About
In the Interactive and Emergent Autonomy Lab, our research focuses on computational methods in data-driven control, information theory in physical systems, and embodied intelligence. We investigate how both autonomous systems and biological systems interact with their environments (and, in some cases, with each other) to learn and improve their behaviors. This work often involves mathematical modeling, development of new mathematical tools, algorithmic implementation and programming, and experimentation.
News
January 01, 2021 Tommy and Alex part of Low rattling: A predictive principle for self-organization in active collectives paper in Science
November 20, 2020 Todd participates in panel on responsibility in AI
November 11, 2020 Katie defends PhD thesis and starts job at Penn State
October 01, 2020 Muchen Sun joins the Murphey Lab
September 25, 2020 Giorgos publishes paper in NeurIPS 2020
September 22, 2020 Paper on animal exploration with Chen Chen and Malcolm MacIver comes out in eLife
September 4, 2020 Tommy defends Masters thesis and completes PhD Prospectus
September 2, 2020 Milli completes PhD Prospectus
August 24, 2020 Ahalya defends PhD thesis
July 31, 2020 IJRR articles come out
July 29, 2020 Ian defends PhD thesis
April 30, 2020 Ola Wins Proposal Pitch Competition
April 24, 2020 Joel Awarded NDSEG Fellowship
April 01, 2020 Lab gets DARPA OFFSET Sprint 5 award
March 30, 2020 Katarina Awarded NSF Graduate Research Fellowship
March 25, 2020 Ian Wins 2019 T-RO Best Paper Award
Recent Papers
Low Rattling: A Predictive Principle for Self-Organization in Active Collectives
P. Chvykov, T. A. Berrueta, A. Vardhan, W. Savoie, A. Samland, T. D. Murphey, K. Wiesenfeld, D. I. Goldman, and J. L. England
Science, vol. 371, no. 6524, 2021. Article
Algorithmic Design for Embodied Intelligence in Synthetic Cells
A. Pervan and T. D. Murphey
IEEE Transactions on Automation Science and Engineering (T-ASE), 2020. PDF
Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation
A. Prabhakar, I. Abraham, A. Taylor, M. Schlafly, K. Popovic, G. Diniz, B. Teich, B. Simidchieva, S. Clark, T. D. Murphey
Robotics Science and Systems, 2020. PDF Video
Tuning movement for sensing in an uncertain world
C. Chen, T. D Murphey, M. A MacIver
eLife, e52371, 2020. Article
Bayesian Particles on Cyclic Graphs
A. Pervan and T. D. Murphey
IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2020. PDF
Majorization Minimization Methods to Distributed Pose Graph Optimization with Convergence Guarantees
T. Fan and T. D. Murphey
IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2020. PDF
Autoperforation of Two-Dimensional Materials to Generate Colloidal State Machines Capable of Locomotion
A. T. Liu, J. F. Yang, L. N. LeMar, G. Zhang, A. Pervan, T. D. Murphey, M. Strano
Faraday Discussions, Royal Society of Chemistry, 2020. PDF
Information Requirements of Collision-Based Micromanipulation
A. Q. Nilles, A. Pervan, T. A. Berrueta, T. D. Murphey, S. M. LaValle
Workshop on the Algorithmic Foundations of Robotics (WAFR), 2020. PDF
Task-based hybrid shared control for training through forceful interaction
K. Fitzsimons, A. Kalinowska, J. Dewald and T. D. Murphey
International Journal of Robotics Research, 2020. PDF
Shoulder abduction loading affects motor coordination in individuals with chronic stroke, informing targeted rehabiliation
A. Kalinowska, K. Rudy, M. Schlafly, K. Fitzsimons, J. Dewald and T. D. Murphey
IEEE RAS/EMBS Int. Conf. on Biomedical Robotics and Biomechatronics (BioRob), 2020. PDF