2017 IEEE World Haptics Conference (WHC)2017 IEEE World Haptics Conference (WHC), Munich, Germany, IEEE, pp. 119 - 124, 2017.
Sprinkle, B., R. Bale, A. Pal Singh Bhalla, M. A. MacIver, and N. A. Patankar, "Hydrodynamic optimality of balistiform and gymnotiform locomotion", European Journal of Computational Mechanics, vol. 2642, issue 1-2, pp. 31 - 43, Apr-03-2017.  (536.39 KB)
Wilson, A. D., J. A. Schultz, A. Ansari, and T. D. Murphey, "Dynamic Task Execution Using Active Parameter Identification With the Baxter Research Robot", IEEE Transactions on Automation Science and Engineering, vol. 14, issue 1, pp. 391-397, 2017.  (1.15 MB) (3.44 MB)
Woodruff, J. Z., and K. M. Lynch, "Planning and Control for Dynamic, Nonprehensile, and Hybrid Manipulation Tasks", IEEE International Conference on Robotics and Automation, Singapore, 05/2017.  (2.5 MB) (9.75 MB)
2018
Abraham, I., A. Prabhakar, and T. D. Murphey, "Active Area Coverage from Equilibrium", Workshop on the Algorithmic Foundations of Robotics (WAFR), 2018.  (810.61 KB) (164.6 KB) (2.9 MB)
Abraham, I., A. Mavrommati, and T. D. Murphey, "Data-Driven Measurement Models for Active Localization in Sparse Environments", Proceedings of Robotics: Science and Systems, 2018.  (4.8 MB) (21.47 MB)
Abraham, I., and T. D. Murphey, "Decentralized Ergodic Control: Distribution-Driven Sensing and Exploration for Multiagent Systems", IEEE Robotics and Automation Letters, vol. 3, pp. 2987-2994, Oct, 2018.  (1.6 MB) (4.54 MB)
Broad, A., T. D. Murphey, and B. Argall, "Operation and Imitation under Safety-Aware Shared Control", Workshop on the Algorithmic Foundations of Robotics (WAFR), 2018.  (746.95 KB)
Broad, A., I. Abraham, T. D. Murphey, and B. Argall, "Structured Neural Network Dynamics for Model-based Control", Learning and Inference in Robotics (LAIR) Workshop, 2018.  (344.59 KB)
Espinosa, G., and M. Rubenstein, "Towards mixed reality system with quadrotor: Autonomous drone positioning in real and virtual.", Workshop: Robotics in Virtual Reality, 2018 IEEE International Conference on Robotics and Automation (ICRA 18)., 2018.  (403.2 KB)
Espinosa, G., and M. Rubenstein, "Using hardware specialization and hierarchy to simplify robotic swarms", ICRA - International Conference on Robotics and Automation, Brisbane - Australia, IEEE, 05/2018.  (833.32 KB) (7.03 MB)
Fan, T., J. A. Schultz, and T. D. Murphey, "Efficient Computation of Higher-Order Variational Integrators in Robotic Simulation and Trajectory Optimization", Workshop on the Algorithmic Foundations of Robotics (WAFR), 2018.  (2.5 MB) (303.95 KB) (3.72 MB)
George, J., M. L. Elwin, R. A. Freeman, and K. M. Lynch, "Distributed Fault Detection and Accommodation in Dynamic Average Consensus", 2018 American Control Conference (ACC), United States, Institute of Electrical and Electronics Engineers Inc., pp. 5019–5024, 8, 2018.
Kalinowska, A., K. Fitzsimons, J. Dewald, and T. D. Murphey, "Online User Assessment for Minimal Intervention During Task-Based Robotic Assistance", Robotics: Science & Systems, 06/2018.  (1.37 MB)
Mamakoukas, G., M. A. MacIver, and T. D. Murphey, "Feedback Synthesis For Underactuated Systems Using Sequential Second-Order Needle Variations", The International Journal of Robotics Research, 2018.  (2.78 MB)
Mamakoukas, G., M. A. MacIver, and T. D. Murphey, "Superlinear Convergence Using Controls Based on Second-Order Needle Variations", Conference on Decision and Control, 2018.  (2.52 MB)
Mavrommati, A., E. Tzorakoleftherakis, I. Abraham, and T. D. Murphey, "Real-Time Area Coverage and Target Localization Using Receding-Horizon Ergodic Exploration", IEEE Transactions on Robotics, issue 34, pp. 62-80, Jan-01-2017, 2018.  (5.62 MB) (6.23 MB) (10.28 MB)
Mugan, U., and M. A. MacIver, "How sensory ecology affects the utility of planning", Conference on Cognitive Computational Neuroscience, 09/2018.  (2.04 MB)
Pervan, A., and T. D. Murphey, "Low Complexity Control Policy Synthesis for Embodied Computation in Synthetic Cells", Workshop on the Algorithmic Foundations of Robotics (WAFR), 2018.  (1.42 MB)
Rubenstein, M., and Z. Manchester, "Bio-Inspired Position Control of Satellite Constellations", Int. Symp. on Distributed Autonomus Robotic Systems (DARS 18)., 2018.  (1.45 MB)
SaLoutus, A., and M. Rubenstein, "SpinBot: An Autonomous, Externally Actuated Robot for Swarm Applications. ", Int. Symp. on Distributed Autonomus Robotic Systems (DARS 18)., 2018.  (1.45 MB)
Swissler, P., and M. Rubenstein, "FireAnt: A Modular Robot with Full-Body Continuous Docks", Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018.  (944.93 KB)
Tzorakoleftherakis, E., and T. D. Murphey, "Iterative Sequential Action Control for Stable, Model-Based Control of Nonlinear Systems", IEEE Transactions on Automatic Control, 2018.  (1.25 MB)
Yang, A. E. T., M. J. Z. Hartmann, and S. Bergbreiter, "Contact-Resistive Sensing of Touch and Airflow Using A Rat Whisker", 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob), Enschede, IEEE, pp. 1187 - 1192, 2018.
2019
Berrueta, T., A. Pervan, K. Fitzsimons, and T. D. Murphey, "Dynamical System Segmentation for Information Measures in Motion", IEEE Robotics and Automation Letters, vol. 4, issue 1, pp. 169 - 176, 01/2019.  (1.76 MB)
Fitzsimons, K., A. Maria Acosta, J. Dewald, and T. D. Murphey, "Ergodicity reveals assistance and learning from physical human-robot interaction", Science: Robotics, vol. 4, issue 29, 04/2019.
Kalinowska, A., T. Berrueta, and T. D. Murphey, "Data-Driven Gait Segmentation for Walking Assistance in a Lower-Limb Assistive Device", International Conference on Robotics and Automation (ICRA), 2019.  (1.67 MB)
Mamakoukas, G., M. Castano, X. Tan, and T. Murphey, "Local Koopman Operators for Data-Driven Control of Robotic Systems", Robotics: Science and Systems, 2019.  (2.35 MB) (2.24 MB)
Mugan, U., and M. A. MacIver, "Arbitrating between planning and habit in naturalistic environments", Conference on Cognitive Computational Neuroscience, 09/2019.  (1.07 MB)
Mugan, U., and M. A. MacIver, "The shift from life in water to life on land advantaged planning in visually-guided behavior", bioRxiv, pp. 585760, 03/2019.  (4.59 MB)
Pervan, A., and T. D. Murphey, "Algorithmic materials: Embedding computation within material properties for autonomy", Robotic Systems and Autonomous Platforms: Woodhead Publishing, pp. 197-221, 2019.
Woodruff, J. Z., and K. M. Lynch, "Second-Order Contact Kinematics Between Three-Dimensional Rigid Bodies", Journal of Applied Mechanics, vol. 866371316, issue 84333, pp. 085501, 05-17-2019.  (241.7 KB) (1008.74 KB)
Yang, A. E. T., H. Belli, and M. J. Z. Hartmann, "Quantification of vibrissal mechanical properties across the rat mystacial pad", Journal of Neurophysiology, Mar-02-2021, 2019.
In Press
Berrueta, T., I. Abraham, and T. D. Murphey, "Experimental Applications of the Koopman Operator in Active Learning for Control", The Koopman Operator in Systems and Control: Theory, Numerics, and Applications: Springer, In Press.
Schultz, J. A., E. Johnson, and T. D. Murphey, "Trajectory Optimization in Discrete Mechanics", Differential-Geometric Methods in Computational Multibody System Dynamics: Springer International Publishing, In Press.  (703.15 KB)

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