Interactive & Emergent Autonomy Lab

Members of the lab at the Robotics Science and Systems (RSS) Conference in Freiburg, Germany. June 2019.
Members of the lab celebrating a birthday! June 2019.
Katie Fitzsimons demonstrating human-robot interaction at the Museum of Science and Industry
Katie showing a robot to children at the Museum of Science and Industry. April 2019.
Rab demonstrating her experiment at the Museum of Science and Industry. April 2019.
National Robotics Week at the Museum of Science and Industry. April 2019.
Ola showing off the Nao robot at the Museum of Science and Industry. April 2019.
Members of the lab at the Workshop on Algorithmic Robotics (WAFR) Conference in Merida, Mexico. December 2018.

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.


Recent Papers

Derivative-Based Koopman Operators for Real-Time Control of Robotic Systems
G. Mamakoukas, M. Castano, X. Tan, T. D. Murphey
IEEE Transactions on Robotics (TRO), 2021. Article

Automatic Tuning for Data-driven Model Predictive Control
W. Edwards, G. Tang, G. Mamakoukas, T. D. Murphey, K. Hauser
IEEE Int. Conf. on Robotics and Automation (ICRA), 2021. Article

Ergodic imitation: Learning from what to do and what not to do
A. Kalinowska, A. Prabhakar, K. Fitzsimons, T. D. Murphey
IEEE Int. Conf. on Robotics and Automation (ICRA), 2021. PDF

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