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---
layout: default
title: Publications
---
<head>
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<meta name="description" content="Recent Publications of the Murphey Lab at Northwestern University">
<meta name="keywords" content="murphey lab, robotics, murphey, machine learning, human machine, human robot, human robot interaction, active learning, optimal control, shared control, autonomy, robotic, robot, northwestern,emergent,cyber physical,information theory,ergodic,ergodicity,haptic,nonlinear systems, machine learning, sequential action control, sac, optimization">
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<h1>Publications</h1>
<h2>2024</h2>
<p><b>Collaborative Robots Can Augment Human Cognition in Regret-Sensitive Tasks</b>
<br>M. Schlafly, A. Prabhakar, K. Popovic, G. Schlafly, C. Kim, T. D. Murphey
<br><i>PNAS Nexus (Volume 3, Issue 2)</i>, 2024. <a href="https://academic.oup.com/pnasnexus/article/3/2/pgae016/7564677">PDF</a></p>
<h2>2023</h2>
<p><b>Majorization Minimization Methods for Distributed Pose Graph Optimization</b>
<br>T. Fan, T. D. Murphey
<br><i>IEEE Transactions on Robotics (T-RO)</i>, 2023. <a href="https://ieeexplore.ieee.org/abstract/document/10286063">PDF</a></p>
<p><b>Automated Gait Generation For Walking, Soft Robotic Quadrupeds</b>
<br>J. Ketchum, S. Schiffer, M. Sun, P. Kaarthik, R. L. Truby, T. D. Murphey
<br><i>IEEE International Conference on Intelligent Robots and Systems (IROS)</i>, 2023. <a href="https://arxiv.org/abs/2310.00498">PDF</a></p>
<p><b>Embodied Communication: How Robots and People Communicate Through Physical Interaction</b>
<br>A. Kalinowska, P. M. Pilarski, T. D. Murphey
<br><i>Annual Review of Control, Robotics, and Autonomous Systems</i>, 2023. <a href="https://www.annualreviews.org/doi/pdf/10.1146/annurev-control-070122-102501">PDF</a></p>
<p><b>Learning Stable Models for Prediction and Control</b>
<br>G. Mamakoukas, I. Abraham, T. D. Murphey
<br><i>IEEE Transactions on Robotics (T-RO)</i>, 2023. <a href="https://ieeexplore.ieee.org/document/10091950">PDF</a></p>
<h2>2022</h2>
<p><b>Scale-Invariant Specifications for Human-Swarm Systems</b>
<br>J. Meyer, A. Prabhakar, A. Pinosky, I. Abraham, A. Taylor, M. Schlafly, K. Popovic, G. Diniz, B. Teich, B. Simidchieva, S. Clark, T. D. Murphey
<br><i></i>Journal of Field Robotics (JFR), 2022. <a href="/pdfs/2022JFRMePrMu.pdf">PDF</a></p>
<p><b>A Game Benchmark for Real-Time Human-Swarm Control</b>
<br>J. Meyer, A. Pinosky, T. Trzpit, E. Colgate, T. D. Murphey
<br><i></i>IEEE International Conference on Automation Science and Engineering (CASE), 2022. <a href="/pdfs/2022CASEMePiTrCoMu.pdf">PDF</a></p>
<p><b>Measuring interaction bandwidth during physical human-robot collaboration</b>
<br>A. Kalinowska, M. Schlafly, K. Rudy, J. P. Dewald, T. D. Murphey
<br><i>Robotics and Automation Letters (RAL)</i>, 2022. <a href="https://ieeexplore.ieee.org/document/9935116">PDF</a></p>
<p><b>Towards situated communication in multi-step interactions: Time is a key pressure in communication emergence</b>
<br>A. Kalinowska, E. Davoodi, K. W. Mathewson, T. D. Murphey, P. Pilarski
<br><i>Annual Meeting of the Cognitive Science Society (CogSci)</i>, 2022. <a href="../pdfs/2022CogSciKaDaMaMuPi.pdf">PDF</a></p>
<p><b>Scale-Invariant Fast Functional Registration</b>
<br>M. Sun, A. Pinosky, I. Abraham, T. D. Murphey
<br><i>International Symposium of Robotics Research (ISRR)</i>, 2022. <a href="https://arxiv.org/pdf/2209.12763.pdf">PDF</a>, <a href="https://github.com/MurpheyLab/FLS">Code</a></p>
<p><b>Mechanical Intelligence For Learning Embodied Sensor-Object Relationships</b>
<br>A. Prabhakar, T. D. Murphey
<br><i>Nature Communications, 2022</i>. <a href="https://www.nature.com/articles/s41467-022-31795-2">PDF</a>, <a href="https://github.com/apr600/mechanical-intelligence">Code</a></p>
<p><b>Hybrid Control for Combining Model-Based and Model-Free Reinforcement Learning</b>
<br>A. Pinosky, I. Abraham, A. Broad, B. Argall, T. D. Murphey
<br><i>International Journal of Robotics Research (IJRR), 2022</i>. <a href="https://journals.sagepub.com/doi/pdf/10.1177/02783649221083331">PDF</a>, <a href="https://github.com/MurpheyLab/HybridLearning">Code</a></p>
<h2>2021</h2>
<p><b>Memristor Circuits for Colloidal Robotics: Temporal Access to Memory, Sensing, and Actuation</b>
<br>J. F. Yang, A. T. Liu, T. A. Berrueta, G. Zhang, A. M. Brooks, V. B. Koman, S. Yang, X. Gong, T. D. Murphey, M. S. Strano
<br><i>Advanced Inetlligent Systems</i>, 2021. <a href="https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202100205">PDF</a></p>
<p><b>Mechanical computing</b>
<br>H. Yasuda, P. R. Buskohl, A. Gillman, T. D. Murphey, S. Stepney, R. A. Vaia, and J. R. Raney
<br><i>Nature</i>, 2021. <a href="https://www.nature.com/articles/s41586-021-03623-y">Article</a></p>
<p><b>Active learning in robotics: A review of control principles</b>
<br>A. T. Taylor, T. A. Berrueta, and T. D. Murphey
<br><i>Mechatronics</i>, 2021. <a href="https://arxiv.org/pdf/2106.13697.pdf">PDF</a></p>
<p><b>Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation</b>
<br>T. Fan, K. V. Alwala, D. Xiang, W. Xiang, T. D. Murphey, and M. Mukadam
<br><i>IEEE Int. Conf. on Computer Vision (ICCV)</i>, 2021. <a href="/pdfs/2021ICCVFaMuMu.pdf">PDF</a></p>
<p><b>Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation</b>
<br>M. Sun, F. Baldini, P. Trautman, T. D. Murphey
<br><i>Robotics: Science and Systems (RSS)</i>, 2021. <a href="http://www.roboticsproceedings.org/rss17/p053.pdf">PDF</a>, <a href="https://www.youtube.com/watch?v=dpJUbM0IPJs">Video</a>, <a href="https://github.com/MurpheyLab/DistNav">Code</a>
<p><b>Derivative-Based Koopman Operators for Real-Time Control of Robotic Systems</b>
<br>G. Mamakoukas, M. Castano, X. Tan, T. D. Murphey
<br><i>IEEE Transactions on Robotics (TRO)</i>, 2021. <a href="https://arxiv.org/pdf/2010.05778.pdf">PDF</a></p>
<p><b>Automatic Tuning for Data-driven Model Predictive Control</b>
<br>W. Edwards, G. Tang, G. Mamakoukas, T. D. Murphey, K. Hauser
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, 2021. <a href="https://motion.cs.illinois.edu/papers/ICRA2021_Edwards_AutoMPC.pdf">PDF</a></p>
<p><b>Ergodic imitation: Learning from what to do and what not to do</b>
<br>A. Kalinowska, A. Prabhakar, K. Fitzsimons, T. D. Murphey
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, 2021. <a href="/pdfs/2021KaPrFiMu.pdf">PDF</a></p>
<p><b>Low Rattling: A Predictive Principle for Self-Organization in Active Collectives </b>
<br>P. Chvykov, T. A. Berrueta, A. Vardhan, W. Savoie, A. Samland, T. D. Murphey, K. Wiesenfeld, D. I. Goldman, and J. L. England
<br><i>Science</i>, vol. 371, no. 6524, 2021. <a href="https://science.sciencemag.org/content/371/6524/90">Article</a></p>
<h2>2020</h2>
<p><b>CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation</b>
<br>T. Fan, H. Wang, M. Rubenstein, and T. D. Murphey
<br><i>IEEE Transactions on Robotics</i>, 2020. <a href="/pdfs/2020TROFaMu.pdf">PDF</a></p>
<p><b>Algorithmic Design for Embodied Intelligence in Synthetic Cells</b>
<br>A. Pervan and T. D. Murphey
<br><i>IEEE Transactions on Automation Science and Engineering (T-ASE)</i>, 2020. <a href="/pdfs/2020TASEPeMu.pdf">PDF</a></p>
<p><b>Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation</b>
<br> A. Prabhakar, I. Abraham, A. Taylor, M. Schlafly, K. Popovic, G. Diniz, B. Teich, B. Simidchieva, S. Clark, T. D. Murphey,
<br><i>Robotics Science and Systems</i>, 2020. <a href="/pdfs/2020RSSPrAbTaScPoMu.pdf">PDF</a> <a href="https://sites.google.com/view/ergodic-flexible-swarm-control">Video</a></p>
<p><b>Tuning movement for sensing in an uncertain world</b>
<br>C. Chen, T. D. Murphey, M. A. MacIver
<br><i>eLife</i>, e52371, 2020. <a href="https://elifesciences.org/articles/52371">Article</a></p>
<p><b>Bayesian Particles on Cyclic Graphs</b>
<br>A. Pervan and T. D. Murphey
<br><i>IEEE Int. Conf. on Intelligent Robots and Systems (IROS)</i>, 2020. <a href="/pdfs/2020IROSPeMu.pdf">PDF</a></p>
<p><b>Majorization Minimization Methods to Distributed Pose Graph Optimization with Convergence Guarantees</b>
<br>T. Fan and T. D. Murphey
<br><i>IEEE Int. Conf. on Intelligent Robots and Systems (IROS)</i>, 2020. <a href="/pdfs/2020IROSFaMu.pdf">PDF</a></p>
<p><b>Autoperforation of Two-Dimensional Materials to Generate Colloidal State Machines Capable of Locomotion</b>
<br>A. T. Liu, J. F. Yang, L. N. LeMar, G. Zhang, A. Pervan, T. D. Murphey, M. Strano
<br><i>Faraday Discussions</i>, Royal Society of Chemistry, 2020. <a href="/pdfs/2020RSCLiuYaLeZhPeMuSt.pdf">PDF</a></p>
<p><b>Information Requirements of Collision-Based Micromanipulation</b>
<br>A. Q. Nilles, A. Pervan, T. A. Berrueta, T. D. Murphey, S. M. LaValle
<br><i>Workshop on the Algorithmic Foundations of Robotics (WAFR)</i>, 2020. <a href="/pdfs/2020WAFRNiPeBeMuLa.pdf">PDF</a></p>
<p><b>Task-based hybrid shared control for training through forceful interaction</b>
<br>K. Fitzsimons, A. Kalinowska, J. Dewald and T. D. Murphey
<br><i>International Journal of Robotics Research</i>, vol. 39, no. 9, pp. 1138-1154, 2020. <a href="/pdfs/2020IJRRFiKaDeMu.pdf">PDF</a></p>
<p><b>Shoulder abduction loading affects motor coordination in individuals with chronic stroke, informing targeted rehabilitation</b>
<br>A. Kalinowska, K. Rudy, M. Schlafly, K. Fitzsimons, J. Dewald and T. D. Murphey
<br><i>IEEE RAS/EMBS Int. Conf. on Biomedical Robotics and Biomechatronics (BioRob)</i>, 2020. <a href="/pdfs/2020BIOROBKaRuScFiDeMu.pdf">PDF</a></p>
<h2>2019</h2>
<p><b>A robot made of robots: emergent transport and control of a smarticle ensemble</b>
<br>W. Savoie, T. A. Berrueta, Z. Jackson, A. Pervan, R. Warkentin, S. Li, T. D. Murphey, K. Wiesenfeld, and D. I. Goldman
<br><i>Science Robotics</i>, vol. 4, no. 34, 2019. <a href="https://robotics.sciencemag.org/content/4/34/eaax4316"">Article</a></p>
<p><b>Ergodicity reveals assistance and learning in physical human robot interaction</b>
<br>K. Fitzsimons, A. M. Acosta, J. Dewald, and T. D. Murphey
<br><i>Science Robotics</i>, vol. 4, no. 29, 2019.
<br>For a video and a freely accessible link to the paper, <a href="https://www.youtube.com/watch?v=cDuOvX18GNM">click here</a>.</p>
<p><b>Active learning of dynamics for data-driven control using Koopman operators</b>
<br>I. Abraham and T. D. Murphey
<br><i>IEEE Transactions on Robotics</i>, 2019. <a href="/pdfs/2019TROAbMu.pdf">PDF</a>, <a href="https://github.com/i-abr/active-learning-koopman">Code</a></p>
<p><b>Dynamical system segmentation for information measures in motion</b>
<br>T. Berrueta, A. Pervan, K. Fitzsimons, and T. D. Murphey
<br><i>IEEE Robotics and Automation Letters</i>, vol. 4, no. 1, pp. 169–176, 2019. <a href="/pdfs/2019BePeFiMu.pdf">PDF</a></p>
<p><b>Structure-preserving local optimal control of mechanical systems</b>
<br>K. Flaßkamp and T. D. Murphey
<br><i>Optimal Control, Applications and Methods</i>, vol. 40, no. 2, pp. 310–329, 2019.</p>
<p><b>Iterative sequential action control for stable, model-based control of nonlinear systems</b>
<br>E. Tzorakoleftherakis and T. D. Murphey
<br><i>IEEE Transactions on Automatic Control</i>, vol. 64, no. 8, pp. 3170–3183, 2019. <a href="/pdfs/2019TACTzMu.pdf">PDF</a></p>
<p><b>Feedback synthesis for underactuated systems using sequential second-order needle variations</b>
<br>G. Mamakoukas, M. Maciver, and T. D. Murphey
<br><i>International Journal of Robotics Research</i>, vol. 37, no. 13-14, pp. 1826–1853, 2019. <a href="/pdfs/2019IJRRMaMaMu.pdf">PDF</a></p>
<p><b>Generalized proximal methods for pose graph optimization</b>
<br>T. Fan and T. D. Murphey
<br><i>International Symposium on Robotics Research (ISRR)</i>, 2019. <a href="/pdfs/2019ISRRFaMu.pdf">PDF</a></p></p>
<p><b>Efficient and guaranteed planar pose graph optimization using the complex number representation</b>
<br>T. Fan, H. Wang, M. Rubenstein, and T. D. Murphey
<br><i>IEEE Int. Conf. on Intelligent Robots and Systems (IROS)</i>, 2019. Winner of ABB Best Student Paper Award. <a href="/pdfs/2019IROSFaWaRuMu.pdf">PDF</a></p>
<p><b>Highly parallelized data-driven MPC for minimal intervention shared control</b>
<br>A. Broad, T. D. Murphey, and B. Argall
<br><i>Robotics: Science and Systems Proceedings</i>, 2019. <a href="/pdfs/2019RSSBrMuAr.pdf">PDF</a></p>
<p><b>Local Koopman operators for data-driven control of robotic systems</b>
<br>G. Mamakoukas, M. Castano, X. Tan, and T. D. Murphey
<br><i>Robotics: Science and Systems Proceedings</i>, 2019. <a href="/pdfs/2019RSSMaCaTaMu.pdf">PDF</a></p>
<p><b>Adaptive single action control policies for linearly parameterized systems</b>
<br>O. Ennasr, G. Mamakoukas, M. Castano, D. Coleman, T. D. Murphey, and X. Tan
<br><i>ASME Dynamic Systems and Control Conference (DSCC)</i>, 2019.</p>
<p><b>Data-driven gait segmentation for walking assistance in a lower-limb assistive device</b>
<br>A. Kalinowska, T. Berrueta, A. Zoss, and T. D. Murphey
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, 2019. <a href="/pdfs/2019ICRAKaBeZoMu.pdf">PDF</a></p>
<br><h2>2018</h2>
<p><b>Decentralized ergodic control: Distribution-driven sensing and exploration for multi-agent systems</b>
<br>I. Abraham and T. D. Murphey
<br><i>IEEE Robotics and Automation Letters</i>, vol. 3, no. 4, pp. 2987–2994, 2018. <a href="/pdfs/2018RALAbMu.pdf">PDF</a>, <a href="/videos/2018RALAbMu.mp4">Video</a></p>
<p><b>Real-time area coverage and target localization using receding-horizon ergodic exploration</b>
<br>A. Mavrommati, E. Tzorakoleftherakis, I. Abraham, and T. D. Murphey
<br><i>IEEE Transactions on Robotics</i>, vol. 34, no. 1, pp. 62–80, 2018. <a href="/pdfs/2018TROMaTzAbMu.pdf">PDF</a>, <a href="/videos/2018TROMaTzAbMuExplorationVideos.mp4">Video 1</a>, <a href="/videos/2018TROMaTzAbMuLocalizationVideos.mp4">Video 2</a></p>
<p><b>Operation and imitation under safety-aware shared control</b>
<br>A. Broad, T. D. Murphey, and B. Argall
<br><i>Workshop on the Algorithmic Foundations of Robotics (WAFR)</i>, 2018. <a href="/pdfs/2018WAFRBrMuAr.pdf">PDF</a></p>
<p><b>Active area coverage from equilibrium</b>
<br>I. Abraham, A. Prabhakar, and T. D. Murphey
<br><i>Workshop on the Algorithmic Foundations of Robotics (WAFR)</i>, 2018. <a href="/pdfs/2018WAFRAbPrMu.pdf">PDF</a>, <a href="/pdfs/2018WAFRAbPrMuappendix.pdf">Appendix</a>, <a href="/videos/2018WAFRAbPrMu.mp4">Video</a></p>
<p><b>Efficient computation of higher-order variational integrators in robotic simulation and trajectory optimization</b>
<br>T. Fan, J. Schultz, and T. D. Murphey
<br><i>Workshop on the Algorithmic Foundations of Robotics (WAFR)</i>, 2018. <a href="/pdfs/2018WAFRFaScMu.pdf">PDF</a>, <a href="/pdfs/2018WAFRFaScMuappendix.pdf">Appendix</a>, <a href="/videos/2018WAFRFaScMu.mp4">Video</a></p>
<p><b>Low complexity control policy synthesis for cyber-free robot design</b>
<br>A. Pervan and T. D. Murphey
<br><i>Workshop on the Algorithmic Foundations of Robotics (WAFR)</i>, 2018. <a href="/pdfs/2018WAFRPeMu.pdf">PDF</a></p>
<p><b>Superlinear convergence using controls based on second-order needle variations</b>
<br>G. Mamakoukas, M. MacIver, and T. D. Murphey
<br><i>IEEE Int. Conf. on Decision and Control (CDC)</i>, pp. 4301–4308, 2018. <a href="/pdfs/2018CDCMaMaMu.pdf">PDF</a></p>
<p><b>Data-driven measurement models for active localization in sparse environments</b>
<br>I. Abraham, A. Mavrommati, and T. D. Murphey
<br><i>Robotics: Science and Systems Proceedings</i>, 2018. <a href="/pdfs/2018RSSAbMaMu.pdf">PDF</a>, <a href="/videos/2018RSSAbMaMu.mp4">Video</a></p>
<p><b>Online user assessment for minimal intervention during task-based robotic assistance</b>
<br>A. Kalinowska, K. Fitzsimons, J. Dewald, and T. D. Murphey
<br><i>Robotics: Science and Systems Proceedings</i>, 2018. <a href="/pdfs/2018RSSKaFiDeMu.pdf">PDF</a></p>
<p><b>Structured neural networks for model-based control</b>
<br>A. Broad, I. Abraham, B. Argall, and T. D. Murphey
<br><i>Robotics: Science and Systems (RSS) Workshop on Learning and Inference in Robotics</i>, 2018. <a href="/pdfs/2018RSSWSBrAbArMu.pdf">PDF</a></p>
<p><b>Demonstration and imitation of novel behaviors under safety aware control</b>
<br>A. Broad, T. D. Murphey, and B. Argall
<br><i>Robotics: Science and Systems (RSS) Workshop on Causal Imitation in Robotics</i>, 2018. <a href="/pdfs/2018RSSWSBrMuAr.pdf">PDF</a></p>
<p><b>Ergodic exploration for adaptive sampling of water columns using gliding robotic fish</b>
<br>O. Ennasr, G. Mamakoukas, T. D. Murphey, and X. Tan
<br><i>ASME Dynamic Systems and Control Conference (DSCC)</i>, p. V003T32A016, 2018. <a href="/pdfs/2018DSCCEnMaCaCoMuTa.pdf">PDF</a></p>
<p><b>Algorithmic Materials: Embedding Computation within Material Properties for Autonomy</b>
<br>A. Pervan and T. D. Murphey
<br><i>Robotic Systems and Autonomous Platforms: Advances in Materials and Manufacturing</i>, Elsevier, 2018. Eds. M. Strano and S. Walsh. <a href="/pdfs/2018PeMuAlgMatChapter.pdf">PDF</a></p>
<br><h2>2017</h2>
<p><b>A massive increase in visual range preceded the origin of terrestrial vertebrates</b>
<br>M. A. MacIver, L. Schmitz, U. Mugan, T. D. Murphey, and C. D. Mobley
<br><i>Proceedings of the National Academy of Science (PNAS)</i>, vol. 114, no. 12, pp. E2375–E2384, 2017.</p>
<p><b>Ergodic exploration using binary sensing for non-parametric shape estimation</b>
<br>I. Abraham, A. Prabhakar, M. Hartmann, and T. D. Murphey
<br><i>IEEE Robotics and Automation Letters</i>, vol. 2, no. 2, pp. 827–834, 2017. <a href="/pdfs/2017RALAbPrHaMu.pdf">PDF</a>, <a href="/videos
/2017RALAbPrHaMu.mp4">Video</a></p>
<p><b>Dynamic task execution using active parameter identification with the Baxter research robot</b>
<br>A. D. Wilson, J. A. Schultz, A. Ansari, and T. D. Murphey
<br><i>IEEE Transactions on Automation Science and Engineering</i>, vol. 14, no. 1, pp. 391–397, 2017. <a href="/pdfs/2017TASEWiScAnMu.pdf">PDF</a></p>
<p><b>Hybrid control for tracking of invariant manifolds</b>
<br>K. Flaßkamp, A. Ansari, and T. D. Murphey
<br><i>Nonlinear Analysis: Hybrid Systems</i>, vol. 25, pp. 298–311, 2017. <a href="/pdfs/2017NAHSFlAnMu.pdf">PDF</a></p>
<p><b>Decentralized and recursive identification for cooperative manipulation of unknown rigid body with local measurements</b>
<br>T. Fan, H. Weng, and T. D. Murphey
<br><i>IEEE Int. Conf. on Decision and Control (CDC)</i>, pp. 2842–2849, 2017. <a href="/pdfs/2017CDCFaWeMu.pdf">PDF</a></p>
<p><b>Model-based control using Koopman operators</b>
<br>I. Abraham, G. de la Torre, and T. D. Murphey
<br><i>Robotics: Science and Systems Proceedings</i>, 2017. <a href="/pdfs/2017RSSAbToMu.pdf">PDF</a>, <a href="https://github.com/i-abr/mpc-koopman">Code</a></p>
<p><b>Feedback synthesis for controllable underactuated systems using sequential second order actions</b>
<br>G. Mamakoukas, M. MacIver, and T. D. Murphey
<br><i>Robotics: Science and Systems Proceedings</i>, 2017. <a href="/pdfs/2017RSSMaMaMu.pdf">PDF</a>, <a href="/videos/2017RSSMaMaMuMM.mp4">Video</a></p>
<p><b>Learning models for shared control of human-machine systems with unknown dynamics</b>
<br>A. Broad, T. D. Murphey, and B. Argall
<br><i>Robotics: Science and Systems Proceedings</i>, 2017. <a href="/pdfs/2017RSSBrMuAr.pdf">PDF</a></p>
<p><b>Trajectory planning and tracking of robotic fish using ergodic exploration,</b>
<br>M. Castano, A. Mavrommati, T. D. Murphey, and X. Tan
<br><i>American Controls Conf. (ACC)</i>, pp. 5476 – 5481, 2017.</p>
<p><b>Assistive Optimal Control-on-Request with Application in Standing Balance Therapy and Reinforcement</b>
<br>A. Mavrommati, A. Ansari, and T. D. Murphey,
<br><i>Trends in Control and Decision-Making for Human-Robot Collaboration Systems</i>, pp. 131–156. Springer, 2017. Eds. Y. Wang and F. Zhang. <a href="/pdfs/2017BookChapterMaAnMu.pdf">PDF</a></p>
<br><h2>2016</h2>
<p><b>Variational integrators for structure-preserving filtering</b>
<br>J. Schultz, K. Flaßkamp, and T. D. Murphey
<br><i>ASME Journal of Computational and Nonlinear Dynamics</i>, vol. 12, no. 2, pp. 021005:1–021005:10, 2016. <a href="/pdfs/2016JCNDScFlMu.pdf">PDF</a></p>
<p><b>Trust adaptation leads to lower control effort in shared control of crane automation</b>
<br>A. Broad, M. Derry, J. Schultz, T. D. Murphey, and B. Argall
<br><i>IEEE Robotics and Automation Letters</i>, vol. 2, no. 1, pp. 239–246, 2016. <a href="/pdfs/2016RALBrScDeMuAr.pdf">PDF</a></p>
<p><b>Sequential Action Control: Closed-form optimal control for nonlinear and nonsmooth systems</b>
<br>A. Ansari and T. D. Murphey
<br><i>IEEE Transactions on Robotics</i>, vol. 32, no. 5, pp. 1196–1214, 2016. <a href="/pdfs/2016TROAnMu.pdf">PDF</a>, <a href="/videos/2016TROAnMu.mp4">Video</a></p>
<p><b>Sensory agreement guides energy optimization in human movements</b>
<br>A. Farshchiansadegh, A. Melendez-Calderon, R. Ranganathan, T. D. Murphey, and F. Mussa-Ivaldi
<br><i>PLOS Computational Biology</i>, vol. 12, no. 4, p. e1004861, 2016.</p>
<p><b>Real-time mode scheduling using single-integration hybrid optimization for linear time-varying systems</b>
<br>A. Mavrommati, J. Schultz, and T. D. Murphey
<br><i>IEEE Transactions on Automation Science and Engineering</i>, vol. 13, no. 3, pp. 1385–1398, 2016. <a href="/pdfs/2016TASEMaScMu.pdf">PDF</a>, <a href="/videos/2016TASEMaScMu.mp4">Video</a></p>
<p><b>Augmenting sensorimotor control using goal-aware vibrotactile stimulation during reaching and manipulation behaviors</b>
<br>E. Tzorakoleftherakis, T. D. Murphey, and R. A. Scheidt
<br><i>Experimental Brain Research</i>, vol. 234, no. 8, pp. 2403–2414, 2016. <a href="/pdfs/2016EBRTzMuSc.pdf">PDF</a></p>
<p><b>Minimum sensitivity control for planning with parametric and hybrid uncertainty</b>
<br>A. Ansari and T. D. Murphey
<br><i>International Journal of Robotics Research</i>, vol. 35, no. 7, pp. 823–839, 2016. <a href="/pdfs/2016IJRRAnMu.pdf">PDF</a></p>
<p><b>Model-based reactive control for hybrid and high-dimensional robotic systems</b>
<br>E. Tzorakoleftherakis, A. Ansari, A. Wilson, J. Schultz, and T. D. Murphey
<br><i>IEEE Robotics and Automation Letters</i>, vol. 1, no. 1, pp. 431–438, 2016. <a href="/pdfs/2016RALTzWiAnScMu.pdf">PDF</a></p>
<p><b>Projection-based iterative mode scheduling for switched systems</b>
<br>T. Caldwell and T. D. Murphey
<br><i>Nonlinear Analysis: Hybrid Systems</i>, vol. 21, pp. 59–83, 2016. <a href="/pdfs/2016NAHSCaMu.pdf">PDF</a></p>
<p><b>Ergodic exploration of distributed information</b>
<br>L. Miller, Y. Silverman, M. A. MacIver, and T. D. Murphey
<br><i>IEEE Transactions on Robotics</i>, vol. 32, no. 1, pp. 36–52, 2016. <a href="/pdfs/2016TROMiSiMaMu.pdf">PDF</a></p>
<p><b>Discrete Lagrangian mechanics for nonsmooth nonseparable systems</b>
<br>D. Pekarek and T. D. Murphey
<br><i>International Journal for Numerical Methods in Engineering</i>, vol. 105, pp. 440–463, 2016. <a href="/pdfs/2016IJNMEPeMu.pdf">PDF</a></p>
<p><b>Autonomous visual rendering using physical motion</b>
<br>A. Prabhakar, A. Mavrommati, J. Schultz, and T. D. Murphey
<br><i>Workshop on the Algorithmic Foundations of Robotics (WAFR)</i>, 2016. <a href="/pdfs/2016WAFRPrMaScMu.pdf">PDF</a>, <a href="/videos/2016WAFRPrMaScMuBaxterLincoln.mp4">Video 1</a>, <a href="/videos/2016WAFRPrMaScMuLincolnSim.mp4">Video 2</a>, <a href="/videos/2016WAFRPrMaScMuNSim.mp4">Video 3</a> </p>
<p><b>Low-infrastructure real-time embedded control via variational integrators</b>
<br>J. Schultz and T. D. Murphey
<br><i>PAMM</i>, vol. 16, no. 1, pp. 949–952, 2016. <a href="/pdfs/2016PAMMScMu.pdf">PDF</a></p>
<p><b>On the benefits of surrogate Lagrangians in optimal control and planning algorithms</b>
<br>G. De La Torre and T. D. Murphey
<br><i>IEEE Int. Conf. on Decision and Control (CDC)</i>, pp. 7384–7391, 2016. <a href="/pdfs/2016CDCToMu.pdf">PDF</a></p>
<p><b>Automatic synthesis of control alphabet policies</b>
<br>A. Mavrommati and T. D. Murphey
<br><i>IEEE Int. Conf. on Automation Science and Engineering (CASE)</i>, pp. 313 – 320, 2016. <a href="/pdfs/2016CASEMaMu.pdf">PDF</a></p>
<p><b>Online feedback control for input-saturated robotic systems on Lie groups</b>
<br>T. Fan and T. D. Murphey
<br><i>Robotics: Science and Systems Proceedings</i>, 2016. <a href="/pdfs/2016RSSFaMu.pdf">PDF</a></p>
<p><b>Controlling simulated underactuated underwater vehicles with added mass and velocity drift using sequential action control</b>
<br>G. Mamakoukas, M. MacIver, and T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 4500 – 4506, 2016. <a href="/pdfs/2016ACCMaMaMu.pdf">PDF</a></p>
<p><b>Ergodic exploration with stochastic sensor dynamics</b>
<br>G. De La Torre, K. Flaßkamp, A. Prabhakar, and T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 2971 – 2976, 2016. <a href="/pdfs/2016ACCToFlPrMu.pdf">PDF</a></p>
<p><b>Optimal human-in-the-loop interfaces based on Maxwell’s demon</b>
<br>K. Fitzsimons, E. Tzorakoleftherakis, and T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 4397 – 4402, 2016. <a href="/pdfs/2016ACCFiTzMu.pdf">PDF</a></p>
<br><h2>2015</h2>
<p><b>The geography of fatty infiltrates within the cervical multifidus and semispinalis cervicis in individuals with chronic whiplash-associated disorders</b>
<br>R. Abbott, A. Pedler, M. Sterling, J. Hides, T. D. Murphey, M. Hoggarth, and J. Elliott
<br><i>Journal of Orthopaedic and Sports Physical Therapy</i>, vol. 45, no. 4, pp. 281–288, 2015.</p>
<p><b>Linearizations of variational integrators for analysis and optimization</b>
<br>E. Johnson, J. Schultz, and T. D. Murphey
<br><i>IEEE Transactions on Automation Science and Engineering</i>, vol. 12, no. 1, pp. 140–152, 2015. <a href="/pdfs/2015TASEJoScMu.pdf">PDF</a></p>
<p><b>Trajectory optimization for well-conditioned parameter estimation</b>
<br>A. Wilson, J. Schultz, and T. D. Murphey
<br><i>IEEE Transactions on Automation Science and Engineering</i>, vol. 12, no. 1, pp. 28–36, 2015.</p>
<p><b>Structured linearization of discrete mechanical systems on Lie groups: a synthesis of analysis and control</b>
<br>T. Fan and T. D. Murphey
<br><i>IEEE Int. Conf. on Decision and Control (CDC)</i>, pp. 1092 – 1099, 2015. <a href="/pdfs/2015CDCFaMu.pdf">PDF</a></p>
<p><b>Symplectic integration for optimal ergodic control</b>
<br>A. Prabhakar, K. Flaßkamp, and T. D. Murphey
<br><i>IEEE Int. Conf. on Decision and Control (CDC)</i>, pp. 2594 – 2600, 2015. <a href="/pdfs/2015CDCPrFlMu.pdf">PDF</a></p>
<p><b>Controllers as filters: Noise-driven swing-up control based on Maxwell’s demon</b>
<br>E. Tzorakoleftherakis and T. D. Murphey
<br><i>IEEE Int. Conf. on Decision and Control (CDC)</i>, pp. 4368 – 4374, 2015. <a href="/pdfs/2015CDCTzMu.pdf">PDF</a></p>
<p><b>Real-time trajectory synthesis for information maximization using sequential action control and least-squares estimation</b>
<br>A. Wilson, J. Schultz, A. Ansari, and T. D. Murphey
<br><i>IEEE Int. Conf. on Intelligent Robots and Systems (IROS)</i>, 2015. <a href="/pdfs/2015IROSWiScAnMu.pdf">PDF</a></p>
<p><b>Power network regulation benchmark for switched-mode optimal control</b>
<br>T. Caldwell and T. D. Murphey
<br><i>Analysis and Design of Hybrid Systems (ADHS)</i>, 2015. <a href="/pdfs/2015ADHSCaMu.pdf">PDF</a></p>
<p><b>Sequential action control for tracking of free invariant manifolds</b>
<br>A. Ansari, K. Flaßkamp, and T. D. Murphey
<br><i>Analysis and Design of Hybrid Systems (ADHS)</i>, 2015. <a href="/pdfs/2015ADHSAnFlMu.pdf">PDF</a></p>
<p><b>Optimal planning for target localization and coverage using range sensing</b>
<br>L. Miller and T. D. Murphey
<br><i>IEEE Int. Conf. on Automation Science and Engineering (CASE)</i>, pp. 501–508, 2015. <a href="/pdfs/2015CASEMiMu.pdf">PDF</a></p>
<p><b>Optimal control-on-request: An application in real-time assistive balance control</b>
<br>A. Mavrommati, A. Ansari, and T. D. Murphey
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, pp. 5928 – 5934, 2015. <a href="/pdfs/2015ICRAMaAnMu.pdf">PDF</a></p>
<p><b>Tactile proprioceptive input in robotic rehabilitation after stroke</b>
<br>E. Tzorakoleftherakis, M. C. Bengtson, F. A. Mussa-Ivaldi, R. A. Scheidt, and T. D. Murphey
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, pp. 6475 – 6481, 2015. <a href="/pdfs/2015ICRATzBeMuScMu.pdf">PDF</a></p>
<p><b>Maximizing Fisher information in discrete-time mechanical systems using projection-based trajectory optimization</b>
<br>A. D. Wilson and T. D. Murphey
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, pp. 2403 – 2409, 2015. <a href="/pdfs/2015ICRAWiMu.pdf">PDF</a></p>
<p><b>“Control-on-request: Short-burst assistive control for long time horizon improvement</b>
<br>A. Ansari and T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 1173 – 1180, 2015. <a href="/pdfs/2015ACCAnMuA.pdf">PDF</a></p>
<p><b>A variational derivation of LQR for piecewise time-varying systems</b>
<br>A. Ansari and T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 2260 – 2265, 2015. <a href="/pdfs/2015ACCAnMuB.pdf">PDF</a></p>
<p><b>Variational integrators in linear optimal control and filtering</b>
<br>K. Flaßkamp and T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 5140 – 5145, 2015. <a href="/pdfs/2015ACCFlMu.pdf">PDF</a></p>
<p><b>Trajectory Optimization in Discrete Mechanics</b>
<br>J. Schultz, E. Johnson, and T. D. Murphey,
<br><i>Differential-Geometric Methods in Computational Multibody System Dynamics</i>, CISM, 2015. Eds. Z. Terze and A. Mueller.</p>
<br><h2>2014</h2>
<p><b>Trajectory synthesis for Fisher information maximization</b>
<br>A. Wilson, J. Schultz, and T. D. Murphey
<br><i>IEEE Transactions on Robotics</i>, vol. 30, no. 6, pp. 1358–1370, 2014. <a href="/pdfs/2014TROWiScMu.pdf">PDF</a></p>
<p><b>A Propagative Model of Simultaneous Impact: Existence, Uniqueness, and Design Consequences</b>
<br>V. Seghete and T. D. Murphey
<br><i>IEEE Transactions on Automation Science and Engineering</i>, vol. 11, no. 1, pp. 154 – 168, 2014.</p>
<p><b>Uniqueness conditions for simultaneous impact in locomotion: existence, uniqueness, and design consequences</b>
<br>V. Seghete and T. D. Murphey
<br><i>IEEE Transactions on Automation Science and Engineering</i>, vol. 11, no. 1, pp. 154–168, 2014. <a href="/pdfs/2014TASESeMu.pdf.pdf">PDF</a></p>
<p><b>Modeling forces and moments at the base of a rat vibrissa during non contact whisking and whisking against an object</b>
<br>B. Quist, V. Seghete, L. Huet, T. D. Murphey, and M. J. Z. Hartmann
<br><i>Journal of Neuroscience</i>, vol. 34, pp. 9828–9844, July 2014.</p>
<p><b>Towards software-enabled rehabilitation</b>
<br>T. D. Murphey and B. Argall
<br><i>IROS Workshop on Workshop on Rehabilitation & Assistive Robotics</i>, 2014.</p>
<p><b>Improving object tracking through distributed exploration of an information map</b>
<br>I. D. Neveln, L. M. Miller, M. A. MacIver, and T. D. Murphey
<br><i>IEEE Int. Conf. on Intelligent Robots and Systems (IROS)</i>, pp. 3441 – 3447, 2014. <a href="/pdfs/2014IROSNeMiMuMa.pdf">PDF</a></p>
<p><b>Single-integration mode scheduling for linear time-varying switched systems</b>
<br>A. Mavrommati and T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 430 – 436, 2014. <a href="/pdfs/2014ACCMaMu.pdf">PDF</a></p>
<p><b>Effects of optimal tactile feedback in balancing tasks: a pilot study</b>
<br>E. Tzorakoleftherakis, F. Mussa-Ivaldi, R. Scheidt, and T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 778 – 783, 2014. <a href="/pdfs/2014ACCTzMuScMu.pdf">PDF</a></p>
<p><b>Continuous-time optimal control of impacting mechanical systems via a projected Hamilton’s principle</b>
<br>V. Seghete and T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 2438 – 2444, 2014. <a href="/pdfs/2014ACCSeMu.pdf">PDF</a></p>
<p><b>Extending filter performance through structured integration</b>
<br>J. Schultz and T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 261 – 270, 2014. <a href="/pdfs/2014ACCScMu.pdf">PDF</a></p>
<p><b>Engineering autonomous theatre: The impact of culture on mobile robots and automated systems</b>
<br>E. Jochum, J. Schultz, and T. D. Murphey
<br><i>AAMAS Workshop on Culture Aware Robotics</i>, 2014.</p>
<p><b>Local E-optimality conditions for trajectory design to estimate parameters in nonlinear systems</b>
<br>A. Wilson and T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 443 – 450, 2014. <a href="/pdfs/2014ACCWiMu.pdf">PDF</a></p>
<p><b>Real-time trajectory generation for a planar crane using discrete mechanics</b>
<br>J. Schultz and T. D. Murphey
<br><i>IROS Workshop on Real-Time Systems</i>, 2014. <a href="/pdfs/2014IROSScMu_rtmgc.pdf">PDF</a></p>
<p><b>INTERACT: Applying theory and methods from the visual and performing arts to robots</b>
<br>E. Jochum, G. Borggreen, and T. D. Murphey
<br><i>HRI-Workshop on Culture Aware Robotics</i>, 2014. <a href="/pdfs/2014HRIJoBoMu.pdf">PDF</a></p>
<br><h2>2013</h2>
<p><b>Simultaneous optimal estimation of mode transition times and parameters applied to simple traction models</b>
<br>L. Miller and T. D. Murphey
<br><i>IEEE Transactions on Robotics</i>, vol. 29, no. 6, pp. 1496–1503, 2013. <a href="/pdfs/2013TROMiMu.pdf">PDF</a></p>
<p><b>Uniqueness conditions for simultaneous impact in locomotion: existence, uniqueness, and design consequences</b>
<br>V. Seghete and T. D. Murphey
<br><i>IEEE Transactions on Automation Science and Engineering</i>, vol. 11, no. 1, pp. 154–168, 2014.</p>
<p><b>Feature localization using kinematics and impulsive hybrid optimization</b>
<br>Y. P. Leong and T. D. Murphey
<br><i>IEEE Transactions on Automation Science and Engineering</i>, vol. 10, no. 4, pp. 957 – 968, 2013. <a href="/pdfs/2013TASELeMu.pdf">PDF</a></p>
<p><b>Projection-based optimal mode scheduling</b>
<br>T. Caldwell and T. D. Murphey
<br><i>IEEE Int. Conf. on Decision and Control (CDC)</i>, pp. 5307 – 5314, 2013. <a href="/pdfs/2013CDCCaMu.pdf">PDF</a>, <a href="/pdfs/2013CDCCaMuLong.pdf">Extended Version</a></p>
<p><b>Trajectory optimization for continuous ergodic exploration on the motion group SE(2)</b>
<br>L. Miller and T. D. Murphey
<br><i>IEEE Int. Conf. on Decision and Control (CDC)</i>, pp. 4517 – 4522, 2013. <a href="/pdfs/2013CDCMiMu.pdf">PDF</a></p>
<p><b>A projected Lagrange-d’Alembert principle for forced nonsmooth mechanics and optimal control</b>
<br>D. Pekarek and T. D. Murphey
<br><i>IEEE Int. Conf. on Decision and Control (CDC)</i>, pp. 7777 – 7784, 2013. <a href="/pdfs/2013CDCPeMu.pdf">PDF</a></p>
<p><b>Minimal sensitivity control for hybrid environments</b>
<br>A. Ansari and T. D. Murphey
<br><i>IEEE Int. Conf. on Intelligent Robots and Systems (IROS)</i>, pp. 3023 – 3028, 2013. <a href="/pdfs/2013IROSAnMu.pdf">PDF</a></p>
<p><b>Optimal planning for information acquisition</b>
<br>Y. Silverman, L. Miller, M. MacIver, and T. D. Murphey
<br><i>IEEE Int. Conf. on Intelligent Robots and Systems (IROS)</i>, pp. 5974 – 5980, 2013. <a href="/pdfs/2013IROSSiMiMaMu.pdf">PDF</a></p>
<p><b>Optimal trajectory design for well-conditioned parameter estimation</b>
<br>A. D. Wilson and T. D. Murphey
<br><i>IEEE Int. Conf. on Automation Science and Engineering (CASE)</i>, pp. 13–19, 2013. Finalist for ABB Best Conference Paper Award. <a href="/pdfs/2013CASEWiMu.pdf">PDF</a></p>
<p><b>Discretized switching time optimization problems</b>
<br>K. Flaßkamp, T. D. Murphey, and S. Ober-Blöbaum
<br><i>European Control Conference (ECC)</i>, pp. 3179–3184, 2013. <a href="/pdfs/2013ECCFlMuOb.pdf">PDF</a></p>
<p><b>Second-order switching time and magnitude optimization for impulsive hybrid systems</b>
<br>Y. P. Leong and T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 6213–6218, 2013. <a href="/pdfs/2013ACCLeMu.pdf">PDF</a></p>
<p><b>Trajectory optimization for continuous ergodic exploration</b>
<br>L. M. Miller and T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 4196–4201, 2013. <a href="/pdfs/2013ACCMiMu.pdf">PDF</a></p>
<p><b>Embedded control synthesis using one-step methods in discrete mechanics</b>
<br>J. Schultz and T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 5293–5298, 2013. <a href="/pdfs/2013ACCScMu.pdf">PDF</a></p>
<p><b>Minimal parametric sensitivity trajectories for nonlinear systems</b>
<br>A. Ansari and T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 5011–5016, 2013. <a href="/pdfs/2013ACCAnMu.pdf">PDF</a></p>
<p><b>Robotic Puppets and the Engineering of Autonomous Theater</b>
<br>E. Jochum, J. Schultz, E. Johnson, and T. D. Murphey,
<br><i>Art and Control</i>, Springer-Verlag, 2013. Eds. A. LaViers and M. Egerstedt. <a href="/pdfs/2013ControlAndArtJoScMu.pdf">PDF</a></p>
<br><h2>2012</h2>
<p><b>Single integration optimization of linear time-varying switched systems</b>
<br>T. Caldwell and T. D. Murphey
<br><i>IEEE Transactions on Automatic Control</i>, vol. 57, no. 6, pp. 1592–1597, 2012.</p>
<p><b>Global projections for variational nonsmooth mechanics</b>
<br>D. Pekarek and T. D. Murphey
<br><i>IEEE Int. Conf. on Decision and Control (CDC)</i>, pp. 5572–5579, 2012. <a href="/pdfs/2012CDCPeMu.pdf">PDF</a></p>
<p><b>Optimal contact decisions for ergodic exploration</b>
<br>L. Miller and T. D. Murphey
<br><i>IEEE Int. Conf. on Decision and Control (CDC)</i>, pp. 5091–5097, 2012. <a href="/pdfs/2012CDCMiMu.pdf">PDF</a></p>
<p><b>Projection-based switching system optimization: Absolute continuity of the line search</b>
<br>T. Caldwell and T. D. Murphey
<br><i>IEEE Int. Conf. on Decision and Control (CDC)</i>, pp. 699–706, 2012. <a href="/pdfs/2012CDCCaMu.pdf">PDF</a></p>
<p><b>Switching time optimization in discretized hybrid dynamical systems</b>
<br>K. Flaßkamp, T. D. Murphey, and S. Ober-Blöbaum
<br><i>IEEE Int. Conf. on Decision and Control (CDC)</i>, pp. 707–712, 2012. <a href="/pdfs/2012CDCFlMuOb.pdf">PDF</a></p>
<p><b>“Simultaneous optimal parameter and mode transition estimation</b>
<br>L. Miller and T. D. Murphey
<br><i>IEEE Int. Conf. on Intelligent Robots and Systems (IROS)</i>, pp. 719–724, 2012. <a href="/pdfs/2012IROSMiMu.pdf">PDF</a></p>
<p><b>Varational nonsmooth mechanics via a projected Hamilton’s principle</b>
<br>D. Pekarek and T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 1040–1046, 2012. <a href="/pdfs/2012ACCPeMu.pdf">PDF</a></p>
<p><b>Linear time-varying impulse optimization for data association</b>
<br>M. Travers, T. D. Murphey, and L. Y. Pao
<br><i>American Controls Conf. (ACC)</i>, pp. 1047–1052, 2012. <a href="/pdfs/2012ACCTrMuPa.pdf">PDF</a></p>
<p><b>Projection-based switching time optimization</b>
<br>T. Caldwell and T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 4552–4557, 2012. <a href="/pdfs/2012ACCCaMu.pdf">PDF</a></p>
<p><b>Making robotic marionettes perform</b>
<br>T. D. Murphey and B. Argall
<br><i>ICRA Workshop on Robotics and Performance Arts: Reciprocal Influences</i>, 2012. <a href="/pdfs/2012ICRAMuAg.pdf">PDF</a></p>
<p><b>Trajectory tracking among landmarks and binary sensor beams</b>
<br>B. Tovar and T. D. Murphey
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, pp. 2121–2127, 2012. <a href="/pdfs/2012ICRAToMu.pdf">PDF</a></p>
<p><b>Conditions for uniqueness in simultaneous impact with application to mechanical design</b>
<br>V. Seghete and T. D. Murphey
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, pp. 5006–5011, 2012. <a href="/pdfs/2012ICRASeMu.pdf">PDF</a></p>
<p><b>Trajectory generation for underactuated control of a suspended mass</b>
<br>J. Schultz and T. D. Murphey
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, pp. 123–129, 2012. <a href="/pdfs/2012ICRAScMu.pdf">PDF</a></p>
<p><b>Programming Play: Puppets, Robots, and Engineering.</b>
<br>E. Jochum and T. D. Murphey,
<br><i>New Scholarship on Puppetry and Performing Objects</i>, Springer-Verlag, 2012. Eds. D. Posner, J. Bell, and C. Orenstein. <a href="/pdfs/2012PuppetBookJoMu.pdf">PDF</a></p>
<br><h2>2011</h2>
<p><b>Second-order switching time optimization for nonlinear time-varying dynamic systems</b>
<br>T. Caldwell and T. D. Murphey
<br><i>Automatica</i>, vol. 47, no. 1, pp. 50–64, 2011. <a href="/pdfs/2011AUTCaMu.pdf">PDF</a></p>
<p><b>Second-order switching time optimization for nonlinear time-varying dynamic systems</b>
<br>E. Johnson and T. D. Murphey
<br><i>IEEE Transactions on Automatic Control</i>, vol. 56, no. 8, pp. 1953–1957, 2011.
<p><b>Constructing and implementing motion programs for robotic marionettes</b>
<br>P. Martin, E. Johnson, T. D. Murphey, and M. Egerstedt
<br><i>IEEE Transactions on Automatic Control</i>, vol. 56, no. 4, pp. 902–907, 2011. <a href="/pdfs/2011TACMaJoMuEg.pdf">PDF</a></p>
<p><b>Second-order switching time optimization for nonlinear time-varying dynamic systems</b>
<br>E. Johnson and T. D. Murphey
<br><i>IEEE Transactions on Automatic Control</i>, vol. 56, no. 8, pp. 1953–1957, 2011. <a href="/pdfs/2011TACJoMu.pdf">PDF</a></p>
<p><b>A backwards error analysis approach for simulation and control of nonsmooth mechanical systems</b>
<br>D. Pekarek and T. D. Murphey
<br><i>IEEE Int. Conf. on Decision and Control (CDC)</i>, pp. 6942–6949, 2011. <a href="/pdfs/2011CDCPeMu.pdf">PDF</a></p>
<p><b>Single integration optimization of linear time-varying switched systems</b>
<br>T. Caldwell and T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 2024–2030, 2011. <a href="/pdfs/2011ACCCaMu.pdf">PDF</a></p>
<p><b>Trajectory optimization estimator for impulsive data association</b>
<br>M. Travers, T. D. Murphey, and L. Y. Pao
<br><i>American Controls Conf. (ACC)</i>, pp. 4514–4519, 2011. <a href="/pdfs/2011ACCTrMuPa.pdf">PDF</a></p>
<p><b>Control aesthetics in software for automated marionettes</b>
<br>T. D. Murphey and E. Johnson
<br><i>American Controls Conf. (ACC)</i>, pp. 3825 – 3830, 2011. <a href="/pdfs/2011ACCMuJo.pdf">PDF</a></p>
<p><b>Optimal motion planning for a class of hybrid dynamical systems with impacts</b>
<br>A. Long, T. D. Murphey, and K. M. Lynch
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, pp. 4220 – 4226, 2011. <a href="/pdfs/2011ICRALoMuLy.pdf">PDF</a></p>
<p><b>Impulsive data association with an unknown number of targets</b>
<br>M. Travers, T. D. Murphey, and L. Y. Pao
<br><i>Hybrid Systems: Computation and Control</i>, pp. 261 – 270, 2011. <a href="/pdfs/2011HSCCTrMuPa.pdf">PDF</a></p>
<p><b>Variational methods for contact mechanics</b>
<br>T. D. Murphey, D. Pekarek, and V. Seghete
<br><i>Robotics Science and Systems Workshop: Toward High-Performance Computing Support for Simulation and Planning of Robot Contact Tasks</i>, 2011. <a href="/pdfs/2011RSSMuPeSe.pdf">PDF</a></p>
<br><h2>2010</h2>
<p><b>Programming from the ground up in controls laboratories</b>
<br>T. D. Murphey and J. Falcon
<br><i>International Journal of Engineering Education</i>, vol. 26, no. 5, pp. 1241–1248, 2010. <a href="/pdfs/2010IJEEMuFa.pdf">PDF</a></p>
<p><b>A Robotic Pygmalion: Choreography for an automated marionette play</b>
<br>E. Jochum and T. D. Murphey
<br><i>Puppetry International</i>, vol. 27, pp. 22–24, 2010.</p>
<p><b>An adjoint method for second-order switching-time optimization</b>
<br>T. Caldwell and T. D. Murphey
<br><i>IEEE Int. Conf. on Decision and Control (CDC)</i>, pp. 2155–2162, 2010. <a href="/pdfs/2010CDCCaMu.pdf">PDF</a></p>
<p><b>Data association with impulse optimization</b>
<br>M. Travers, L. Pao, and T. D. Murphey
<br><i>IEEE Int. Conf. on Decision and Control (CDC)</i>, pp. 2204–2209, 2010. <a href="/pdfs/2010CDCTrMuPa.pdf">PDF</a></p>
<p><b>Second-order DMOC using projections</b>
<br>K. Snyder and T. D. Murphey
<br><i>IEEE Int. Conf. on Decision and Control (CDC)</i>, pp. 1872–1878, 2010. <a href="/pdfs/2010CDCSnMu.pdf">PDF</a></p>
<p><b>Local planning using switching time optimization</b>
<br>E. Johnson and T. D. Murphey
<br><i>IEEE Int. Conf. on Automation Science and Engineering (CASE)</i>, pp. 828–834, 2010. <a href="/pdfs/2010CASEJoMu.pdf">PDF</a></p>
<p><b>Geometric integration of impact during an orbital docking procedure</b>
<br>C. Gibson and T. D. Murphey
<br><i>IEEE Int. Conf. on Automation Science and Engineering (CASE)</i>, pp. 928–932, 2010. <a href="/pdfs/2010CASEGiMu.pdf">PDF</a></p>
<p><b>Linearizations for mechanical systems in generalized coordinates</b>
<br>E. Johnson and T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 629–633, 2010. <a href="/pdfs/2010ACCJoMu.pdf">PDF</a></p>
<p><b>Stochastic sampling-based data association</b>
<br>M. Travers, T. D. Murphey, and L. Y. Pao
<br><i>American Controls Conf. (ACC)</i>, pp. 1386–1391, 2010. <a href="/pdfs/2010ACCTrMuPa.pdf">PDF</a></p>
<p><b>Variational solutions to simultaneous collisions between multiple rigid bodies</b>
<br>V. Seghete and T. D. Murphey
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, pp. 2731–2738, 2010. <a href="/pdfs/2010ICRASeMu.pdf">PDF</a></p>
<p><b>Relaxed optimization for mode estimation in skid steering</b>
<br>T. Caldwell and T. D. Murphey
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, pp. 5423–5428, 2010. <a href="/pdfs/2010ICRACaMu.pdf">PDF</a></p>
<p><b>Topology-based variational integration of degenerate interconnected mechanical systems</b>
<br>T. D. Murphey
<br><i>European Conference on Computational Mechanics (ECCM)</i>, 2010. <a href="/pdfs/2010ECCMMu.pdf">PDF</a></p>
<br><h2>2009</h2>
<p><b>Scalable variational integrators for constrained mechanical systems in generalized coordinates</b>
<br>E. Johnson and T. D. Murphey
<br><i>IEEE Transactions on Robotics</i>, vol. 25, no. 6, pp. 1249–1261, 2009. <a href="/pdfs/2009TROJoMu.pdf">PDF</a> <a href="/pdfs/2009TROJoMuextended.pdf">Extended Version</a></p>
<p><b>Second order switching time optimization for time-varying nonlinear systems</b>
<br>E. Johnson and T. D. Murphey
<br><i>IEEE Int. Conf. on Decision and Control (CDC)</i>, pp. 5281 – 5286, 2009. <a href="/pdfs/2009CDCJoMu.pdf">PDF</a></p>
<p><b>Multiple instantaneous collisions in a variational framework</b>
<br>V. Seghete and T. D. Murphey
<br><i>IEEE Int. Conf. on Decision and Control (CDC)</i>, pp. 5015 – 5020, 2009. <a href="/pdfs/2009CDCSeMu.pdf">PDF</a></p>
<p><b>Automated trajectory morphing for marionettes using trajectory optimization</b>
<br>E. Johnson and T. D. Murphey
<br><i>IEEE Int. Conf. on Automation Science and Engineering (CASE)</i>, pp. 274–279, 2009. <a href="/pdfs/2009CASEJoMu.pdf">PDF</a></p>
<p><b>Second-order optimal estimation of slip state for a simple slip-steered vehicle</b>
<br>T. Caldwell and T. D. Murphey
<br><i>IEEE Int. Conf. on Automation Science and Engineering (CASE)</i>, pp. 133–139, 2009. <a href="/pdfs/2009CASECaMu.pdf">PDF</a></p>
<p><b>Dangers of two-point holonomic constraints for variational integrators</b>
<br>E. Johnson and T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 4723–4728, 2009. <a href="/pdfs/2009ACCJoMu.pdf">PDF</a></p>
<br><h2>2008</h2>
<p><b>Convergence preserving switching for topology-dependent decentralized systems</b>
<br>B. Shucker, T. D. Murphey, and J. Bennett
<br><i>IEEE Transactions on Robotics</i>, vol. 24, no. 6, pp. 1405–1415, 2008. <a href="/pdfs/2008TROScMuBe.pdf">PDF</a></p>
<p><b>Case studies in planar part feeding and assembly based on design of limit sets</b>
<br>T. D. Murphey and K. M. Lynch
<br><i>International Journal of Robotics Research</i>, vol. 27, pp. 693–708, June 2008. <a href="/pdfs/2008IJRRMuLy.pdf">PDF</a></p>
<p><b>Teaching rigid body mechanics using student-created virtual environments</b>
<br>T. D. Murphey
<br><i>IEEE Transactions on Education</i>, vol. 51, no. 1, pp. 45–52, 2008. <a href="/pdfs/2008TEEMu.pdf">PDF</a></p>
<p><b>On multiple model control for multiple contact systems</b>
<br>T. D. Murphey
<br><i>Automatica</i>, vol. 44, pp. 451–458, 2008. <a href="/pdfs/2008AUTMu.pdf">PDF</a></p>
<p><b>Variational integrators for constrained cables</b>
<br>K. Nichols and T. D. Murphey
<br><i>IEEE Int. Conf. on Automation Science and Engineering (CASE)</i>, pp. 802–807, 2008. <a href="/pdfs/2008CASENiMu.pdf">PDF</a></p>
<p><b>Filtering of interaction rules in cooperation</b>
<br>T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 3733–3739, 2008. <a href="/pdfs/2008ACCMu.pdf">PDF</a></p>
<p><b>Data association with ambiguous measurements</b>
<br>M. Travers, T. D. Murphey, and L. Pao
<br><i>American Controls Conf. (ACC)</i>, pp. 1875–1880, 2008. <a href="/pdfs/2008ACCTrMuPa.pdf">PDF</a></p>
<p><b>Discrete and continuous mechanics for tree representations of mechanical systems</b>
<br>E. Johnson and T. D. Murphey
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, pp. 1106–1111, 2008. <a href="/pdfs/2008ICRAJoMu.pdf">PDF</a></p>
<p><b>Adaptive cooperative manipulation with intermittent contact</b>
<br>T. D. Murphey and M. Horowitz
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, pp. 1483–1488, 2008. <a href="/pdfs/2008ICRAMuHo.pdf">PDF</a></p>
<p><b>The automated marionette project</b>
<br>E. Johnson and T. D. Murphey
<br><i>AAAI Robotics and Creativity Workshop</i>, 2008.<a href="/pdfs/2008AAAIJoMu.pdf">PDF</a></p>
<p><b>A Variational Approach to Strand-Based Modeling of the Human Hand</b>
<br>E. Johnson, K. Morris, and T. D. Murphey,
<br><i>Algorithmic Foundations of Robotics VIII</i> pp. 151–166. Springer-Verlag, 2008. Eds. G. Chirikjian, H. Choset, M. Morales, T. D. Murphey. <a href="/pdfs/2008WAFRJoMoMu.pdf">PDF</a></p>
<br><h2>2007</h2>
<p><b>Kinematic reductions for uncertain mechanical contact</b>
<br>T. D. Murphey
<br><i>Robotica</i>, vol. 25, pp. 751–764, Nov 2007. <a href="/pdfs/2007ROBMu.pdf">PDF</a></p>
<p><b>Geometric derived information spaces in manipulation with mechanical contact</b>
<br>T. D. Murphey
<br><i>IEEE Int. Conf. on Automation Science and Engineering (CASE)</i>, pp. 338–345, 2007. <a href="/pdfs/2007CASEMu.pdf">PDF</a></p>
<p><b>Dynamic modeling and motion planning for marionettes: Rigid bodies articulated by massless strings</b>
<br>E. Johnson and T. D. Murphey
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, pp. 330–335, 2007. <a href="/pdfs/2007ICRAJoMu.pdf">PDF</a></p>
<p><b>Teaching rigid body mechanics using student-created virtual environments</b>
<br>T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 2503–2508, 2007. <a href="/pdfs/2007ACCMu.pdf">PDF</a></p>
<p><b>Switching Rules for Decentralized Control with Simple Control Law</b>
<br>B. Shucker, T. D. Murphey, and J. Bennett
<br><i>American Controls Conf. (ACC)</i>, pp. 1485–1492, 2007. <a href="/pdfs/2007ACCShMuBe.pdf">PDF</a></p>
<p><b>Choreography for Marionettes: Imitation, Planning, and Control</b>
<br>T. D. Murphey and M. Egerstedt
<br><i>IEEE Int. Conf. on Intelligent Robots and Systems (IROS)</i>, 2007. <a href="/pdfs/2007IROSMuEg.pdf">PDF</a></p>
<p><b>Motion Programs for Puppet Choreography and Control</b>
<br>M. Egerstedt, T. D. Murphey, and J. Ludwig,
<br><i>Hybrid Systems: Computation and Control</i>, Springer Berlin Heidelberg, 2007. Eds. A. Bemporad, A. Bicchi, and G. Buttazzo. <a href="/pdfs/2007HSCCEgMuLu.pdf">PDF</a></p>
<br><h2>2006</h2>
<p><b>The power dissipation method and kinematic reducibility of multiple model robotic systems</b>
<br>T. D. Murphey and J. W. Burdick
<br><i>IEEE Transactions on Robotics</i>, vol. 22, pp. 694–710, August 2006. <a href="/pdfs/2006TROMuBu.pdf">PDF</a></p>
<p><b>Programming from the ground up in controls laboratories using graphical programming</b>
<br>T. D. Murphey and J. Falcon
<br><i>Proceedings of the IFAC Advances in Control Education (ACE)</i>, 2006. <a href="/pdfs/2006IFACACEMuFa.pdf">PDF</a></p>
<p><b>Modeling and control of multiple-contact manipulation without modeling friction</b>
<br>T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 3227–3234, 2006.</p>
<p><b>An approach to switching control beyond nearest neighbor rules</b>
<br>B. Shucker, T. D. Murphey, and J. Bennett
<br><i>American Controls Conf. (ACC)</i>, pp. 5959–5965, 2006. <a href="/pdfs/2006ACCShMuBe.pdf">PDF</a></p>
<p><b>Motion planning for kinematically overconstrained vehicles using feedback primitives</b>
<br>T. D. Murphey
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, pp. 1643–1648, 2006. <a href="/pdfs/2006ICRAMu.pdf">PDF</a></p>
<p><b>Cooperative control using occasional non-local interactions</b>
<br>B. Shucker, T. D. Murphey, and J. Bennett
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, pp. 1324–1329, 2006. <a href="/pdfs/2006ICRAShMuBe.pdf">PDF</a></p>
<p><b>Mechanical Manipulation Using Reduced Models of Uncertainty</b>
<br>T. D. Murphey
<br><i>Workshop on the Algorithmic Foundations of Robotics (WAFR)</i>, 2006. <a href="/pdfs/2006WAFRMu.pdf">PDF</a></p>
<br><h2>2005</h2>
<p><b>An example of parts handling and self-assembly using stable limit sets</b>
<br>T. D. Murphey, J. Bernheisel, D. Choi, and K. M. Lynch
<br><i>IEEE Int. Conf. on Intelligent Robots and Systems (IROS)</i>, pp. 1624–1629, 2005.</p>
<p><b>Application of supervisory control methods to uncertain multiple model systems</b>
<br>T. D. Murphey
<br><i>American Controls Conf. (ACC)</i>, pp. 774–780, 2005.</p>
<p><b>On Observing Contact States in Overconstrained Manipulation</b>
<br>T. D. Murphey,
<br><i>Multi-point Interaction with Real and Virtual Objects</i>, pp. 151–164. Springer-Verlag, 2005. Eds. F. Barbagli, D. Prattichizzo, and K. Salisbury.</p>
<br><h2>2004</h2>
<p><b>Feedback control methods for distributed manipulation systems that involve mechanical contacts</b>
<br>T. D. Murphey and J. W. Burdick
<br><i>International Journal of Robotics Research</i>, vol. 23, pp. 763–782, July 2004. <a href="/pdfs/2004IJRRMuBu.pdf">PDF</a></p>
<p><b>Experiments in the use of stable limits sets for parts handling</b>
<br>T. D. Murphey, D. Choi, J. Bernheisel, and K. M. Lynch
<br><i>Proc. Int. Conf. MEMS, NANO, and Smart Systems (ICMENS)</i>, pp. 218–224, 2004.</p>
<br><h2>2003</h2>
<p><b>Kinematic reducibility for multiple model systems</b>
<br>T. D. Murphey and J. W. Burdick
<br><i>IEEE Int. Conf. on Decision and Control (CDC)</i>, pp. 5307–5313, 2003.</p>
<p><b>Experiments in nonsmooth control of distributed manipulation</b>
<br>T. D. Murphey and J. W. Burdick
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, pp. 3600–3606, 2003.</p>
<p><b>Smooth feedback control algorithms for fully actuated distributed manipulators</b>
<br>T. D. Murphey and J. W. Burdick
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, pp. 3619–3623, 2003.</p>
<p><b>Control of Nonprehensile Manipulation</b>
<br>K. M. Lynch and T. D. Murphey,
<br><i>Control Problems in Robotics and Automation</i> pp. 39–57. Springer-Verlag, 2003. Eds. A. Bicchi and H. Christensen.</p>
<br><h2>2002</h2>
<p><b>Nonsmooth controllability theory and an example</b>
<br>T. D. Murphey and J. W. Burdick
<br><i>IEEE Int. Conf. on Decision and Control (CDC)</i>, pp. 370–376, 2002.</p>
<p><b>Global exponential stabilizability for distributed manipulation</b>
<br>T. D. Murphey and J. W. Burdick
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, pp. 1210–1216, 2002.</p>
<p><b>A local controllability test for nonlinear multiple model systems</b>
<br>T. D. Murphey and J. W. Burdick
<br><i>American Controls Conf. (ACC)</i>, pp. 4657–4661, 2002.</p>
<p class=year>2001</p>
<p><b>Global stability for distributed systems with changing contact states</b>
<br>T. D. Murphey and J. W. Burdick
<br><i>IEEE Int. Conf. on Intelligent Robots and Systems (IROS)</i>, pp. 214–219, 2001.</p>
<p><b>A controllability test and motion planning primitives for overconstrained vehicles</b>
<br>T. D. Murphey and J. W. Burdick
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, pp. 2716–2722, 2001.</p>
<p><b>On the stability and design of distributed systems</b>
<br>T. D. Murphey and J. W. Burdick
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, pp. 2686–2691, 2001.</p>
<p class=year>2000</p>
<p><b>Issues in controllability and motion planning for overconstrained wheeled vehicles</b>
<br>T. D. Murphey and J. W. Burdick
<br><i>Proc. Int. Conf. Math. Theory of Networks and Systems (MTNS)</i>, 2000.</p>
</body>