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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)
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, "Minimum Sensitivity Control for Planning with Parametric and Hybrid Uncertainty", The International Journal of Robotics Research, 2015.  (755.17 KB) (4.97 MB)
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)
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)
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., 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)