Publications

Prof. Leonard’s Google Scholar Profile

2021

Journal Articles

Franci, Alessio; Bizyaeva, Anastasia; Park, Shinkyu; Leonard, Naomi Ehrich

Analysis and control of agreement and disagreement opinion cascades Journal Article

Swarm Intelligence, 2021, (accepted).

Links | BibTeX

Madhushani, U; Leonard, N E

Heterogeneous Explore-Exploit Strategies on Multi-Star Networks Journal Article

IEEE Control Systems Letters, 5 (5), pp. 1603-1608, 2021, (Accepted for presentation at the 2021 American Control Conference).

Links | BibTeX

Reverdy, P; Srivastava, V; Leonard, N E

Corrections to “Satisficing in Multiarmed Bandit Problems” Journal Article

IEEE Transactions on Automatic Control, 66 (1), pp. 476-478, 2021.

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Landgren, Peter; Srivastava, Vaibhav; Leonard, Naomi Ehrich

Distributed cooperative decision making in multi-agent multi-armed bandits Journal Article

Automatica, 125 , pp. 109445, 2021, ISSN: 0005-1098.

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Pagliara, R; Leonard, N E

Adaptive Susceptibility and Heterogeneity in Contagion Models on Networks Journal Article

IEEE Transactions on Automatic Control, 66 (2), pp. 581-594, 2021.

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Inproceedings

Madhushani, U; Leonard, N E

Distributed bandits: Probabilistic communication on d-regular graphs Inproceedings

2021 European Control Conference (ECC), Rotterdam, The Netherlands, 2021.

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Park, Shinkyu; Zhong, Yaofeng Desmond; Leonard, Naomi Ehrich

Multi-robot task allocation games in dynamically changing environments Inproceedings

2021 International Conference on Robotics and Automation (ICRA), Xi'an, China, 2021.

Links | BibTeX

Bizyaeva, Anastasia; Sorochkin, Timothy; Franci, Alessio; Leonard, Naomi Ehrich

Control of Agreement and Disagreement Cascades with Distributed Inputs Inproceedings

arXiv:2103.14764 [math.OC], 2021.

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Bizyaeva, A; Matthews, A; Franci, A; E, N; Leonard,

Patterns of nonlinear opinion formation on networks Inproceedings

2021 American Control Conference (ACC), 2021, (Accepted).

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Park, S; Leonard, N E

KL Divergence Regularized Learning Model for Multi-Agent Decision Making Inproceedings

2021 American Control Conference (ACC), 2021, (Accepted).

Links | BibTeX

2020

Journal Articles

Aminzare, Zahra; Dey, Biswadip; Davison, Elizabeth N; Leonard, Naomi Ehrich

Cluster Synchronization of Diffusively Coupled Nonlinear Systems: A Contraction-Based Approach Journal Article

Journal of Nonlinear Science, 30 , pp. 2235-2257, 2020.

Links | BibTeX

Franci, Alessio; Golubitsky, Martin; Bizyaeva, Anastasia; Leonard, Naomi Ehrich

A model-independent theory of consensus and dissensus decision making Journal Article

arXiv:1909.05765 [math.OC], 2020.

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Bizyaeva, Anastasia; Franci, Alessio; Leonard, Naomi Ehrich

A General Model of Opinion Dynamics with Tunable Sensitivity Journal Article

arXiv:2009.04332 [math.OC], 2020.

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Zhong, Yaofeng Desmond; Srivastava, Vaibhav; Leonard, Naomi Ehrich

Influence Spread in the Heterogeneous Multiplex Linear Threshold Model Journal Article

arXiv:2008.04383 [math.OC], 2020.

Links | BibTeX

Inproceedings

Zhou, Y; Levin, S A; E, N; Leonard,

Active control and sustained oscillations in actSIS epidemic dynamics Inproceedings

IFAC Workshop on Cyber-Physical & Human Systems (CPHS), 2020.

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Madhushani, U; Dey, B; Leonard, N E; Chakraborty, A

Hamiltonian Q-Learning: Leveraging Importance-sampling for Data Efficient RL Inproceedings

arXiv:2011.05927 [cs.LG], 2020.

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Madhushani, U; Leonard, N E

A Dynamic Observation Strategy for Multi-agent Multi-armed Bandit Problem Inproceedings

2020 European Control Conference (ECC), pp. 1677-1682, Saint Petersburg, Russia, 2020.

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Madhushani, U; Leonard, N E

Distributed learning: Sequential decision making in resource-constrained environments Inproceedings

Practical ML for Developing Countries Workshop @ ICLR 2020, Addis Ababa, Ethiopia, 2020.

Links | BibTeX

Zhong, Yaofeng Desmond; Leonard, Naomi

Unsupervised Learning of Lagrangian Dynamics from Images for Prediction and Control Inproceedings

Larochelle, H; Ranzato, M; Hadsell, R; Balcan, M F; Lin, H (Ed.): Advances in Neural Information Processing Systems, pp. 10741–10752, Curran Associates, Inc., 2020.

Links | BibTeX

Allen-Blanchette, C; Veer, S; Majumdar, A; E, N; Leonard,

LagNetViP: A Lagrangian Neural Network for Video Prediction Inproceedings

AAAI Fall Series 2020 Symposium on "Physics-guided AI for Accelerating Scientific Discovery", 2020.

Links | BibTeX

2019

Journal Articles

Pagliara, Renato; Leonard, Naomi E

Adaptive Susceptibility and Heterogeneity in Contagion Models on Networks Journal Article

arXiv:1907.08829 [math.OC], 2019.

Links | BibTeX

Franci, Alessio; Golubitsky, Martin; Leonard, Naomi Ehrich

The dynamics of multi-agent multi-option decision making Journal Article

arXiv:1909.05765 [math.OC], 2019.

Links | BibTeX

Davison, Elizabeth N; Aminzare, Zahra; Dey, Biswadip; Leonard, Naomi Ehrich

Mixed mode oscillations and phase locking in coupled FitzHugh-Nagumo model neurons Journal Article

Chaos: An Interdisciplinary Journal of Nonlinear Science, 29 (3), pp. 033105, 2019.

Links | BibTeX

Park, Shinkyu; Aschenbach, Konrad H; Ahmed, Manjur; Scott, William L; Leonard, Naomi E; Abernathy, Kyler; Marshall, Greg; Shepard, Mike; Martins, Nuno C

Animal-borne wireless network: Remote imaging of community ecology Journal Article

Journal of Field Robotics, 36 (6), pp. 1141-1165, 2019.

Links | BibTeX

Özcimder, Kayhan; Dey, Biswadip; Franci, Alessio; Lazier, Rebecca; Trueman, Daniel; Leonard, Naomi Ehrich

Social decision-making driven by artistic explore–exploit tension Journal Article

Interdisciplinary Science Reviews, 44 (1), pp. 55-81, 2019.

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Inproceedings

Zhong, Y D; Leonard, N E

A Continuous Threshold Model of Cascade Dynamics Inproceedings

2019 IEEE 58th Conference on Decision and Control (CDC), pp. 1704-1709, Nice, France, 2019, ISSN: 2576-2370.

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Musslick, S; Bizyaeva, A; Agaron, S; Leonard, N; Cohen, J D

Stability-Flexibility Dilemma in Cognitive Control: A Dynamical System Perspective Inproceedings

Proceedings of the 41st Annual Meeting of the Cognitive Science Society (2019), pp. 2420-2426, Montreal, Canada, 2019.

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Madhushani, U; Leonard, N E

Heterogeneous Stochastic Interactions for Multiple Agents in a Multi-armed Bandit Problem Inproceedings

2019 18th European Control Conference (ECC), pp. 3502-3507, Naples, Italy, 2019.

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2018

Journal Articles

Scott, W L; Leonard, N E

Minimum-Time Trajectories for Steered Agent With Constraints on Speed, Lateral Acceleration, and Turning Rate Journal Article

Journal of Dynamic Systems, Measurement, and Control, 140 (7), pp. 071017, 2018.

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Gray, R; Franci, A; Srivastava, V; Leonard, N E

Multiagent Decision-Making Dynamics Inspired by Honeybees Journal Article

IEEE Transactions on Control of Network Systems, 5 (2), pp. 793-806, 2018, ISSN: 2325-5870.

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Pagliara, R; Dey, B; Leonard, N E

Bistability and Resurgent Epidemics in Reinfection Models Journal Article

IEEE Control Systems Letters, 2 (2), pp. 290-295, 2018.

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Pagliara, Renato; Gordon, Deborah M; Leonard, Naomi Ehrich

Regulation of harvester ant foraging as a closed-loop excitable system Journal Article

PLOS Computational Biology, 14 (12), pp. 1-25, 2018.

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Scott, William Lewis; Leonard, Naomi Ehrich

Optimal evasive strategies for multiple interacting agents with motion constraints Journal Article

Automatica, 94 , pp. 26 - 34, 2018, ISSN: 0005-1098.

Links | BibTeX

Inproceedings

Landgren, P; Srivastava, V; Leonard, Ehrich N

Social Imitation in Cooperative Multiarmed Bandits: Partition-Based Algorithms with Strictly Local Information Inproceedings

2018 IEEE Conference on Decision and Control (CDC), pp. 5239-5244, Miami Beach, FL, 2018, ISSN: 2576-2370.

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Dey, B; Franci, A; Özcimder, K; Leonard, N E

Feedback Controlled Bifurcation of Evolutionary Dynamics with Generalized Fitness Inproceedings

2018 Annual American Control Conference (ACC), pp. 6049-6054, Milwaukee, WI, 2018.

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2017

Journal Articles

Reverdy, P; Srivastava, V; Leonard, N E

Satisficing in Multi-Armed Bandit Problems Journal Article

IEEE Transactions on Automatic Control, 62 (8), pp. 3788-3803, 2017.

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Srivastava, Vaibhav; Feng, Samuel F; Cohen, Jonathan D; Leonard, Naomi Ehrich; Shenhav, Amitai

A martingale analysis of first passage times of time-dependent Wiener diffusion models Journal Article

Journal of Mathematical Psychology, 77 , pp. 94 - 110, 2017, ISSN: 0022-2496.

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Inproceedings

Cen, S H; Srivastava, V; Leonard, N E

On robustness and leadership in Markov switching consensus networks Inproceedings

2017 IEEE 56th Annual Conference on Decision and Control (CDC), pp. 1701-1706, Melbourne, VIC, Australia, 2017.

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Savas, A J; Srivastava, V; Leonard, N E

On distributed linear filtering with noisy communication Inproceedings

2017 American Control Conference (ACC), pp. 2699-2704, 2017.

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Srivastava, V; Leonard, N E

Bio-inspired decision-making and control: From honeybees and neurons to network design Inproceedings

2017 American Control Conference (ACC), pp. 2026-2039, 2017.

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Zhong, Desmond Y; Srivastava, V; Leonard, N E

On the linear threshold model for diffusion of innovations in multiplex social networks Inproceedings

2017 IEEE 56th Annual Conference on Decision and Control (CDC), pp. 2593-2598, 2017.

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Gray, Rebecca; Franci, Alessio; Srivastava, Vaibhav; Leonard, Naomi Ehrich

An agent-based framework for bio-inspired, value-sensitive decision-making Inproceedings

20th IFAC World Congress, pp. 8238-8243, 2017, ISSN: 2405-8963.

Links | BibTeX

2016

Journal Articles

Brush, Eleanor Redstart; Leonard, Naomi Ehrich; Levin, Simon A

The content and availability of information affects the evolution of social-information gathering strategies Journal Article

Theoretical Ecology, 9 (4), pp. 455-476, 2016.

Abstract | Links | BibTeX

Fitch, K; Leonard, N E

Joint Centrality Distinguishes Optimal Leaders in Noisy Networks Journal Article

IEEE Transactions on Control of Network Systems, 3 (4), pp. 366-378, 2016, ISSN: 2325-5870.

Abstract | Links | BibTeX

Young, G F; Scardovi, L; Leonard, N E

A New Notion of Effective Resistance for Directed Graphs—Part I: Definition and Properties Journal Article

IEEE Transactions on Automatic Control, 61 (7), pp. 1727-1736, 2016, ISSN: 1558-2523.

Abstract | Links | BibTeX

Young, G F; Scardovi, L; Leonard, N E

A New Notion of Effective Resistance for Directed Graphs—Part II: Computing Resistances Journal Article

IEEE Transactions on Automatic Control, 61 (7), pp. 1737-1752, 2016, ISSN: 1558-2523.

Abstract | Links | BibTeX

Punzo, Giuliano; Young, George F; Macdonald, Malcolm; Leonard, Naomi E

Using Network Dynamical Influence to Drive Consensus Journal Article

Scientific Reports, 6 (1), pp. 26318, 2016.

Abstract | Links | BibTeX

Poulakakis, I; Young, G F; Scardovi, L; Leonard, N E

Information Centrality and Ordering of Nodes for Accuracy in Noisy Decision-Making Networks Journal Article

IEEE Transactions on Automatic Control, 61 (4), pp. 1040-1045, 2016, ISSN: 1558-2523.

Abstract | Links | BibTeX

Reverdy, P; Leonard, N E

Parameter Estimation in Softmax Decision-Making Models With Linear Objective Functions Journal Article

IEEE Transactions on Automation Science and Engineering, 13 (1), pp. 54-67, 2016, ISSN: 1558-3783.

Abstract | Links | BibTeX

Book Chapters

Leonard, Naomi Ehrich

Cooperative Vehicle Environmental Monitoring Book Chapter

Dhanak, Manhar R; Xiros, Nikolaos I (Ed.): Springer Handbook of Ocean Engineering, pp. 441–458, Springer International Publishing, Cham, 2016, ISBN: 978-3-319-16649-0.

Abstract | Links | BibTeX

Inproceedings

Scott, William Lewis; Leonard, Naomi Ehrich

Time-Optimal Trajectories for Steered Agent With Constraints on Speed and Turning Rate Inproceedings

ASME 2016 Dynamic Systems and Control Conference, 2016.

Abstract | Links | BibTeX

Davison, E N; Dey, B; Leonard, N E

Synchronization bound for networks of nonlinear oscillators Inproceedings

2016 54th Annual Allerton Conference on Communication, Control, and Computing (Allerton), pp. 1110-1115, 2016.

Abstract | Links | BibTeX

Fitch, K; Leonard, N E

Optimal leader selection for controllability and robustness in multi-agent networks Inproceedings

2016 European Control Conference (ECC), pp. 1550-1555, 2016.

Abstract | Links | BibTeX

Landgren, P; Srivastava, V; Leonard, N E

On distributed cooperative decision-making in multiarmed bandits Inproceedings

2016 European Control Conference (ECC), pp. 243-248, 2016.

Abstract | Links | BibTeX

Landgren, P; Srivastava, V; Leonard, N E

Distributed cooperative decision-making in multiarmed bandits: Frequentist and Bayesian algorithms Inproceedings

2016 IEEE 55th Conference on Decision and Control (CDC), pp. 167-172, 2016.

Links | BibTeX

2015

Journal Articles

Swain, Daniel T; Couzin, Iain D; Leonard, Naomi Ehrich

Coordinated Speed Oscillations in Schooling Killifish Enrich Social Communication Journal Article

Journal of Nonlinear Science, 25 , pp. 1077-1109, 2015.

Abstract | Links | BibTeX

Srivastava, Vaibhav; Feng, Samuel F; Cohen, Jonathan D; Leonard, Naomi Ehrich; Shenhav, Amitai

First passage time properties for time-varying diffusion models: A Martingale approach Journal Article

arXiv:1508.03373 [math.PR], 2015.

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Reverdy, Naomi Ehrich Leonard Vaibhav Srivastava Paul

Correlated Multiarmed Bandit Problem: Bayesian Algorithms and Regret Analysis Journal Article

arXiv:1507.01160 [math.OC], 2015.

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Reverdy, Naomi Ehrich Leonard Vaibhav Srivastava Paul

Correlated Multiarmed Bandit Problem: Bayesian Algorithms and Regret Analysis Journal Article

arXiv:1507.01160 [math.OC], 2015.

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Davison, P; Leonard, N E; Olshevsky, A; Schwemmer, M

Nonuniform Line Coverage From Noisy Scalar Measurements Journal Article

IEEE Transactions on Automatic Control, 60 (7), pp. 1975-1980, 2015, ISSN: 1558-2523.

Abstract | Links | BibTeX

Leonard, Naomi Ehrich; Olshevsky, Alex

Cooperative Learning in Multiagent Systems from Intermittent Measurements Journal Article

SIAM Journal on Control and Optimization, 53 (1), pp. 1-29, 2015.

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Inproceedings

Srivastava, V; Leonard, N E

On first passage time problems in collective decision-making with heterogeneous agents Inproceedings

2015 American Control Conference (ACC), pp. 2113-2118, 2015, ISSN: 2378-5861.

Abstract | Links | BibTeX

Franci, Alessio; Srivastava, Vaibhav; Leonard, Naomi Ehrich

A Realization Theory for Bio-inspired Collective Decision-Making Inproceedings

arXiv:1503.08526 [math.OC], 2015.

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2014

Journal Articles

Reverdy, P B; Srivastava, V; Leonard, N E

Modeling Human Decision Making in Generalized Gaussian Multiarmed Bandits Journal Article

Proceedings of the IEEE, 102 (4), pp. 544-571, 2014, ISSN: 1558-2256.

Abstract | Links | BibTeX

Srivastava, V; Leonard, N E

Collective Decision-Making in Ideal Networks: The Speed-Accuracy Tradeoff Journal Article

IEEE Transactions on Control of Network Systems, 1 (1), pp. 121-132, 2014, ISSN: 2325-5870.

Abstract | Links | BibTeX

Goldfarb, Stephanie; Leonard, Naomi E; Simen, Patrick; Caicedo-Núñez, Carlos H; Holmes, Philip

A comparative study of drift diffusion and linear ballistic accumulator models in a reward maximization perceptual choice task Journal Article

Frontiers in Neuroscience, 8 , pp. 148, 2014, ISSN: 1662-453X.

Abstract | Links | BibTeX

Leonard, Naomi Ehrich

Multi-agent system dynamics: Bifurcation and behavior of animal groups Journal Article

Annual Reviews in Control, 38 (2), pp. 171-183, 2014, ISSN: 1367-5788.

Abstract | Links | BibTeX

Pais, Darren; Leonard, Naomi E

Adaptive network dynamics and evolution of leadership in collective migration Journal Article

Physica D: Nonlinear Phenomena, 267 , pp. 81-93, 2014, ISSN: 0167-2789, (Evolving Dynamical Networks).

Abstract | Links | BibTeX

Book Chapters

Leonard, Naomi E; Young, George F; Hochgraf, Kelsey; Swain, Daniel T; Trippe, Aaron; Chen, Willa; Fitch, Katherine; Marshall, Susan

In the Dance Studio: An Art and Engineering Exploration of Human Flocking Book Chapter

LaViers, Amy; Egerstedt, Magnus (Ed.): Controls and Art: Inquiries at the Intersection of the Subjective and the Objective, pp. 27–49, Springer International Publishing, Cham, 2014, ISBN: 978-3-319-03904-6.

Links | BibTeX

Inproceedings

Reverdy, P; Leonard, N E

Satisficing in Gaussian bandit problems Inproceedings

53rd IEEE Conference on Decision and Control, pp. 5718-5723, 2014, ISSN: 0191-2216.

Abstract | Links | BibTeX

Scott, W; Leonard, N E

Dynamics of pursuit and evasion in a heterogeneous herd Inproceedings

53rd IEEE Conference on Decision and Control, pp. 2920-2925, 2014, ISSN: 0191-2216.

Abstract | Links | BibTeX

Srivastava, V; Reverdy, P; Leonard, N E

Surveillance in an abruptly changing world via multiarmed bandits Inproceedings

53rd IEEE Conference on Decision and Control, pp. 692-697, 2014, ISSN: 0191-2216.

Abstract | Links | BibTeX

Reverdy, Paul B; Reddy, Akhil S; Martinelli, Luigi; Leonard, Naomi E

Integrating a human designer's preferences in multidisciplinary design optimization Inproceedings

14th AIAA Aviation Technology, Integration, and Operations Conference, 2014.

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Reverdy, P; Srivastava, V; Leonard, N E

Algorithmic models of human decision making in Gaussian multi-armed bandit problems Inproceedings

2014 European Control Conference (ECC), pp. 2210-2215, 2014, (Best Student Paper Award).

Abstract | Links | BibTeX

2013

Journal Articles

Leonard, N E; Olshevsky, A

Nonuniform coverage control on the line Journal Article

IEEE Transactions on Automatic Control, 58 (11), pp. 2743-2755, 2013, ISSN: 1558-2523.

Abstract | Links | BibTeX

Pais, Darren; Hogan, Patrick M; Schlegel, Thomas; Franks, Nigel R; Leonard, Naomi E; Marshall, James A R

A Mechanism for Value-Sensitive Decision-Making Journal Article

PLOS ONE, 8 (9), pp. 1-9, 2013.

Abstract | Links | BibTeX

Young, George F; Scardovi, Luca; Cavagna, Andrea; Giardina, Irene; Leonard, Naomi E

Starling Flock Networks Manage Uncertainty in Consensus at Low Cost Journal Article

PLOS Computational Biology, 9 (1), pp. 1-7, 2013.

Abstract | Links | BibTeX

Inproceedings

Fitch, K; Leonard, N E

Information centrality and optimal leader selection in noisy networks Inproceedings

52nd IEEE Conference on Decision and Control, pp. 7510-7515, 2013, ISSN: 0191-2216.

Abstract | Links | BibTeX

Leonard, N E; Olshevsky, A

Cooperative learning in multi-agent systems from intermittent measurements Inproceedings

52nd IEEE Conference on Decision and Control, pp. 7492-7497, 2013, ISSN: 0191-2216.

Abstract | Links | BibTeX

Srivastava, V; Leonard, N E

On the speed-accuracy tradeoff in collective decision making Inproceedings

52nd IEEE Conference on Decision and Control, pp. 1880-1885, 2013, ISSN: 0191-2216.

Abstract | Links | BibTeX

Srivastava, V; Reverdy, P; Leonard, N E

On optimal foraging and multi-armed bandits Inproceedings

2013 51st Annual Allerton Conference on Communication, Control, and Computing (Allerton), pp. 494-499, 2013.

Abstract | Links | BibTeX

Scott, W; Leonard, N E

Pursuit, herding and evasion: A three-agent model of caribou predation Inproceedings

2013 American Control Conference, pp. 2978-2983, 2013, ISSN: 2378-5861.

Abstract | Links | BibTeX

Leonard, Naomi Ehrich

Multi-Agent System Dynamics: Bifurcation and Behavior of Animal Groups Inproceedings

9th IFAC Symposium on Nonlinear Control Systems, pp. 307-317, 2013, ISSN: 1474-6670, (Plenary paper).

Abstract | Links | BibTeX

2012

Journal Articles

Poulakakis, Ioannis; Scardovi, Luca; Leonard, Naomi Ehrich

Node Classification in Networks of Stochastic Evidence Accumulators Journal Article

arXiv:1210.4235 [cs.SY], 2012.

Links | BibTeX

Goldfarb, Stephanie; Wong-Lin, Kongfatt; Schwemmer, Michael; Leonard, Naomi Ehrich; Holmes, Philip

Can post-error dynamics explain sequential reaction time patterns? Journal Article

Frontiers in Psychology, 3 , pp. 213, 2012.

Abstract | Links | BibTeX

Stewart, A; Cao, M; Nedic, A; Tomlin, D; Leonard, N

Towards Human–Robot Teams: Model-Based Analysis of Human Decision Making in Two-Alternative Choice Tasks With Social Feedback Journal Article

Proceedings of the IEEE, 100 (3), pp. 751-775, 2012, ISSN: 1558-2256.

Abstract | Links | BibTeX

Leonard, Naomi E; Shen, Tian; Nabet, Benjamin; Scardovi, Luca; Couzin, Iain D; Levin, Simon A

Decision versus compromise for animal groups in motion Journal Article

Proceedings of the National Academy of Sciences, 109 (1), pp. 227–232, 2012, ISSN: 0027-8424.

Abstract | Links | BibTeX

Pais, Darren; Caicedo-Núñez, Carlos H; Leonard, Naomi E

Hopf Bifurcations and Limit Cycles in Evolutionary Network Dynamics Journal Article

SIAM Journal on Applied Dynamical Systems, 11 (4), pp. 1754-1784, 2012.

Links | BibTeX

Swain, D T; Couzin, I D; Leonard, Ehrich N

Real-Time Feedback-Controlled Robotic Fish for Behavioral Experiments With Fish Schools Journal Article

Proceedings of the IEEE, 100 (1), pp. 150-163, 2012, ISSN: 1558-2256.

Abstract | Links | BibTeX

Inproceedings

Poulakakis, I; Scardovi, L; Leonard, N E

Node certainty in collective decision making Inproceedings

2012 IEEE 51st IEEE Conference on Decision and Control (CDC), pp. 4648-4653, 2012, ISSN: 0743-1546.

Abstract | Links | BibTeX

Reverdy, P; Wilson, R C; Holmes, P; Leonard, N E

Towards optimization of a human-inspired heuristic for solving explore-exploit problems Inproceedings

2012 IEEE 51st IEEE Conference on Decision and Control (CDC), pp. 2820-2825, 2012, ISSN: 0743-1546.

Abstract | Links | BibTeX

Davison, P; Schwemmer, M; Leonard, N E

Distributed nonuniform coverage with limited scalar measurements Inproceedings

2012 50th Annual Allerton Conference on Communication, Control, and Computing (Allerton), pp. 1455-1460, 2012.

Abstract | Links | BibTeX

Leonard, N E; Young, G; Hochgraf, K; Swain, D; Trippe, A; Chen, W; Marshall, S

In the dance studio: Analysis of human flocking Inproceedings

2012 American Control Conference (ACC), Montreal, Canada pages=4333-4338, 2012.

Links | BibTeX

2011

Journal Articles

Couzin, Iain D; Ioannou, Christos C; Demirel, Güven; Gross, Thilo; Torney, Colin J; Hartnett, Andrew; Conradt, Larissa; Levin, Simon A; Leonard, Naomi E

Uninformed Individuals Promote Democratic Consensus in Animal Groups Journal Article

Science, 334 (6062), pp. 1578–1580, 2011, ISSN: 0036-8075.

Abstract | Links | BibTeX

Inproceedings

Leonard, N E; Olshevsky, A

Nonuniform coverage control on the line Inproceedings

2011 50th IEEE Conference on Decision and Control and European Control Conference, pp. 753-758, 2011, ISSN: 0743-1546.

Abstract | Links | BibTeX

Pais, D; Leonard, N E

Limit cycles in replicator-mutator network dynamics Inproceedings

2011 50th IEEE Conference on Decision and Control and European Control Conference, pp. 3922-3927, 2011, ISSN: 0743-1546.

Abstract | Links | BibTeX

Young, G F; Scardovi, L; Leonard, N E

Rearranging trees for robust consensus Inproceedings

2011 50th IEEE Conference on Decision and Control and European Control Conference, pp. 1000-1005, 2011, ISSN: 0743-1546.

Abstract | Links | BibTeX

Caicedo-Núñez, C H; Leonard, N E

Symmetric coverage of dynamic mapping error for mobile sensor networks Inproceedings

Proceedings of the 2011 American Control Conference, pp. 4661-4666, 2011, ISSN: 2378-5861.

Abstract | Links | BibTeX

2010

Journal Articles

Zhang, F; Leonard, N E

Cooperative Filters and Control for Cooperative Exploration Journal Article

IEEE Transactions on Automatic Control, 55 (3), pp. 650-663, 2010, ISSN: 1558-2523.

Abstract | Links | BibTeX

Cao, Ming; Stewart, Andrew; Leonard, Naomi Ehrich

Convergence in human decision-making dynamics Journal Article

Systems & Control Letters, 59 (2), pp. 87-97, 2010, ISSN: 0167-6911.

Abstract | Links | BibTeX

Leonard, Naomi E; Paley, Derek A; Davis, Russ E; Fratantoni, David M; Lekien, Francois; Zhang, Fumin

Coordinated control of an underwater glider fleet in an adaptive ocean sampling field experiment in Monterey Bay Journal Article

Journal of Field Robotics, 27 (6), pp. 718-740, 2010.

Abstract | Links | BibTeX

Inproceedings

Lekien, F; Leonard, N E

Nonuniform coverage and cartograms Inproceedings

49th IEEE Conference on Decision and Control (CDC), pp. 5518-5523, 2010, ISSN: 0191-2216.

Abstract | Links | BibTeX

Stewart, A; Leonard, N E

The role of social feedback in steady-state performance of human decision making for two-alternative choice tasks Inproceedings

49th IEEE Conference on Decision and Control (CDC), pp. 3796-3801, 2010, ISSN: 0191-2216.

Abstract | Links | BibTeX

Pais, Darren; Leonard, Naomi

Pursuit and Evasion: Evolutionary Dynamics and Collective Motion Inproceedings

AIAA Guidance, Navigation, and Control Conference, 2010.

Links | BibTeX

Poulakakis, I; Scardovi, L; Leonard, N E

Coupled stochastic differential equations and collective decision making in the Two-Alternative Forced-Choice task Inproceedings

Proceedings of the 2010 American Control Conference, pp. 69-74, 2010, ISSN: 2378-5861.

Abstract | Links | BibTeX

Stewart, A; Cao, M; Leonard, N E

Steady-state distributions for human decisions in two-alternative choice tasks Inproceedings

Proceedings of the 2010 American Control Conference, pp. 2378-2383, 2010, ISSN: 2378-5861.

Abstract | Links | BibTeX

Young, G F; Scardovi, L; Leonard, N E

Robustness of noisy consensus dynamics with directed communication Inproceedings

Proceedings of the 2010 American Control Conference, pp. 6312-6317, 2010, ISSN: 2378-5861.

Abstract | Links | BibTeX

2009

Journal Articles

Nabet, Benjamin; Leonard, Naomi Ehrich

Tensegrity Models and Shape Control of Vehicle Formations Journal Article

arXiv:0902.3710 [math.OC], 2009.

Links | BibTeX

Davis, Russ E; Leonard, Naomi E; Fratantoni, David M

Routing strategies for underwater gliders Journal Article

Deep Sea Research Part II: Topical Studies in Oceanography, 56 (3), pp. 173-187, 2009, ISSN: 0967-0645, (AOSN II: The Science and Technology of an Autonomous Ocean Sampling Network).

Abstract | Links | BibTeX

Lekien, Francois; Leonard, Naomi Ehrich

Nonuniform Coverage and Cartograms Journal Article

SIAM Journal on Control and Optimization, 48 (1), pp. 351-372, 2009.

Links | BibTeX

Nabet, Benjamin; Leonard, Naomi E; Levin, Iain Couzin & Simon D A

Dynamics of Decision Making in Animal Group Motion Journal Article

Journal of Nonlinear Science, 19 (4), pp. 399-435, 2009.

Abstract | Links | BibTeX

Ramp, S R; Davis, R E; Leonard, N E; Shulman, I; Chao, Y; Robinson, A R; Marsden, J; Lermusiaux, P F J; Fratantoni, D M; Paduan, J D; Chavez, F P; Bahr, F L; Liang, S; Leslie, W; Li, Z

Preparing to predict: The Second Autonomous Ocean Sampling Network (AOSN-II) experiment in the Monterey Bay Journal Article

Deep Sea Research Part II: Topical Studies in Oceanography, 56 (3), pp. 68-86, 2009, ISSN: 0967-0645, (AOSN II: The Science and Technology of an Autonomous Ocean Sampling Network).

Abstract | Links | BibTeX

Sarlette, Alain; Sepulchre, Rodolphe; Leonard, Naomi Ehrich

Autonomous rigid body attitude synchronization Journal Article

Automatica, 45 (2), pp. 572-577, 2009, ISSN: 0005-1098.

Abstract | Links | BibTeX

Inproceedings

Pais, D; Cao, M; Leonard, N E

Formation shape and orientation control using projected collinear tensegrity structures Inproceedings

2009 American Control Conference, pp. 610-615, 2009, ISSN: 2378-5861.

Abstract | Links | BibTeX

Swain, D T; Leonard, N E

On the trajectories and coordination of steered particles with time-periodic speed profiles Inproceedings

2009 American Control Conference, pp. 1286-1291, 2009, ISSN: 2378-5861.

Abstract | Links | BibTeX

Scardovi, L; Leonard, N E

Robustness of aggregation in networked dynamical systems Inproceedings

2009 Second International Conference on Robot Communication and Coordination, pp. 1-6, 2009.

Abstract | Links | BibTeX

Baldassano, Christopher; Leonard, Naomi Ehrich

Explore vs. Exploit: Task Allocation for Multi-robot Foraging Inproceedings

2009, (Preprint).

Links | BibTeX

2008

Journal Articles

Paley, D A; Zhang, F; Leonard, N E

Cooperative Control for Ocean Sampling: The Glider Coordinated Control System Journal Article

IEEE Transactions on Control Systems Technology, 16 (4), pp. 735-744, 2008, ISSN: 1558-0865.

Abstract | Links | BibTeX

Sepulchre, R; Paley, D A; Leonard, N E

Stabilization of Planar Collective Motion With Limited Communication Journal Article

IEEE Transactions on Automatic Control, 53 (3), pp. 706-719, 2008, ISSN: 1558-2523.

Abstract | Links | BibTeX

Bhatta, Pradeep; Leonard, Naomi Ehrich

Nonlinear gliding stability and control for vehicles with hydrodynamic forcing Journal Article

Automatica, 44 (5), pp. 1240-1250, 2008, ISSN: 0005-1098.

Abstract | Links | BibTeX

Nair, Sujit; Leonard, Naomi Ehrich

Stable Synchronization of Mechanical System Networks Journal Article

SIAM Journal on Control and Optimization, 47 (2), pp. 661-683, 2008.

Links | BibTeX

Paley, Derek A; Leonard, Naomi Ehrich; Sepulchre, Rodolphe

Stabilization of symmetric formations to motion around convex loops Journal Article

Systems & Control Letters, 57 (3), pp. 209-215, 2008, ISSN: 0167-6911.

Abstract | Links | BibTeX

Scardovi, Luca; Leonard, Naomi; Sepulchre, Rodolphe

Stabilization of Three-Dimensional Collective Motion Journal Article

Communications in Information & Systems, 8 (4), pp. 473 – 500, 2008.

Abstract | Links | BibTeX

Inproceedings

Cao, M; Stewart, A; Leonard, N E

Integrating human and robot decision-making dynamics with feedback: Models and convergence analysis Inproceedings

2008 47th IEEE Conference on Decision and Control, pp. 1127-1132, 2008, ISSN: 0191-2216.

Abstract | Links | BibTeX

Swain, D T; Cao, M; Leonard, N E

Effective sensing regions and connectivity of agents undergoing periodic relative motions Inproceedings

2008 47th IEEE Conference on Decision and Control, pp. 3089-3094, 2008, ISSN: 0191-2216.

Abstract | Links | BibTeX

Zhang, F; Leonard, N E

Cooperative Kalman filters for cooperative exploration Inproceedings

2008 American Control Conference, pp. 2654-2659, 2008, ISSN: 2378-5861.

Abstract | Links | BibTeX

2007

Journal Articles

Paley, D A; Leonard, N E; Sepulchre, R; Grunbaum, D; Parrish, J K

Oscillator Models and Collective Motion: Spatial patterns in the dynamics of engineered and biological networks Journal Article

IEEE Control Systems Magazine, 27 (4), pp. 89-105, 2007, ISSN: 1941-000X.

Abstract | Links | BibTeX

Sepulchre, R; Paley, D A; Leonard, N E

Stabilization of Planar Collective Motion: All-to-All Communication Journal Article

IEEE Transactions on Automatic Control, 52 (5), pp. 811-824, 2007, ISSN: 1558-2523.

Abstract | Links | BibTeX

Leonard, N E; Paley, D A; Lekien, F; Sepulchre, R; Fratantoni, D M; Davis, R E

Collective Motion, Sensor Networks, and Ocean Sampling Journal Article

Proceedings of the IEEE, 95 (1), pp. 48-74, 2007, ISSN: 1558-2256.

Abstract | Links | BibTeX

Moon, Sung Joon; Nabet, B; Leonard, Naomi E; Levin, Simon A; Kevrekidis, I G

Heterogeneous animal group models and their group-level alignment dynamics: An equation-free approach Journal Article

Journal of Theoretical Biology, 246 (1), pp. 100-112, 2007, ISSN: 0022-5193.

Abstract | Links | BibTeX

Zhang, Fumin; Leonard, Naomi Ehrich

Coordinated patterns of unit speed particles on a closed curve Journal Article

Systems & Control Letters, 56 (6), pp. 397-407, 2007, ISSN: 0167-6911.

Abstract | Links | BibTeX

Nair, Sujit; Leonard, Naomi Ehrich

Stable synchronization of rigid body networks Journal Article

Networks & Heterogeneous Media, 2 , 2007, ISSN: 1556-1801.

Links | BibTeX

Zhang, F; Fratantoni, D M; Paley, D A; Lund, J M; Leonard, N E

Control of coordinated patterns for ocean sampling Journal Article

International Joural of Control, 80 (7), pp. 1186-1199, 2007.

Links | BibTeX

Inproceedings

Paley, D A; Leonard, Ehrich N; Sepulchre, R; Couzin, I D

Spatial models of bistability in biological collectives Inproceedings

2007 46th IEEE Conference on Decision and Control, pp. 4851-4856, 2007, ISSN: 0191-2216.

Abstract | Links | BibTeX

Sarlette, A; Sepulchre, R; Leonard, N E

Autonomous rigid body attitude synchronization Inproceedings

2007 46th IEEE Conference on Decision and Control, pp. 2566-2571, 2007, ISSN: 0191-2216.

Abstract | Links | BibTeX

Scardovi, L; Leonard, N E; Sepulchre, R

Stabilization of collective motion in three dimensions: A consensus approach Inproceedings

2007 46th IEEE Conference on Decision and Control, pp. 2931-2936, 2007, ISSN: 0191-2216.

Abstract | Links | BibTeX

Swain, D T; Leonard, Ehrich N; Couzin, I D; Kao, A; Sepulchre, R J

Alternating spatial patterns for coordinated group motion Inproceedings

2007 46th IEEE Conference on Decision and Control, pp. 2925-2930, 2007, ISSN: 0191-2216.

Abstract | Links | BibTeX

Zhang, Fumin; Fiorelli, E; Leonard, N E

Exploring scalar fields using multiple sensor platforms: Tracking level curves Inproceedings

2007 46th IEEE Conference on Decision and Control, pp. 3579-3584, 2007, ISSN: 0191-2216.

Abstract | Links | BibTeX

2006

Journal Articles

Fiorelli, E; Leonard, N E; Bhatta, P; Paley, D A; Bachmayer, R; Fratantoni, D M

Multi-AUV Control and Adaptive Sampling in Monterey Bay Journal Article

IEEE Journal of Oceanic Engineering, 31 (4), pp. 935-948, 2006, ISSN: 1558-1691.

Abstract | Links | BibTeX

Hanßmann, Heinz; Leonard, Naomi Ehrich; Smith, Troy R

Symmetry and Reduction for Coordinated Rigid Bodies Journal Article

European Journal of Control, 12 (2), pp. 176-194, 2006, ISSN: 0947-3580.

Abstract | Links | BibTeX

Book Chapters

Sepulchre, R; Paley, D A; Leonard, N E

Group Coordination and Cooperative Control of Steered Particles in the Plane Book Chapter

Pettersen, Kristin Y; Gravdahl, Jan Tommy; Nijmeijer, Henk (Ed.): Group Coordination and Cooperative Control, pp. 217–232, Springer Berlin Heidelberg, Berlin, Heidelberg, 2006, ISBN: 978-3-540-33469-9.

Abstract | Links | BibTeX

Inproceedings

Paley, D A; Leonard, N E; Sepulchre, R J

Collective Motion of Self-Propelled Particles: Stabilizing Symmetric Formations on Closed Curves Inproceedings

Proceedings of the 45th IEEE Conference on Decision and Control, pp. 5067-5072, 2006, ISSN: 0191-2216.

Abstract | Links | BibTeX

Godin, M A; Bellingham, J G; Rajan, K; Leonard, N; Chao, Y

A Collaborative Portal for Ocean Observatories Inproceedings

OCEANS 2006, pp. 1-5, 2006, ISSN: 0197-7385.

Abstract | Links | BibTeX

Nabet, Benjamin; Leonard, Naomi; Couzin, Iain; Levin, Simon

Leadership in Animal Group Motion: A Bifurcation Analysis Inproceedings

17th International Symposium on Mathematical Theory of Networks and Systems, Kyoto, Japan, 2006.

Links | BibTeX

Zhang, Fumin; Leonard, N E

Coordinated Patterns on Smooth Curves Inproceedings

2006 IEEE International Conference on Networking, Sensing and Control, pp. 434-439, 2006.

Abstract | Links | BibTeX

Nabet, Benjamin; Leonard, Naomi Ehrich

Shape Control of a Multi-agent System Using Tensegrity Structures Inproceedings

Allgüwer, F; Fleming, P; Kokotovic, P; Kurzhanski, A B; Kwakernaak, H; Rantzer, A; Tsitsiklis, J N; Bullo, Francesco; Fujimoto, Kenji (Ed.): Lagrangian and Hamiltonian Methods for Nonlinear Control 2006, pp. 329–339, Springer Berlin Heidelberg, Berlin, Heidelberg, 2006, ISBN: 978-3-540-73890-9.

Abstract | Links | BibTeX

2005

Journal Articles

Ogren, P; Leonard, N E

A convergent dynamic window approach to obstacle avoidance Journal Article

IEEE Transactions on Robotics, 21 (2), pp. 188-195, 2005, ISSN: 1941-0468.

Abstract | Links | BibTeX

Inproceedings

Jeanne, J; Leonard, N E; Paley, D

Collective Motion of Ring-Coupled Planar Particles Inproceedings

Proceedings of the 44th IEEE Conference on Decision and Control, pp. 3929-3934, 2005, ISSN: 0191-2216.

Abstract | Links | BibTeX

Paley, D A; Leonard, N E; Sepulchre, R

Oscillator Models and Collective Motion: Splay State Stabilization of Self-Propelled Particles Inproceedings

Proceedings of the 44th IEEE Conference on Decision and Control, pp. 3935-3940, 2005, ISSN: 0191-2216.

Abstract | Links | BibTeX

Zhang, F; Leonard, N E

Generating contour plots using multiple sensor platforms Inproceedings

Proceedings 2005 IEEE Swarm Intelligence Symposium, 2005. SIS 2005., pp. 309-316, 2005.

Abstract | Links | BibTeX

Bhatta, Pradeep; Fiorelli, Edward; Lekien, Francois; Leonard, Naomi Ehrich; Paley, Derek; Zhang, Fumin; Bachmayer, Ralf; Davis, Russ E; Fratantoni, David M; Sepulchre, Rodolphe

Coordination of an Underwater Glider Fleet for Adaptive Ocean Sampling Inproceedings

Proc. International Workshop on Underwater Robotics, 2005.

Links | BibTeX

Sepulchre, Rodolphe; Paley, Derek; Leonard, Naomi Ehrich

Graph Laplacian and Lyapunov design of collective planar motions Inproceedings

Proceedings of the 2005 Symposium on Nonlinear Theory and its Applications (NOLTA), 2005.

Links | BibTeX

2004

Journal Articles

Ogren, P; Fiorelli, E; Leonard, N E

Cooperative control of mobile sensor networks:Adaptive gradient climbing in a distributed environment Journal Article

IEEE Transactions on Automatic Control, 49 (8), pp. 1292-1302, 2004, ISSN: 1558-2523.

Abstract | Links | BibTeX

Woolsey, Craig; Reddy, Chevva Konda; Bloch, Anthony M; Chang, Dong Eui; Leonard, Naomi Ehrich; Marsden, Jerrold E

Controlled Lagrangian Systems with Gyroscopic Forcing and Dissipation Journal Article

European Journal of Control, 10 (5), pp. 478-496, 2004, ISSN: 0947-3580.

Abstract | Links | BibTeX

Inproceedings

Bhatta, P; Leonard, N E

A Lyapunov function for vehicles with lift and drag: stability of gliding Inproceedings

2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601), pp. 4101-4106 Vol.4, 2004, ISSN: 0191-2216.

Abstract | Links | BibTeX

Nair, Sujit; Leonard, N E

Stabilization of a coordinated network of rotating rigid bodies Inproceedings

2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601), pp. 4690-4695 Vol.5, 2004, ISSN: 0191-2216.

Abstract | Links | BibTeX

Paley, D; Leonard, N E; Sepulchre, R

Collective motion: bistability and trajectory tracking Inproceedings

2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601), pp. 1932-1937 Vol.2, 2004, ISSN: 0191-2216.

Abstract | Links | BibTeX

Bachmayer, R; Leonard, N E; Graver, J; Fiorelli, E; Bhatta, P; Paley, D

Underwater gliders: recent developments and future applications Inproceedings

Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869), pp. 195-200, 2004.

Abstract | Links | BibTeX

Fiorelli, E; Leonard, N E; Bhatta, P; Paley, D A; Bachmayer, R; Fratantoni, D M

Multi-AUV Control and Adaptive Sampling in Monterey Bay Inproceedings

Proc. IEEE AUV 2004, 2004.

BibTeX

2003

Journal Articles

Moreau, Luc; Bachmayer, Ralf; Leonard, Naomi Ehrich

Coordinated Gradient Descent: A Case Study of Lagrangian Dynamics with Projected Gradient Information Journal Article

IFAC Proceedings Volumes, 36 (2), pp. 57-62, 2003, ISSN: 1474-6670, (2nd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control).

Abstract | Links | BibTeX

Chyba, M; Leonard, N E; Sontag, E D

Singular Trajectories in Multi-Input Time-Optimal Problems: Application to Controlled Mechanical Systems Journal Article

9 , pp. 103–129, 2003.

Abstract | Links | BibTeX

Inproceedings

Nair, S; Leonard, N E; Moreau, L

Coordinated control of networked mechanical systems with unstable dynamics Inproceedings

42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475), pp. 550-555 Vol.1, 2003, ISSN: 0191-2216.

Abstract | Links | BibTeX

Ogren, P; Leonard, N E

Obstacle avoidance in formation Inproceedings

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), pp. 2492-2497 vol.2, 2003, ISSN: 1050-4729.

Abstract | Links | BibTeX

Fiorelli, E; Bhatta, P; Leonard, N E; Shulman, I

Adaptive Sampling Using Feedback Control of an Autonomous Underwater Glider Fleet Inproceedings

Proceedings 13th International Symposium on Unmanned Untethered Submersible Technology, 2003.

BibTeX

Graver, J G; Bachmayer, R; Leonard, N E; Fratantoni, D M

Underwater Glider Model Parameter Identification Inproceedings

Proceedings 13th International Symposium on Unmanned Untethered Submersible Technology, 2003.

BibTeX

Sepulchre, Rodolphe; Paley, Derek; Leonard, Naomi

Collective Motion and Oscillator Synchronization Inproceedings

Proc. 2003 Block Island Workshop on Cooperative Control, 2003.

BibTeX

2002

Journal Articles

Chang, Dong Eui; Bloch, Anthony M; Leonard, Naomi E; Marsden, Jerrold E; Woolsey, Craig A

The Equivalence of Controlled Lagrangian and Controlled Hamiltonian Systems Journal Article

ESAIM: Control, Optimisation, and Calculus of Variations, 8 , pp. 393-422, 2002.

Links | BibTeX

Woolsey, C A; Leonard, N E

Stabilizing underwater vehicle motion using internal rotors Journal Article

Automatica, 38 (12), pp. 2053-2062, 2002, ISSN: 0005-1098.

Abstract | Links | BibTeX

Inproceedings

Bachmayer, R; Leonard, N E

Vehicle networks for gradient descent in a sampled environment Inproceedings

Proceedings of the 41st IEEE Conference on Decision and Control, 2002., pp. 112-117 vol.1, 2002, ISSN: 0191-2216.

Abstract | Links | BibTeX

Bhatta, P; Leonard, N E

Stabilization and coordination of underwater gliders Inproceedings

Proceedings of the 41st IEEE Conference on Decision and Control, 2002., pp. 2081-2086 vol.2, 2002, ISSN: 0191-2216.

Abstract | Links | BibTeX

Nair, S; Leonard, N E

A normal form for energy shaping: application to the Furuta pendulum Inproceedings

Proceedings of the 41st IEEE Conference on Decision and Control, 2002., pp. 516-521 vol.1, 2002, ISSN: 0191-2216.

Abstract | Links | BibTeX

Ogren, P; Leonard, N E

A tractable convergent dynamic window approach to obstacle avoidance Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 595-600 vol.1, 2002.

Abstract | Links | BibTeX

Woolsey, C A; Leonard, N E

Moving mass control for underwater vehicles Inproceedings

Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301), pp. 2824-2829 vol.4, 2002, ISSN: 0743-1619.

Abstract | Links | BibTeX

Heun, Matthew K; Schlaifer, Stephen R; Aaron, Kim; Nock, Kerry; Pankine, Alexey; Leonard, Naomi Ehrich; Belbruno, Edward A; Bhatta, Pradeep

Computer Simulations of Global Networks of Stratospheric Satellites Inproceedings

6th Symposium on Integrated Observing Systems, 2002.

BibTeX

Ögren, Petter; Fiorelli, Edward; Leonard, Naomi Ehrich

Formations with a Mission: Stable Coordination of Vehicle Group Maneuvers Inproceedings

Proc. Symposium on Mathematical Theory of Networks and Systems, 2002.

BibTeX

2001

Journal Articles

Bloch, A M; Chang, Dong Eui; Leonard, N E; Marsden, J E

Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping Journal Article

IEEE Transactions on Automatic Control, 46 (10), pp. 1556-1571, 2001, ISSN: 1558-2523.

Abstract | Links | BibTeX

Leonard, N E; Graver, J G

Model-based feedback control of autonomous underwater gliders Journal Article

IEEE Journal of Oceanic Engineering, 26 (4), pp. 633-645, 2001, ISSN: 1558-1691.

Abstract | Links | BibTeX

Bloch, Anthony M; Leonard, Naomi Ehrich; Marsden, Jerrold E

Controlled Lagrangians and the stabilization of Euler–Poincaré mechanical systems Journal Article

International Journal of Robust and Nonlinear Control, 11 (3), pp. 191-214, 2001.

Abstract | Links | BibTeX

Inproceedings

Chyba, M; Leonard, N E; Sontag, E D

Optimality for underwater vehicle's Inproceedings

Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228), pp. 4204-4209 vol.5, 2001.

Abstract | Links | BibTeX

Leonard, N E; Fiorelli, E

Virtual leaders, artificial potentials and coordinated control of groups Inproceedings

Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228), pp. 2968-2973 vol.3, 2001.

Abstract | Links | BibTeX

Smith, T R; Hanssmann, H; Leonard, N E

Orientation control of multiple underwater vehicles with symmetry-breaking potentials Inproceedings

Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228), pp. 4598-4603 vol.5, 2001.

Abstract | Links | BibTeX

Woolsey, C A; Bloch, A M; Leonard, N E; Marsden, J E

Dissipation and controlled Euler-Poincare systems Inproceedings

Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228), pp. 3378-3383 vol.4, 2001.

Abstract | Links | BibTeX

Woolsey, C A; Bloch, A M; Leonard, N E; Marsden, J E

Physical dissipation and the method of controlled Lagrangians Inproceedings

2001 European Control Conference (ECC), pp. 2570-2575, 2001.

Abstract | Links | BibTeX

Graver, J G; Leonard, N E

Underwater Glider Dynamics and Control Inproceedings

Proceedings 12th International Symposium on Unmanned Untethered Submersible Technology, Durham, NH, USA, 2001.

BibTeX

Bachmayer, R; Leonard, N E

Experimental Test-bed for Multi-Vehicle Control, Navigation and Communication Inproceedings

Proceedings 12th International Symposium on Unmanned Untethered Submersible Technology, Durham, NH, USA, 2001.

BibTeX

2000

Journal Articles

Bloch, A M; Leonard, N E; Marsden, J E

Controlled Lagrangians and the stabilization of mechanical systems. I. The first matching theorem Journal Article

IEEE Transactions on Automatic Control, 45 (12), pp. 2253-2270, 2000, ISSN: 1558-2523.

Abstract | Links | BibTeX

Bullo, F; Leonard, N E; Lewis, A D

Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups Journal Article

IEEE Transactions on Automatic Control, 45 (8), pp. 1437-1454, 2000, ISSN: 1558-2523.

Abstract | Links | BibTeX

Bloch, Anthony M; Chang, Dong Eui; Leonard, Naomi E; Marsden, Jerrold E; Woolsey, Craig

Asymptotic Stabilization of Euler-Poincaré Mechanical Systems Journal Article

IFAC Proceedings Volumes, 33 (2), pp. 51-56, 2000, ISSN: 1474-6670, (IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Princeton, NJ, USA, 16-18 March 2000).

Abstract | Links | BibTeX

Chyba, M; Leonard, N E; Sontag, E D

Time-Optimal Control for Underwater Vehicles Journal Article

IFAC Proceedings Volumes, 33 (2), pp. 117-122, 2000, ISSN: 1474-6670, (IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Princeton, NJ, USA, 16-18 March 2000).

Abstract | Links | BibTeX

Woolsey, Craig A; Leonard, Naomi Ehrich

Modification of Hamiltonian Structure to Stabilize An Underwater Vehicle Journal Article

IFAC Proceedings Volumes, 33 (2), pp. 175-176, 2000, ISSN: 1474-6670, (IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Princeton, NJ, USA, 16-18 March 2000).

Abstract | Links | BibTeX

Zenkov, Dmitry V; Bloch, Anthony M; Leonard, Naomi E; Marsden, Jerrold E

Matching and Stabilization of the Unicycle with Rider Journal Article

IFAC Proceedings Volumes, 33 (2), pp. 177-178, 2000, ISSN: 1474-6670, (IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Princeton, NJ, USA, 16-18 March 2000).

Abstract | Links | BibTeX

Inproceedings

Zenkov, D V; Bloch, A M; Leonard, N E; Marsden, J E

Matching and stabilization of low-dimensional nonholonomic systems Inproceedings

Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187), pp. 1289-1294 vol.2, 2000, ISSN: 0191-2216.

Abstract | Links | BibTeX

Bloch, A M; Chang, Dong Eui; Leonard, N E; Marsden, J E

Potential and kinetic shaping for control of underactuated mechanical systems Inproceedings

Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334), pp. 3913-3917 vol.6, 2000, ISSN: 0743-1619.

Abstract | Links | BibTeX

1999

Inproceedings

Bloch, A M; Leonard, N E; Marsden, J E

Potential shaping and the method of controlled Lagrangians Inproceedings

Proceedings of the 38th IEEE Conference on Decision and Control (CDC), pp. 1652-1657 vol.2, 1999, ISSN: 0191-2216.

Links | BibTeX

Woolsey, C A; Leonard, N E

Global asymptotic stabilization of an underwater vehicle using internal rotors Inproceedings

Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304), pp. 2527-2532 vol.3, 1999, ISSN: 0191-2216.

Abstract | Links | BibTeX

Cheng, Albert S -F; Leonard, Naomi Ehrich

Fin Failure Compensation for an Unmanned Underwater Vehicle Inproceedings

Proc. of the 11th Int. Symp. on Unmanned Untethered Submersible Technology, 1999.

BibTeX

Woolsey, C A; Leonard, N E

Underwater vehicle stabilization by internal rotors Inproceedings

Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251), pp. 3417-3421 vol.5, 1999, ISSN: 0743-1619.

Abstract | Links | BibTeX

Bloch, A M; Leonard, N E; Marsden, J E

Stabilization of the pendulum on a rotor arm by the method of controlled Lagrangians Inproceedings

Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), pp. 500-505 vol.1, 1999, ISSN: 1050-4729.

Abstract | Links | BibTeX

1998

Journal Articles

Bullo, Francesco; Leonard, Naomi Ehrich

Motion Primitives for Stabilization and Control of Underactuated Vehicles Journal Article

IFAC Proceedings Volumes, 31 (17), pp. 131-136, 1998, ISSN: 1474-6670, (4th IFAC Symposium on Nonlinear Control Systems Design 1998 (NOLCOS'98), Enschede, The Netherlands, 1-3 July).

Abstract | Links | BibTeX

Holmes, Philip; Jenkins, Jeffrey; Leonard, Naomi Ehrich

Dynamics of the Kirchhoff equations I: Coincident centers of gravity and buoyancy Journal Article

Physica D: Nonlinear Phenomena, 118 (3), pp. 311-342, 1998, ISSN: 0167-2789.

Abstract | Links | BibTeX

Leonard, Naomi Ehrich

Mechanics and nonlinear control: making underwater vehicles ride and glide Journal Article

IFAC Proceedings Volumes, 31 (17), pp. 1-6, 1998, ISSN: 1474-6670, (4th IFAC Symposium on Nonlinear Control Systems Design 1998 (NOLCOS'98), Enschede, The Netherlands, 1-3 July).

Abstract | Links | BibTeX

Inproceedings

Bloch, A M; Leonard, N E; Marsden, J E

Matching and stabilization by the method of controlled Lagrangians Inproceedings

Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171), pp. 1446-1451 vol.2, 1998, ISSN: 0191-2216.

Abstract | Links | BibTeX

Leonard, N E; Woolsey, C

Internal actuation for intelligent underwater vehicle control Inproceedings

Proceedings of the 10th Yale Workshop on Adaptive and Learning Systems, pp. 295-300, New Haven, CT, USA, 1998.

BibTeX

Graver, J G; Liu, J; Woolsey, C; Leonard, N E

Design and Analysis of an Underwater Vehicle for Controlled Gliding Inproceedings

Proceedings of the Conference on Information Sciences and Systems (CISS), Princeton, NJ, USA, 1998.

BibTeX

1997

Journal Articles

Leonard, Naomi Ehrich

Stability of a bottom-heavy underwater vehicle Journal Article

Automatica, 33 (3), pp. 331-346, 1997, ISSN: 0005-1098.

Abstract | Links | BibTeX

Leonard, Naomi Ehrich; Marsden, Jerrold E

Stability and drift of underwater vehicle dynamics: Mechanical systems with rigid motion symmetry Journal Article

Physica D: Nonlinear Phenomena, 105 (1), pp. 130-162, 1997, ISSN: 0167-2789.

Abstract | Links | BibTeX

Leonard, N E

Stabilization of underwater vehicle dynamics with symmetry-breaking potentials Journal Article

Systems & Control Letters, 32 (1), pp. 35-42, 1997, ISSN: 0167-6911.

Abstract | Links | BibTeX

Inproceedings

Bloch, A M; Leonard, N E; Marsden, J E

Stabilization of mechanical systems using controlled Lagrangians Inproceedings

Proceedings of the 36th IEEE Conference on Decision and Control, pp. 2356-2361 vol.3, 1997, ISSN: 0191-2216.

Abstract | Links | BibTeX

Bullo, F; Leonard, N E

Motion control for underactuated mechanical systems on lie groups Inproceedings

1997 European Control Conference (ECC), pp. 1830-1835, 1997.

Abstract | Links | BibTeX

1996

Inproceedings

Leonard, N E

Stabilization of steady motions of an underwater vehicle Inproceedings

Proceedings of 35th IEEE Conference on Decision and Control, pp. 961-966 vol.1, 1996, ISSN: 0191-2216.

Abstract | Links | BibTeX

Leonard, N E

Geometric methods for robust stabilization of autonomous underwater vehicles Inproceedings

Proceedings of Symposium on Autonomous Underwater Vehicle Technology, pp. 470-476, 1996.

Abstract | Links | BibTeX

1995

Journal Articles

Leonard, N E; Krishnaprasad, P S

Motion control of drift-free, left-invariant systems on Lie groups Journal Article

IEEE Transactions on Automatic Control, 40 (9), pp. 1539-1554, 1995, ISSN: 1558-2523.

Abstract | Links | BibTeX

Leonard, N E

Control synthesis and adaptation for an underactuated autonomous underwater vehicle Journal Article

IEEE Journal of Oceanic Engineering, 20 (3), pp. 211-220, 1995, ISSN: 1558-1691.

Abstract | Links | BibTeX

Books

Leonard, Naomi E; Levine, William S

Using MATLAB to Analyze and Design Control Systems Book

2nd edition, Addison-Wesley*Benjamin/Cummings Publishing, 1995.

BibTeX

Inproceedings

Leonard, N E

Periodic forcing, dynamics and control of underactuated spacecraft and underwater vehicles Inproceedings

Proceedings of 1995 34th IEEE Conference on Decision and Control, pp. 3980-3985 vol.4, 1995, ISSN: 0191-2216.

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Leonard, Naomi Ehrich

Compensating for Actuator Failures: Dynamics & Control of Underactuated Underwater Vehicles Inproceedings

Proceedings of the 9th International Symposium on Unmanned Untethered Submersible Technology, 1995.

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1994

Inproceedings

Leonard, N E; Krishnaprasad, P S

Control of switched electrical networks using averaging on Lie groups Inproceedings

Proceedings of 1994 33rd IEEE Conference on Decision and Control, pp. 1919-1924 vol.2, 1994.

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Leonard, N E; Krishnaprasad, P S

Motion control of an autonomous underwater vehicle with an adaptive feature Inproceedings

Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94), pp. 283-288, 1994.

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Leonard, N E; Krishnaprasad, P S

High-order averaging on Lie groups and control of an autonomous underwater vehicle Inproceedings

Proceedings of 1994 American Control Conference - ACC '94, pp. 157-162 vol.1, 1994.

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PhD Theses

Leonard, Naomi Ehrich

Averaging and Motion Control of Systems on Lie Groups PhD Thesis

University of Maryland, 1994.

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1993

Inproceedings

Leonard, N E; Krishnaprasad, P S

Averaging for attitude control and motion planning Inproceedings

Proceedings of 32nd IEEE Conference on Decision and Control, pp. 3098-3104 vol.4, 1993.

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1992

Books

Leonard, Naomi E; Levine, William S

Using MATLAB to Analyze and Design Control Systems Book

1st edition, Addison-Wesley*Benjamin/Cummings Publishing, 1992.

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Inproceedings

Leonard, N E; Krishnaprasad, P S

Adaptive friction compensation for bi-directional low-velocity position tracking Inproceedings

Proceedings of the 31st IEEE Conference on Decision and Control, pp. 267-273 vol.1, 1992.

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