Todd D. Murphey

According to our database1, Todd D. Murphey authored at least 185 papers between 2001 and 2022.

Collaborative distances:
  • Dijkstra number2 of four.
  • Erdős number3 of four.

Timeline

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Bibliography

2022
Memristor Circuits for Colloidal Robotics: Temporal Access to Memory, Sensing, and Actuation.
Adv. Intell. Syst., 2022

2021
Derivative-Based Koopman Operators for Real-Time Control of Robotic Systems.
IEEE Trans. Robotics, 2021

Algorithmic Design for Embodied Intelligence in Synthetic Cells.
IEEE Trans Autom. Sci. Eng., 2021

An Ergodic Measure for Active Learning From Equilibrium.
IEEE Trans Autom. Sci. Eng., 2021

Majorization Minimization Methods for Distributed Pose Graph Optimization.
CoRR, 2021

Active Learning in Robotics: A Review of Control Principles.
CoRR, 2021

Low rattling: A predictive principle for self-organization in active collectives.
CoRR, 2021

Formalizing and guaranteeing human-robot interaction.
Commun. ACM, 2021

Information Requirements of Collision-Based Micromanipulation.
Proceedings of the Algorithmic Foundations of Robotics XIV, 2021

Hybrid Control for Learning Motor Skills.
Proceedings of the Algorithmic Foundations of Robotics XIV, 2021

Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation.
Proceedings of the Robotics: Science and Systems XVII, Virtual Event, July 12-16, 2021., 2021

Linear Policies are Sufficient to Enable Low-Cost Quadrupedal Robots to Traverse Rough Terrain.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Ergodic imitation: Learning from what to do and what not to do.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Automatic Tuning for Data-driven Model Predictive Control.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation.
Proceedings of the 2021 IEEE/CVF International Conference on Computer Vision, 2021

2020
CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation.
IEEE Trans. Robotics, 2020

Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control.
IEEE Robotics Autom. Lett., 2020

Task-based hybrid shared control for training through forceful interaction.
Int. J. Robotics Res., 2020

Data-driven Koopman operators for model-based shared control of human-machine systems.
Int. J. Robotics Res., 2020

Learning from Incremental Directional Corrections.
CoRR, 2020

Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.
CoRR, 2020

Learning from Sparse Demonstrations.
CoRR, 2020

Learning Memory-Efficient Stable Linear Dynamical Systems for Prediction and Control.
CoRR, 2020

Learning Data-Driven Stable Koopman Operators.
CoRR, 2020

Majorization Minimization Methods to Distributed Pose Graph Optimization with Convergence Guarantees.
CoRR, 2020

Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation.
Proceedings of the Robotics: Science and Systems XVI, 2020

Memory-Efficient Learning of Stable Linear Dynamical Systems for Prediction and Control.
Proceedings of the Advances in Neural Information Processing Systems 33: Annual Conference on Neural Information Processing Systems 2020, 2020

Bayesian Particles on Cyclic Graphs.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Majorization Minimization Methods for Distributed Pose Graph Optimization with Convergence Guarantees.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Shoulder abduction loading affects motor coordination in individuals with chronic stroke, informing targeted rehabilitation.
Proceedings of the 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, 2020

Control-oriented Modeling of Soft Robotic Swimmer with Koopman Operators.
Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2020

2019
Active Learning of Dynamics for Data-Driven Control Using Koopman Operators.
IEEE Trans. Robotics, 2019

Iterative Sequential Action Control for Stable, Model-Based Control of Nonlinear Systems.
IEEE Trans. Autom. Control., 2019

A robot made of robots: Emergent transport and control of a smarticle ensemble.
Sci. Robotics, 2019

Ergodicity reveals assistance and learning from physical human-robot interaction.
Sci. Robotics, 2019

Dynamical System Segmentation for Information Measures in Motion.
IEEE Robotics Autom. Lett., 2019

Local Koopman Operators for Data-Driven Control of Robotic Systems.
Proceedings of the Robotics: Science and Systems XV, 2019

Highly Parallelized Data-Driven MPC for Minimal Intervention Shared Control.
Proceedings of the Robotics: Science and Systems XV, 2019

Generalized Proximal Methods for Pose Graph Optimization.
Proceedings of the Robotics Research, 2019

Efficient and Guaranteed Planar Pose Graph optimization Using the Complex Number Representation.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Data-Driven Gait Segmentation for Walking Assistance in a Lower-Limb Assistive Device.
Proceedings of the International Conference on Robotics and Automation, 2019

2018
Real-Time Area Coverage and Target Localization Using Receding-Horizon Ergodic Exploration.
IEEE Trans. Robotics, 2018

Decentralized Ergodic Control: Distribution-Driven Sensing and Exploration for Multiagent Systems.
IEEE Robotics Autom. Lett., 2018

Feedback synthesis for underactuated systems using sequential second-order needle variations.
Int. J. Robotics Res., 2018

Structured Neural Network Dynamics for Model-based Control.
CoRR, 2018

Decentralized Ergodic Control: Distribution-Driven Sensing and Exploration for Multi-Agent Systems.
CoRR, 2018

Low Complexity Control Policy Synthesis for Embodied Computation in Synthetic Cells.
Proceedings of the Algorithmic Foundations of Robotics XIII, 2018

Efficient Computation of Higher-Order Variational Integrators in Robotic Simulation and Trajectory Optimization.
Proceedings of the Algorithmic Foundations of Robotics XIII, 2018

Operation and Imitation Under Safety-Aware Shared Control.
Proceedings of the Algorithmic Foundations of Robotics XIII, 2018

Active Area Coverage from Equilibrium.
Proceedings of the Algorithmic Foundations of Robotics XIII, 2018

Online User Assessment for Minimal Intervention During Task-Based Robotic Assistance.
Proceedings of the Robotics: Science and Systems XIV, 2018

Data-Driven Measurement Models for Active Localization in Sparse Environments.
Proceedings of the Robotics: Science and Systems XIV, 2018

Superlinear Convergence Using Controls Based on Second-Order Needle Variations.
Proceedings of the 57th IEEE Conference on Decision and Control, 2018

2017
Dynamic Task Execution Using Active Parameter Identification With the Baxter Research Robot.
IEEE Trans Autom. Sci. Eng., 2017

Trust Adaptation Leads to Lower Control Effort in Shared Control of Crane Automation.
IEEE Robotics Autom. Lett., 2017

Ergodic Exploration Using Binary Sensing for Nonparametric Shape Estimation.
IEEE Robotics Autom. Lett., 2017

Ergodic Exploration using Binary Sensing for Non-Parametric Shape Estimation.
CoRR, 2017

Real-time Dynamic-Mode Scheduling Using Single-Integration Hybrid Optimization for Linear Time-Varying Systems.
CoRR, 2017

Feedback Synthesis for Controllable Underactuated Systems using Sequential Second Order Actions.
Proceedings of the Robotics: Science and Systems XIII, 2017

Learning Models for Shared Control of Human-Machine Systems with Unknown Dynamics.
Proceedings of the Robotics: Science and Systems XIII, 2017

Model-Based Control Using Koopman Operators.
Proceedings of the Robotics: Science and Systems XIII, 2017

Decentralized and recursive identification for cooperative manipulation of unknown rigid body with local measurements.
Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017

Trajectory planning and tracking of robotic fish using ergodic exploration.
Proceedings of the 2017 American Control Conference, 2017

2016
Ergodic Exploration of Distributed Information.
IEEE Trans. Robotics, 2016

Sequential Action Control: Closed-Form Optimal Control for Nonlinear and Nonsmooth Systems.
IEEE Trans. Robotics, 2016

Real-Time Dynamic-Mode Scheduling Using Single-Integration Hybrid Optimization.
IEEE Trans Autom. Sci. Eng., 2016

Model-Based Reactive Control for Hybrid and High-Dimensional Robotic Systems.
IEEE Robotics Autom. Lett., 2016

Sensory Agreement Guides Kinetic Energy Optimization of Arm Movements during Object Manipulation.
PLoS Comput. Biol., 2016

Minimum sensitivity control for planning with parametric and hybrid uncertainty.
Int. J. Robotics Res., 2016

Autonomous Visual Rendering using Physical Motion.
Proceedings of the Algorithmic Foundations of Robotics XII, 2016

Online Feedback Control for Input-Saturated Robotic Systems on Lie Groups.
Proceedings of the Robotics: Science and Systems XII, University of Michigan, Ann Arbor, Michigan, USA, June 18, 2016

On the benefits of surrogate Lagrangians in optimal control and planning algorithms.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016

Automatic synthesis of control alphabet policies.
Proceedings of the IEEE International Conference on Automation Science and Engineering, 2016

Ergodic exploration with stochastic sensor dynamics.
Proceedings of the 2016 American Control Conference, 2016

Sequential Action Control for models of underactuated underwater vehicles in a planar ideal fluid.
Proceedings of the 2016 American Control Conference, 2016

Optimal human-in-the-loop interfaces based on Maxwell's Demon.
Proceedings of the 2016 American Control Conference, 2016

2015
Trajectory Optimization for Well-Conditioned Parameter Estimation.
IEEE Trans Autom. Sci. Eng., 2015

Structured Linearization of Discrete Mechanical Systems for Analysis and Optimal Control.
IEEE Trans Autom. Sci. Eng., 2015

Real-time trajectory synthesis for information maximization using Sequential Action Control and least-squares estimation.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Maximizing fisher information using discrete mechanics and projection-based trajectory optimization.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Tactile proprioceptive input in robotic rehabilitation after stroke.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Optimal control-on-request: An application in real-time assistive balance control.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Controllers as filters: Noise-driven swing-up control based on Maxwell's demon.
Proceedings of the 54th IEEE Conference on Decision and Control, 2015

Symplectic integration for optimal ergodic control.
Proceedings of the 54th IEEE Conference on Decision and Control, 2015

Structured linearization of discrete mechanical systems on Lie groups: A synthesis of analysis and control.
Proceedings of the 54th IEEE Conference on Decision and Control, 2015

Optimal planning for target localization and coverage using range sensing.
Proceedings of the IEEE International Conference on Automation Science and Engineering, 2015

Variational integrators in linear optimal filtering.
Proceedings of the American Control Conference, 2015

A variational derivation of LQR for piecewise time-varying systems.
Proceedings of the American Control Conference, 2015

Control-on-request: Short-burst assistive control for long time horizon improvement.
Proceedings of the American Control Conference, 2015

Power Network Regulation Benchmark for Switched-Mode Optimal Control.
Proceedings of the 5th IFAC Conference on Analysis and Design of Hybrid Systems, 2015

Sequential Action Control for Tracking of Free Invariant Manifolds.
Proceedings of the 5th IFAC Conference on Analysis and Design of Hybrid Systems, 2015

2014
Trajectory Synthesis for Fisher Information Maximization.
IEEE Trans. Robotics, 2014

A Propagative Model of Simultaneous Impact: Existence, Uniqueness, and Design Consequences.
IEEE Trans Autom. Sci. Eng., 2014

Improving object tracking through distributed exploration of an information map.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Local E-optimality conditions for trajectory design to estimate parameters in nonlinear systems.
Proceedings of the American Control Conference, 2014

Effects of optimal tactile feedback in balancing tasks: A pilot study.
Proceedings of the American Control Conference, 2014

Continuous-time optimal control of impacting mechanical systems via a projected Hamilton's principle.
Proceedings of the American Control Conference, 2014

Extending filter performance through structured integration.
Proceedings of the American Control Conference, 2014

Single-integration mode scheduling for linear time-varying switched systems.
Proceedings of the American Control Conference, 2014

Computable Trust in Human Instruction.
Proceedings of the 2014 AAAI Fall Symposia, Arlington, Virginia, USA, November 13-15, 2014, 2014

2013
Simultaneous Optimal Estimation of Mode Transition Times and Parameters Applied to Simple Traction Models.
IEEE Trans. Robotics, 2013

Feature Localization Using Kinematics and Impulsive Hybrid Optimization.
IEEE Trans Autom. Sci. Eng., 2013

Optimal planning for information acquisition.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Minimal sensitivity control for hybrid environments.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Discretized switching time optimization problems.
Proceedings of the 12th European Control Conference, 2013

A projected Lagrange-d'Alembert principle for forced nonsmooth mechanics and optimal control.
Proceedings of the 52nd IEEE Conference on Decision and Control, 2013

Trajectory optimization for continuous ergodic exploration on the motion group SE(2).
Proceedings of the 52nd IEEE Conference on Decision and Control, 2013

Projection-based optimal mode scheduling.
Proceedings of the 52nd IEEE Conference on Decision and Control, 2013

Optimal trajectory design for well-conditioned parameter estimation.
Proceedings of the 2013 IEEE International Conference on Automation Science and Engineering, 2013

Embedded control synthesis using one-step methods in discrete mechanics.
Proceedings of the American Control Conference, 2013

Trajectory optimization for continuous ergodic exploration.
Proceedings of the American Control Conference, 2013

Second-order switching time and magnitude optimization for impulsive hybrid systems.
Proceedings of the American Control Conference, 2013

Minimal parametric sensitivity trajectories for nonlinear systems.
Proceedings of the American Control Conference, 2013

2012
Single Integration Optimization of Linear Time-Varying Switched Systems.
IEEE Trans. Autom. Control., 2012

Simultaneous optimal parameter and mode transition time estimation.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Trajectory tracking among landmarks and binary sensor-beams.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Conditions for uniqueness in simultaneous impact with application to mechanical design.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Trajectory generation for underactuated control of a suspended mass.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Global projections for variational nonsmooth mechanics.
Proceedings of the 51th IEEE Conference on Decision and Control, 2012

Optimal contact decisions for ergodic exploration.
Proceedings of the 51th IEEE Conference on Decision and Control, 2012

Switching time optimization in discretized hybrid dynamical systems.
Proceedings of the 51th IEEE Conference on Decision and Control, 2012

Projection-based switched system optimization: Absolute continuity of the line search.
Proceedings of the 51th IEEE Conference on Decision and Control, 2012

Linear time-varying impulse optimization for data association.
Proceedings of the American Control Conference, 2012

Variational nonsmooth mechanics via a projected Hamilton's principle.
Proceedings of the American Control Conference, 2012

Projection-based switched system optimization.
Proceedings of the American Control Conference, 2012

2011
Constructing and Implementing Motion Programs for Robotic Marionettes.
IEEE Trans. Autom. Control., 2011

Second-Order Switching Time Optimization for Nonlinear Time-Varying Dynamic Systems.
IEEE Trans. Autom. Control., 2011

Switching mode generation and optimal estimation with application to skid-steering.
Autom., 2011

Optimal motion planning for a class of hybrid dynamical systems with impacts.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Impulsive data association with an unknown number of targets.
Proceedings of the 14th ACM International Conference on Hybrid Systems: Computation and Control, 2011

A backwards error analysis approach for simulation and control of nonsmooth mechanical systems.
Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, 2011

Trajectory optimization estimator for impulsive data association.
Proceedings of the American Control Conference, 2011

Control aesthetics in software architecture for robotic marionettes.
Proceedings of the American Control Conference, 2011

2010
Editorial: Special Issue on the Eighth International Workshop on the Algorithmic Foundations of Robotics.
Int. J. Robotics Res., 2010

Variational solutions to simultaneous collisions between multiple rigid bodies.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Relaxed optimization for mode estimation in skid steering.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Impulse optimization for data association.
Proceedings of the 49th IEEE Conference on Decision and Control, 2010

Second-order DMOC using projection.
Proceedings of the 49th IEEE Conference on Decision and Control, 2010

An adjoint method for second-order switching time optimization.
Proceedings of the 49th IEEE Conference on Decision and Control, 2010

Local planning using switching time optimization.
Proceedings of the IEEE Conference on Automation Science and Engineering, 2010

Geometric integration of impact during an orbital docking procedure.
Proceedings of the IEEE Conference on Automation Science and Engineering, 2010

Stochastic sampling based data association.
Proceedings of the American Control Conference, 2010

Linearizations for mechanical systems in generalized coordinates.
Proceedings of the American Control Conference, 2010

2009
Scalable Variational Integrators for Constrained Mechanical Systems in Generalized Coordinates.
IEEE Trans. Robotics, 2009

Multiple Instantaneous Collisions in a Variational Framework.
Proceedings of the 48th IEEE Conference on Decision and Control, 2009

Second order switching time optimization for time-varying nonlinear systems.
Proceedings of the 48th IEEE Conference on Decision and Control, 2009

Automated trajectory synthesis from animation data using trajectory optimization.
Proceedings of the IEEE Conference on Automation Science and Engineering, 2009

Second-order optimal estimation of slip state for a simple slip-steered vehicle.
Proceedings of the IEEE Conference on Automation Science and Engineering, 2009

Dangers of two-point holonomic constraints for variational integrators.
Proceedings of the American Control Conference, 2009

2008
Convergence-Preserving Switching for Topology-Dependent Decentralized Systems.
IEEE Trans. Robotics, 2008

Teaching Rigid Body Mechanics Using Student-Created Virtual Environments.
IEEE Trans. Educ., 2008

Case Studies in Planar Part Feeding and Assembly Based on Design of Limit Sets.
Int. J. Robotics Res., 2008

On multiple model control for multiple contact systems.
Autom., 2008

A Variational Approach to Strand-Based Modeling of the Human Hand.
Proceedings of the Algorithmic Foundation of Robotics VIII, 2008

Adaptive cooperative manipulation with intermittent contact.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

Discrete and continuous mechanics for tree representations of mechanical systems.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

Variational integrators for constrained cables.
Proceedings of the 2008 IEEE International Conference on Automation Science and Engineering, 2008

Data association with ambiguous measurements.
Proceedings of the American Control Conference, 2008

Filtering of interaction rules in cooperation.
Proceedings of the American Control Conference, 2008

2007
Kinematic reductions for uncertain mechanical contact.
Robotica, 2007

Dynamic Modeling and Motion Planning for Marionettes: Rigid Bodies Articulated by Massless Strings.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

Motion Programs for Puppet Choreography and Control.
Proceedings of the Hybrid Systems: Computation and Control, 10th International Workshop, 2007

Geometric Derived Information Spaces in Manipulation with Mechanical Contact.
Proceedings of the IEEE Conference on Automation Science and Engineering, 2007

Switching Rules for Decentralized Control with Simple Control Laws.
Proceedings of the American Control Conference, 2007

2006
The power dissipation method and kinematic reducibility of multiple-model robotic systems.
IEEE Trans. Robotics, 2006

Mechanical Manipulation Using Reduced Models of Uncertainty.
Proceedings of the Algorithmic Foundation of Robotics VII, 2006

A Method of Cooperative Control using Occasional non-local Interactions.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

Motion Planning for Kinematically Overconstrained Vehicles using Feedback Primitives.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

An approach to switching control beyond nearest neighbor rules.
Proceedings of the American Control Conference, 2006

Modeling and control of multiple-contact manipulation without modeling friction.
Proceedings of the American Control Conference, 2006

2005
On Observing Contact States in Overconstrained Manipulation.
Proceedings of the Multi-point Interaction with Real and Virtual Objects, 2005

An example of parts handling and self-assembly using stable limit sets.
Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005

2004
Feedback Control Methods for Distributed Manipulation Systems that Involve Mechanical Contacts.
Int. J. Robotics Res., 2004

Experiments in the Use of Stable Limit Sets for Parts Handling.
Proceedings of the 2004 International Conference on MEMS, 2004

2003
Control of Nonprehensile Manipulation.
Proceedings of the Control Problems in Robotics, 2003

Experiments in nonsmooth control of distributed manipulation.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

Smooth feedback control algorithms for distributed manipulators.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

Kinematic reducibility of multiple model systems.
Proceedings of the 42nd IEEE Conference on Decision and Control, 2003

2002
Feedback Control for Distributed Manipulation.
Proceedings of the Algorithmic Foundations of Robotics V, 2002

Global Exponential Stabilizability for Distributed Manipulation Systems.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Nonsmooth controllability theory and an example.
Proceedings of the 41st IEEE Conference on Decision and Control, 2002

A local controllability test for nonlinear multiple model systems.
Proceedings of the American Control Conference, 2002

2001
Global stability for distributed systems with changing contact states.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001

A Controllability test and Motion planning Primitives for Overconstrained Vehicles.
Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001

On the Stability and Design of Distributed Manipulation Control Systems.
Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001


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