Publications

[For a complete list of publications, please visit Google Scholar]

2024

Embodied Active Learning of Generative Sensor-Object Models
A. Pinosky, T. D. Murphey
International Symposium of Robotics Research (ISRR), 2024. PDF

Safe Coverage for Heterogeneous Systems With Limited Connectivity
A. T. Taylor, T. A. Berrueta, A. Pinosky, T. D. Murphey
IEEE Robotics and Automation Letters (Volume 9, Issue 10), 2024. PDF

Active Exploration for Real-Time Haptic Training
J. Ketchum, A. Prabhakar, T. D. Murphey
IEEE International Conference on Robotics and Automation (ICRA), 2024. PDF

Maximum diffusion reinforcement learning
T. A. Berrueta, A. Pinosky, T. D. Murphey
Nature Machine Intelligence (6, 504–514), 2024. PDF

The role of the deep cervical extensor muscles in multi-directional isometric neck strength
R. Abbott, J. Elliott, T. D. Murphey, A. M. Acosta
Journal of Biomechanics (Volume 168), 2024. PDF

Mixed Strategy Nash Equilibrium for Crowd Navigation
M. M. Sun, F. Baldini, P. Trautman, T. D. Murphey
International Journal of Robotics Research (IJRR), 2024. PDF

Materializing Autonomy in Soft Robots across Scales
T. A. Berrueta, T. D. Murphey, R. L. Truby
Advanced Intelligent Systems (Volume 6, Issue 2), 2024. PDF

Collaborative Robots Can Augment Human Cognition in Regret-Sensitive Tasks
M. Schlafly, A. Prabhakar, K. Popovic, G. Schlafly, C. Kim, T. D. Murphey
PNAS Nexus (Volume 3, Issue 2), 2024. PDF

2023

Characterizing Eye Gaze for Assistive Device Control
L. Y.C. Loke, D. R. Barsoum, T. D. Murphey, B. D. Argall
IEEE International Conference on Rehabilitation Robotics (ICORR), 2023. PDF

Decentralization and Acceleration Enables Large-Scale Bundle Adjustment
T. Fan, J. Ortiz, M. Hsiao, M. Monge, J. Dong, T. D. Murphey, M. Mukadam
Robotics: Science and Systems (RSS), 2023. PDF

Measuring Human-Robot Team Benefits Under Time Pressure in a Virtual Reality Testbed
K. Popović, M. Schlafly, A. Prabhakar, C. Kim. T. D. Murphey
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023. PDF

Majorization Minimization Methods for Distributed Pose Graph Optimization
T. Fan, T. D. Murphey
IEEE Transactions on Robotics (T-RO), 2023. PDF

Automated Gait Generation For Walking, Soft Robotic Quadrupeds
J. Ketchum, S. Schiffer, M. Sun, P. Kaarthik, R. L. Truby, T. D. Murphey
IEEE International Conference on Intelligent Robots and Systems (IROS), 2023. PDF

Embodied Communication: How Robots and People Communicate Through Physical Interaction
A. Kalinowska, P. M. Pilarski, T. D. Murphey
Annual Review of Control, Robotics, and Autonomous Systems, 2023. PDF

Learning Stable Models for Prediction and Control
G. Mamakoukas, I. Abraham, T. D. Murphey
IEEE Transactions on Robotics (T-RO), 2023. PDF

2022

Scale-Invariant Specifications for Human-Swarm Systems
J. Meyer, A. Prabhakar, A. Pinosky, I. Abraham, A. Taylor, M. Schlafly, K. Popovic, G. Diniz, B. Teich, B. Simidchieva, S. Clark, T. D. Murphey
Journal of Field Robotics (JFR), 2022. PDF

A Game Benchmark for Real-Time Human-Swarm Control
J. Meyer, A. Pinosky, T. Trzpit, E. Colgate, T. D. Murphey
IEEE International Conference on Automation Science and Engineering (CASE), 2022. PDF

Measuring interaction bandwidth during physical human-robot collaboration
A. Kalinowska, M. Schlafly, K. Rudy, J. P. Dewald, T. D. Murphey
Robotics and Automation Letters (RAL), 2022. PDF

Towards situated communication in multi-step interactions: Time is a key pressure in communication emergence
A. Kalinowska, E. Davoodi, K. W. Mathewson, T. D. Murphey, P. Pilarski
Annual Meeting of the Cognitive Science Society (CogSci), 2022. PDF

Scale-Invariant Fast Functional Registration
M. Sun, A. Pinosky, I. Abraham, T. D. Murphey
International Symposium of Robotics Research (ISRR), 2022. PDF, Code

Mechanical Intelligence For Learning Embodied Sensor-Object Relationships
A. Prabhakar, T. D. Murphey
Nature Communications, 2022. PDF, Code

Hybrid Control for Combining Model-Based and Model-Free Reinforcement Learning
A. Pinosky, I. Abraham, A. Broad, B. Argall, T. D. Murphey
International Journal of Robotics Research (IJRR), 2022. PDF, Code

2021

Memristor Circuits for Colloidal Robotics: Temporal Access to Memory, Sensing, and Actuation
J. F. Yang, A. T. Liu, T. A. Berrueta, G. Zhang, A. M. Brooks, V. B. Koman, S. Yang, X. Gong, T. D. Murphey, M. S. Strano
Advanced Inetlligent Systems, 2021. PDF

Mechanical computing
H. Yasuda, P. R. Buskohl, A. Gillman, T. D. Murphey, S. Stepney, R. A. Vaia, and J. R. Raney
Nature, 2021. Article

Active learning in robotics: A review of control principles
A. T. Taylor, T. A. Berrueta, and T. D. Murphey
Mechatronics, 2021. PDF

Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation
T. Fan, K. V. Alwala, D. Xiang, W. Xiang, T. D. Murphey, and M. Mukadam
IEEE Int. Conf. on Computer Vision (ICCV), 2021. PDF

Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation
M. Sun, F. Baldini, P. Trautman, T. D. Murphey
Robotics: Science and Systems (RSS), 2021. PDF, Video, Code

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. PDF

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. PDF

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

2020

CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation
T. Fan, H. Wang, M. Rubenstein, and T. D. Murphey
IEEE Transactions on Robotics, 2020. PDF

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, vol. 39, no. 9, pp. 1138-1154, 2020. PDF

Shoulder abduction loading affects motor coordination in individuals with chronic stroke, informing targeted rehabilitation
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

2019

A robot made of robots: emergent transport and control of a smarticle ensemble
W. Savoie, T. A. Berrueta, Z. Jackson, A. Pervan, R. Warkentin, S. Li, T. D. Murphey, K. Wiesenfeld, and D. I. Goldman
Science Robotics, vol. 4, no. 34, 2019. Article

Ergodicity reveals assistance and learning in physical human robot interaction
K. Fitzsimons, A. M. Acosta, J. Dewald, and T. D. Murphey
Science Robotics, vol. 4, no. 29, 2019.
For a video and a freely accessible link to the paper, click here.

Active learning of dynamics for data-driven control using Koopman operators
I. Abraham and T. D. Murphey
IEEE Transactions on Robotics, 2019. PDF, Code

Dynamical system segmentation for information measures in motion
T. Berrueta, A. Pervan, K. Fitzsimons, and T. D. Murphey
IEEE Robotics and Automation Letters, vol. 4, no. 1, pp. 169–176, 2019. PDF

Structure-preserving local optimal control of mechanical systems
K. Flaßkamp and T. D. Murphey
Optimal Control, Applications and Methods, vol. 40, no. 2, pp. 310–329, 2019.

Iterative sequential action control for stable, model-based control of nonlinear systems
E. Tzorakoleftherakis and T. D. Murphey
IEEE Transactions on Automatic Control, vol. 64, no. 8, pp. 3170–3183, 2019. PDF

Feedback synthesis for underactuated systems using sequential second-order needle variations
G. Mamakoukas, M. Maciver, and T. D. Murphey
International Journal of Robotics Research, vol. 37, no. 13-14, pp. 1826–1853, 2019. PDF

Generalized proximal methods for pose graph optimization
T. Fan and T. D. Murphey
International Symposium on Robotics Research (ISRR), 2019. PDF

Efficient and guaranteed planar pose graph optimization using the complex number representation
T. Fan, H. Wang, M. Rubenstein, and T. D. Murphey
IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2019. Winner of ABB Best Student Paper Award. PDF

Highly parallelized data-driven MPC for minimal intervention shared control
A. Broad, T. D. Murphey, and B. Argall
Robotics: Science and Systems Proceedings, 2019. PDF

Local Koopman operators for data-driven control of robotic systems
G. Mamakoukas, M. Castano, X. Tan, and T. D. Murphey
Robotics: Science and Systems Proceedings, 2019. PDF

Adaptive single action control policies for linearly parameterized systems
O. Ennasr, G. Mamakoukas, M. Castano, D. Coleman, T. D. Murphey, and X. Tan
ASME Dynamic Systems and Control Conference (DSCC), 2019.

Data-driven gait segmentation for walking assistance in a lower-limb assistive device
A. Kalinowska, T. Berrueta, A. Zoss, and T. D. Murphey
IEEE Int. Conf. on Robotics and Automation (ICRA), 2019. PDF

2018

Decentralized ergodic control: Distribution-driven sensing and exploration for multi-agent systems
I. Abraham and T. D. Murphey
IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 2987–2994, 2018. PDF, Video

Real-time area coverage and target localization using receding-horizon ergodic exploration
A. Mavrommati, E. Tzorakoleftherakis, I. Abraham, and T. D. Murphey
IEEE Transactions on Robotics, vol. 34, no. 1, pp. 62–80, 2018. PDF, Video 1, Video 2

Operation and imitation under safety-aware shared control
A. Broad, T. D. Murphey, and B. Argall
Workshop on the Algorithmic Foundations of Robotics (WAFR), 2018. PDF

Active area coverage from equilibrium
I. Abraham, A. Prabhakar, and T. D. Murphey
Workshop on the Algorithmic Foundations of Robotics (WAFR), 2018. PDF, Appendix, Video

Efficient computation of higher-order variational integrators in robotic simulation and trajectory optimization
T. Fan, J. Schultz, and T. D. Murphey
Workshop on the Algorithmic Foundations of Robotics (WAFR), 2018. PDF, Appendix, Video

Low complexity control policy synthesis for cyber-free robot design
A. Pervan and T. D. Murphey
Workshop on the Algorithmic Foundations of Robotics (WAFR), 2018. PDF

Superlinear convergence using controls based on second-order needle variations
G. Mamakoukas, M. MacIver, and T. D. Murphey
IEEE Int. Conf. on Decision and Control (CDC), pp. 4301–4308, 2018. PDF

Data-driven measurement models for active localization in sparse environments
I. Abraham, A. Mavrommati, and T. D. Murphey
Robotics: Science and Systems Proceedings, 2018. PDF, Video

Online user assessment for minimal intervention during task-based robotic assistance
A. Kalinowska, K. Fitzsimons, J. Dewald, and T. D. Murphey
Robotics: Science and Systems Proceedings, 2018. PDF

Structured neural networks for model-based control
A. Broad, I. Abraham, B. Argall, and T. D. Murphey
Robotics: Science and Systems (RSS) Workshop on Learning and Inference in Robotics, 2018. PDF

Demonstration and imitation of novel behaviors under safety aware control
A. Broad, T. D. Murphey, and B. Argall
Robotics: Science and Systems (RSS) Workshop on Causal Imitation in Robotics, 2018. PDF

Ergodic exploration for adaptive sampling of water columns using gliding robotic fish
O. Ennasr, G. Mamakoukas, T. D. Murphey, and X. Tan
ASME Dynamic Systems and Control Conference (DSCC), p. V003T32A016, 2018. PDF

Algorithmic Materials: Embedding Computation within Material Properties for Autonomy
A. Pervan and T. D. Murphey
Robotic Systems and Autonomous Platforms: Advances in Materials and Manufacturing, Elsevier, 2018. Eds. M. Strano and S. Walsh. PDF

2017

A massive increase in visual range preceded the origin of terrestrial vertebrates
M. A. MacIver, L. Schmitz, U. Mugan, T. D. Murphey, and C. D. Mobley
Proceedings of the National Academy of Science (PNAS), vol. 114, no. 12, pp. E2375–E2384, 2017.

Ergodic exploration using binary sensing for non-parametric shape estimation
I. Abraham, A. Prabhakar, M. Hartmann, and T. D. Murphey
IEEE Robotics and Automation Letters, vol. 2, no. 2, pp. 827–834, 2017. PDF, Video

Dynamic task execution using active parameter identification with the Baxter research robot
A. D. Wilson, J. A. Schultz, A. Ansari, and T. D. Murphey
IEEE Transactions on Automation Science and Engineering, vol. 14, no. 1, pp. 391–397, 2017. PDF

Hybrid control for tracking of invariant manifolds
K. Flaßkamp, A. Ansari, and T. D. Murphey
Nonlinear Analysis: Hybrid Systems, vol. 25, pp. 298–311, 2017. PDF

Decentralized and recursive identification for cooperative manipulation of unknown rigid body with local measurements
T. Fan, H. Weng, and T. D. Murphey
IEEE Int. Conf. on Decision and Control (CDC), pp. 2842–2849, 2017. PDF

Model-based control using Koopman operators
I. Abraham, G. de la Torre, and T. D. Murphey
Robotics: Science and Systems Proceedings, 2017. PDF, Code

Feedback synthesis for controllable underactuated systems using sequential second order actions
G. Mamakoukas, M. MacIver, and T. D. Murphey
Robotics: Science and Systems Proceedings, 2017. PDF, Video

Learning models for shared control of human-machine systems with unknown dynamics
A. Broad, T. D. Murphey, and B. Argall
Robotics: Science and Systems Proceedings, 2017. PDF

Trajectory planning and tracking of robotic fish using ergodic exploration,
M. Castano, A. Mavrommati, T. D. Murphey, and X. Tan
American Controls Conf. (ACC), pp. 5476 – 5481, 2017.

Assistive Optimal Control-on-Request with Application in Standing Balance Therapy and Reinforcement
A. Mavrommati, A. Ansari, and T. D. Murphey,
Trends in Control and Decision-Making for Human-Robot Collaboration Systems, pp. 131–156. Springer, 2017. Eds. Y. Wang and F. Zhang. PDF

2016

Variational integrators for structure-preserving filtering
J. Schultz, K. Flaßkamp, and T. D. Murphey
ASME Journal of Computational and Nonlinear Dynamics, vol. 12, no. 2, pp. 021005:1–021005:10, 2016. PDF

Trust adaptation leads to lower control effort in shared control of crane automation
A. Broad, M. Derry, J. Schultz, T. D. Murphey, and B. Argall
IEEE Robotics and Automation Letters, vol. 2, no. 1, pp. 239–246, 2016. PDF

Sequential Action Control: Closed-form optimal control for nonlinear and nonsmooth systems
A. Ansari and T. D. Murphey
IEEE Transactions on Robotics, vol. 32, no. 5, pp. 1196–1214, 2016. PDF, Video

Sensory agreement guides energy optimization in human movements
A. Farshchiansadegh, A. Melendez-Calderon, R. Ranganathan, T. D. Murphey, and F. Mussa-Ivaldi
PLOS Computational Biology, vol. 12, no. 4, p. e1004861, 2016.

Real-time mode scheduling using single-integration hybrid optimization for linear time-varying systems
A. Mavrommati, J. Schultz, and T. D. Murphey
IEEE Transactions on Automation Science and Engineering, vol. 13, no. 3, pp. 1385–1398, 2016. PDF, Video

Augmenting sensorimotor control using goal-aware vibrotactile stimulation during reaching and manipulation behaviors
E. Tzorakoleftherakis, T. D. Murphey, and R. A. Scheidt
Experimental Brain Research, vol. 234, no. 8, pp. 2403–2414, 2016. PDF

Minimum sensitivity control for planning with parametric and hybrid uncertainty
A. Ansari and T. D. Murphey
International Journal of Robotics Research, vol. 35, no. 7, pp. 823–839, 2016. PDF

Model-based reactive control for hybrid and high-dimensional robotic systems
E. Tzorakoleftherakis, A. Ansari, A. Wilson, J. Schultz, and T. D. Murphey
IEEE Robotics and Automation Letters, vol. 1, no. 1, pp. 431–438, 2016. PDF

Projection-based iterative mode scheduling for switched systems
T. Caldwell and T. D. Murphey
Nonlinear Analysis: Hybrid Systems, vol. 21, pp. 59–83, 2016. PDF

Ergodic exploration of distributed information
L. Miller, Y. Silverman, M. A. MacIver, and T. D. Murphey
IEEE Transactions on Robotics, vol. 32, no. 1, pp. 36–52, 2016. PDF

Discrete Lagrangian mechanics for nonsmooth nonseparable systems
D. Pekarek and T. D. Murphey
International Journal for Numerical Methods in Engineering, vol. 105, pp. 440–463, 2016. PDF

Autonomous visual rendering using physical motion
A. Prabhakar, A. Mavrommati, J. Schultz, and T. D. Murphey
Workshop on the Algorithmic Foundations of Robotics (WAFR), 2016. PDF, Video 1, Video 2, Video 3

Low-infrastructure real-time embedded control via variational integrators
J. Schultz and T. D. Murphey
PAMM, vol. 16, no. 1, pp. 949–952, 2016. PDF

On the benefits of surrogate Lagrangians in optimal control and planning algorithms
G. De La Torre and T. D. Murphey
IEEE Int. Conf. on Decision and Control (CDC), pp. 7384–7391, 2016. PDF

Automatic synthesis of control alphabet policies
A. Mavrommati and T. D. Murphey
IEEE Int. Conf. on Automation Science and Engineering (CASE), pp. 313 – 320, 2016. PDF

Online feedback control for input-saturated robotic systems on Lie groups
T. Fan and T. D. Murphey
Robotics: Science and Systems Proceedings, 2016. PDF

Controlling simulated underactuated underwater vehicles with added mass and velocity drift using sequential action control
G. Mamakoukas, M. MacIver, and T. D. Murphey
American Controls Conf. (ACC), pp. 4500 – 4506, 2016. PDF

Ergodic exploration with stochastic sensor dynamics
G. De La Torre, K. Flaßkamp, A. Prabhakar, and T. D. Murphey
American Controls Conf. (ACC), pp. 2971 – 2976, 2016. PDF

Optimal human-in-the-loop interfaces based on Maxwell’s demon
K. Fitzsimons, E. Tzorakoleftherakis, and T. D. Murphey
American Controls Conf. (ACC), pp. 4397 – 4402, 2016. PDF

2015

The geography of fatty infiltrates within the cervical multifidus and semispinalis cervicis in individuals with chronic whiplash-associated disorders
R. Abbott, A. Pedler, M. Sterling, J. Hides, T. D. Murphey, M. Hoggarth, and J. Elliott
Journal of Orthopaedic and Sports Physical Therapy, vol. 45, no. 4, pp. 281–288, 2015.

Linearizations of variational integrators for analysis and optimization
E. Johnson, J. Schultz, and T. D. Murphey
IEEE Transactions on Automation Science and Engineering, vol. 12, no. 1, pp. 140–152, 2015. PDF

Trajectory optimization for well-conditioned parameter estimation
A. Wilson, J. Schultz, and T. D. Murphey
IEEE Transactions on Automation Science and Engineering, vol. 12, no. 1, pp. 28–36, 2015.

Structured linearization of discrete mechanical systems on Lie groups: a synthesis of analysis and control
T. Fan and T. D. Murphey
IEEE Int. Conf. on Decision and Control (CDC), pp. 1092 – 1099, 2015. PDF

Symplectic integration for optimal ergodic control
A. Prabhakar, K. Flaßkamp, and T. D. Murphey
IEEE Int. Conf. on Decision and Control (CDC), pp. 2594 – 2600, 2015. PDF

Controllers as filters: Noise-driven swing-up control based on Maxwell’s demon
E. Tzorakoleftherakis and T. D. Murphey
IEEE Int. Conf. on Decision and Control (CDC), pp. 4368 – 4374, 2015. PDF

Real-time trajectory synthesis for information maximization using sequential action control and least-squares estimation
A. Wilson, J. Schultz, A. Ansari, and T. D. Murphey
IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2015. PDF

Power network regulation benchmark for switched-mode optimal control
T. Caldwell and T. D. Murphey
Analysis and Design of Hybrid Systems (ADHS), 2015. PDF

Sequential action control for tracking of free invariant manifolds
A. Ansari, K. Flaßkamp, and T. D. Murphey
Analysis and Design of Hybrid Systems (ADHS), 2015. PDF

Optimal planning for target localization and coverage using range sensing
L. Miller and T. D. Murphey
IEEE Int. Conf. on Automation Science and Engineering (CASE), pp. 501–508, 2015. PDF

Optimal control-on-request: An application in real-time assistive balance control
A. Mavrommati, A. Ansari, and T. D. Murphey
IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 5928 – 5934, 2015. PDF

Tactile proprioceptive input in robotic rehabilitation after stroke
E. Tzorakoleftherakis, M. C. Bengtson, F. A. Mussa-Ivaldi, R. A. Scheidt, and T. D. Murphey
IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 6475 – 6481, 2015. PDF

Maximizing Fisher information in discrete-time mechanical systems using projection-based trajectory optimization
A. D. Wilson and T. D. Murphey
IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 2403 – 2409, 2015. PDF

“Control-on-request: Short-burst assistive control for long time horizon improvement
A. Ansari and T. D. Murphey
American Controls Conf. (ACC), pp. 1173 – 1180, 2015. PDF

A variational derivation of LQR for piecewise time-varying systems
A. Ansari and T. D. Murphey
American Controls Conf. (ACC), pp. 2260 – 2265, 2015. PDF

Variational integrators in linear optimal control and filtering
K. Flaßkamp and T. D. Murphey
American Controls Conf. (ACC), pp. 5140 – 5145, 2015. PDF

Trajectory Optimization in Discrete Mechanics
J. Schultz, E. Johnson, and T. D. Murphey,
Differential-Geometric Methods in Computational Multibody System Dynamics, CISM, 2015. Eds. Z. Terze and A. Mueller.

2014

Trajectory synthesis for Fisher information maximization
A. Wilson, J. Schultz, and T. D. Murphey
IEEE Transactions on Robotics, vol. 30, no. 6, pp. 1358–1370, 2014. PDF

A Propagative Model of Simultaneous Impact: Existence, Uniqueness, and Design Consequences
V. Seghete and T. D. Murphey
IEEE Transactions on Automation Science and Engineering, vol. 11, no. 1, pp. 154 – 168, 2014.

Uniqueness conditions for simultaneous impact in locomotion: existence, uniqueness, and design consequences
V. Seghete and T. D. Murphey
IEEE Transactions on Automation Science and Engineering, vol. 11, no. 1, pp. 154–168, 2014. PDF

Modeling forces and moments at the base of a rat vibrissa during non contact whisking and whisking against an object
B. Quist, V. Seghete, L. Huet, T. D. Murphey, and M. J. Z. Hartmann
Journal of Neuroscience, vol. 34, pp. 9828–9844, July 2014.

Towards software-enabled rehabilitation
T. D. Murphey and B. Argall
IROS Workshop on Workshop on Rehabilitation & Assistive Robotics, 2014.

Improving object tracking through distributed exploration of an information map
I. D. Neveln, L. M. Miller, M. A. MacIver, and T. D. Murphey
IEEE Int. Conf. on Intelligent Robots and Systems (IROS), pp. 3441 – 3447, 2014. PDF

Single-integration mode scheduling for linear time-varying switched systems
A. Mavrommati and T. D. Murphey
American Controls Conf. (ACC), pp. 430 – 436, 2014. PDF

Effects of optimal tactile feedback in balancing tasks: a pilot study
E. Tzorakoleftherakis, F. Mussa-Ivaldi, R. Scheidt, and T. D. Murphey
American Controls Conf. (ACC), pp. 778 – 783, 2014. PDF

Continuous-time optimal control of impacting mechanical systems via a projected Hamilton’s principle
V. Seghete and T. D. Murphey
American Controls Conf. (ACC), pp. 2438 – 2444, 2014. PDF

Extending filter performance through structured integration
J. Schultz and T. D. Murphey
American Controls Conf. (ACC), pp. 261 – 270, 2014. PDF

Engineering autonomous theatre: The impact of culture on mobile robots and automated systems
E. Jochum, J. Schultz, and T. D. Murphey
AAMAS Workshop on Culture Aware Robotics, 2014.

Local E-optimality conditions for trajectory design to estimate parameters in nonlinear systems
A. Wilson and T. D. Murphey
American Controls Conf. (ACC), pp. 443 – 450, 2014. PDF

Real-time trajectory generation for a planar crane using discrete mechanics
J. Schultz and T. D. Murphey
IROS Workshop on Real-Time Systems, 2014. PDF

INTERACT: Applying theory and methods from the visual and performing arts to robots
E. Jochum, G. Borggreen, and T. D. Murphey
HRI-Workshop on Culture Aware Robotics, 2014. PDF

2013

Simultaneous optimal estimation of mode transition times and parameters applied to simple traction models
L. Miller and T. D. Murphey
IEEE Transactions on Robotics, vol. 29, no. 6, pp. 1496–1503, 2013. PDF

Uniqueness conditions for simultaneous impact in locomotion: existence, uniqueness, and design consequences
V. Seghete and T. D. Murphey
IEEE Transactions on Automation Science and Engineering, vol. 11, no. 1, pp. 154–168, 2014.

Feature localization using kinematics and impulsive hybrid optimization
Y. P. Leong and T. D. Murphey
IEEE Transactions on Automation Science and Engineering, vol. 10, no. 4, pp. 957 – 968, 2013. PDF

Projection-based optimal mode scheduling
T. Caldwell and T. D. Murphey
IEEE Int. Conf. on Decision and Control (CDC), pp. 5307 – 5314, 2013. PDF, Extended Version

Trajectory optimization for continuous ergodic exploration on the motion group SE(2)
L. Miller and T. D. Murphey
IEEE Int. Conf. on Decision and Control (CDC), pp. 4517 – 4522, 2013. PDF

A projected Lagrange-d’Alembert principle for forced nonsmooth mechanics and optimal control
D. Pekarek and T. D. Murphey
IEEE Int. Conf. on Decision and Control (CDC), pp. 7777 – 7784, 2013. PDF

Minimal sensitivity control for hybrid environments
A. Ansari and T. D. Murphey
IEEE Int. Conf. on Intelligent Robots and Systems (IROS), pp. 3023 – 3028, 2013. PDF

Optimal planning for information acquisition
Y. Silverman, L. Miller, M. MacIver, and T. D. Murphey
IEEE Int. Conf. on Intelligent Robots and Systems (IROS), pp. 5974 – 5980, 2013. PDF

Optimal trajectory design for well-conditioned parameter estimation
A. D. Wilson and T. D. Murphey
IEEE Int. Conf. on Automation Science and Engineering (CASE), pp. 13–19, 2013. Finalist for ABB Best Conference Paper Award. PDF

Discretized switching time optimization problems
K. Flaßkamp, T. D. Murphey, and S. Ober-Blöbaum
European Control Conference (ECC), pp. 3179–3184, 2013. PDF

Second-order switching time and magnitude optimization for impulsive hybrid systems
Y. P. Leong and T. D. Murphey
American Controls Conf. (ACC), pp. 6213–6218, 2013. PDF

Trajectory optimization for continuous ergodic exploration
L. M. Miller and T. D. Murphey
American Controls Conf. (ACC), pp. 4196–4201, 2013. PDF

Embedded control synthesis using one-step methods in discrete mechanics
J. Schultz and T. D. Murphey
American Controls Conf. (ACC), pp. 5293–5298, 2013. PDF

Minimal parametric sensitivity trajectories for nonlinear systems
A. Ansari and T. D. Murphey
American Controls Conf. (ACC), pp. 5011–5016, 2013. PDF

Robotic Puppets and the Engineering of Autonomous Theater
E. Jochum, J. Schultz, E. Johnson, and T. D. Murphey,
Art and Control, Springer-Verlag, 2013. Eds. A. LaViers and M. Egerstedt. PDF

2012

Single integration optimization of linear time-varying switched systems
T. Caldwell and T. D. Murphey
IEEE Transactions on Automatic Control, vol. 57, no. 6, pp. 1592–1597, 2012.

Global projections for variational nonsmooth mechanics
D. Pekarek and T. D. Murphey
IEEE Int. Conf. on Decision and Control (CDC), pp. 5572–5579, 2012. PDF

Optimal contact decisions for ergodic exploration
L. Miller and T. D. Murphey
IEEE Int. Conf. on Decision and Control (CDC), pp. 5091–5097, 2012. PDF

Projection-based switching system optimization: Absolute continuity of the line search
T. Caldwell and T. D. Murphey
IEEE Int. Conf. on Decision and Control (CDC), pp. 699–706, 2012. PDF

Switching time optimization in discretized hybrid dynamical systems
K. Flaßkamp, T. D. Murphey, and S. Ober-Blöbaum
IEEE Int. Conf. on Decision and Control (CDC), pp. 707–712, 2012. PDF

“Simultaneous optimal parameter and mode transition estimation
L. Miller and T. D. Murphey
IEEE Int. Conf. on Intelligent Robots and Systems (IROS), pp. 719–724, 2012. PDF

Varational nonsmooth mechanics via a projected Hamilton’s principle
D. Pekarek and T. D. Murphey
American Controls Conf. (ACC), pp. 1040–1046, 2012. PDF

Linear time-varying impulse optimization for data association
M. Travers, T. D. Murphey, and L. Y. Pao
American Controls Conf. (ACC), pp. 1047–1052, 2012. PDF

Projection-based switching time optimization
T. Caldwell and T. D. Murphey
American Controls Conf. (ACC), pp. 4552–4557, 2012. PDF

Making robotic marionettes perform
T. D. Murphey and B. Argall
ICRA Workshop on Robotics and Performance Arts: Reciprocal Influences, 2012. PDF

Trajectory tracking among landmarks and binary sensor beams
B. Tovar and T. D. Murphey
IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 2121–2127, 2012. PDF

Conditions for uniqueness in simultaneous impact with application to mechanical design
V. Seghete and T. D. Murphey
IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 5006–5011, 2012. PDF

Trajectory generation for underactuated control of a suspended mass
J. Schultz and T. D. Murphey
IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 123–129, 2012. PDF

Programming Play: Puppets, Robots, and Engineering.
E. Jochum and T. D. Murphey,
New Scholarship on Puppetry and Performing Objects, Springer-Verlag, 2012. Eds. D. Posner, J. Bell, and C. Orenstein. PDF

2011

Second-order switching time optimization for nonlinear time-varying dynamic systems
T. Caldwell and T. D. Murphey
Automatica, vol. 47, no. 1, pp. 50–64, 2011. PDF

Second-order switching time optimization for nonlinear time-varying dynamic systems
E. Johnson and T. D. Murphey
IEEE Transactions on Automatic Control, vol. 56, no. 8, pp. 1953–1957, 2011.

Constructing and implementing motion programs for robotic marionettes
P. Martin, E. Johnson, T. D. Murphey, and M. Egerstedt
IEEE Transactions on Automatic Control, vol. 56, no. 4, pp. 902–907, 2011. PDF

Second-order switching time optimization for nonlinear time-varying dynamic systems
E. Johnson and T. D. Murphey
IEEE Transactions on Automatic Control, vol. 56, no. 8, pp. 1953–1957, 2011. PDF

A backwards error analysis approach for simulation and control of nonsmooth mechanical systems
D. Pekarek and T. D. Murphey
IEEE Int. Conf. on Decision and Control (CDC), pp. 6942–6949, 2011. PDF

Single integration optimization of linear time-varying switched systems
T. Caldwell and T. D. Murphey
American Controls Conf. (ACC), pp. 2024–2030, 2011. PDF

Trajectory optimization estimator for impulsive data association
M. Travers, T. D. Murphey, and L. Y. Pao
American Controls Conf. (ACC), pp. 4514–4519, 2011. PDF

Control aesthetics in software for automated marionettes
T. D. Murphey and E. Johnson
American Controls Conf. (ACC), pp. 3825 – 3830, 2011. PDF

Optimal motion planning for a class of hybrid dynamical systems with impacts
A. Long, T. D. Murphey, and K. M. Lynch
IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 4220 – 4226, 2011. PDF

Impulsive data association with an unknown number of targets
M. Travers, T. D. Murphey, and L. Y. Pao
Hybrid Systems: Computation and Control, pp. 261 – 270, 2011. PDF

Variational methods for contact mechanics
T. D. Murphey, D. Pekarek, and V. Seghete
Robotics Science and Systems Workshop: Toward High-Performance Computing Support for Simulation and Planning of Robot Contact Tasks, 2011. PDF

2010

Programming from the ground up in controls laboratories
T. D. Murphey and J. Falcon
International Journal of Engineering Education, vol. 26, no. 5, pp. 1241–1248, 2010. PDF

A Robotic Pygmalion: Choreography for an automated marionette play
E. Jochum and T. D. Murphey
Puppetry International, vol. 27, pp. 22–24, 2010.

An adjoint method for second-order switching-time optimization
T. Caldwell and T. D. Murphey
IEEE Int. Conf. on Decision and Control (CDC), pp. 2155–2162, 2010. PDF

Data association with impulse optimization
M. Travers, L. Pao, and T. D. Murphey
IEEE Int. Conf. on Decision and Control (CDC), pp. 2204–2209, 2010. PDF

Second-order DMOC using projections
K. Snyder and T. D. Murphey
IEEE Int. Conf. on Decision and Control (CDC), pp. 1872–1878, 2010. PDF

Local planning using switching time optimization
E. Johnson and T. D. Murphey
IEEE Int. Conf. on Automation Science and Engineering (CASE), pp. 828–834, 2010. PDF

Geometric integration of impact during an orbital docking procedure
C. Gibson and T. D. Murphey
IEEE Int. Conf. on Automation Science and Engineering (CASE), pp. 928–932, 2010. PDF

Linearizations for mechanical systems in generalized coordinates
E. Johnson and T. D. Murphey
American Controls Conf. (ACC), pp. 629–633, 2010. PDF

Stochastic sampling-based data association
M. Travers, T. D. Murphey, and L. Y. Pao
American Controls Conf. (ACC), pp. 1386–1391, 2010. PDF

Variational solutions to simultaneous collisions between multiple rigid bodies
V. Seghete and T. D. Murphey
IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 2731–2738, 2010. PDF

Relaxed optimization for mode estimation in skid steering
T. Caldwell and T. D. Murphey
IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 5423–5428, 2010. PDF

Topology-based variational integration of degenerate interconnected mechanical systems
T. D. Murphey
European Conference on Computational Mechanics (ECCM), 2010. PDF

2009

Scalable variational integrators for constrained mechanical systems in generalized coordinates
E. Johnson and T. D. Murphey
IEEE Transactions on Robotics, vol. 25, no. 6, pp. 1249–1261, 2009. PDF Extended Version

Second order switching time optimization for time-varying nonlinear systems
E. Johnson and T. D. Murphey
IEEE Int. Conf. on Decision and Control (CDC), pp. 5281 – 5286, 2009. PDF

Multiple instantaneous collisions in a variational framework
V. Seghete and T. D. Murphey
IEEE Int. Conf. on Decision and Control (CDC), pp. 5015 – 5020, 2009. PDF

Automated trajectory morphing for marionettes using trajectory optimization
E. Johnson and T. D. Murphey
IEEE Int. Conf. on Automation Science and Engineering (CASE), pp. 274–279, 2009. PDF

Second-order optimal estimation of slip state for a simple slip-steered vehicle
T. Caldwell and T. D. Murphey
IEEE Int. Conf. on Automation Science and Engineering (CASE), pp. 133–139, 2009. PDF

Dangers of two-point holonomic constraints for variational integrators
E. Johnson and T. D. Murphey
American Controls Conf. (ACC), pp. 4723–4728, 2009. PDF

2008

Convergence preserving switching for topology-dependent decentralized systems
B. Shucker, T. D. Murphey, and J. Bennett
IEEE Transactions on Robotics, vol. 24, no. 6, pp. 1405–1415, 2008. PDF

Case studies in planar part feeding and assembly based on design of limit sets
T. D. Murphey and K. M. Lynch
International Journal of Robotics Research, vol. 27, pp. 693–708, June 2008. PDF

Teaching rigid body mechanics using student-created virtual environments
T. D. Murphey
IEEE Transactions on Education, vol. 51, no. 1, pp. 45–52, 2008. PDF

On multiple model control for multiple contact systems
T. D. Murphey
Automatica, vol. 44, pp. 451–458, 2008. PDF

Variational integrators for constrained cables
K. Nichols and T. D. Murphey
IEEE Int. Conf. on Automation Science and Engineering (CASE), pp. 802–807, 2008. PDF

Filtering of interaction rules in cooperation
T. D. Murphey
American Controls Conf. (ACC), pp. 3733–3739, 2008. PDF

Data association with ambiguous measurements
M. Travers, T. D. Murphey, and L. Pao
American Controls Conf. (ACC), pp. 1875–1880, 2008. PDF

Discrete and continuous mechanics for tree representations of mechanical systems
E. Johnson and T. D. Murphey
IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1106–1111, 2008. PDF

Adaptive cooperative manipulation with intermittent contact
T. D. Murphey and M. Horowitz
IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1483–1488, 2008. PDF

The automated marionette project
E. Johnson and T. D. Murphey
AAAI Robotics and Creativity Workshop, 2008.PDF

A Variational Approach to Strand-Based Modeling of the Human Hand
E. Johnson, K. Morris, and T. D. Murphey,
Algorithmic Foundations of Robotics VIII pp. 151–166. Springer-Verlag, 2008. Eds. G. Chirikjian, H. Choset, M. Morales, T. D. Murphey. PDF

2007

Kinematic reductions for uncertain mechanical contact
T. D. Murphey
Robotica, vol. 25, pp. 751–764, Nov 2007. PDF

Geometric derived information spaces in manipulation with mechanical contact
T. D. Murphey
IEEE Int. Conf. on Automation Science and Engineering (CASE), pp. 338–345, 2007. PDF

Dynamic modeling and motion planning for marionettes: Rigid bodies articulated by massless strings
E. Johnson and T. D. Murphey
IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 330–335, 2007. PDF

Teaching rigid body mechanics using student-created virtual environments
T. D. Murphey
American Controls Conf. (ACC), pp. 2503–2508, 2007. PDF

Switching Rules for Decentralized Control with Simple Control Law
B. Shucker, T. D. Murphey, and J. Bennett
American Controls Conf. (ACC), pp. 1485–1492, 2007. PDF

Choreography for Marionettes: Imitation, Planning, and Control
T. D. Murphey and M. Egerstedt
IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2007. PDF

Motion Programs for Puppet Choreography and Control
M. Egerstedt, T. D. Murphey, and J. Ludwig,
Hybrid Systems: Computation and Control, Springer Berlin Heidelberg, 2007. Eds. A. Bemporad, A. Bicchi, and G. Buttazzo. PDF

2006

The power dissipation method and kinematic reducibility of multiple model robotic systems
T. D. Murphey and J. W. Burdick
IEEE Transactions on Robotics, vol. 22, pp. 694–710, August 2006. PDF

Programming from the ground up in controls laboratories using graphical programming
T. D. Murphey and J. Falcon
Proceedings of the IFAC Advances in Control Education (ACE), 2006. PDF

Modeling and control of multiple-contact manipulation without modeling friction
T. D. Murphey
American Controls Conf. (ACC), pp. 3227–3234, 2006.

An approach to switching control beyond nearest neighbor rules
B. Shucker, T. D. Murphey, and J. Bennett
American Controls Conf. (ACC), pp. 5959–5965, 2006. PDF

Motion planning for kinematically overconstrained vehicles using feedback primitives
T. D. Murphey
IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1643–1648, 2006. PDF

Cooperative control using occasional non-local interactions
B. Shucker, T. D. Murphey, and J. Bennett
IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1324–1329, 2006. PDF

Mechanical Manipulation Using Reduced Models of Uncertainty
T. D. Murphey
Workshop on the Algorithmic Foundations of Robotics (WAFR), 2006. PDF

2005

An example of parts handling and self-assembly using stable limit sets
T. D. Murphey, J. Bernheisel, D. Choi, and K. M. Lynch
IEEE Int. Conf. on Intelligent Robots and Systems (IROS), pp. 1624–1629, 2005.

Application of supervisory control methods to uncertain multiple model systems
T. D. Murphey
American Controls Conf. (ACC), pp. 774–780, 2005.

On Observing Contact States in Overconstrained Manipulation
T. D. Murphey,
Multi-point Interaction with Real and Virtual Objects, pp. 151–164. Springer-Verlag, 2005. Eds. F. Barbagli, D. Prattichizzo, and K. Salisbury.

2004

Feedback control methods for distributed manipulation systems that involve mechanical contacts
T. D. Murphey and J. W. Burdick
International Journal of Robotics Research, vol. 23, pp. 763–782, July 2004. PDF

Experiments in the use of stable limits sets for parts handling
T. D. Murphey, D. Choi, J. Bernheisel, and K. M. Lynch
Proc. Int. Conf. MEMS, NANO, and Smart Systems (ICMENS), pp. 218–224, 2004.

2003

Kinematic reducibility for multiple model systems
T. D. Murphey and J. W. Burdick
IEEE Int. Conf. on Decision and Control (CDC), pp. 5307–5313, 2003.

Experiments in nonsmooth control of distributed manipulation
T. D. Murphey and J. W. Burdick
IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 3600–3606, 2003.

Smooth feedback control algorithms for fully actuated distributed manipulators
T. D. Murphey and J. W. Burdick
IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 3619–3623, 2003.

Control of Nonprehensile Manipulation
K. M. Lynch and T. D. Murphey,
Control Problems in Robotics and Automation pp. 39–57. Springer-Verlag, 2003. Eds. A. Bicchi and H. Christensen.

2002

Nonsmooth controllability theory and an example
T. D. Murphey and J. W. Burdick
IEEE Int. Conf. on Decision and Control (CDC), pp. 370–376, 2002.

Global exponential stabilizability for distributed manipulation
T. D. Murphey and J. W. Burdick
IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1210–1216, 2002.

A local controllability test for nonlinear multiple model systems
T. D. Murphey and J. W. Burdick
American Controls Conf. (ACC), pp. 4657–4661, 2002.

2001

Global stability for distributed systems with changing contact states
T. D. Murphey and J. W. Burdick
IEEE Int. Conf. on Intelligent Robots and Systems (IROS), pp. 214–219, 2001.

A controllability test and motion planning primitives for overconstrained vehicles
T. D. Murphey and J. W. Burdick
IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 2716–2722, 2001.

On the stability and design of distributed systems
T. D. Murphey and J. W. Burdick
IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 2686–2691, 2001.

2000

Issues in controllability and motion planning for overconstrained wheeled vehicles
T. D. Murphey and J. W. Burdick
Proc. Int. Conf. Math. Theory of Networks and Systems (MTNS), 2000.