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

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
Chen Chen, Todd D Murphey, Malcolm A MacIver
eLife, e52371, 2020. Online Paper

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