Publications

Prof. Leonard’s Google Scholar Profile

2021

Journal papers

R. Pagliara and N. E. Leonard. Adaptive susceptibility and heterogeneity in contagion models on networks. IEEE Transactions on Automatic Control, vol. 66, no. 2, pp. 581-594, Feb. 2021. [PDF] [arXiv] [BibTeX]

P. Landgren, V. Srivastava, and N. E. Leonard. Distributed cooperative decision making in multi-agent multi-armed bandits. Automatica, Vol. 125, 2021. Mar. 2021. [PDF] [arXiv] [BibTeX]

P. Reverdy, V. Srivastava and N. E. Leonard. Corrections to “Satisficing in multiarmed bandit problems”. IEEE Transactions on Automatic Control, Vol. 66, No. 1, pp. 476-478, Jan. 2021. [PDF] [BibTeX] See the original paper.

Conference papers

A. Bizyaeva, A. Matthews, A. Franci, and N. E. Leonard. Patterns of nonlinear opinion formation on networks. American Control Conference (ACC), 2021, accepted. [arXiv]

S. Park and N. E. Leonard. Regularized logit model for multi-agent decision making. American Control Conference (ACC), 2021, accepted.

2020

Journal papers

U. Madhushani and N. E. Leonard. Heterogeneous explore-exploit strategies on multi-star networks. IEEE Control Systems Letters, Vol. 5, no. 5, pp. 1603-1608, Nov. 2021. [PDF] [arXiv] [BibTeX] Accepted for presentation at the 2021 American Control Conference.

A. Bizyaeva, A. Franci, and N. E. Leonard. A General Model of Opinion Dynamics with Tunable Sensitivity. arXiv:2009.04332 [math.OC]. [arXiv]

A. Franci, M. Golubitsky, A. Bizyaeva, and N. E. Leonard. A model-independent theory of consensus and dissensus decision making. arXiv:1909.05765v2 [math.OC]. [arXiv]

Y. D. Zhong, V. Srivastava, and N. E. Leonard. Influence spread in the heterogeneous multiplex linear threshold model. arXiv:2008.04383v1 [math.OC]. [arXiv]

Conference papers

C. Allen-Blanchette, S. Veer, A. Majumdar, and N. E. Leonard. LagNetViP: A Lagrangian Neural Network for Video Prediction. AAAI Fall Series 2020 Symposium on “Physics-guided AI for Accelerating Scientific Discovery”, Nov. 2020. [arXiv]

Y. D. Zhong and N. E. Leonard. Unsupervised learning of Lagrangian dynamics from images for prediction and control. Conference on Neural Information Processing Systems, Dec. 2020. [arXiv]

Y. Zhou, S. A. Levin, and N. E. Leonard. Active control and sustained oscillations in actSIS epidemic dynamics. IFAC Workshop on Cyber-Physical & Human Systems (CPHS), 2020. [arXiv]

U. Madhushani, B. Dey, N. E. Leonard, and A. Chakraborty. Hamiltonian Q-learning: Leveraging importance-sampling for data efficient RL. arXiv:2011.05927 [cs.LG]. [arXiv]

U. Madhushani and N. E. Leonard. Distributed bandits: Probabilistic communication on d-regular graphs. arXiv:2011.07720 [stat.ml]. [arXiv]

U. Madhushani and N. E. Leonard. A dynamic observation strategy for multi-agent multi-armed bandit problem. 2020 European Control Conference (ECC), Saint Petersburg, Russia, May 2020, pp. 1677-1682. [arXiv] [BibTeX]

U. Madhushani and N. E. Leonard. Distributed learning: Sequential decision making in resource-constrained environments. Practical ML for Developing Countries Workshop @ ICLR 2020, Addis Ababa, Ethiopia, April 2020. [arXiv]

2019

Journal papers

A. Franci, M. Golubitsky, and N. Ehrich Leonard. The dynamics of multi-agent multi-option decision making. arXiv:1909.05765 [math.OC]. [arXiv]

R. Pagliara and N. E. Leonard. Adaptive susceptibility and heterogeneity in contagion models on networks. arXiv:1907.08829 [math.OC]. [arXiv]

S. Park, K. H. Aschenbach, M. Ahmed, W. L. Scott, N. E. Leonard, K. Abernathy, G. Marshall, M. Shepard, and N. C. Martins. Animal‐borne wireless network: Remote imaging of community ecology. Journal of Field Robotics, Vol. 36, no. 6, pp. 1141-1165. [PDF] [BibTeX]

E. N. Davison, Z. Aminzare, B. Dey, and N. E. Leonard. Mixed mode oscillations and phase locking in coupled Fitzhugh-Nagumo model neurons. Chaos, 29, 033105, 2019. [PDF] [BibTeX]

K. Özcimder, B. Dey, A. Franci, R. Lazier, D. Trueman, and N. E. Leonard. Social decision-making driven by artistic explore-exploit tension. Interdisciplinary Science Reviews, Vol. 44, No. 1, 2019. [PDF] [BibTeX]

Conference papers

Y. D. Zhong and N. E. Leonard. A continuous threshold model of cascade dynamics. 2019 IEEE 58th Conference on Decision and Control (CDC), Nice, France, Dec. 2019, pp. 1704-1709. [PDF] [arXiv] [BibTeX]

U. Madhushani and N. E. Leonard. Heterogeneous stochastic interactions for multiple agents in a multi-armed bandit problem. 2019 18th European Control Conference (ECC), Naples, Italy, June 2019, pp. 3502-3507. [PDF] [arXiv] [BibTeX]

S. Musslick, A. Bizyaeva, S. Agaron, N. E. Leonard, and J. D. Cohen. Stability-flexibility dilemma in cognitive control: A dynamical system perspective. Proceedings of the 41st Annual Conference of the Cognitive Science Society, Montreal, Canada, July 2019, pp. 2420-2426. [PDF] [BibTeX]

2018

Journal papers

R. Pagliara, D. M. Gordon, and N. E. Leonard. Regulation of harvester ant foraging as a closed-loop excitable system. PLOS Computational Biology, Vol. 14, No. 12, pp. 1-25, Dec. 2018. [BibTeX]

R. Gray, A. Franci, V. Srivastava, and N. E. Leonard. Multi-agent decision-making dynamics inspired by honeybees. IEEE Transactions on Control of Network Systems, Vol. 5, No. 2, pp. 793-806, June 2018. [PDF] [arXiv] [BibTeX]

R. Pagliara, B. Dey and N. E. Leonard. Bistability and resurgent epidemics in reinfection models. IEEE Control Systems Letters, Vol. 2, No. 2, pp. 290-295, April 2018. [PDF] [BibTeX]

Z. Aminzare, B. Dey, E. Davison, and N. E. Leonard. Cluster synchronization of diffusively coupled nonlinear systems: A contraction-based approach. Journal of Nonlinear Science, Vol. 30, pp. 2235–2257. [PDF] [arXiv] [BibTeX]

W. L. Scott and N. E. Leonard. Optimal evasive strategies for multiple interacting agents with motion constraints. Automatica, Vol. 94, pp. 26-34, 2018. [PDF] [BibTeX]

W. L. Scott and N. E. Leonard. Minimum-time trajectories for steered agent with constraints on speed, lateral acceleration, and turning rate. ASME Journal of Dynamic Systems, Measurement and Control, Vol. 140, No. 7, p. 071017, July 2018. [PDF] [BibTeX]

Conference papers

P. Landgren, V. Srivastava, and N. E. Leonard. Social imitation in cooperative multiarmed bandits: Partition-based algorithms with strictly local information. 2018 IEEE Conference on Decision and Control (CDC), Miami Beach, FL, USA, Dec. 2018, pp. 5239-5244. [PDF] [BibTeX]

B. Dey, A. Franci, K. Ozcimder and N. E. Leonard. Feedback controlled bifurcation of evolutionary dynamics with generalized fitness. 2018 Annual American Control Conference (ACC), Milwaukee, WI, June 2018, pp. 6049-6054. [PDF] [BibTeX]

2017

Journal papers

P. Reverdy, V. Srivastava, and N. E. Leonard. Satisficing in multi-armed bandit problems. IEEE Transactions on Automatic Control, Vol. 62, No. 8, pp, 3788-3803, Aug. 2017. [arXiv][BibTeX] This paper has a correction.

V. Srivastava, S. F. Feng, J. D. Cohen, N. E. Leonard, and A. Shenhav. A martingale analysis of first passage times of time-dependent Wiener diffusion models. Journal of Mathematical Psychology, Vol. 77, April 2017, pp. 94-110. [arXiv] [BibTeX]

Conference papers

Y. D. Zhong, V. Srivastava and N. E. Leonard. On the linear threshold model for diffusion of innovations in multiplex social networks. 2017 IEEE 56th Annual Conference on Decision and Control (CDC), Melbourne, VIC, 2017, pp. 2593-2598. [PDF] [BibTeX]

S. H. Cen, V. Srivastava and N. E. Leonard. On robustness and leadership in Markov switching consensus networks. 2017 IEEE 56th Annual Conference on Decision and Control (CDC), Melbourne, VIC, 2017, pp. 1701-1706. [PDF] [BibTeX]

R. Gray, A. Franci and V. Srivastava, and N. E. Leonard. An agent-based framework for bio-inspired, value-sensitive decision-making. Proceedings of the IFAC World Congress, Toulouse, France, July 2017. [PDF] [BibTeX]

A. J. Savas, V. Srivastava and N. E. Leonard. On distributed linear filtering with noisy communication. 2017 American Control Conference (ACC), Seattle, WA, May 2017, pp. 2699-2704. [PDF] [BibTeX]

V. Srivastava and N. E. Leonard. Bio-inspired decision-making and control: From honeybees and neurons to network design. 2017 American Control Conference (ACC), Seattle, WA, May 2017, pp. 2026-2039. [PDF] [BibTeX]

2016

Journal papers

The content and availability of information affects the evolution of social-information gathering strategies
Theoretical Ecology (with E. Brush and S.A. Levin)          

Using network dynamical influence to drive consensus
Scientific Reports (with G. Punzo, G.F. Young, M. Macdonald)          

Parameter estimation in softmax decision-making models with linear objective functions
IEEE Transactions on Automation Science and Engineering (with P. Reverdy)          

A new notion of effective resistance for directed graphs — Part I: Definition and properties
IEEE Transactions on Automatic Control, (with G. Young and L. Scardovi)          

A new notion of effective resistance for directed graphs — Part II: Computing resistances
IEEE Transactions on Automatic Control, (with G. Young and L. Scardovi)          

Joint centrality distinguishes optimal leaders in noisy networks
IEEE Transactions on Control of Network Systems, (with K.E. Fitch)          

Information centrality and ordering of nodes for accuracy in noisy decision-making networks
IEEE Transactions on Automatic Control, (with I. Poulakakis, L. Scardovi, G.F. Young)     

Book chapter

Cooperative vehicle environmental monitoring
Handbook of Ocean Engineering, Part B: Autonomous Ocean Vehicles, Subsystems and Control (Springer)  

Conference papers

P. Landgren, V. Srivastava, and N. E. Leonard. Distributed cooperative decision-making in multiarmed bandits: Frequentist and Bayesian algorithms. Conference on Decision and Control (CDC), Las Vegas, NV, 2016, pp. 167-172. [PDF] [PDF with correction] [arXiv] [BibTeX]

Synchronization bound for networks of nonlinear oscillators
Allerton Conference on Communication, Control and Computing (with E. Davison and B. Dey)          

On distributed cooperative decision-making in multiarmed bandits
Proc. European Control Conference (with P. Landgren and V. Srivastava)          

Optimal leader selection for controllability and robustness in multi-agent networks
Proc. European Control Conference (with K. Fitch)         

Time-optimal trajectories for steered agent with constraints on speed and turning rate
Proc. ASME Dynamic Systems and Control Conf. (with W. Scott)         

2015

Journal papers

First passage time properties for time-varying diffusion models: A Martingale approach
arXiv:1508.03373v2 [math.PR] (with V. Srivastava, S.F. Feng, J.D. Cohen, and A. Shenhav)          

Correlated multiarmed bandit problem: Bayesian algorithms and regret analysis
arXiv:1507.01160v2 [math.OC] (with V. Srivastava and P. Reverdy)          

Coordinated speed oscillations in schooling killifish enrich social communication
Journal of Nonlinear Science (with D.T. Swain and I.D. Couzin)          

Cooperative learning in multiagent systems from intermittent measurements
SIAM Journal on Control and Optimization (with A. Olshevsky)          

Nonuniform line coverage from noisy scalar measurements
IEEE Transactions on Automatic Control (with P. Davison, A. Olshevsky and M. Schwemmer)          

Conference papers

On first passage time problems in collective decision-making with heterogeneous agents
Proc. American Control Conference (with V. Srivastava)         

A realization theory for bio-inspired collective decision-making
arXiv:1503.08526 [math.OC] (with A. Franci and V. Srivastava)          

2014

Journal papers

Multi-agent system dynamics: Bifurcation and behavior of animal groups.
IFAC Annual Reviews in Control

Collective decision-making in ideal networks: The speed-accuracy tradeoff
IEEE Transactions on Control of Network Systems (with V. Srivastava)          

Modeling human decision-making in generalized Gaussian multi-armed bandits
Proceedings of the IEEE (with P. Reverdy and V. Srivastava)          

Adaptive network dynamics and evolution of leadership in collective migration
Physica D (with D. Pais)          

A comparative study of drift diffusion and linear ballistic accumulator models in a reward maximization perceptual choice task
Frontiers in Neuroscience (with S. Goldfarb, P. Simen, C. H. Caicedo-Nunez, P. Holmes)          

Book Chapters

N. E. Leonard, G. F. Young, K. Hochgraf, D. T. Swain, A. Trippe, W. Chen, K. Fitch, and S. Marshall In the dance studio: An art and engineering exploration of human flocking . Controls and Art: Inquiries at the Intersection of the Subjective and the Objective, A. LaViers and M. Egerstedt (editors), Springer, Cham, 2014. [PDF] [arXiv] [Amazon] [Flock Logic page] [BibTeX] An earlier and shorter version of this paper appeared in the Proceedings of the 2012 American Control Conference.

Conference papers

Algorithmic models of human decision making in Gaussian multi-armed bandit problems
Best Student Paper AwardProc. European Control Conference (with P. Reverdy and V. Srivastava)         

Integrating a human designer’s preferences in a Multidisciplinary Design Optimization
15th AIAA/ISSMO Multidisciplinary Analysis and Optimization Conference (with P. Reverdy, A. Reddy, and L. Martinelli)         

Surveillance in an abruptly changing world via multiarmed bandits
Proc. IEEE Conference on Decision and Control (with V. Srivastava and P. Reverdy)         

Dynamics of pursuit and evasion in a heterogeneous herd
Proc. IEEE Conference on Decision and Control (with William Scott)         

Satisficing in Gaussian bandit problems
Proc. IEEE Conference on Decision and Control (with P. Reverdy)         

2013

Journal papers

A mechanism for value-sensitive decision-making
PLoS One (with D. Pais, P.M. Hogan, T. Schlegel, N. Franks, and J.A.R. Marshall)   

Nonuniform coverage control on the line
IEEE Transactions on Automatic Control (with A. Olshevsky)         

Starling flock networks manage uncertainty in consensus at low cost
PLoS Computational Biology (with G.F. Young, L. Scardovi, A. Cavagna, I. Giardina)         

Conference papers

Multi-agent system dynamics: Bifurcation and behavior of animal groups
Plenary paper, IFAC Symposium on Nonlinear Control Systems

On optimal foraging and multi-armed bandits
Proc. 51st Annual Allerton Conference on Communication, Control and Computing (with V. Srivastava and P. Reverdy)         

Information centrality and optimal leader selection in noisy networks
Proc. IEEE Conference on Decision and Control (with K. Fitch)         

On the speed-accuracy tradeoff in collective decision-making
Proc. IEEE Conference on Decision and Control (with V. Srivastava)         

Cooperative learning in multi-agent systems from intermittent measurements
Proc. IEEE Conference on Decision and Control (with A. Olshevsky)         

Pursuit, herding and evasion: A three-agent model of caribou predation
American Control Conference (with W. Scott)         

2012

Journal papers

Node classification in networks of stochastic evidence accumulators
arXiv:1210.4235 [math.OC] (with I. Poulakakis and L. Scardovi)         

Hopf bifurcations and limit cycles in evolutionary network dynamics
SIAM Journal on Applied Dynamical Systems (with D. Pais and C.H. Caicedo-Nunez)         

Can post-error dynamics explain sequential reaction time patterns?
Frontiers in Psychology (with S. Goldfarb, K. Wong-Lin, M. Schwemmer, P. Holmes)         

Decision versus compromise for animal groups in motion
Proceedings of the National Academy of Sciences (with T. Shen, B. Nabet, L. Scardovi, I.D. Couzin, S.A. Levin)         

Towards human-robot teams: Model-based analysis of human decision making in two-alternative choice tasks with social feedback
Proceedings of the IEEE (with A. Stewart, M. Cao, A. Nedic, D. Tomlin)         

Real-time feedback-controlled robotic fish for behavioral experiments with fish schools
Proceedings of the IEEE (with D. Swain and I.D. Couzin)         

Conference papers

Distributed nonuniform coverage with limited scalar measurements
Proc. Allerton Conf. Communication, Control and Computing (with P. Davison and M. Schwemmer)         

Node certainty in collective decision making
Proc. IEEE Conference on Decision and Control (with I. Poulakakis and L. Scardovi)         

Towards optimization of a human-inspired heuristic for solving explore-exploit problems
Proc. IEEE Conference on Decision and Control (with P. Reverdy, R. Wilson, P. Holmes)         

N. E. Leonard, G. Young, K. Hochgraf, D. Swain, A. Trippe, W. Chen, S. Marshall. In the dance studio: Analysis of human flocking. American Control Conference (ACC), Montreal, Quebec, Canada, 2012, pp. 4333-4338. [PDF] [BibTeX] [Flock Logic page]

2011

Journal papers

Uninformed individuals promote democratic consensus in animal groups
Science (with I.D. Couzin, C.C. Ioannou, G. Demirel, T. Gross, C.J. Torney, A. Hartnett, L. Conradt, S.A. Levin)         

Conference papers

Limit cycles in replicator-mutator network dynamics
Proc. IEEE Conference on Decision and Control (with D. Pais)         

Rearranging trees for robust consensus
Proc. IEEE Conference on Decision and Control (with G.F. Young and L. Scardovi)         

Nonuniform coverage control on the line
Proc. IEEE Conference on Decision and Control (with A. Olshevsky)         

Symmetric coverage of dynamic mapping error for mobile sensor networks
Proc. American Control Conference (with C.H. Caicedo-Nunez)         

2010

Journal papers

Coordinated Control of an Underwater Glider Fleet in an Adaptive Ocean Sampling Field Experiment in Monterey Bay
Journal of Field Robotics (with D. Paley, R. Davis, D. Fratantoni, F. Lekien and F. Zhang)         

Cooperative Filters and Control for Cooperative Exploration
IEEE Transactions on Automatic Control (with F. Zhang)         

Convergence in Human Decision-Making Dynamics
Systems and Control Letters (with M. Cao and A. Stewart)         

Conference papers

The role of social feedback in steady-state performance of human decision making for two-alternative choice tasks
Proc. IEEE Conference on Decision and Control (with A. Stewart)         

Nonuniform Coverage and Cartograms
Proc. IEEE Conference on Decision and Control (with F. Lekien)         

Pursuit and Evasion: Evolutionary Dynamics and Collective Motion
Proc. AIAA Guidance, Navigation and Control Conference (with D. Pais)         

Robustness of Noisy Consensus Dynamics with Directed Communication
Proc. American Control Conference (with G. Young and L. Scardovi)         

Coupled Stochastic Differential Equations and Collective Decision Making in the Two-Alternative Forced-Choice Task
Proc. American Control Conference (with I. Poulakakis and L. Scardovi)         

Steady-state distributions for human decisions in two-alternative choice tasks
Proc. American Control Conference (with A. Stewart and M. Cao)         

2009

Journal papers

Dynamics of Decision Making in Animal Group Motion
Journal of Nonlinear Science (with B. Nabet, I.D. Couzin and S.A. Levin)         

Nonuniform Coverage and Cartograms
SIAM Journal on Control and Optimization (with F. Lekien)         

Routing Strategies for Underwater Gliders
Deep-Sea Research II (with R.E. Davis and D.M. Fratantoni)         

Preparing to Predict: The Second Autonomous Ocean Sampling Network (AOSN-II) Experiment in the Monterey Bay
Deep-Sea Research II (with S.R. Ramp, R.E. Davis, I. Shulman et al)         

Autonomous rigid body attitude synchronization
Automatica (with A. Sarlette and R. Sepulchre)         

Tensegrity Models and Shape Control of Vehicle Formations
ArXiv (with B. Nabet)         

Conference papers

Robustness of Aggregation in Networked Dynamical Systems
Proc. ROBOCOMM’09 (with L. Scardovi)         

On the Trajectories and Coordination of Steered Particles with Time-Periodic Speed Profiles
Proc. American Control Conference (with D.T. Swain)         

Formation shape and orientation control using projected collinear tensegrity structures
Proc. American Control Conference (with D. Pais and M. Cao)         

Explore vs. Exploit: Task Allocation for Multi-robot Foraging
Preprint (with C. Baldassano)         

2008

Journal papers

Stabilization of Three Dimensional Collective Motion
Communications in Information and Systems (with L. Scardovi and R. Sepulchre)         

Stabilization of Planar Collective Motion with Limited Communication
IEEE Transactions on Automatic Control (with R. Sepulchre and D.A. Paley)         

Nonlinear Gliding Stability and Control for Vehicles with Hydrodynamic Forcing
Automatica (with P. Bhatta)         

Cooperative Control for Ocean Sampling: The Glider Coordinated Control System
IEEE Transactions on Control Systems Technology (with D. Paley and F. Zhang)         

Stable Synchronization of Mechanical System Networks
SIAM Journal of Control and Optimization (with S. Nair)         

Stabilization of Symmetric Formations to Motion around Convex Loops
Systems and Control Letters (with D. Paley and R. Sepulchre)         

 Conference papers

Effective sensing regions and connectivity of agents undergoing periodic relative motions
Proc. 47th IEEE Conference on Decision and Control (with D. Swain and M. Cao)         

Integrating human and robot decision-making dynamics with feedback: Models and convergence analysis
Proc. 47th IEEE Conference on Decision and Control (with M. Cao and A. Stewart)         

Cooperative Kalman filters for cooperative exploration
Proc. American Control Conference (with F. Zhang)         

2007

Journal papers

Stable Synchronization of Rigid Body Networks
Networks and Heterogeneous Media (with S. Nair)         

Oscillator Models and Collective Motion: Spatial patterns in the dynamics of engineered and biological networks
IEEE Control Systems Magazine (with D. Paley, R. Sepulchre, D. Grunbaum, J. Parrish)         

Control of Coordinated Patterns for Ocean Sampling
International Journal of Control (with F. Zhang, D. Fratantoni, D. Paley, J. Lund)         

Stabilization of Planar Collective Motion: All-to-all Communication
IEEE Transactions on Automatic Control (with R. Sepulchre and D. Paley)         

Coordinated Patterns of Unit Speed Particles on a Closed Curve
Systems and Control Letters (with F. Zhang)         

Collective Motion, Sensor Networks and Ocean Sampling
Proceedings of the IEEE (with D. Paley, F. Lekien, R. Sepulchre, D.M. Fratantoni and R. Davis)         

Heterogeneous Animal Group Models and Their Group-Level Alignment Dynamics: An Equation-free Approach
Journal of Theoretical Biology (with S.J. Moon, B. Nabet, S.A. Levin, I.G. Kevrekidis)         

Conference papers

Alternating Spatial Patterns for Coordinated Group Motion
Proc. 46th IEEE Conference on Decision and Control (with D. Swain, I.D. Couzin, A. Kao and R. Sepulchre)         

Stabilization of Collective Motion in Three Dimensions: A Consensus Approach
Proc. 46th IEEE Conference on Decision and Control (with L. Scardovi and R. Sepulchre)         

Exploring Scalar Fields Using Multiple Sensor Platforms: Tracking Level Curves
Proc. 46th IEEE Conference on Decision and Control (with F. Zhang and E. Fiorelli)         

Spatial Models of Bistability in Biological Collectives
Proc. 46th IEEE Conference on Decision and Control (with D.A. Paley, R. Sepulchre and I.D. Couzin)         

Autonomous Rigid Body Attitude Synchronization
Proc. 46th IEEE Conference on Decision and Control (with A. Sarlette and R. Sepulchre)         

2006

Journal papers

Multi-AUV Control and Adaptive Sampling in Monterey Bay
IEEE Journal of Oceanic Engineering (with E.Fiorelli, P.Bhatta, D.Paley, R.Bachmayer, D. Fratantoni)

Symmetry and Reduction for Coordinated Rigid Bodies
European Journal of Control (with H. Hanssmann and T.R. Smith)         

Conference papers

A Collaborative Portal for Ocean Observatories
MTS/IEEE Oceans ’06 (with M.A. Godin, J.G. Bellingham, K. Rajan and Y. Chao)         

Leadership in Animal Group Motion: A Bifurcation Analysis
Int. Symp. on Mathematical Theory of Networks and Systems (with B. Nabet, I.D. Couzin and S.A. Levin)         

Shape Control of a Multi-Agent System Using Tensegrity Structures
IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (with B. Nabet)         

Collective Motion of Self-Propelled Particles: Stabilizing Symmetric Formations on Closed Curves
IEEE Conference on Decision and Control (with D. Paley and R. Sepulchre)         

Group Coordination and Cooperative Control of Steered Particles in the Plane
Proc. Workshop on Coordinated and Cooperative Control (with R. Sepulchre and D. A. Paley)         

Coordinated Patterns on Smooth Curves
2006 IEEE International Conference on Networking, Sensing and Control (with F. Zhang)         

2005

Coordination of an Underwater Glider Fleet for Adaptive Ocean Sampling
Proc. Int. Workshop on Underwater Robotics (with Bhatta, Fiorelli, Lekien, Paley, Zhang, Bachmayer, Davis, Fratantoni, Sepulchre)         

Graph Laplacian and Lyapunov Design of Collective Planar Motions
Proc. NOLTA (with R. Sepulchre and D. Paley)         

Oscillator Models and Collective Motion: Splay State Stabilization of Self-Propelled Particles
Proc. 44th IEEE Conference on Decision and Control (with D. Paley and R. Sepulchre)         

Collective Motion of Ring-Coupled Planar Particles
Proc. 44th IEEE Conference on Decision and Control (with J. Jeanne and D. Paley)         

Generating Contour Plots Using Multiple Sensor Platforms
2005 IEEE Swarm Intelligence Symposium (with F. Zhang)         

A Convergent Dynamic Window Approach to Obstacle Avoidance
IEEE Transactions on Robotics (with P. Ogren)         

2004

Controlled Lagrangian Systems with Gyroscopic Forcing and Dissipation
European Journal of Control (with C.A. Woolsey, C.K. Reddy, A.M. Bloch, D.E. Chang and J.E. Marsden)

Multi-AUV Control and Adaptive Sampling in Monterey Bay
Proc. IEEE AUV 2004 (with E.Fiorelli, P.Bhatta, D.Paley, R.Bachmayer, D. Fratantoni)

Cooperative Control of Mobile Sensor Networks:  Adaptive Gradient Climbing in a Distributed Environment
IEEE Transactions on Automatic Control (with P. Ogren and E. Fiorelli)

Collective Motion:  Bistability and Trajectory Tracking
Proc. 43rd IEEE Conference on Decision and Control (with D. Paley and R. Sepulchre)

Stabilization of a Coordinated Network of Rotating Rigid Bodies
Proc. 43rd IEEE Conference on Decision and Control (with S. Nair)

A Lyapunov Function for Vehicles with Lift and Drag: Stability of Gliding
Proc. 43rd IEEE Conference on Decision and Control (with P. Bhatta)

Underwater Gliders: Recent Developments and Future Applications
IEEE International Symposium on Underwater Technology, UT’04
 (with R. Bachmayer, J. Graver, E. Fiorelli, P. Bhatta, D. Paley)
 

2003

Collective Motion and Oscillator Synchronization
Proc.  2003 Block Island Workshop on Cooperative Control
 (with R. Sepulchre and D. Paley)
 
Coordinated Control Networked Mechanical Systems with Unstable Dynamics
Proc. 42nd IEEE Conference on Decision and Control (with S. Nair and L. Moreau)

Adaptive Sampling Using Feedback Control of an Autonomous Underwater Glider Fleet
Proc. 13th International Symposium on Unmanned Untethered Submersible Technology (with E. Fiorelli, P. Bhatta and I. Shulman).

Underwater Glider Model Parameter Identification
Proc. 13th International Symposium on Unmanned Untethered Submersible Technology (with J.G. Graver, R. Bachmayer and D.M. Fratantoni).

Obstacle Avoidance in Formation
Proc. of the IEEE Int. Conf. on Robotics and Automation (with P. Ogren)

Coordinated Gradient Descent: A Case Study of Lagrangian Dynamics with Projected Gradient Information
Proc. IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (with L. Moreau and R. Bachmayer)

Singular Trajectories in Multi-Input Time-Optimal Problems:  Application to Controlled Mechanical Systems Journal of Dynamical and Control Systems  (with M. Chyba and E.D. Sontag)
 

2002

Formations with a Mission:  Stable Coordination of Vehicle Group Maneuvers
Proc. Symposium on Mathematical Theory of Networks and Systems (with P. Ogren and E. Fiorelli).

Stabilizing Underwater Vehicle Motion Using Internal Rotors
Automatica, (with C.A. Woolsey).

The Equivalence of Controlled Lagrangian and Controlled Hamiltonian Systems
ESAIM: Control, Optimisation, and Calculus of Variations
(with D.E. Chang,  A.M. Bloch,  J.E. Marsden and C.A. Woolsey)

Computer Simulations of Global Networks of Stratospheric Satellites
6th Symposium on Integrated Observing Systems (with Heun, Schlaifer, Aaron, Nock, Pankine, Belburno and Bhatta)

Moving Mass Control for Underwater Vehicles
Proc. American Control Conference (with C.A. Woolsey).

Vehicle Networks for Gradient Descent in a Sampled Environment
Proc. 41st IEEE Conference on Decision and Control (with R. Bachmayer)

Stabilization and Coordination of Underwater Gliders
Proc. 41st IEEE Conference on Decision and Control (with P. Bhatta)

 A Normal Form for Energy Shaping:  Application to the Furuta Pendulum
Proc. 41st IEEE Conference on Decision and Control (with S. Nair)

A Tractable Convergent Dynamic Window Approach to Obstacle Avoidance
IEEE/RSJ International Conference on Intelligent Robots and Systems (with P. Ogren)
 

2001

Controlled Lagrangians and the Stabilization of Euler-Poincare Mechanical Systems
International Journal on Robust and Nonlinear Control (with A.M. Bloch and J.E. Marsden).

Controlled Lagrangians and the Stabilization of Mechanical Systems II:  Potential Shaping
IEEE Transactions on Automatic Control (with A.M. Bloch, D.E. Chang and J.E. Marsden).

Model-Based Feedback Control of Autonomous Underwater Gliders
IEEE Journal of Oceanic Engineering (with J. Graver).

Physical Dissipation and the Method of Controlled Lagrangians
Proc. of the European Control Conference (with C.A. Woolsey, A.M. Bloch and J.E. Marsden).

Optimality for Underwater Vehicles
Proc. of the 40th IEEE Conference on Decision and Control (with M. Chyba and E.D. Sontag).

Virtual Leaders, Artificial Potentials and Coordinated Control of Groups
Proc. of the 40th IEEE Conference on Decision and Control (with E. Fiorelli).

Orientation Control of Multiple Underwater Vehicles with Symmetry-Breaking Potentials
Proc. of the 40th IEEE Conference on Decision and Control (with T.R Smith and H. Hanssmann).

Dissipation and Controlled Euler-Poincare Systems
Proceedings of the 40th IEEE Conference on Decision and Control, (with C.A. Woolsey, A.M. Bloch and J.E. Marsden).

Experimental Test-bed for Multi-Vehicle Control, Navigation and Communication
Proc. 12th International Symposium on Unmanned Untethered Submersible Technology (with R. Bachmayer).

Underwater Glider Dynamics and Control
Proc. 12th International Symposium on Unmanned Untethered Submersible Technology (with J.Graver).

2000

Controlled Lagrangians and the Stabilization of Mechanical Systems I: The First Matching Theorem
 IEEE Transactions on Automatic Control (with A.M. Bloch and J.E. Marsden).

Controllability and Motion Algorithms for Underactuated Lagrangian Systems on Lie Groups
IEEE Transactions on Automatic Control, (with F. Bullo and A.D. Lewis).

Potential and Kinetic Shaping for Control of Underactuated Mechanical Systems
Proc. of the American Control Conference (with A.M Bloch, D.E. Chang and J.E. Marsden).

Matching and Stabilization of Low-dimensional Nonholonomic Systems
Proc. of the 39th IEEE Conference on Decision and Control (with D.V. Zenkov, A.M. Bloch and J.E. Marsden)

Asymptotic Stabilization of Euler-Poincare Mechanical Systems
Proc. of the IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (with Bloch, Chang, Marsden, Woolsey)

Time-Optimal Control for Underwater Vehicles
Proc. of the IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (with M. Chyba and E.D. Sontag).

Modification to Hamiltonian Structure to Stabilize an Underwater Vehicle
Proc. of the IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (with C.A. Woolsey).

Matching and Stabilization of the Unicycle with Rider
Proc. of the IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (with Zenkov, Bloch and Marsden).

1999

Global Asymptotic Stabilization of an Underwater Vehicle Using Internal Rotors
Proc. of the 38th IEEE Conference on Decision and Control (with C.A. Woolsey).

Potential Shaping and the Method of Controlled Lagrangians
Proc. of the 38th IEEE Conference on Decision and Control, 1999 (with A.M. Bloch and J.E. Marsden).

Fin Failure Compensation for an Unmanned Underwater Vehicle
Proc. of the 11th Int. Symp. on Unmanned Untethered Submersible Technology, 1999 (with A. S.-F. Cheng).

Underwater Vehicle Stabilization by Internal Rotors
American Control Conference, 1999 (with C.A. Woolsey).

Stabilization of the Pendulum on a Rotor Arm by the Method of Controlled Lagrangians
Proc. of the IEEE Int. Conf. on Robotics and Automation, 1999 (with A.M. Bloch and J.E. Marsden).

1998

Dynamics of the Kirchhoff Equations I: Coincident Centers of Gravity and Buoyancy
Physica D, 1998 (with P. Holmes and J. Jenkins).

Matching and Stabilization by the Method of Controlled Lagrangians
Proc. of the 37th IEEE Conference on Decision and Control, 1998 (with A.M. Bloch and J.E. Marsden).

Mechanics and Nonlinear Control: Making Underwater Vehicles Ride and Glide
IFAC Nonlinear Control Design Symposium (NOLCOS), 1998.

Motion Primitives for Stabilization and Control of Underactuated Vehicles
IFAC Nonlinear Control Design Symposium (NOLCOS), 1998 (with F. Bullo).

Internal Actuation for Intelligent Underwater Vehicle Control
Tenth Yale Workshop on Adaptive and Learning Systems, 1998 (with C.A. Woolsey).

Design and Analysis of an Underwater Vehicle for Controlled Gliding
Conference on Information Sciences and Systems, 1998 (with J. Graver, J. Liu and C.A. Woolsey).

1997

Stability of a Bottom-Heavy Underwater Vehicle
Automatica, March 1997.

Stabilization of Underwater Vehicle Dynamics with Symmetry-Breaking Potentials
Systems and Control Letters, October 1997.

Stability and Drift of Underwater Vehicle Dynamics: Mechanical Systems with Rigid Motion Symmetry
Physica D, June 1997 (with J.E. Marsden).

Stabilization of Mechanical Systems Using Controlled Lagrangians
Proc. of the 36th IEEE Conference on Decision and Control, 1997 (with A.M. Bloch and J.E. Marsden).

Motion Control for Underactuated Mechanical Systems on Lie Groups
Proc. European Control Conference, July 1997 (with F. Bullo).

1996

Stabilization of Steady Motions of an Underwater Vehicle
Proc. of the 35th IEEE Conference on Decision and Control, 1996.

Geometric Methods for Robust Stabilization of Autonomous Underwater Vehicles
Proc. of the 1996 Symposium on Autonomous Underwater Vehicle Technology.

1995

Motion Control of Drift-Free, Left-Invariant Systems on Lie Groups
IEEE Transactions on Automatic Control, September 1995 (with P.S. Krishnaprasad).

Control Synthesis and Adaptation for an Underactuated Autonomous Underwater Vehicle
IEEE Journal of Oceanic Engineering, July 1995.

Periodic Forcing, Dynamics and Control of Underactuated Spacecraft & Underwater Vehicles
Proc. of the 34th IEEE Conference on Decision and Control, 1995.

Compensating for Actuator Failures: Dynamics & Control of Underactuated Underwater Vehicles
Proc. of the 9th Int. Symp. on Unmanned Untethered Submersible Technology, September 1995.

1994

Averaging and Motion Control of Systems on Lie Groups
PhD Thesis, University of Maryland

Control of Switched Electrical Networks Using Averaging on Lie Groups
Proc. of the 33rd IEEE Conference on Decision and Control, 1994 (with P.S. Krishnaprasad).

Motion Control of an Autonomous Underwater Vehicle with an Adaptive Feature
Proc. of the 1994 Symposium on AUV Technology (with P.S. Krishnaprasad).

High-Order Averaging on Lie Groups and Control of an Autonomous Underwater Vehicle
Proc. of the 1994 American Control Conference, (with P.S. Krishnaprasad).

1993 and earlier

Averaging for Attitude Control and Motion Planning
Proc. of the 34th IEEE Conference on Decision and Control, 1993 (with P.S. Krishnaprasad).

Adaptive Friction Compensation for Bi-Directional, Low-Velocity Position Tracking
Proc. of the 33th IEEE Conference on Decision and Control, 1992 (with P.S. Krishnaprasad).

Using MATLAB to Analyze and Design Control Systems
Addison-Wesley*Benjamin/Cummings Publishing, 1st edition 1992, 2nd edition 1995, (with W.S. Levine).