On the Stability and Design of Distributed Manipulation Control Systems. - Todd D. Murphey; Joel W. Burdick (ICRA, 2001)

A Controllability test and Motion planning Primitives for Overconstrained Vehicles. - Todd D. Murphey; Joel W. Burdick (ICRA, 2001)

Global stability for distributed systems with changing contact states. - Todd D. Murphey; Joel W. Burdick (IROS, 2001)

A local controllability test for nonlinear multiple model systems. - Todd D. Murphey; Joel Burdick (ACC, 2002)

Nonsmooth controllability theory and an example. - Todd D. Murphey; Joel W. Burdick (CDC, 2002)

Global Exponential Stabilizability for Distributed Manipulation Systems. - Todd D. Murphey; Joel W. Burdick (ICRA, 2002)

Feedback Control for Distributed Manipulation. - Todd D. Murphey; Joel W. Burdick (WAFR, 2002)

Kinematic reducibility of multiple model systems. - Todd D. Murphey; Joel W. Burdick (CDC, 2003)

Smooth feedback control algorithms for distributed manipulators. - Todd D. Murphey; Joel W. Burdick (ICRA, 2003)

Experiments in nonsmooth control of distributed manipulation. - Todd D. Murphey; Joel W. Burdick; James Burgess; Andrew Homyk (ICRA, 2003)

Control of Nonprehensile Manipulation. - Kevin M. Lynch; Todd D. Murphey (Control Problems in Robotics, 2003)

Experiments in the Use of Stable Limit Sets for Parts Handling. - Todd D. Murphey; David Choi; Jay Bernheisel; Kevin M. Lynch (ICMENS, 2004)

Feedback Control Methods for Distributed Manipulation Systems that Involve Mechanical Contacts. - Todd D. Murphey; Joel W. Burdick (Int. J. Robotics Res., 2004)

Application of supervisory control methods to uncertain multiple contact mechanical systems. - Todd D. Murphey (ACC, 2005)

An example of parts handling and self-assembly using stable limit sets. - Todd D. Murphey; Jay Bernheisel; David Choi; Kevin M. Lynch (IROS, 2005)

On Observing Contact States in Overconstrained Manipulation. - Todd D. Murphey (Multi-point Interaction with Real and Virtual Objects, 2005)

Modeling and control of multiple-contact manipulation without modeling friction. - Todd D. Murphey (ACC, 2006)

An approach to switching control beyond nearest neighbor rules. - Brian Shucker; Todd D. Murphey; John K. Bennett (ACC, 2006)

Motion Planning for Kinematically Overconstrained Vehicles using Feedback Primitives. - Todd D. Murphey (ICRA, 2006)

A Method of Cooperative Control using Occasional non-local Interactions. - Brian Shucker; Todd D. Murphey; John K. Bennett (ICRA, 2006)

Mechanical Manipulation Using Reduced Models of Uncertainty. - Todd D. Murphey (WAFR, 2006)

The power dissipation method and kinematic reducibility of multiple-model robotic systems. - Todd D. Murphey; Joel W. Burdick (IEEE Trans. Robotics, 2006)

Switching Rules for Decentralized Control with Simple Control Laws. - Brian Shucker; Todd D. Murphey; John K. Bennett (ACC, 2007)

Geometric Derived Information Spaces in Manipulation with Mechanical Contact. - Todd D. Murphey (CASE, 2007)

Motion Programs for Puppet Choreography and Control. - Magnus Egerstedt; Todd D. Murphey; Jon Ludwig (HSCC, 2007)

Dynamic Modeling and Motion Planning for Marionettes: Rigid Bodies Articulated by Massless Strings. - Elliot R. Johnson; Todd D. Murphey (ICRA, 2007)

Kinematic reductions for uncertain mechanical contact. - Todd D. Murphey (Robotica, 2007)

Filtering of interaction rules in cooperation. - Todd D. Murphey (ACC, 2008)

Data association with ambiguous measurements. - Matthew J. Travers; Todd D. Murphey; Lucy Y. Pao (ACC, 2008)

Variational integrators for constrained cables. - Kirk Nichols; Todd D. Murphey (CASE, 2008)

Discrete and continuous mechanics for tree representations of mechanical systems. - Elliot R. Johnson; Todd D. Murphey (ICRA, 2008)

Adaptive cooperative manipulation with intermittent contact. - Todd D. Murphey; Matanya B. Horowitz (ICRA, 2008)

A Variational Approach to Strand-Based Modeling of the Human Hand. - Elliot R. Johnson; Karen Morris; Todd D. Murphey (WAFR, 2008)

On multiple model control for multiple contact systems. - Todd D. Murphey (Autom., 2008)

Case Studies in Planar Part Feeding and Assembly Based on Design of Limit Sets. - Todd D. Murphey; Kevin M. Lynch (Int. J. Robotics Res., 2008)

Teaching Rigid Body Mechanics Using Student-Created Virtual Environments. - Todd D. Murphey (IEEE Trans. Educ., 2008)

Convergence-Preserving Switching for Topology-Dependent Decentralized Systems. - Brian Shucker; Todd D. Murphey; John K. Bennett (IEEE Trans. Robotics, 2008)

Dangers of two-point holonomic constraints for variational integrators. - Elliot R. Johnson; Todd D. Murphey (ACC, 2009)

Second-order optimal estimation of slip state for a simple slip-steered vehicle. - Timothy M. Caldwell; Todd D. Murphey (CASE, 2009)

Automated trajectory synthesis from animation data using trajectory optimization. - Elliot R. Johnson; Todd D. Murphey (CASE, 2009)

Second order switching time optimization for time-varying nonlinear systems. - Elliot R. Johnson; Todd D. Murphey (CDC, 2009)

Multiple Instantaneous Collisions in a Variational Framework. - Vlad Seghete; Todd D. Murphey (CDC, 2009)

Scalable Variational Integrators for Constrained Mechanical Systems in Generalized Coordinates. - Elliot R. Johnson; Todd D. Murphey (IEEE Trans. Robotics, 2009)

Linearizations for mechanical systems in generalized coordinates. - Elliot R. Johnson; Todd D. Murphey (ACC, 2010)

Stochastic sampling based data association. - Matthew J. Travers; Todd D. Murphey; Lucy Y. Pao (ACC, 2010)

Geometric integration of impact during an orbital docking procedure. - Corrina Gibson; Todd D. Murphey (CASE, 2010)

Local planning using switching time optimization. - Elliot R. Johnson; Todd D. Murphey (CASE, 2010)

An adjoint method for second-order switching time optimization. - Timothy M. Caldwell; Todd D. Murphey (CDC, 2010)

Second-order DMOC using projection. - Kristine L. Snyder; Todd D. Murphey (CDC, 2010)

Impulse optimization for data association. - Matthew J. Travers; Todd D. Murphey; Lucy Y. Pao (CDC, 2010)

Relaxed optimization for mode estimation in skid steering. - Timothy M. Caldwell; Todd D. Murphey (ICRA, 2010)

Variational solutions to simultaneous collisions between multiple rigid bodies. - Vlad Seghete; Todd D. Murphey (ICRA, 2010)

Editorial: Special Issue on the Eighth International Workshop on the Algorithmic Foundations of Robotics. - Gregory S. Chirikjian; Howie Choset; Marco Morales 001; Todd D. Murphey (Int. J. Robotics Res., 2010)

Control aesthetics in software architecture for robotic marionettes. - Todd D. Murphey; Elliot R. Johnson (ACC, 2011)

Trajectory optimization estimator for impulsive data association. - Matthew J. Travers; Todd D. Murphey; Lucy Y. Pao (ACC, 2011)

A backwards error analysis approach for simulation and control of nonsmooth mechanical systems. - David Pekarek; Todd D. Murphey (CDC/ECC, 2011)

Impulsive data association with an unknown number of targets. - Matthew J. Travers; Todd D. Murphey; Lucy Y. Pao (HSCC, 2011)

Optimal motion planning for a class of hybrid dynamical systems with impacts. - Andrew W. Long; Todd D. Murphey; Kevin M. Lynch (ICRA, 2011)

Switching mode generation and optimal estimation with application to skid-steering. - Timothy M. Caldwell; Todd D. Murphey (Autom., 2011)

Second-Order Switching Time Optimization for Nonlinear Time-Varying Dynamic Systems. - Elliot R. Johnson; Todd D. Murphey (IEEE Trans. Autom. Control., 2011)

Constructing and Implementing Motion Programs for Robotic Marionettes. - Patrick Martin 003; Elliot R. Johnson; Todd D. Murphey; Magnus Egerstedt (IEEE Trans. Autom. Control., 2011)

Projection-based switched system optimization. - Timothy M. Caldwell; Todd D. Murphey (ACC, 2012)

Variational nonsmooth mechanics via a projected Hamilton's principle. - David Pekarek; Todd D. Murphey (ACC, 2012)

Linear time-varying impulse optimization for data association. - Matthew J. Travers; Todd D. Murphey; Lucy Y. Pao (ACC, 2012)

Projection-based switched system optimization: Absolute continuity of the line search. - Timothy M. Caldwell; Todd D. Murphey (CDC, 2012)

Switching time optimization in discretized hybrid dynamical systems. - Kathrin Flaßkamp; Todd D. Murphey; Sina Ober-Blöbaum (CDC, 2012)

Optimal contact decisions for ergodic exploration. - Lauren M. Miller; Todd D. Murphey (CDC, 2012)

Global projections for variational nonsmooth mechanics. - David Pekarek; Todd D. Murphey (CDC, 2012)

Trajectory generation for underactuated control of a suspended mass. - Jarvis A. Schultz; Todd D. Murphey (ICRA, 2012)

Conditions for uniqueness in simultaneous impact with application to mechanical design. - Vlad Seghete; Todd D. Murphey (ICRA, 2012)

Trajectory tracking among landmarks and binary sensor-beams. - Benjamín Tovar; Todd D. Murphey (ICRA, 2012)

Simultaneous optimal parameter and mode transition time estimation. - Lauren M. Miller; Todd D. Murphey (IROS, 2012)

Single Integration Optimization of Linear Time-Varying Switched Systems. - Timothy M. Caldwell; Todd D. Murphey (IEEE Trans. Autom. Control., 2012)

Minimal parametric sensitivity trajectories for nonlinear systems. - Alex Ansari; Todd D. Murphey (ACC, 2013)

Second-order switching time and magnitude optimization for impulsive hybrid systems. - Yoke Peng Leong; Todd D. Murphey (ACC, 2013)

Trajectory optimization for continuous ergodic exploration. - Lauren M. Miller; Todd D. Murphey (ACC, 2013)

Embedded control synthesis using one-step methods in discrete mechanics. - Jarvis A. Schultz; Todd D. Murphey (ACC, 2013)

Optimal trajectory design for well-conditioned parameter estimation. - Andrew D. Wilson; Todd D. Murphey (CASE, 2013)

Projection-based optimal mode scheduling. - Timothy M. Caldwell; Todd D. Murphey (CDC, 2013)

Trajectory optimization for continuous ergodic exploration on the motion group SE(2). - Lauren M. Miller; Todd D. Murphey (CDC, 2013)

A projected Lagrange-d'Alembert principle for forced nonsmooth mechanics and optimal control. - David Pekarek; Todd D. Murphey (CDC, 2013)

Discretized switching time optimization problems. - Kathrin Flaßkamp; Todd D. Murphey; Sina Ober-Blöbaum (ECC, 2013)

Minimal sensitivity control for hybrid environments. - Alex Ansari; Todd D. Murphey (IROS, 2013)

Optimal planning for information acquisition. - Yonatan Silverman; Lauren M. Miller; Malcolm A. MacIver; Todd D. Murphey (IROS, 2013)

Feature Localization Using Kinematics and Impulsive Hybrid Optimization. - Yoke Peng Leong; Todd D. Murphey (IEEE Trans Autom. Sci. Eng., 2013)

Simultaneous Optimal Estimation of Mode Transition Times and Parameters Applied to Simple Traction Models. - Lauren M. Miller; Todd D. Murphey (IEEE Trans. Robotics, 2013)

Computable Trust in Human Instruction. - Brenna D. Argall; Todd D. Murphey (AAAI Fall Symposia, 2014)

Single-integration mode scheduling for linear time-varying switched systems. - Anastasia Mavrommati; Todd D. Murphey (ACC, 2014)

Extending filter performance through structured integration. - Jarvis A. Schultz; Todd D. Murphey (ACC, 2014)

Continuous-time optimal control of impacting mechanical systems via a projected Hamilton's principle. - Vlad Seghete; Todd D. Murphey (ACC, 2014)

Effects of optimal tactile feedback in balancing tasks: A pilot study. - Emmanouil Tzorakoleftherakis; Ferdinando A. Mussa-Ivaldi; Robert A. Scheidt; Todd D. Murphey (ACC, 2014)

Local E-optimality conditions for trajectory design to estimate parameters in nonlinear systems. - Andrew D. Wilson; Todd D. Murphey (ACC, 2014)

Improving object tracking through distributed exploration of an information map. - Izaak D. Neveln; Lauren M. Miller; Malcolm A. MacIver; Todd D. Murphey (IROS, 2014)

A Propagative Model of Simultaneous Impact: Existence, Uniqueness, and Design Consequences. - Vlad Seghete; Todd D. Murphey (IEEE Trans Autom. Sci. Eng., 2014)

Trajectory Synthesis for Fisher Information Maximization. - Andrew D. Wilson; Jarvis A. Schultz; Todd D. Murphey (IEEE Trans. Robotics, 2014)

Sequential Action Control for Tracking of Free Invariant Manifolds. - Alex Ansari; Kathrin Flaßkamp; Todd D. Murphey (ADHS, 2015)

Power Network Regulation Benchmark for Switched-Mode Optimal Control. - Timothy M. Caldwell; Todd D. Murphey (ADHS, 2015)

Control-on-request: Short-burst assistive control for long time horizon improvement. - Alex Ansari; Todd D. Murphey (ACC, 2015)

A variational derivation of LQR for piecewise time-varying systems. - Alex Ansari; Todd D. Murphey (ACC, 2015)

Variational integrators in linear optimal filtering. - Kathrin Flaßkamp; Todd D. Murphey (ACC, 2015)

Optimal planning for target localization and coverage using range sensing. - Lauren M. Miller; Todd D. Murphey (CASE, 2015)

Structured linearization of discrete mechanical systems on Lie groups: A synthesis of analysis and control. - Taosha Fan; Todd D. Murphey (CDC, 2015)

Symplectic integration for optimal ergodic control. - Ahalya Prabhakar; Kathrin Flaßkamp; Todd D. Murphey (CDC, 2015)

Controllers as filters: Noise-driven swing-up control based on Maxwell's demon. - Emmanouil Tzorakoleftherakis; Todd D. Murphey (CDC, 2015)

Optimal control-on-request: An application in real-time assistive balance control. - Anastasia Mavrommati; Alex Ansari; Todd D. Murphey (ICRA, 2015)

Tactile proprioceptive input in robotic rehabilitation after stroke. - Emmanouil Tzorakoleftherakis; Maria C. Bengtson; Ferdinando A. Mussa-Ivaldi; Robert A. Scheidt; Todd D. Murphey (ICRA, 2015)

Maximizing fisher information using discrete mechanics and projection-based trajectory optimization. - Andrew D. Wilson; Todd D. Murphey (ICRA, 2015)

Real-time trajectory synthesis for information maximization using Sequential Action Control and least-squares estimation. - Andrew D. Wilson; Jarvis A. Schultz; Alex R. Ansari; Todd D. Murphey (IROS, 2015)

Structured Linearization of Discrete Mechanical Systems for Analysis and Optimal Control. - Elliot R. Johnson; Jarvis A. Schultz; Todd D. Murphey (IEEE Trans Autom. Sci. Eng., 2015)

Trajectory Optimization for Well-Conditioned Parameter Estimation. - Andrew D. Wilson; Jarvis A. Schultz; Todd D. Murphey (IEEE Trans Autom. Sci. Eng., 2015)

Optimal human-in-the-loop interfaces based on Maxwell's Demon. - Kathleen Fitzsimons; Emmanouil Tzorakoleftherakis; Todd D. Murphey (ACC, 2016)

Sequential Action Control for models of underactuated underwater vehicles in a planar ideal fluid. - Giorgos Mamakoukas; Malcolm A. MacIver; Todd D. Murphey (ACC, 2016)

Ergodic exploration with stochastic sensor dynamics. - Gerardo De La Torre; Kathrin Flaßkamp; Ahalya Prabhakar; Todd D. Murphey (ACC, 2016)

Automatic synthesis of control alphabet policies. - Anastasia Mavrommati; Todd D. Murphey (CASE, 2016)

On the benefits of surrogate Lagrangians in optimal control and planning algorithms. - Gerardo De La Torre; Todd D. Murphey (CDC, 2016)

Online Feedback Control for Input-Saturated Robotic Systems on Lie Groups. - Taosha Fan; Todd D. Murphey (Robotics: Science and Systems, 2016)

Autonomous Visual Rendering using Physical Motion. - Ahalya Prabhakar; Anastasia Mavrommati; Jarvis A. Schultz; Todd D. Murphey (WAFR, 2016)

Minimum sensitivity control for planning with parametric and hybrid uncertainty. - Alex Ansari; Todd D. Murphey (Int. J. Robotics Res., 2016)

Sensory Agreement Guides Kinetic Energy Optimization of Arm Movements during Object Manipulation. - Ali Farshchiansadegh; Alejandro Melendez-Calderon; Rajiv Ranganathan; Todd D. Murphey; Ferdinando A. Mussa-Ivaldi (PLoS Comput. Biol., 2016)

Model-Based Reactive Control for Hybrid and High-Dimensional Robotic Systems. - Emmanouil Tzorakoleftherakis; Alex Ansari; Andrew D. Wilson; Jarvis A. Schultz; Todd D. Murphey (IEEE Robotics Autom. Lett., 2016)

Real-Time Dynamic-Mode Scheduling Using Single-Integration Hybrid Optimization. - Anastasia Mavrommati; Jarvis A. Schultz; Todd D. Murphey (IEEE Trans Autom. Sci. Eng., 2016)

Sequential Action Control: Closed-Form Optimal Control for Nonlinear and Nonsmooth Systems. - Alexander R. Ansari; Todd D. Murphey (IEEE Trans. Robotics, 2016)

Ergodic Exploration of Distributed Information. - Lauren M. Miller; Yonatan Silverman; Malcolm A. MacIver; Todd D. Murphey (IEEE Trans. Robotics, 2016)

Trajectory planning and tracking of robotic fish using ergodic exploration. - Maria L. Castano; Anastasia Mavrommati; Todd D. Murphey; Xiaobo Tan (ACC, 2017)

Decentralized and recursive identification for cooperative manipulation of unknown rigid body with local measurements. - Taosha Fan; Huan Weng; Todd D. Murphey (CDC, 2017)

Model-Based Control Using Koopman Operators. - Ian Abraham; Gerardo De La Torre; Todd D. Murphey (Robotics: Science and Systems, 2017)

Learning Models for Shared Control of Human-Machine Systems with Unknown Dynamics. - Alexander Broad; Todd D. Murphey; Brenna D. Argall (Robotics: Science and Systems, 2017)

Feedback Synthesis for Controllable Underactuated Systems using Sequential Second Order Actions. - Giorgos Mamakoukas; Malcolm A. MacIver; Todd D. Murphey (Robotics: Science and Systems, 2017)

Real-time Dynamic-Mode Scheduling Using Single-Integration Hybrid Optimization for Linear Time-Varying Systems. - Anastasia Mavrommati; Jarvis A. Schultz; Todd D. Murphey (CoRR, 2017)

Ergodic Exploration using Binary Sensing for Non-Parametric Shape Estimation. - Ian Abraham; Ahalya Prabhakar; Mitra J. Z. Hartmann; Todd D. Murphey (CoRR, 2017)

Ergodic Exploration Using Binary Sensing for Nonparametric Shape Estimation. - Ian Abraham; Ahalya Prabhakar; Mitra J. Z. Hartmann; Todd D. Murphey (IEEE Robotics Autom. Lett., 2017)

Trust Adaptation Leads to Lower Control Effort in Shared Control of Crane Automation. - Alexander Broad; Jarvis A. Schultz; Matthew Derry; Todd D. Murphey; Brenna D. Argall (IEEE Robotics Autom. Lett., 2017)

Dynamic Task Execution Using Active Parameter Identification With the Baxter Research Robot. - Andrew D. Wilson; Jarvis A. Schultz; Alex R. Ansari; Todd D. Murphey (IEEE Trans Autom. Sci. Eng., 2017)

Superlinear Convergence Using Controls Based on Second-Order Needle Variations. - Giorgos Mamakoukas; Malcolm A. MacIver; Todd D. Murphey (CDC, 2018)

Data-Driven Measurement Models for Active Localization in Sparse Environments. - Ian Abraham; Anastasia Mavrommati; Todd D. Murphey (Robotics: Science and Systems, 2018)

Online User Assessment for Minimal Intervention During Task-Based Robotic Assistance. - Aleksandra Kalinowska; Kathleen Fitzsimons; Julius P. A. Dewald; Todd D. Murphey (Robotics: Science and Systems, 2018)

Active Area Coverage from Equilibrium. - Ian Abraham; Ahalya Prabhakar; Todd D. Murphey (WAFR, 2018)

Operation and Imitation Under Safety-Aware Shared Control. - Alexander Broad; Todd D. Murphey; Brenna Argall (WAFR, 2018)

Efficient Computation of Higher-Order Variational Integrators in Robotic Simulation and Trajectory Optimization. - Taosha Fan; Jarvis A. Schultz; Todd D. Murphey (WAFR, 2018)

Low Complexity Control Policy Synthesis for Embodied Computation in Synthetic Cells. - Ana Pervan; Todd D. Murphey (WAFR, 2018)

Decentralized Ergodic Control: Distribution-Driven Sensing and Exploration for Multi-Agent Systems. - Ian Abraham; Todd D. Murphey (CoRR, 2018)

Structured Neural Network Dynamics for Model-based Control. - Alexander Broad; Ian Abraham; Todd D. Murphey; Brenna D. Argall (CoRR, 2018)

Feedback synthesis for underactuated systems using sequential second-order needle variations. - Giorgos Mamakoukas; Malcolm A. MacIver; Todd D. Murphey (Int. J. Robotics Res., 2018)

Decentralized Ergodic Control: Distribution-Driven Sensing and Exploration for Multiagent Systems. - Ian Abraham; Todd D. Murphey (IEEE Robotics Autom. Lett., 2018)

Real-Time Area Coverage and Target Localization Using Receding-Horizon Ergodic Exploration. - Anastasia Mavrommati; Emmanouil Tzorakoleftherakis; Ian Abraham; Todd D. Murphey (IEEE Trans. Robotics, 2018)

Data-Driven Gait Segmentation for Walking Assistance in a Lower-Limb Assistive Device. - Aleksandra Kalinowska; Thomas A. Berrueta; Adam Zoss; Todd D. Murphey (ICRA, 2019)

Efficient and Guaranteed Planar Pose Graph optimization Using the Complex Number Representation. - Taosha Fan; Hanlin Wang; Michael Rubenstein; Todd D. Murphey (IROS, 2019)

Generalized Proximal Methods for Pose Graph Optimization. - Taosha Fan; Todd D. Murphey (ISRR, 2019)

Highly Parallelized Data-Driven MPC for Minimal Intervention Shared Control. - Alexander Broad; Todd D. Murphey; Brenna Argall (Robotics: Science and Systems, 2019)

Local Koopman Operators for Data-Driven Control of Robotic Systems. - Giorgos Mamakoukas; Maria L. Castano; Xiaobo Tan; Todd D. Murphey (Robotics: Science and Systems, 2019)

Dynamical System Segmentation for Information Measures in Motion. - Thomas A. Berrueta; Ana Pervan; Kathleen Fitzsimons; Todd D. Murphey (IEEE Robotics Autom. Lett., 2019)

Ergodicity reveals assistance and learning from physical human-robot interaction. - Kathleen Fitzsimons; Ana Maria Acosta; Julius P. A. Dewald; Todd D. Murphey (Sci. Robotics, 2019)

A robot made of robots: Emergent transport and control of a smarticle ensemble. - William Savoie; Thomas A. Berrueta; Zachary Jackson; Ana Pervan; Ross Warkentin; Shengkai Li; Todd D. Murphey; Kurt Wiesenfeld; Daniel I. Goldman (Sci. Robotics, 2019)

Iterative Sequential Action Control for Stable, Model-Based Control of Nonlinear Systems. - Emmanouil Tzorakoleftherakis; Todd D. Murphey (IEEE Trans. Autom. Control., 2019)

Active Learning of Dynamics for Data-Driven Control Using Koopman Operators. - Ian Abraham; Todd D. Murphey (IEEE Trans. Robotics, 2019)

Control-oriented Modeling of Soft Robotic Swimmer with Koopman Operators. - Maria L. Castaño; Andrew Hess; Giorgos Mamakoukas; Tong Gao; Todd D. Murphey; Xiaobo Tan (AIM, 2020)

Shoulder abduction loading affects motor coordination in individuals with chronic stroke, informing targeted rehabilitation. - Aleksandra Kalinowska; Kyra Rudy; Millicent Schlafly; Kathleen Fitzsimons; Julius P. A. Dewald; Todd D. Murphey (BioRob, 2020)

Majorization Minimization Methods for Distributed Pose Graph Optimization with Convergence Guarantees. - Taosha Fan; Todd D. Murphey (IROS, 2020)

Bayesian Particles on Cyclic Graphs. - Ana Pervan; Todd D. Murphey (IROS, 2020)

Memory-Efficient Learning of Stable Linear Dynamical Systems for Prediction and Control. - Giorgos Mamakoukas; Orest Xherija; Todd D. Murphey (NeurIPS, 2020)

Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation. - Ahalya Prabhakar; Ian Abraham; Annalisa T. Taylor; Millicent Schlafly; Katarina Popovic; Giovani Diniz; Brendan Teich; Borislava I. Simidchieva; Shane Clark; Todd D. Murphey (Robotics: Science and Systems, 2020)

Majorization Minimization Methods to Distributed Pose Graph Optimization with Convergence Guarantees. - Taosha Fan; Todd D. Murphey (CoRR, 2020)

Learning Data-Driven Stable Koopman Operators. - Giorgos Mamakoukas; Ian Abraham; Todd D. Murphey (CoRR, 2020)

Learning Memory-Efficient Stable Linear Dynamical Systems for Prediction and Control. - Giorgos Mamakoukas; Orest Xherija; Todd D. Murphey (CoRR, 2020)

Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion. - Maurice Rahme; Ian Abraham; Matthew L. Elwin; Todd D. Murphey (CoRR, 2020)

Learning from Incremental Directional Corrections. - Wanxin Jin; Todd D. Murphey; Shaoshuai Mou (CoRR, 2020)

Data-driven Koopman operators for model-based shared control of human-machine systems. - Alexander Broad; Ian Abraham; Todd D. Murphey; Brenna Argall (Int. J. Robotics Res., 2020)

Task-based hybrid shared control for training through forceful interaction. - Kathleen Fitzsimons; Aleksandra Kalinowska; Julius P. A. Dewald; Todd D. Murphey (Int. J. Robotics Res., 2020)

Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control. - Ian Abraham; Ankur Handa; Nathan D. Ratliff; Kendall Lowrey; Todd D. Murphey; Dieter Fox (IEEE Robotics Autom. Lett., 2020)

CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation. - Taosha Fan; Hanlin Wang; Michael Rubenstein; Todd D. Murphey (IEEE Trans. Robotics, 2020)

Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation. - Taosha Fan; Kalyan Vasudev Alwala; Donglai Xiang; Weipeng Xu; Todd D. Murphey; Mustafa Mukadam (ICCV, 2021)

Automatic Tuning for Data-driven Model Predictive Control. - William Edwards; Gao Tang; Giorgos Mamakoukas; Todd D. Murphey; Kris Hauser (ICRA, 2021)

Ergodic imitation: Learning from what to do and what not to do. - Aleksandra Kalinowska; Ahalya Prabhakar; Kathleen Fitzsimons; Todd D. Murphey (ICRA, 2021)

Linear Policies are Sufficient to Enable Low-Cost Quadrupedal Robots to Traverse Rough Terrain. - Maurice Rahme; Ian Abraham; Matthew L. Elwin; Todd D. Murphey (IROS, 2021)

Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation. - Muchen Sun; Francesca Baldini; Peter Trautman; Todd D. Murphey (Robotics: Science and Systems, 2021)

Hybrid Control for Learning Motor Skills. - Ian Abraham; Alexander Broad; Allison Pinosky; Brenna Argall; Todd D. Murphey (WAFR, 2021)

Information Requirements of Collision-Based Micromanipulation. - Alexandra Q. Nilles; Ana Pervan; Thomas A. Berrueta; Todd D. Murphey; Steven M. LaValle (WAFR, 2021)

Formalizing and guaranteeing human-robot interaction. - Hadas Kress-Gazit; Kerstin Eder; Guy Hoffman; Henny Admoni; Brenna Argall; Rüdiger Ehlers; Christoffer Heckman; Nils Jansen 001; Ross A. Knepper; Jan Kretínský; Shelly Levy-Tzedek; Jamy Li; et al. (Commun. ACM, 2021)

Low rattling: A predictive principle for self-organization in active collectives. - Pavel Chvykov; Thomas A. Berrueta; Akash Vardhan; William Savoie; Alexander Samland; Todd D. Murphey; Kurt Wiesenfeld; Daniel I. Goldman; Jeremy L. England (CoRR, 2021)

Active Learning in Robotics: A Review of Control Principles. - Annalisa T. Taylor; Thomas A. Berrueta; Todd D. Murphey (CoRR, 2021)

An Ergodic Measure for Active Learning From Equilibrium. - Ian Abraham; Ahalya Prabhakar; Todd D. Murphey (IEEE Trans Autom. Sci. Eng., 2021)

Algorithmic Design for Embodied Intelligence in Synthetic Cells. - Ana Pervan; Todd D. Murphey (IEEE Trans Autom. Sci. Eng., 2021)

Derivative-Based Koopman Operators for Real-Time Control of Robotic Systems. - Giorgos Mamakoukas; Maria L. Castaño; Xiaobo Tan; Todd D. Murphey (IEEE Trans. Robotics, 2021)

A Game Benchmark for Real-Time Human-Swarm Control. - Joel Meyer; Allison Pinosky; Thomas Trzpit; Ed Colgate; Todd D. Murphey (CASE, 2022)

Towards Situated Communication in Multi-Step Interactions: Time is a Key Pressure in Communication Emergence. - Aleksandra Kalinowska; Elnaz Davoodi; Kory W. Mathewson; Todd D. Murphey; Patrick M. Pilarski (CogSci, 2022)

Scale-Invariant Fast Functional Registration. - Muchen Sun; Allison Pinosky; Ian Abraham; Todd D. Murphey (ISRR, 2022)

Memristor Circuits for Colloidal Robotics: Temporal Access to Memory, Sensing, and Actuation. - Jing Fan Yang; Albert Tianxiang Liu; Thomas A. Berrueta; Ge Zhang 003; Allan M. Brooks; Volodymyr B. Koman; Sungyun Yang; Xun Gong; Todd D. Murphey; Michael S. Strano (Adv. Intell. Syst., 2022)

Over-communicate no more: Situated RL agents learn concise communication protocols. - Aleksandra Kalinowska; Elnaz Davoodi; Florian Strub; Kory W. Mathewson; Ivana Kajic; Michael Bowling; Todd D. Murphey; Patrick M. Pilarski (CoRR, 2022)

Measuring Interaction Bandwidth During Physical Human-Robot Collaboration. - Aleksandra Kalinowska; Millicent Schlafly; Kyra Rudy; Jules P. A. Dewald; Todd D. Murphey (IEEE Robotics Autom. Lett., 2022)

Ergodic Shared Control: Closing the Loop on pHRI Based on Information Encoded in Motion. - Kathleen Fitzsimons; Todd D. Murphey (ACM Trans. Hum. Robot Interact., 2022)

Characterizing Eye Gaze for Assistive Device Control. - Larisa Y. C. Loke; Demiana R. Barsoum; Todd D. Murphey; Brenna D. Argall (ICORR, 2023)

Automated Gait Generation for Walking, Soft Robotic Quadrupeds. - Jake Ketchum; Sophia Schiffer; Muchen Sun; Pranav Kaarthik; Ryan L. Truby; Todd D. Murphey (IROS, 2023)

Measuring Human-Robot Team Benefits Under Time Pressure in a Virtual Reality Testbed. - Katarina Popovic; Millicent Schlafly; Ahalya Prabhakar; Christopher Kim; Todd D. Murphey (IROS, 2023)

Decentralization and Acceleration Enables Large-Scale Bundle Adjustment. - Taosha Fan; Joseph Ortiz; Ming Hsiao; Maurizio Monge; Jing Dong 002; Todd D. Murphey; Mustafa Mukadam (Robotics: Science and Systems, 2023)

Scale-Invariant Specifications for Human-Swarm Systems. - Joel Meyer; Ahalya Prabhakar; Allison Pinosky; Ian Abraham; Annalisa T. Taylor; Millicent Schlafly; Katarina Popovic; Giovani Diniz; Brendan Teich; Borislava I. Simidchieva; Shane Clark; Todd D. Murphey (Field Robotics, 2023)

Learning From Sparse Demonstrations. - Wanxin Jin; Todd D. Murphey; Dana Kulic; Neta Ezer; Shaoshuai Mou (IEEE Trans. Robotics, 2023)

Learning From Human Directional Corrections. - Wanxin Jin; Todd D. Murphey; Zehui Lu; Shaoshuai Mou (IEEE Trans. Robotics, 2023)

Embodied Communication: How Robots and People Communicate Through Physical Interaction. - Aleksandra Kalinowska; Patrick M. Pilarski; Todd D. Murphey (Annu. Rev. Control. Robotics Auton. Syst., 2023)

Hybrid control for combining model-based and model-free reinforcement learning. - Allison Pinosky; Ian Abraham; Alexander Broad; Brenna Argall; Todd D. Murphey (Int. J. Robotics Res., 2023)

Learning Stable Models for Prediction and Control. - Giorgos Mamakoukas; Ian Abraham; Todd D. Murphey (IEEE Trans. Robotics, 2023)

Active Exploration for Real-Time Haptic Training. - Jake Ketchum; Ahalya Prabhakar; Todd D. Murphey (ICRA, 2024)

Image to Patterning: Density-specified Patterning of Micro-structured Surfaces with a Mobile Robot. - Annalisa T. Taylor; Malachi Landis; Yaoke Wang; Todd D. Murphey; Ping Guo (IROS, 2024)

Mixed-Strategy Nash Equilibrium for Crowd Navigation. - Muchen Sun; Francesca Baldini; Peter Trautman; Todd D. Murphey (CoRR, 2024)

Human Robot Pacing Mismatch. - Muchen Sun; Peter Trautman; Todd D. Murphey (CoRR, 2024)

Koopman Operators in Robot Learning. - Lu Shi; Masih Haseli; Giorgos Mamakoukas; Daniel Bruder; Ian Abraham; Todd D. Murphey; Jorge Cortés 001; Konstantinos Karydis (CoRR, 2024)

Embodied Active Learning of Generative Sensor-Object Models. - Allison Pinosky; Todd D. Murphey (CoRR, 2024)

Maximum diffusion reinforcement learning. - Thomas A. Berrueta; Allison Pinosky; Todd D. Murphey (Nat. Mac. Intell., 2024)

Majorization Minimization Methods for Distributed Pose Graph Optimization. - Taosha Fan; Todd D. Murphey (IEEE Trans. Robotics, 2024)

Maximum diffusion reinforcement learning repository. - Thomas A. Berrueta; Allison Pinosky; Todd D. Murphey (Zenodo, 2024)

Materializing Autonomy in Soft Robots across Scales. - Thomas A. Berrueta; Todd D. Murphey; Ryan L. Truby (Adv. Intell. Syst., 2024)

A New RAS Journal: IEEE Robotics and Automation Practice [Society News]. - Torsten Kroeger; Brian P. Gerkey; Paul Goldberg 002; Todd D. Murphey; Frank Park (IEEE Robotics Autom. Mag., 2024)

Safe Coverage for Heterogeneous Systems With Limited Connectivity. - Annalisa T. Taylor; Thomas A. Berrueta; Allison Pinosky; Todd D. Murphey (IEEE Robotics Autom. Lett., 2024)

Force and Speed in a Soft Stewart Platform. - Jake Ketchum; James Avtges; Millicent Schlafly; Helena Young; Taekyoung Kim; Ryan L. Truby; Todd D. Murphey (RoboSoft, 2025)

Mixed strategy Nash equilibrium for crowd navigation. - Muchen Sun; Francesca Baldini; Katie Hughes; Peter Trautman; Todd D. Murphey (Int. J. Robotics Res., 2025)

Fast Ergodic Search With Kernel Functions. - Muchen Sun; Ayush Gaggar; Pete Trautman; Todd D. Murphey (IEEE Trans. Robotics, 2025)

Inverse Mixed Strategy Games with Generative Trajectory Models. - Muchen Sun; Pete Trautman; Todd D. Murphey (CoRR, 2025)

Data Augmentation for NeRFs in the Low Data Limit. - Ayush Gaggar; Todd D. Murphey (CoRR, 2025)

Flow Matching Ergodic Coverage. - Muchen Sun; Allison Pinosky; Todd D. Murphey (CoRR, 2025)