Dynamics of Escaping Flight Initiations of Drosophila melanogaster (2009)
Francisco A. Zabala, Gwyneth M. Card, Ebraheem I. Fontaine, Richard M. Murray, Michael H. Dickinson
Abstract — We present a reconstruction of the dynamics of flight initiation from kinematic data extracted from high-speed video recordings of the fruit fly Drosophila melanogaster. The dichotomy...
Flight Dynamics and Control of Evasive Maneuvers: The Fruit Fly's Takeoff (2009)
Zabala, Francisco A., Card, Gwyneth M., Fontaine, Ebraheem I., Dickinson, Michael H., Murray, Richard M.
We have approached the problem of reverse-engineering the flight control mechanism of the fruit fly by studying the dynamics of the responses to a visual stimulus during takeoff. Building upon a...
Kalman filtering over a packet-delaying network: A probabilistic approach (2009)
Shi, Ling, Xie, Linhua, Murray, Richard M.
In this paper, we consider Kalman filtering over a packet-delaying network. Given the probability distribution of the delay, we can characterize the filter performance via a probabilistic approach....
Limits on the Network Sensitivity Function for Multi-Agent Systems on a Graph (2009)
Tonetti, Stefania, Murray, Richard M.
This report explores the tradeoffs and limits of performance in feedback control of interconnected multi-agent systems, focused on the network sensitivity functions. We consider the interaction...
Data Transmission Over Networks for Estimation and Control (2009)
Gupta, Vijay, Dana, Amir F., Hespanha, Joao P., Murray, Richard M., Hassibi, Babak
We consider the problem of controlling a linear time invariant process when the controller is located at a location remote from where the sensor measurements are being generated. The communication...
Dynamics and stability of a class of low Reynolds number swimmers near a wall (2009)
Or, Yizhar, Murray, Richard M.
We study the dynamic stability of low Reynolds number swimming near a plane wall from a control-theoretic viewpoint. We consider a special class of swimmers having a constant shape, focus on steady...
To drop or not to drop : design principles for Kalman filtering over wireless fading channels (2009)
Mostofi, Yasamin, Murray, Richard M.
It is the general assumption that in estimation and control over wireless links, the receiver should drop any erroneous packets. While this approach is appropriate for non real-time data-network...
To Drop or Not to Drop: Design Principles for Kalman Filtering Over Wireless Fading Channels (2009)
Mostofi, Yasamin, Murray, Richard M.
It is the general assumption that in estimation and control over wireless links, the receiver should drop any erroneous packets. While this approach is appropriate for non real-time data-network...
Formation Flight Near Libration Points: Survey and Recommendations (2008)
Martin W. Lo, Wang Sang Koon, Jerrold E. Marsden, Richard M. Murray
This paper gives a survey of some of the issues involved in formation flight of satellites near a halo orbit. An example of the use of such a formation is to act as a telescope for imaging...
Data Transmission over Networks for Estimation and Control (2008)
Vijay Gupta, Amir F. Dana, Student Member, João P. Hespanha, Richard M. Murray, Babak Hassibi, ...
We consider the problem of controlling a linear time invariant process when the controller is located at a location remote from where the sensor measurements are being generated. The communication...
Vision as a Compensatory Mechanism for Disturbance Rejection (2008)
In Upwind Flight, Michael B. Reiser, J. Sean Humbert, Mary J. Dunlop, Domitilla Del Vecchio, Richard M. Murray, ...
Abstract — Recent experimental results demonstrate that flies posses a robust tendency to orient towards the frontallycentered pole of the visual motion field that typically occurs during upwind...
Probabilistic performance of state estimation across a lossy network (2008)
Epstein, Michael, Shi, Ling, Tiwari, Abhishek, Murray, Richard M.
We consider a discrete time state estimation problem over a packet-based network. In each discrete time step, a measurement packet is sent across a lossy network to an estimator unit consisting of a...
Regulatory activity revealed by dynamic correlations in gene expression noise (2008)
Dunlop, Mary J., Levine, Joseph H., Murray, Richard M., Elowitz, Michael B.
Gene regulatory interactions are context dependent, active in some cellular states but not in others. Stochastic fluctuations, or 'noise', in gene expression propagate through active, but not...
Framework for low-observable trajectory generation in presence of multiple radars (2008)
Inanc, Tamer, Muezzinoglu, Mehmet K., Misovec, Kathleen, Murray, Richard M.
This paper explores the problem of finding a real-time optimal trajectory for unmanned aerial vehicles to minimize their probability of detection by opponent multiple radar detection systems. The...
Periodically Controlled Hybrid Systems: Verifying A Controller for An Autonomous Vehicle (2008)
Wongpiromsarn, Tichakorn, Mitra, Sayan, Murray, Richard M., Lamperski, Andrew
This paper introduces Periodically Controlled Hybrid Automata (PCHA) for describing a class of hybrid control systems. In a PCHA, control actions occur roughly periodically while internal and input...
Data Transmission over Networks for Estimation and Control (2008)
Vijay Gupta, Student Member, Amir F. Dana, Student Member, João P. Hespanha, Richard M. Murray, ...
We consider the problem of controlling a linear time invariant process when the controller is located at a location remote from where the sensor measurements are being generated. The communication...
Networked Control Systems with Norm Bounded Uncertainties: A Stability Analysis (2008)
Ling Shi, Michael Epstein, Richard M. Murray
Abstract — In this paper, we consider a robust networked control problem. We consider linear unstable and uncertain discrete time plants with networks between the sensors and controller as well as...
Cooperative Control of Multi-Vehicle Systems Using Cost Graphs and Optimization (2008)
Reza Olfati, Saber William, B. Dunbar, Richard M. Murray
We introduce a class of triangulated graphs for algebraic representation of formations that allows us to specify a mission cost for a group of vehicles. This representation plus the navigational...
Feedback Systems: An Introduction for Scientists and Engineers (2008)
Åström, Karl Johan, Murray, Richard M.
This book provides an introduction to the basic principles and tools for the design and analysis of feedback systems. It is intended to serve a diverse audience of scientists and engineers who are...
Francesco Bullo, Richard M. Murray
We present a general framework for the control of Lagrangian systems with as many inputs as degrees of freedom. Relying on the geometry of mechanical systems on manifolds, we propose a design...
Simon Yeung, Richard M. Murray
Active control of rotating stall and surge using bleed valves has been demonstrated on low and high speed compressors using high bandwidth actuators. In this paper we provide a method to reduce the...
Abstract. Recent advances in geometric mechanics, motivated in large part by applications in control theory, have introduced new tools for understanding and utilizing the structure present in...
Ellipsoidal Cones and Rendezvous of Multiple Agents (2007)
Raktim Bhattacharya, Jimmy Fung, Abhishek Tiwari, Richard M. Murray
Abstract — In this paper we use ellipsoidal cones to achieve rendezvous of multiple agents. Rendezvous of multiple agents is shown to be equivalent to ellipsoidal cone invariance and a controller...
Nonlinear and Cooperative Control of Multiple Hovercraft with Input Constraints ∗ (2007)
William B. Dunbar, Reza Olfati-saber, Richard M. Murray
systems, unidirectional/bounded control Abstract: In this paper, we introduce an approach for distributed nonlinear control of multiple hovercraft-type underactuated vehicles with bounded and...
CDC02-REG1035 The Caltech Multi-Vehicle Wireless Testbed 1 (2007)
Lars Cremean, William B. Dunbar, Dave Van Gogh, Jason Hickey, Eric Klavins, Jason Meltzer, ...
Abstract: In this paper we introduce the Caltech Multi-Vehicle Wireless Testbed (MVWT), a platform for testing decentralized control methodologies for multiple vehicle coordination and formation...
Preliminary results of a new computational approach to generate aggressive trajectories in real-time for constrained mechanical systems are presented. The algorithm is based on a combination of...
Discrete Function Approximation: Numerical Tools for Nonlinear Control (2007)
Muruhan Rathinam, Richard M. Murray
We describe a method for discrete representation of continuous functions and show how this may be used for typical computations in nonlinear control design. The method involves representing functions...
Martha A. Gallivan, David G. Goodwin, Richard M. Murray
Thin film deposition is an industrially-important process to which control theory has not historically been applied. The need for control is growing as the size of integrated circuits shrinks,...
AIAA 2001-2126 DYNAMICAL MODELS FOR CONTROL OF CAVITY OSCILLATIONS (2007)
Clarence W. Rowley, Tim Colonius, Richard M. Murray
We investigate nonlinear dynamical models for selfsustained oscillations in the flow past a rectangular cavity. The models are based on the method of Proper Orthogonal Decomposition (POD) and...
A Geometric Perspective on Bifurcation Control 1 (2007)
In this paper, we analyze the problem of bifurcation control from a geometric perspective. Ourgoalistoprovide coordinate free, geometric conditions under which control can be used to alter the...
Francesco Bullo, Richard M. Murray
This paper presents a general framework for the control of mechanical systems with as many inputs as degrees of freedom. The notions of error function and transport map are introduced to properly...
Simon Yeung, Yong Wang, Richard M. Murray
In this paper we evaluate the actuator rate requirements for control of rotating stall using a bleed valve and provide tools for predicting these requirements. Modification of both the stable and...
Software Interface to the Caltech Ducted Fan (2007)
The Caltech Ducted Fan is interfaced to an 80386 computer running an MSDOS-based real-time kernel called Sparrow [2] and using the Falcon Control Library [1]. Custom hardware is used to read in joint...
Discrete Function Approximation: Numerical Tools for Nonlinear Control (2007)
Muruhan Rathinam, Richard M. Murray
We describe a method for discrete representation of continuous functions and show how this may be used for typical computations in nonlinear control design. The method involves representing functions...
Modeling of the Caltech Ducted Fan (2007)
The Caltech Ducted Fan is a small flight control experiment whose dynamics are representative of either a Harrier in hover mode or a thrust vectored aircraft (such as the F18-HARV or X-31) in forward...
Control and Dynamical Systems (2007)
Kristi A. Morgansen, Richard J. Mason, Joel W. Burdick, Richard M. Murray
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Submitted, Int'l Journal of Robust and Nonlinear Control (2007)
Michiel J. Van, Richard M. Murray
Abstract. This paper considers the problem of real time trajectory generation and tracking for nonlinear control systems. We employ a two degree of freedom approach that separates the nonlinear...
Andrew D. Lewis, Richard M. Murray
In this letter we present a decomposition for control systems whose drift vector field is the geodesic spray associated with an affine connection. With the geometric insight gained with this...
Cooperative Control of Multi-Vehicle Systems Using Cost Graphs and Optimization (2007)
Reza Olfati Saber, Saber William, William B. Dunbar, Richard M. Murray
We introduce a class of triangulated graphs for algebraic representation of formations that allows us to specify a mission cost for a group of vehicles. This representation plus the navigational...
Consensus Protocols for Networks of Dynamic Agents (2007)
Reza Olfati Saber, Saber Richard, Richard M. Murray
In this paper, we introduce linear and nonlinear consensus protocols for networks of dynamic agents that allow the agents to agree in a distributed and cooperative fashion. We consider the cases of...
Asynchronous Distributed Averaging on Communication Networks (2007)
Mehyar, Mortada, Spanos, Demetri, Pongsajapan, John, Low, Steven H., Murray, Richard M.
Distributed algorithms for averaging have attracted interest in the control and sensing literature. However, previous works have not addressed some practical concerns that will arise in actual...
Sensing, Navigation and Reasoning Technologies for the DARPA Urban Challenge (2007)
Mohammed Aly, Joel W. Burdick, Vanessa Carson, Stefano Di Cairano, Laura Lindzey, Jeremy Ma, ...
of Defense. DARPA does not guarantee the accuracy or reliability of the information in this paper. Executive Summary This paper describes Team Caltech’s technical approach and current progress...
Conversion and Verification Procedure for Goal-Based Control Programs (2007)
Fault tolerance and safety verification of control systems are essential for the success of autonomous robotic systems. A control architecture called Mission Data System, developed at the Jet...
Consensus and cooperation in networked multi-agent systems (2007)
Reza Olfati-saber, J. Alex Fax, Richard M. Murray
Summary. This paper provides a theoretical framework for analysis of consensus algorithms for multi-agent networked systems with an emphasis on the role of directed information flow, robustness to...
Asynchronous Distributed Averaging on Communication Networks (2007)
Mortada Mehyar, Demetri Spanos, John Pongsajapan, Steven H. Low, Richard M. Murray
Abstract — Distributed algorithms for averaging have attracted interest in the control and sensing literature. However, previous works have not addressed some practical concerns that will arise in...
On the effect of quantization on performance at high rates (2006)
Gupta, Vijay, Dana, Amir F., Murray, Richard M., Hassibi, Babak
We study the effect of quantization on the performance of a scalar dynamical system in the high rate regime. We evaluate the LQ cost for two commonly used quantizers: uniform and logarithmic and...
Linear models for control of cavity flow oscillations (2006)
Rowley, Clarence W., Williams, David R., Colonius, Tim, Murray, Richard M., MacMynowski, Douglas G.
Models for understanding and controlling oscillations in the flow past a rectangular cavity are developed. These models may be used to guide control designs, to understand performance limits of...
Alice: An information-rich autonomous vehicle for high-speed desert navigation (2006)
Lars B. Cremean, Tully B. Foote, Jeremy H. Gillula, George H. Hines, Dmitriy Kogan, Kristopher L. Kriechbaum, ...
This paper describes the implementation and testing of Alice, the California Institute of Technology’s entry in the 2005 DARPA Grand Challenge. Alice utilizes a highly networked control system...
Model-based Design and Qualification of Complex Systems (2006)
John C. Doyle, Richard M. Murray
summarizes the work supported by Boeing over the period of January 2005 to present.
Approximate distributed Kalman filtering in sensor networks with quantifiable performance (2005)
Spanos, Demetri P., Olfati-Saber, Reza, Murray, Richard M.
We analyze the performance of an approximate distributed Kalman filter proposed in recent work on distributed coordination. This approach to distributed estimation is novel in that it admits a...
Distributed Kalman filtering in sensor networks with quantifiable performance (2005)
Demetri P. Spanos, Reza Olfati-saber, Richard M. Murray
We analyze the performance of a distributed Kalman filter proposed in recent work on distributed dynamical systems. This approach to distributed estimation is novel in that it admits a systematic...
Virtual AttractiveRepulsive Potentials for Cooperative (2005)
Bao Q. Nguyen, Yao-li Chuang, David Tung, Chung Hsieh, Zhipu Jin, Ling Shi, ...
Abstract — We consider a motion planning method based on cooperative biological swarming models with virtual attractive and repulsive potentials (VARP). We derive a map between the model and fan...
Experimental validation of an algorithm for cooperative boundary tracking (2005)
Chung H. Hsieh, Zhipu Jin, Daniel Marthaler, Bao Q. Nguyen, David J. Tung, Andrea L. Bertozzi, ...
Abstract — This paper demonstrates the testbed implementation of a simple algorithm for cooperatively locating and following environmental boundary in two-dimensional space. The algorithm...
Optimal LQG control across packet-dropping links (2005)
Vijay Gupta, Demetri Spanos, Babak Hassibi, Richard M Murray
We examine optimal Linear Quadratic Gaussian control for a system in which communication between the sensor (output of the plant) and the controller occurs across a packet-dropping link. We extend...
Gupta, Vijay, Chung, Timothy H., Hassibi, Babak, Murray, Richard M.
In this note we consider the following problem. Suppose a set of sensors is jointly trying to estimate a process. One sensor takes a measurement at every time step and the measurements are then...
A new approach to teaching feedback (2004)
Murray, Richard M., Waydo, Stephen, Cremean, Lars B., Mabuchi, Hideo
The Control and Dynamical Systems (CDS) Department at the California Institute of Technology (Caltech) has revised its entry-level curriculum in dynamics, feedback, and control with the goals of...
Consensus problems in networks of agents with switching topology and time-delays (2004)
Olfati-Saber, Reza, Murray, Richard M.
In this paper, we discuss consensus problems for networks of dynamic agents with fixed and switching topologies. We analyze three cases: 1) directed networks with fixed topology; 2) directed networks...
Information flow and cooperative control of vehicle formations (2004)
Fax, J. Alexander, Murray, Richard M.
We consider the problem of cooperation among a collection of vehicles performing a shared task using intervehicle communication to coordinate their actions. Tools from algebraic graph theory prove...
Optimal LQG Control Across a Packet-Dropping Link (2004)
Gupta, Vijay, Spanos, Demetri, Hassibi, Babak, Murray, Richard M.
We examine optimal Linear Quadratic Gaussian control for a system in which communication between the sensor (output of the plant) and the controller occurs across a packet-dropping link. We extend...
A Sub-optimal Algorithm to Synthesize Control Laws for a Network of Dynamic Agents (2004)
Gupta, Vijay, Hassibi, Babak, Murray, Richard M.
We study the synthesis problem of an LQR controller when the matrix describing the control law is constrained to lie in a particular vector space. Our motivation is the use of such control laws to...
Effective transition rates for epitaxial growth using fast modulation (2004)
Gallivan, Martha A., Goodwin, David G., Murray, Richard M.
Thin-film deposition is an industrially important process that is highly dependent on the processing conditions. Most films are grown under constant conditions, but a few studies show that modified...
Dunbar, William B., Murray, Richard M.
We consider the control of interacting subsystems whose dynamics and constraints are uncoupled, but whose state vectors are coupled non-separably in a single centralized cost function of a finite...
William B. Dunbar, Richard M. Murray
We consider the control of interacting subsystems whose dynamics and constraints are uncoupled, but whose state vectors are coupled non-separably in a single centralized cost function of a finite...
MVWT-II: The Second Generation Caltech Multi-vehicle Wireless Testbed (2004)
Zhipu Jin, Stephen Waydo, Elisabeth B. Wildanger, Michael Lammers, Hans Scholze, Peter Foley, ...
The Caltech Multi-Vehicle Wireless Testbed is an experimental platform for validating theoretical advances in multiple-vehicle coordination and cooperation, real-time networked control system, and...
On a decentralized active sensing strategy using mobile sensor platforms in a network (2004)
Timothy H. Chung, Vijay Gupta, Joel W. Burdick, Richard M. Murray
Abstract — In this paper, we consider the problem of active sensing using mobile nodes as a sensor network to estimate the state of a dynamic target. We propose a gradient-searchbased decentralized...
Scheduling for Distributed Sensor Networks with Single Sensor Measurement per Time Step (2004)
Timothy H. Chung, Vijay Gupta, Babak Hassibi, Joel Burdick, Richard M. Murray
Abstract- We examine the prohlem of distributed estimation when only one sensor can take a measurement per time step. We solve lor the optimal recursive estimation algorithm when the sensor switching...
Receding Horizon Control of Multi-Vehicle Formations: A Distributed Implementation (2004)
William B. Dunbar, Richard M. Murray
We consider the control of dynamically decoupled subsystems whose state vectors are coupled in the cost function of a finite horizon optimal control problem. For a given cost structure, we generate...
Discrete state estimators for a class of hybrid systems on a lattice (2004)
Domitilla Del Vecchio, Richard M. Murray
Abstract. In this paper we consider the problem of estimating discrete variables in a class of hybrid systems where we assume that the continuous variables are available for measurement. Using...
Scheduling for Distributed Sensor Networks with Single Sensor Measurement per Time Step (2004)
Timothy H. Chung, Vijay Gupta, Babak Hassibi, Joel Burdick, Richard M. Murray
Abstract — We examine the problem of distributed estimation when only one sensor can take a measurement per time step. We solve for the optimal recursive estimation algorithm when the sensor...
Flat systems, equivalence and trajectory generation (2003)
Martin, Phillipe, Murray, Richard M., Rouchon, Pierre
Flat systems, an important subclass of nonlinear control systems introduced via differential-algebraic methods, are defined in a differential geometric framework. We utilize the infinite...
Information Flow and Cooperative Control of Vehicle Formations (2003)
Fax, J. Alexander, Murray, Richard M.
We consider the problem of cooperation among a collection of vehicles performing a shared task using intervehicle communication to coordinate their actions. We apply tools from graph theory to relate...
Online control customization via optimization-based control (2003)
Richard M. Murray, John Hauser, Ali Jadbabaie, Mark B. Milam, Nicolas Petit, William B. Dunbar, ...
In this chapter, we present a framework for online control customization that makes use of finite-horizon, optimal control combined with real-time trajectory generation and optimization. The results...
The RoboFlag Competition (2003)
This paper provides an introduction to the RoboFlag competition and its use as a testbed for distributed control of multi-vehicle systems. The game consists of two teams of 6–10 robots and 2...
Vehicle motion planning using stream functions (2003)
Stephen Waydo, Richard M. Murray
Abstract – Borrowing a concept from hydrodynamic analysis, this paper presents stream functions which satisfy Laplace’s equation as a local-minima free method for producing potential-field based...
Cooperative control of multi-vehicle systems using cost graphs and optimization (2003)
Reza Olfati-saber, William B. Dunbar, Richard M. Murray
ACC03–IEEE0705 In this paper, we introduce a class of triangulated graphs for algebraic representation of formations that allows us to specify a mission cost for a group of vehicles. This...
Online control customization via optimization-based control (2003)
Richard M. Murray, John Hauser, Ali Jadbabaie, Mark B. Milam, Nicolas Petit, William B. Dunbar, ...
In this chapter, we present a framework for online control customization that makes use of finite-horizon, optimal control combined with real-time trajectory generation and optimization. The results...
Nonlinear Trajectory Generation for the Caltech Multi-Vehicle Wireless Testbed (2003)
Jonathan Chauvin, Laure Sinegre, Richard M. Murray
The Caltech Multi-Vehicle Wireless Testbed (MVWT) is a platform designed to explore theoretical advances in multi-vehicle coordination and control, networked control systems and high confidence...
Flocking with Obstacle Avoidance: Cooperation with Limited Communication in Mobile Networks (2003)
Reza Olfati Saber, Saber Richard, Richard M. Murray
In this paper, we provide a dynamic graph theoretic framework for ocking in presence of multiple obstacles. In particular, we give formal de nitions of nets and ocks as spatially induced graphs and...
Controller Synthesis for Constrained Flight Systems via Receding Horizon Optimization (2003)
Richard M. Murray, William B. Dunbar, Reza Olfati Saber, Saber Lars, Lars B. Cremean
this paper, we explore some of the limits of receding horizon control, including the extent to which traditional control specifications can be cast as RHC problem specifications. Simulation results...
Consensus Protocols for Undirected Networks of Dynamic Agents with Communication Time-Delays (2003)
Reza Olfati-Saber, Richard M. Murray
In this paper, we introduce linear and nonlinear consensus protocols for networks of dynamic agents that allow the agents to agree in a distributed and cooperative fashion. We consider the cases of...
Agreement Problems in Networks with Directed Graphs and Switching Topology (2003)
Reza Olfati Saber, Saber Richard, Richard M. Murray
In this paper, we provide tools for convergence and performance analysis of an agreement protocol for a network of integrator agents with directed information ow. We also analyze algorithmic...
Distributed structural stabilization and tracking for formations of dynamic multi-agents (2002)
Olfati-Saber, Reza, Murray, Richard M.
We provide a theoretical framework that consists of graph theoretical and Lyapunov-based approaches to stability analysis and distributed control of multi-agent formations. This framework relays on...
Graph rigidity and distributed formation stabilization of multi-vehicle systems (2002)
Olfati-Saber, Reza, Murray, Richard M.
We provide a graph theoretical framework that allows us to formally define formations of multiple vehicles and the issues arising in uniqueness of graph realizations and its connection to stability...
The field of control provides the principles and methods used to design engineering systems that maintain desirable performance by automatically adapting to changes in the environment. Over the last...
Graph rigidity and distributed formation stabilization of multi-vehicle systems (2002)
Reza Olfati-saber, Richard M. Murray
In this paper, we provide a graph theoretical framework that allows us to formally dene formations of multiple vehicles and the issues arising in uniqueness of graph realizations and its connection...
Graph rigidity and distributed formation stabilization of multi-vehicle systems (2002)
Reza Olfati-saber, Richard M. Murray
CDC02-INV2103 In this paper, we provide a graph theoretical framework that allows us to formally define formations of multiple vehicles and the issues arising in graph realizations and unicity and...
Model predictive control of coordinated multi-vehicle formations (2002)
William B. Dunbar, Richard M. Murray
A generalized model predictive control (MPC) formulation is derived that extends the existing theory to a multi-vehicle formation stabilization problem. The vehicles are individually governed by...
Model predictive control of a thrust-vectored flight control experiment (2002)
William B. Dunbar, Richard M. Murray
Abstract: Model predictive control (MPC) is applied to the Caltech ducted fan, a thrust-vectored flight experiment. A real-time trajectory generation software based on spline theory and sequential...
The Caltech Multi-Vehicle Wireless Testbed (2002)
Lars Cremean, William B. Dunbar, Dave Van Gogh, Jason Hickey, Eric Klavins, Jason Meltzer, ...
Abstract: In this paper we introduce the Caltech Multi-Vehicle Wireless Testbed (MVWT), a platform for testing decentralized control methodologies for multiple vehicle coordination and formation...
Model predictive control of a thrust-vectored flight control experiment (2002)
William B. Dunbar, Richard M. Murray
Abstract: Model predictive control (MPC) is applied to the Caltech ducted fan, a thrust-vectored flight experiment. A real-time trajectory generation software based on spline theory and sequential...
Distributed Structural Stabilization and Tracking for Formations of Dynamic Multi-Agents (2002)
Reza Olfati-Saber, Richard M. Murray
In this paper, we provide a theoretical framework that consists of graph theoretical and Lyapunov-based approaches to stability analysis and distributed control of multi-agent formations. This...
Reza Olfati-Saber, Richard M. Murray
In this paper, we propose a framework for formation stabilization of multiple autonomous vehicles in a distributed fashion. Each vehicle is assumed to have simple dynamics, i.e. a double-integrator,...
Reza Olfati-saber, Richard M. Murray
Abstract: In this paper, we propose a framework for formation stabilization of multiple autonomous vehicles in a distributed fashion. Each vehicle is assumed to have simple dynamics, i.e. a...
Reza Olfati-saber, Richard M. Murray
Technical Report CIT-CDS 03–007 In this paper, we introduce linear and nonlinear consensus protocols for networks of dynamic agents that allow the agents to agree in a distributed and cooperative...
Graph Laplacians and Stabilization of Vehicle Formations (2001)
Fax, J. Alexander, Murray, Richard M.
Control of vehicle formations has emerged as a topic of significant interest to the controls community. In this paper, we merge tools from graph theory and control theory to derive stability criteria...
Active Control Symposium for Power Systems and Propulsion (2001)
The major themes in the symposium were compression system instabilities and combustion system instabilities both important limiting factors of gas turbine performance. Results were presented in the...
Inversion based constrained trajectory optimization (2001)
Nicolas Petit, Mark B. Milam, Richard M. Murray
Abstract: A computationally e#cient technique for the numerical solution of optimal control problems is discussed. This method utilizes tools from nonlinear control theory to transform the optimal...
Constrained trajectory generation for microsatellite formation flying (2001)
Mark B. Milam, Nicolas Petit, Richard M. Murray
Station-keeping and reorientation control of a cluster of fully-actuated low-thrust micro-satellites is considered in this paper. We propose a very general optimization based control methodology to...
Nonlinear control methods for planar carangiform robot fish locomotion (2001)
Kristi A. Morgansen, Vincent Duindam, Richard J. Mason, Joel W. Burdick, Richard M. Murray
Abstract: This paper considers the design of motion control algorithms for robot fish. We present modeling, control design, and experimental trajectory tracking results for an experimental planar...
J2 dynamics and formation flight (2001)
Wang Sang Koon, Jerrold E. Marsden, Richard M. Murray
We study the dynamics of the relative motion of satellites in the gravitational field of the Earth, including the effects of the bulge of the Earth (the J2 effect). Using Routh reduction and...
Constrained trajectory generation for microsatellite formation flying (2001)
Mark B. Milam, Nicolas Petit, Richard M. Murray
Station-keeping and reorientation control of a cluster of fully-actuated low-thrust micro-satellites is considered in this paper. We propose a very general optimization based control methodology to...
Inversion based constrained trajectory optimization (2001)
Nicolas Petit, Mark B. Milam, Richard M. Murray
Abstract: A computationally efficient technique for the numerical solution of optimal control problems is discussed. This method utilizes tools from nonlinear control theory to transform the optimal...
Constrained trajectory generation for microsatellite formation flying (2001)
Mark B. Milam, Nicolas Petit, Richard M. Murray
Station-keeping and reorientation control ofa cluster offully-actuated low-thrust micro-satellites is considered in this paper. We propose a very general optimization based control methodology to...
Mark B. Milam, Kudah Mushambi, Richard M. Murray
Preliminary results of a new computational approach to generate aggressive trajectories in real-time for constrained mechanical systems are presented. The algorithm is based on a combination of...
Geometric Approaches to Control in the Presence of Magnitude ans Rate Saturations (1999)
This paper gives a survey of some recent results on control of systems with magnitude and rate limits, motivated by problems in real-time trajectory generation and tracking for unmanned aerial...
Configuration Controllability of Simple Mechanical Control Systems (1999)
Lewis, Andrew D., Murray, Richard M.
In this paper we present a definition of 'configuration controllability' for mechanical systems whose Lagrangian is kinetic energy with respect to a Riemannian metric minus potential energy. A...
A design study for thermal control of a CVD reactor for YBCO (1999)
Martha A. Gallivan, David G. Goodwin, Richard M. Murray
Active thermal control of a reactor for YBa2Cu3O7-x chemical vapor deposition is studied using a nonlinear heat transfer model validated by preliminary component testing. LQR and LQE methods are...
Tracking for fully actuated mechanical systems: A geometric framework (1999)
Francesco Bullo, Richard M. Murray
We present a general framework for the control of Lagrangian systems with as many inputs as degrees of freedom. Relying on the geometry of mechanical systems on manifolds, we propose a design...
Model reduction, centering, and the Karhunen-Loeve expansion (1998)
Glavaški, Sonja, Marsden, Jerrold E., Murray, Richard M.
We propose a new computationally efficient modeling method that captures a given translation symmetry in a system. To obtain a low order approximate system of ODEs, prior to performing a Karhunen...
Robust Nonlinear Control Theory with Applications to Aerospace Vehicles (1998)
This grant was a subcontract to the University of Minnesota, under the supervision of Prof. Gary Balas. This ASSERT subcontract augmented the parent subcontract of UMN and is focused on the...
Robust Nonlinear Control Theory with Applications to Aerospace Vehicles (1998)
Murray, Richard M., Balas, Gary, Doyle, John C., Marsden, Jerrold E.
The focus of this program is fundamental research in general methods of analysis and design of complex uncertain nonlinear systems. The approach builds on our recent success in blending robust and...
Robust Nonlinear Control of Stall and Flutter in Aeroengines (1998)
This AASERT program augmented the original PRET program and supported work in three primary areas: (1) dynamics and control of rotating stall, (2) nonlinear control of rotating stall using novel...
Formation Flight of Micro-Satellite Clusters (1998)
Murray, Richard M., Marsden, Jerrold E.
One of the significant challenges to successful formation flight of spacecraft is maintenance of the formation, i.e., control of the motion of the individual spacecraft to maintain the overall...
Connecting Theory and Applications Across Complex Systems (1998)
Murray, Richard M., Csete, Marie
This grant supported a workshop, held at Caltech in July 2004, that brought together experts in mathematics, physics and biology in an interactive exchange of ideas on the design, analysis, and...
Modelling and experimental investigation of carangiform locomotion for control (1998)
Kelly, Scott D., Mason, Richard J., Anhalt, Carl T., Murray, Richard M., Burdick, Joel W.
We propose a model for planar carangiform swimming based on conservative equations for the interaction of a rigid body and an incompressible fluid. We account for the generation of thrust due to...
Discrete Function Approximation: Numerical Tools for Nonlinear Control (1998)
Muruhan, Rathinam, Murray, Richard M.
We describe a method for discrete representation of continuous functions and show how this may be used for typical computations in nonlinear control desi gn. The method involves representing...
Model reduction, centering, and the Karhunen-lo`eve expansion (1998)
Jerrold E. Marsden, Richard M. Murray
We propose a new computationally efficient modeling method that captures existing translation symmetry in a system. To obtain a low order approximate system of ODEs prior to performing Karhunen Loeve...
Configuration flatness of Lagrangian systems underactuated by one control (1998)
Muruhan Rathinam, Richard M. Murray
This is a revised version of CDS 96-006.
Modelling and Experimental Investigation of Carangiform Locomotion for Control (1998)
Scott Kelly, Richard J. Mason, Carl T. Anhalt, Richard M. Murray, Joel W. Burdick
We propose a model for planar carangiform swimming based on conservative equations for the interaction of a rigid body and an incompressible fluid. We account for the generation of thrust due to...
Configuration Flatness of Lagrangian Systems Underactuated by One Control (1998)
Muruhan Rathinam, RICHARD M. MURRAY
. Lagrangian control systems that are di#erentially flat with flat outputs that depend only on configuration variables are said to be configuration flat. We provide a complete characterization of...
Morin, Pascal, Murray, Richard M., Praly, L.
Motivated by some recent results on the stabilization of homogeneous systems, we present a gain-scheduling approach for the stabilization of non-linear systems. Given a one-parameter family of...
Nonlinear Control of Mechanical Systems in the Presence of Magnitude and Rate Saturation. (1997)
This report describes recent analytical and experimental results on nonlinear control of systems with simultaneous magnitude and rate saturations.
Configuration Controllability of Simple Mechanical Control Systems (1997)
Lewis, Andrew D., Murray, Richard M.
In this paper we present a definition of "configuration controllability" for mechanical systems whose Lagrangian is kinetic energy with respect to a Riemannian metric minus potential energy. A...
System Identification for Limit Cycling Systems: A Case Study for Combustion Instabilities (1997)
Murray, Richard M., Jacobsen, C.A., Casas, R., Khibnik, A.I., Johnson, C.R. Jr., Bitmead, R., ...
This paper presents a case study in system identification for limit cycling systems. The focus of the paper is on (a) the use of model structure derived from physcal considerations and (b) the use of...
Tracking for Fully Actuated Mechanical Systems: A Geometric Framework (1997)
Bullo, Francesco, Murray, Richard M.
We present a general framework for the control of Lagrangian systems with as many inputs as degrees of freedom. Relying on the geometry of mechanical systems on manifolds, we propose a design...
Real Time Trajectory Generation for Differentially Flat Systems (1997)
Van Nieuwstadt, Michael J., Murray, Richard M.
This paper considers the problem of real time trajectory generation and tracking for nonlinear control systems. We employ a two degree of freedom approach that separates the nonlinear tracking...
Decompositions of control systems on manifolds with an affine connection (1997)
Lewis, Andrew D., Murray, Richard M.
In this letter we present a decomposition for control systems whose drift vector field is the geodesic spray associated with an affine connection. With the geometric insight gained with this...
Configuration controllability of simple mechanical control systems (1997)
Andrew D. Lewis, Richard M. Murray
In this paper we present a definition of "configuration controllability " for mechanical systems whose Lagrangian is kinetic energy with respect to a Riemannian metric minus...
Robert Behnken, Mina Leung, Richard M. Murray
Previous work has developed an air injection controller for rotating stall based on the idea of a shifting compressor characteristic and the Moore--Greitzer three state compressor model. In order to...
Tracking for Fully Actuated Mechanical Systems: A Geometric Framework (1997)
Francesco Bullo, Richard M. Murray
This paper deals with the trajectory tracking problem for a class of Lagrangian systems. The control objective is to track a trajectory with exponential convergence rates in order to guarantee...
Trygve Lauvdal, Richard M. Murray, Thor I. Fossen
In this paper we present a gain scheduling technique for stabilizing integrator chains in the presence of magnitude and rate limitations on the input. The controller was first presented in [4] where...
Trygve Lauvdal, Richard M. Murray, Thor I. Fossen
Motivated by some specific problems in flight control and roll stabilization of ships, we present a gain scheduling technique for stabilizing integrator chains in the presence of magnitude and rate...
Nonholonomic Mechanical Systems with Symmetry (1996)
Krishnaprasad, P.S., Bloch, Anthony M., Marsden, Jerrold E., Murray, Richard M.
This work develops the geometry and dynamics of mechanical systems with nonholonomic constraints and symmetry from the perspective of Lagrangian mechanics and with a view to control-theoretical...
Nonholonomic mechanical systems with symmetry (1996)
Bloch, Anthony M., Murray, Richard M., Marsden, Jerrold E., Krishnaprasad, P. S.
This work develops the geometry and dynamics of mechanical systems with nonholonomic constraints and symmetry from the perspective of Lagrangian mechanics and with a view to control-theoretical...
Configuration Flatness of Lagrangian Systems Underactuated by One Control (1996)
Rathinam, Muruhan, Murray, Richard M.
Lagrangian control systems that are differentially flat with flat outputs that only depend on configuration variables are said to be configuration flat. We provide a complete characterisation of...
Sur, Sudipto, Murray, Richard M.
Controllers developed for control of flexible-link robots in hybrid force-position control tasks by a new singular perturbation analysis of flexible manipulators are implemented on an experimental...
Decomposition for Control Systems on Manifolds with an Affine Connection (1996)
Lewis, Andrew D., Murray, Richard M.
In this letter we present a decomposition for control systems whose drift vector field is the geodesic spray associated with an affine connection. With the geometric insight gained with this...
Configuration Flatness of Lagrangian Systems Underactuated by One Control (1996)
Rathinam, Muruhan, Murray, Richard M.
Lagrangian control systems that are differentially flat with flat outputs that only depend on configuration variables are said to be configuration flat. We provide a complete characterisation of...
Active Control of an Axial Flow Compressor via Pulsed Air Injection (1996)
D'Andrea, Raffaello, Behnken, Robert L., Murray, Richard M.
This paper presents the use of pulsed air injection to control the onset of rotating stall in a low-speed, axial flow compressor. By measuring the unsteady pressures near the rotor face, a control...
Professional Experience (1996)
Committee Jerrold, E. Marsden, Thomas Y. Hou, Richard M. Murray, Michael Ortiz, ...
My current research is focused on the emerging field of computational geometric mechanics, which aims to develop computational schemes that draw upon insights from geometric mechanics, through the...
Nonholonomic mechanical systems with symmetry (1996)
Anthony M. Bloch, P. S. Krishnaprasad, Jerrold E. Marsden, Richard M. Murray, Communicated P. Holmes
Fast mode switching for a thrust vectored aircraft (1996)
Aircraft operate in different modes during flight, corresponding to different flight conditions and control schemes. We use differential flatness of an approximate model of the pitch dynamics of a...
Outer Flatness: Trajectory Generation for a Model Helicopter (1996)
This paper introduces the concept of outer flatness, a derivative of differential flatness. Outer flatness describes a system that can be split in 2 subsytems, a non-flat inner system and a flat...
Configuration Flatness of Lagrangian Systems Underactuated by One Control (1996)
Muruhan Rathinam Richard, Richard M. Murray
Lagrangian control systems that are differentially flat with flat outputs that only depend on configuration variables are said to be configuration flat. We provide a complete characterisation of...
Configuration Flatness of Lagrangian Systems Underactuated by One Control (1996)
Muruhan Rathinam And, Richard M. Murray
Lagrangian control systems that are differentially flat with flat outputs that only depend on configuration variables are said to be configuration flat. We provide a complete characterisation of...
Fast Mode Switching for a Thrust Vectored Aircraft (1996)
Michiel Van Nieuwstadt, Richard M. Murray
Aircraft operate in different modes during flight, corresponding to different flight conditions and control schemes. We use differential flatness of an approximate model of the pitch dynamics of a...
Real Time Trajectory Generation For Differentially Flat Systems (1996)
Michiel J. Van, Michiel Van Nieuwstadt, Richard M. Murray
. This paper considers the problem of real time trajectory generation and tracking for nonlinear control systems. We employ a two degree of freedom approach that separates the nonlinear tracking...
Configuration Flatness of Lagrangian Systems Underactuated by One Control (1996)
Muruhan Rathinam, Richard M. Murray
Lagrangian control systems that are differentially flat with flat outputs that only depend on configuration variables are said to be configuration flat. We provide a complete characterisation of...
Experimental Comparison Of Trajectory Trackers For A Car With Trailers (1996)
Francesco Bullo, Richard M. Murray
. In this paper various design techniques are applied to the trajectory tracking problem for a mobile robot with trailers. Using simulations and experiments, we evaluate linear and nonlinear designs...
Fast Mode Switching for a Thrust Vectored Aircraft (1996)
Aircraft operate in different modes during flight, corresponding to different flight conditions and control schemes. We use differential flatness of an approximate model of the pitch dynamics of a...
Configuration Flatness of Lagrangian Systems Underactuated by One Control (1996)
Muruhan Rathinam, Richard M. Murray
Lagrangian control systems that are differentially flat with flat outputs that only depend on configuration variables are said to be configuration flat. We provide a complete characterisation of...
On Measures Of Non-Integrability Of Pfaffian Systems (1996)
Andrzej Banaszuk, John Hauser, Willem M. Sluis, Richard M. Murray
. Many problems in nonlinear control theory (like, for instance, feedback linearization problem) leed to examination of integrability of a Pfaffian system. In a generic case a Pfaffian system is not...
The Geometry and Control of Dissipative Systems (1996)
Scott D. Kelly, Richard M. Murray
We regard the internal configuration of a deformable body, together with its position and orientation in ambient space, as a point in a trivial principal fiber bundle over the manifold of body...
Real Time Trajectory Generation For Differentially Flat Systems (1996)
Michiel Van Nieuwstadt, Richard M. Murray
. This paper considers the real time trajectory generation problem of how to generate, possibly with some delay, a full state space and input trajectory in real time from an output trajectory that is...
Nonholonomic Mechanical Systems with Symmetry (1996)
Anthony M. Bloch, P.S. Krishnaprasad, Jerrold E. Marsden, Richard M. Murray
This work develops the geometry and dynamics of mechanicalsystems with nonholonomic constraints and symmetry from the perspective of Lagrangian mechanics and with a view to control theoretical...
Nonholonomic mechanical systems with symmetry (1996)
Anthony M. Bloch, P. S. Krishnaprasad, Jerrold E. Marsden, Richard M. Murray, Communicated R Holmes
Abstract......................................... 21
Trajectory generation for the N-trailer problem using Goursat normal form (1995)
Tilbury, Dawn, Murray, Richard M., Sastry, S. Shankar
Develops the machinery of exterior differential forms, more particularly the Goursat normal form for a Pfaffian system, for solving nonholonomic motion planning problems, i.e., motion planning for...
Differential Flatness and Absolute Equivalence (1995)
Van Nieuwstadt, Michiel, Rathinam, Muruhan, Murray, Richard M.
In this paper we give a formulation of differential flatness---a concept originally introduced by Fleiss, Levine, Martin, and Rouchon---in terms of absolute equivalence between exterior differential...
Numerically Efficient Robustness Analysis of Trajectory Tracking for Nonlinear Systems (1995)
Tierno, Jorge E., Murray, Richard M., Doyle, John C., Gregory, Irene M.
A numerical algorithm for computing necessary conditions for performance specifications is developed for nonlinear uncertain systems following a prescribed trajectory. This algorithm provides a...
A Homotopy Algorithm for Approximating Geometric Distributions by Integrable Systems (1995)
Sluis, Willem M., Banaszuk, Andrzej, Hauser, John, Murray, Richard M.
In the geometric theory of nonlinear control systems, the notion of a distribution and the dual notion of codistribution play a central role. Many results in nonlinear control theory require certain...
Configuration Controllability of Simple Mechanical Control Systems (1995)
Lewis, Andrew D., Murray, Richard M.
In this paper we present a definition of "configuration controllability" for mechanical systems whose Lagrangian is kinetic energy with respect to a Riemannian metric minus potential energy. A...
Exponential Stabilization of Driftless Nonlinear Control Systems using Homogeneous Feedback (1995)
M'Closkey, Robert T., Murray, Richard M.
This paper focuses on the problem of exponential stabilization of controllable, driftless systems using time-varying, homogeneous feedback. The analysis is performed with respect to a homogeneous...
Proportional Derivative (PD) Control on the Euclidean Group (1995)
Bullo, Francesco, Murray, Richard M.
In this paper we study the stabilization problem for control systems defined on SE(3) (the special Euclidean group of rigid-body motions) and its subgroups. Assuming one actuator is available for...
Control on the Sphere and Reduced Attitude Stabilization (1995)
Bullo, Francesco, Murray, Richard M., Sarti, Augusto
This paper focuses on a new geometric approach to (fully actuated) control systems on the sphere. Our control laws exploit the basic and intuitive notions of geodesic direction and of distance...
Configuration controllability of simple mechanical control systems (1995)
Lewis, Andrew D., Murray, Richard M.
In this paper we present a definition of "configuration controllability" for mechanical systems whose Lagrangian is kinetic energy with respect to a Riemannian metric minus potential energy. A...
Active Control of an Axial Flow Compressor via Pulsed Air Injection (1995)
Robert L. Behnken, Richard M. Murray, Asme J. Turbomachinery
This paper presents the use of pulsed air injection to control the onset of rotating stall in a low-speed, axial flow compressor. By measuring the unsteady pressures near the rotor face, a control...
Variational principles for constrained systems: theory and experiment (1995)
Andrew D. Lewis, Richard M. Murray
In this paper we present two methods, the nonholonomic method and the vakonomic method, for deriving equations of motion for a mechanical system with constraints. The resulting equations are...
Numerically Efficient Robustness Analysis of Trajectory Tracking for Nonlinear Systems (1995)
Jorge E. Tierno, Richard M. Murray, John C. Doyle, Irene M. Gregory
this paper is to extend the robustness analysis techniques of linear systems, and in particular the associated computational methods, to nonlinear systems. Given the diversity of nonlinear behavior,...
Differential Flatness of Mechanical Control Systems: A Catalog of Prototype Systems (1995)
Richard M. Murray, Muruhan Rathinam, Willem Sluis
This paper describes the application of differential flatness techniques from nonlinear control theory to mechanical (Lagrangian) systems. Systems which are differentially flat have several useful...
Configuration Controllability of Simple Mechanical Control Systems (1995)
Andrew D. Lewis, Richard M. Murray
In this paper we present a definition of "configuration controllability" for mechanical systems whose Lagrangian is kinetic energy with respect to a Riemannian metric minus potential...
An Efficient Algorithm for Performance Analysis of Nonlinear Control Systems (1995)
Jorge Tierno, Richard M. Murray, John C. Doyle
A numerical algorithm for computing necessary conditions for performance specifications is developed for nonlinear uncertain systems. The algorithm is similar in nature and behavior to the power...
Approximate Trajectory Generation for Differentially Flat Systems with Zero Dynamics (1995)
This paper describes algorithms to generate trajectories for differentially flat systems with zero dynamics. Zero dynamics in flat systems occur when the flat outputs are not the tracking outputs....
The Mechanics of Undulatory Locomotion: The Mixed Kinematic and Dynamic Case (1995)
Jim Ostrowski, Joel Burdick, Andrew D. Lewis, Richard M. Murray
: This paper studies the mechanics of undulatory locomotion. This type of locomotion is generated by a coupling of internal shape changes to external nonholonomic constraints. Employing methods from...
Differential Flatness of Mechanical Control Systems: A Catalog of Prototype Systems (1995)
Richard M. Murray, Muruhan Rathinam, Willem Sluis
This paper describes the application of differential flatness techniques from nonlinear control theory to mechanical (Lagrangian) systems. Systems which are differentially flat have several useful...
A Homotopy Algorithm for Approximating Geometric Distributions by Integrable Systems (1995)
Willem M. Sluis, Andrzej Banaszuk, John Hauser, Richard M. Murray
In the geometric theory of nonlinear control systems, the notion of... We present an algorithm for approximating an m-dimensional nonintegrable codistribution...
Numerically Efficient Robustness Analysis of (1995)
Trajectory Tracking For, Jorge E. Tierno, Richard M. Murray, John C. Doyle, Irene M. Gregory
this paper is to extend the robustness analysis techniques of linear systems, and in particular the associated computational methods, to nonlinear systems. Given the diversity of nonlinear behavior,...
Exponential Stabilization of Driftless Nonlinear Control Systems Using Homogeneous Feedback (1995)
Robert T. M'closkey, Richard M. Murray
. This paper focuses on the problem of exponential stabilization of controllable, driftless systems using time-varying, homogeneous feedback. The analysis is performed with respect to a homogeneous...
Control on the Sphere and Reduced Attitude Stabilization (1995)
Francesco Bullo, Richard M. Murray, Augusto Sarti
This paper focuses on a new geometric approach to (fully actuated) control systems on the sphere. The control laws exploit the basic and intuitive notions of geodesic direction and distance between...
Geometric Phases and Robotic Locomotion (1994)
Kelly, Scott D., Murray, Richard M.
Robotic locomotion is based in a variety of instances upon cyclic changes in the shape of a robot mechanism. Certain variations in shape exploit the constrained nature of a robot's interaction with...
Variational Principles for Constrained Systems: Theory and Experiment (1994)
Lewis, Andrew D., Murray, Richard M.
In this paper we present two methods, the nonholonomic method and the vakonomic method, for deriving equations of motion for a mechanical system with constraints. The resulting equations are...
Variational principles for constrained systems: theory and experiment (1994)
Lewis, Andrew D., Murray, Richard M.
In this paper we present two methods, the nonholonomic method and the vakonomic method, for deriving equations of motion for a mechanical system with constraints. The resulting equations are...
Nonholonomic mechanics and locomotion: the snakeboard example (1994)
Lewis, Andrew D., Ostrowski, James P., Burdick, Joel W., Murray, Richard M.
The IEEE has asked that authors display copyright information for the online versions of IEEE publications. Here's my announcement. This material is presented to ensure timely dissemination of...
Geometric Phases And Robotic Locomotion (1994)
Scott D. Kelly, Richard M. Murray
. Robotic locomotion is based in a variety of instances upon cyclic changes in the shape of a robot mechanism. Certain variations in shape exploit the constrained nature of a robot's interaction...
. This paper develops a constructive method for finding a nilpotent basis for a special class of smooth nonholonomic distributions. The main tool is the use of the Goursat normal form theorem which...
Nonholonomic motion planning: steering using sinusoids (1993)
Murray, Richard M., Sastry, S. Shankar
Methods for steering systems with nonholonomic constraints between arbitrary configurations are investigated. Suboptimal trajectories are derived for systems that are not in canonical form. Systems...
This paper develops a constructive method for finding a nilpotent basis for a special class of smooth nonholonomic distributions. The main tool is the use of the Goursat normal form theorem which...
A Case Study in Approximate Linearization: The Acrobot Example (1990)
Richard Murray, Richard M. Murray, John Hauser, John Hauser
The acrobot is a simple mechanical system patterned after a gymnast performing on a single parallel bar. By swinging her legs, a gymnast is able to bring herself into an inverted position with her...
Wolowczuk, Isabelle, Nutten, Sophie, Roye, Olivier, Delacre, Myriam, Capron, Monique, Murray, Richard M., ...
A single intradermal administration of recombinant interleukin-7 (IL-7) has been shown to aggravate the course of murine schistosomiasis, to favor the development of Th2-associated antibodies...
Wolowczuk, Isabelle, Nutten, Sophie, Roye, Olivier, Delacre, Myriam, Capron, Monique, Murray, Richard M., ...
A single intradermal administration of recombinant interleukin-7 (IL-7) has been shown to aggravate the course of murine schistosomiasis, to favor the development of Th2-associated antibodies...