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Conference Paper
Wilson, A. D., and T. D. Murphey, "Optimal Trajectory Design for Well-Conditioned Parameter Estimation", IEEE Conference on Automation Science and Engineering (CASE), pp. 13-19, 2013.  (320.51 KB)
Wilson, A. D., and T. D. Murphey, "Local E-optimality Conditions for Trajectory Design to Estimate Parameters in Nonlinear Systems", American Control Conference (ACC), pp. 443-450, 2014.  (1.01 MB)
Journal Article
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)
Wilson, A. D., J. A. Schultz, and T. D. Murphey, "Trajectory Synthesis for Fisher Information Maximization", IEEE Transactions on Robotics, vol. 30, issue 6, pp. 1358-1370, 2014.  (1.53 MB)
Conference Paper
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)
Journal Article
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)
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)