2016 Publications

  • Daniel J. Blackman, Jason L. Pusey, John V. Nicholson, Max P. Austin, Jason M. Brown, and Jonathan E. Clark, "Running and Jumping Dynamics of a Symmetric 5-bar Leg Design," ICRA, 2017, to appear [bib | pdf

  • Daniel J. Blackman, John V. Nicholson, Camilo Ordonez, Bruce D. Miller, and Jonathan E. Clark. "Gait Development On A Direct Drive, Quadrupedal Robot," SPIE, 2016. [bib | pdf

  • Brown, Jason M., Bruce D. Miller, and Jonathan E. Clark. "Classification of dynamical vertical climbing gaits." Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on. IEEE, 2016. [bib | pdf

  • O. Chuy, E. G. Collins, Jr., A. Sharma, and R. Kopinsky, “Using Dynamics to Consider Torque Constraints in Manipulators Planning with Heavy Loads,” ASME Journal of Dynamic Systems, Measurement, and Control, 2016, to appear. [bibpdf]

  • N. Gupta, C. Ordonez, E. G. Collins, Jr., “Dynamically Feasible, Energy Efficient Motion Planning for Skid-Steered Vehicles,” Autonomous Robots, to appear. [bibpdf]

  • R. Kopinsky, A. Sharma, N. Gupta, C. Ordonez, E. G. Collins Jr., and D. Barber, "Human Guidance of Mobile Robots in Complex 3d Environments Using Smart Glasses." Proc. SPIE 9837, Unmanned Systems Technology XVIII, 983709., May 2016. [bibpdf]

  • B. Reese, E. G. Collins, Jr., and F. Alvi, “A Nonlinear Adaptive Method for Microjet-Based Flow Separation Control,” AIAA Journal, to appear, 2016 [bib pdf]

  • B. Reese, E. Collins, "A Graph Search and Neural Network Approach to Adaptive Nonlinear Model Predictive Control", Engineering Applications of Artificial Intelligence. To Appear., 2016. [bib pdf]

  • K. M. Ben-Gharbia, A. A. Maciejewski, and R. G. Roberts, “Kinematic design of manipulators with seven revolute joints optimized for fault tolerance,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2016. [bib pdf]

  • R. S. Jamisola, P. S. Kormushev,  R. G. Roberts, and D. G. Caldwell “Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian,” Journal of Intelligent & Robotic Systems, 2016. [bib pdf]

+ 2015 Publications

  • Miller, B. and Clark, J.E., "Towards highly tuned mobility in multiple domains with a dynamical legged platform," Bioinspiration & Biomimetics, vol. 10, no. 4, pp. 046001, May 2015 [bib | pdf]

  • Miller, B., Rivera, P.R., Dickson, J.D., and Clark, J.E., "Running up a wall: the role and challenges of dynamic climbing in enhancing multi-modal legged systems" Bioinspiration & Biomimetics, vol. 10, no. 2, pp. 025005, Mar 2015 [bib | pdf]

  • Brandon Reese. "A Graph Based Approach to Nonlinear Model Predictive Control with Application to Combustion Control and Flow Control." Ph.D. dissertation. The Florida State University, Tallahassee, FL, Spring 2015. [bib | pdf]

  • Jacob J. Shill, Emanuel G Collins Jr., Eric Coyle, and Jonathan Clark, "Tactile surface classification for limbed robots using a pressure sensitive robot skin," Bioinspiration and Biomimetics, 2015, volume 10, number 1. [bib | pdf]

  • R. C. Hoover, R. G. Roberts, A. A. Maciejewski, P. S. Naik, and K. M. Ben-Gharbia, “Designing a failure-tolerant workspace for kinematically redundant robots,” IEEE Transactions on Automation Science and Engineering, Vol. 12, No. 4, pp. 1421-1432, Oct. 2015. [bib | pdf]

  • R. S. Jamisola and R. G. Roberts, “A more compact expression of relative Jacobian based on individual manipulator Jacobians,” Robotics and Autonomous Systems, 63 (2015), pp. 158-164, 2015. [bib | pdf]

  • K. M. Ben-Gharbia, A. A. Maciejewski, and R. G. Roberts, “Modifying the kinematic structure of an anthropomorphic arm to improve fault tolerance,” IEEE International Conference on Robotics and Automation (ICRA2015), pp. 1455-1460, Seattle, WA, May 26-30, 2015. [bib | pdf]

  • C. Adetu, R. G. Roberts, and C. A. Moore, “Effects of varying mass on wave reflections during wave variable teleoperation,” Proceedings IEEE International Conference on Systems, Man, and Cybernetics, pp. 413-418, Hong Kong, Oct. 9-12, 2015. [bib | pdf]

  • Miller, B.D., Brown, J.m. and Clark J.E., "On Prismatic and Torsional Acutaion for Running Legged Robots," 14th International Symposium on Experimental Robotics, New Delhi, India, November 13, 2015. [bib | pdf]

  • Miller, B.D. and Clark J.E., "Dynamic similarity and scaling for the design of dynamical legged robots," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, Sep 28 -Oct 2, 2015. [bib | [pdf]

+ 2014 Publications

  • B. Reese and E. Collins. "Sampling based control of a combustion process using a neural network model." Systems, Man and Cybernetics (SMC), 2014 IEEE International Conference on. IEEE, 2014. [bib | pdf]

  • B. Reese, F. Alvi, and E. Collins. "A Nonlinear Adaptive Method for Microjet-Based Flow Separation Control." 7th AIAA Flow Control Conference. 2014. DO- doi:10.2514/6.2014-2366 [bib | pdf]

  • Aneesh Sharma, Camilo Ordonez, Emmanuel Collins, "Robust Sampling-Based Trajectory Tracking for Autonomous Vehicles," System, Machine, and Cybernatics (SMC) 2014 [bib | pdf]

  • O. Chuy, E. Collins, C. Ordonez, J. Candiotti, H. Wang, and R.A. Cooper, "Slip Mitigation for an Electric Powered Wheelchair" [bib | pdf]

  • Nikhil Gupta. Dynamic Modeling and Motion Planning for Robotic Skid-Steered Vehicles. Ph.D. dissertation. The Florida State University, Tallahassee, FL, Summer 2014. [bib | pdf]

  • K. M. Ben-Gharbia, A. A. Maciejewski, and R. G. Roberts, “A kinematic analysis and evaluation of planar robots designed from optimally fault-tolerant Jacobians,” IEEE Transactions on Robotics, Vol. 30, No. 2, pp. 516-524, April 2014. [bib | pdf]

  • H. Cho, R. Roberts, B. Jung, O. Choi, and S. Moon, “An efficient hybrid face recognition algorithm using PCA and Gabor wavelets,” International Journal of Advanced Robotic Systems, doi: 10.5772/58473, April 2014. [bib | pdf]

  • K. M. Ben-Gharbia, A. A. Maciejewski, and R. G. Roberts, “An example of a seven joint manipulator optimized for kinematic fault tolerance,” Proceedings IEEE International Conference on Systems, Man, and Cybernetics, San Diego, CA, Oct. 5-8, 2014. [bib | pdf]

  • Shill, J.J., Collins, E.G., Coyle, E., and Clark J.E., "Terrain identification on a one legged hopping robot using high resolution pressure images," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, May 31- June 7, 2014 [bib | pdf]

  • Newton, J., "Design and characterization of a dielectric elastomer based variable stiffness mechanism for implementaion onto a dynamic running robot," Master's Thesis, Florida State University, 2014. [bib | pdf]

  • Rivera, P.R., "High Speed Dynamic Climbing on Rough Exterior Surfaces," Master's Thesis, Florida State University, 2014. [bib | pdf]

+ 2013 Publications

  • B. Reese, F. Alvi, and E. Collins. "Development of an Improved Performance Function for the Control of Flow Separation." 51st AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition. 2013. DO- doi:10.2514/6.2013-491 [bib | pdf]

  • G. Francis, E. Collins, O. Chuy, A. Sharma, "Sampling-Based Trajectory Generation for Autonomous Spacecraft Rendezvous and Docking," AIAA Guidance, Navigation, and Control Conference, Boston, MA, August 2013. [bib | pdf]

  • C. Ordonez, N. Gupta, O. Chuy, and E. Collins, "Momentum Based Traversal of Mobility Challenges for Autonomous Ground Vehicles," Proceedings of the IEEE Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013. [bib | pdf]

  • Dickson, J.D., Patel, J. and Clark, J., "Towards maneuverability in plane with a dynamic climbing platform," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 6-10, 2013. [bib | pdf]

  • Miller, B., Darnell, A. and Clark J., "Running in the horizontal plane with a multi-modal dynamical robot," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 6-10, 2013. [bib | pdf]

  • C. Ordonez, J. Shill, A. Johnsons, J. Clark, and E. Collins, "Terrain Identification for RHex-type Robots," Proceedings of the SPIE Defense, Security, and Sensing Conference, Baltimore, Maryland, April 29-May 3, 2013. [bib | pdf]

  • Dickson, J.D. and Clark, J.E., "Design of a multimodal climbing and gliding robotic platform," IEEE/ASME Transactions on Mechatronics, vol. 18, no. 2, pp. 494-505, Apr 2013. [bib | pdf]

  • Galloway, K.C. Clark, J.E., and Koditschek, D.E., "Variable stiffness legs for robust, efficient, and stable dynamic running," Journal of Mechanisms and Robotics, vol. 5, no. 1, pp. 011009(11), Feb 2013. [bib | link]

  • Kai Zhang, Emmanuel G. Collins Jr., Adrian Barbu, "An Efficient Stochastic Clustering Auction for Heterogeneous Robotic Collaborative Teams," Journal of Intelligent & Robotic Systems, January 2013. [bib | pdf]

  • K. M. Ben-Gharbia, A. A. Maciejewski, and R. G. Roberts, "Kinematic design of redundant robotic manipulators for spatial positioning that are optimally fault tolerant," IEEE Transactions on Robotics, Vol. 29, No. 5, pp. 1300-1307, Oct. 2013. [bib | pdf]

  • Y. Moon, C. D. Crane, and R. G. Roberts, “Reverse kinetostatic analysis and stiffness synthesis of a spatial tensegrity-based compliant mechanism,” Mechanism and Machine Theory, vol. 70, Pages 320–337, December 2013. [bib | pdf]

  • E. J. Coyle, R. G. Roberts, E. G. Collins Jr., and A. Barbu, “Synthetic data generation for classification via uni-modal cluster interpolation,” Autonomous Robots, Published online: 29 November 2013, Springer Science+Business Media New York 2013, DOI: 10.1007/s10514-013-9373-9 [bib | pdf]

  • P. S. Naik, A. A. Maciejewski, R. G. Roberts, R. C. Hoover, and K. Ben-Gharbia “An example of computing the failure-tolerant workspace area for a planar kinematically redundant robot,” Ninth IEEE International Conference on Automation Science and Engineering (CASE 2013), pp. 312-317, Madison, WI, August 17-21, 2013. [bib | pdf]

  • Miller, B.D., Cartes, D. and Clark J.E., "Leg stiffness adaptation for running on unknown terrains," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, Nov 3-7, 2013. [bib | pdf]

  • Dickson, J.D., Patel, J. and Clark, J. "Towards maneuverability in plane with a dynamic climbing platform," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 6-10, 2013. [bib | pdf]

  • Miller, B. D., "Dynamic legged robots for use in multiple regimes: Scaling, characterization and design for multi-modal robotic platforms," Ph.D. Dissertation, Florida State University, 2013. [bib | pdf]

+ 2012 Publications

  • C. Ordonez, N. Gupta, W. Yu, O. Chuy, E. G. Collins, Jr., "Modeling of Skid-Steered Wheeled Robotic Vehicles on Sloped Terrains," Proceedings of the ASME Dynamic Systems and Control Conference, Fort Lauderdale, FL, Oct. 17-19, 2012. [bib | pdf]

  • Ordonez, C., Gupta, N., Collins, E., Clark, J, and Johnson, A., "Power modeling of the XRL hexapedal robot and its application to energy efficient motion planning," 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Johns Hopkins University, USA, July 23-26, 2012. [bib | pdf]

  • Miller, B., Ordonez, C., and Clark, J., "Examining the effect of rear leg specialization on dynamic climbing with SCARAB: a dynamic quadrupedal robot for locomotion on vertical and horizontal surfaces," 13th International Symposium on Experimental Robotics, Quebec City, Canada, June 17-21, 2012. [bib | pdf]

  • O. Chuy, E. Collins, D. Dunlap, and A. Sharma, "Sampling-Based Direct Trajectory Generation Using Minimum Time Cost Function," 13th International Symposium on Experimental Robotics, Quebec City, Canada, June 17-21, 2012. [bib | pdf]

  • K. Zhang, E. Collins, and D. Shi, "Centralized and Distributed Task Allocation in Multi-Robot Teams via A Stochastic Clustering Auction," ACM Transactions on Autonomous and Adaptive Systems, Vol. 7, Issue 2, Article 21, pp. 21:1-21:22, July 2012. [bib | pdf]

  • Newton, J., Hays, M., Clark, J. and Oates, W., "Design and characterization of a soft electroactive adaptive structure for legged robotic motion," Proceedings of ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), Stone Mountain, Georgia, September 19-21, 2012. [bib | link]

  • Fadool, J., Francis, G., Liu, G., DeBrunner, V. and Clark, J., "Robotic device for 3D imaging of scour around bridge piles," Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), Chicago, Illinois, August 12-15, 2012. [bib | link]

  • Dickson, J. and Clark, J., "The effect of sprawl angle and wall inclination on a bipedal, dynamic climbing platform,"Proceedings of the International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), Baltimore, Maryland, July 23-26, 2012. [bib | pdf]

  • Haldane, D. and Clark, J., "Design of a variable stiffness leg using shape memory polymer composites," Proceedings of the International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), Baltimore, Maryland, July 23-26, 2012. [bib | pdf]

  • Ordonez, C., Gupta, N., Collins, E., Clark, J. and Johnson, A., "Power modeling of the XRL hexapedal robot and its application to energy efficient motion planning," Proceedings of the International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), Baltimore, Maryland, July 23-26, 2012. [bib | pdf]

  • Jun, J. and Clark, J., "A Reduced-Order Dynamical Model for Running with Curved Legs," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, Minnesota, May 14-18, 2012. [bib | link]

  • Newton, J., Morton, J., Clark, J. and Oates, W., "Modeling and characterization of stiffness controlled robotic legs using dielectric elastomers," Proceedings of SPIE Electroactive Polymer Actuators and Devices (EAPAD), San Diego, California, March 11, 2012. [bib | link]

  • Lynch, G.A., Clark, J.E., Lin, P.-C. and Koditschek, D.E., "A bioinspired dynamical vertical climbing robot," The International Journal of Robotics Research, vol. 31, no. 8, pp. 974-996, May 2012. [bib | link]

  • Miller, B., Schmitt, J. and Clark, J.E., "Quantifying disturbance rejection of SLIP-like running systems," The International Journal of Robotics Research, vol. 31, no. 5, pp. 573-587, Apr 2012. [bib | link]

  • Y. Moon, C. D. Crane, and R. G. Roberts, “Position and force analysis of a planar tensegrity-based compliant mechanism,” ASME Journal of Mechanisms and Robotics, vol. 4, no. 1, February 2012. [bib | pdf]

  • B. A. C. Peters, C. A. Moore, and R. G. Roberts, “Teleoperation setup for wire-cutting application in the field,” Proceedings 44th IEEE Southeastern Symposium on System Theory (SSST2012), pp. 105-110, Jacksonville, Florida, March 11-13, 2012. [bib] [pdf]

  • Dickson, J., "Development of a Dynamic Bipedal Climbing and Multi-Modal Robotic Platform," Master's Thesis, Florida State University, 2012. [bib | pdf]

  • Newton, J., “Design and Characterization of a Variable Stiffness Application for a Dynamic Running Robot,” Undergraduate Honors in the Major Thesis, Florida State University, 2012. [bib | pdf]

  • Bunne, M., “Instantiation of LLS Model Using Torque-Based Actuation,” Undergraduate Honors in the Major Thesis, Florida State University, 2012. [bib | pdf]

+ 2011 Publications

  • L. Lu, C. Ordonez, E. G. Collins, Jr., E. Coyle, and D. Palejiya, "Terrain Surface Classification with Control Mode Update Rule Using a 2D Laser Stripe-Based Structured Light Sensor," Robotics and Autonomous Systems, Vol. 59, No. 11, pp. 954 - 965, 2011. [bib | pdf]

  • D. D. Dunlap, C. V. Caldwell, E. G. Collins, Jr. and O. Chuy, "Motion Planning for Mobile Robots Via Sampling-Based Model Predictive Optimization," in Mobile Robots/Book 1, ISBN 978-953-307-909-7, InTech, to appear. [bib | pdf]

  • D. D. Dunlap, "Sampling Based Model Predictive Optimization with Application to Robot Kinodynamic Motion Planning,"Ph.D. dissertation, Florida State University, 2011. [bib | pdf]

  • A. Donate, Y. Wang, X. Liu, and E. Collins, "Efficient Path-Based Stereo Matching With Sub-pixel Accuracy," IEEE Transactions on Systems, Man, and Cybernetics - Part B: Cybernetics, 41(1),183-195,February, 2011. [bib | pdf]

  • D. Dunlap, W. Yu, E. Collins, and C. Caldwell, "Motion Planning for Steep Hill Climbing," IEEE International Conference on Robotics and Automation, pp. 707-714, May 2011. [bib | pdf]

  • Galloway, K., Clark, J., Yim, M., and Koditschek, D., "Experimental Investigations into the Role of Passive Variable Compliant Legs for Dynamic Robotic Locomotion," IEEE International Conference on Robotics and Automation, Shanghai, China, May 9-13, 2011. [bib | link]

  • Jun, J., and Clark, J., "Effect of rolling on running performance," IEEE International Conference on Robotics and Automation, Shanghai, China, May 9-13, 2011. [bib | link]

  • Dickson, J., Kulinka, C., Martin, M., Yeol, J., and Clark, J., "Development and Integration of Adaptive Robotic Multi-Modal System (ARM2S)," AIAA 49th Annual Aerospace Sciences Meeting, Orlando, Florida, January 4-7, 2011. [bib | pdf]

  • Andrews, B., Miller, B., Schmitt, J. and Clark, J.E., "Running over unknown rough terrain with a one-legged planar robot," Bioinspiration & Biomimetics, vol. 6, no. 2, pp. 026009(15), June 2011. [bib | pdf]

  • Sharma, Aneesh, Nikhil Gupta, and Emmanuel G. Collins Jr. "Energy efficient path planning for skid-steered autonomous ground vehicles." SPIE Defense, Security, and Sensing. International Society for Optics and Photonics, 2011 [bib | pdf]

  • R. C. Hoover, A. A. Maciejewski, and R. G. Roberts, “Fast eigendecomposition of images of objects with variation in illumination and pose,” IEEE Transactions on Systems, Man, and Cybernetics Part B: Cybernetics, vol. 41, no. 2, pp. 318-329, April 2011. [bib | pdf]

  • K. M. Ben-Gharbia, R. G. Roberts, and A. A. Maciejewski, "Examples of planar robot kinematic designs from optimally fault-tolerant Jacobians," Proceedings IEEE International Conference on Robotics and Automation, pp. 4710-4715, Shanghai, China, May 9-13, 2011. [bib | pdf]

  • A. M. Al-Qawasmeh, A. A. Maciejewski, R. G. Roberts, and H. J. Siegel, "Characterizing task-machine affinity in heterogeneous computing environments," Proceedings of the 20th International Heterogeneity in Computing Workshop (HCW'11), pp. 33-43, Anchorage, Alaska, May 16, 2011. [bib | pdf]

  • M. Ben-Gharbia, A. A. Maciejewski, and R. G. Roberts, "Examples of spatial positioning redundant robotic manipulators that are optimally fault tolerant," Proceedings IEEE International Conference on Systems, Man, and Cybernetics, pp. 1526-1531, Anchorage, Alaska, Oct. 9-12, 2011. [bib | pdf]

  • J. C. Isaacs and R. G. Roberts, “Metrics of the Laplace-Beltrami eigenfunctions for 2D shape matching,” Proceedings IEEE International Conference on Systems, Man, and Cybernetics, pp. 3347-3352, Anchorage, Alaska, Oct. 9-12, 2011. [bib | pdf]

  • Jun, J., "Characterization and Optimization of Running with Curved Legs," Ph.D. Dissertation, Florida State University, 2011. [bib | pdf]

  • Haldane, D.,”Design of a Tunable Stiffness Leg for Dynamic Running using Shape Memory Polymer”, Undergraduate Honors in the Major Thesis, Florida State University, 2011. [bib | pdf]

+ 2010 Publications

  • C. V. Caldwell, D. D. Dunlap, and E. G. Collins Jr., "Application of Sampling Based Model Predictive Control to an Autonomous Underwater Vehicle," Ship Science and Technology, Vol. 4, No. 7, pp. 55-63, July 2010. [bib | pdf]

  • C. Ordonez, O. Chuy, E. Collins, and X. Liu, "A Laser Based Rut Detection and Following System for Autonomous Ground Vehicles," Journal of Field Robotics, 28(2), 158-179,2010. [bib | link]

  • I.-Y. Chung, W. Liu, D. Cartes, E. Collins, and S.-I. Moon, "Control Methods of Inverter-Interfaced Distributed Generators in a Microgrid System," IEEE Transactions on Industry Applications, Vol. 46, No. 3, pp. 1078-1088, May/June, 2010. [bib | pdf]

  • W. Yu, O. Chuy, E. Collins, and P. Hollis, "Analysis and Experimental Verification for Dynamic Modeling of a Skid Steered Vehicle," IEEE Transactions on Robotics, Vol. 26, No. 2, pp. 340-353, April, 2010. [bib | pdf]

  • E. Dupont, E. Collins, E. Coyle, and R. Roberts, "Terrain Classification Using Vibration Sensors: Theory and Methods,"Mobile Robots: New Research, Nova Science Publishers, Inc., 2010. [bib | pdf]

  • K. Zhang, E. Collins and A. Barbu, "A Novel Stochastic Clustering Auction for Task Allocation in Multi-Robot Teams,"IEEE/RSJ International Conference on Intelligent RObots and Systems, pages 3300-3307, Taipei, Taiwan, October 18-22, 2010. [bib | pdf]

  • D. Dunlap, C. Caldwell, and E. Collins, "Nonlinear Model Predictive Control Using Sampling and Goal-Directed Optimization," Proceedings of the Multi-Conference on Systems and Control, Yokohama, Japan, September 8-9, 2010. [bib | pdf]

  • E. Coyle and E. Collins, "Updating Control Modes Based on Terrain Classification," Proceedings of the IEEE Conference on Robotics and Automation, pages 4417-4423, Anchorage, AK, May 3-5, 2010. [bib | pdf]

  • A. Meyer-Baese, R. Roberts, and V. Thuemmler, “Local uniform stability of competitive neural networks and different time-scales under vanishing perturbations,” Neurocomputing, vol. 73, Issues 4-6, pp. 770-775, January 2010. [bib | pdf]

  • S. Siddiqui and R. G. Roberts, “On the limitations of designing fault-tolerant configurations for kinematically redundant manipulators,” Proceedings 42nd IEEE Southeastern Symposium on System Theory (SSST2010), pp. 222-226, Tyler, Texas, March 7-9, 2010. [bib | pdf]

  • J. E. Piper and R. G. Roberts, “On the number of signals resolvable by an array,” OCEANS 2010, pp. 1-2, Seattle, Washington, September 20-23, 2010. [bib | pdf]

  • K. M. Ben-Gharbia, R. G. Roberts, and A. A. Maciejewski, "An illustration of generating robots from optimally fault-tolerant Jacobians," 15th IASTED International Conference on Robotics and Applications, pp. 453-460, Cambridge, MA, Nov. 1-3, 2010. [bib | pdf]

  • Miller, B., Andrews, B., and Clark, J., "Improved Stability of Running Over Unknown Rough Terrain via Prescribed Energy Removal,"12th International Symposium on Experimental Robotics, New Delhi, India, December 18-21, 2010. [bib | pdf]

  • Jun, J., Haldane, D., and Clark, J., "Compliant Leg Shape, Reduced-Order Models and Dynamic Running," 12th International Symposium on Experimental Robotics, New Delhi, India, December 18-21, 2010. [bib | pdf]

  • Shill, J., Miller, B., Schmitt, J., and Clark, J., "Design of a Dynamically Stable Horizontal Plane Runner," IEEE International Conference on Robotics and Automation, Anchorage, Alaska, May 3-8, 2010. [bib | pdf]

  • Andrews, B., "Running Over Unknown Rough Terrain with a One-Legged Planar Robot," Master's Thesis, Florida State University, 2010. [bib | pdf]

  • Dickson, J., “Design of a Bio-Inspired, Dynamic Tree Climbing Robot,” Undergraduate Honors in the Major Thesis, Florida State University, 2010. [bib | pdf]

+ 2009 Publications

  • J. Schmitt and J. Clark, "Modeling posture-dependent leg actuation in sagittal plane locomotion", Bioinspiration & Biomimetics, Vol. 4, No. 4, pp. 1-17, November 30, 2009. [bib | pdf]

  • L. Lu, C. Ordonez, E. Collins, and E. Dupont, "Terrain Surface Classification for Autonomous Ground Vehicles Using a 2D Laser Stripe-Based Structured Light Sensor," Proceedings of the IEEE/RSJ International Conference on Intelligent RObots and Systems, pages 2174-2181, St. Louis, MO, October 11-15, 2009. [bib | pdf]

  • G. Lynch, J. Clark, and D. Koditschek, "A Self-Exciting Controller for High-Speed Vertical Running," Proceedings of the IEEE/RSJ International Conference on Intelligent RObots and Systems, pages 631-638, St. Louis, MO, October 11-15, 2009. [bib | pdf]

  • O. Chuy, V. Kumar, F. Holt III, E. Collins, and F. Alvi, "Microjet-based Separation Control Using a Virtual Sensor for Degree of Separation," Florida Center for Advanced Aero-Propulsion (FCAAP) Annual Technical Symposium, Orlando, FL, August, 2009. [bib | pdf]

  • O. Chuy, E. Collins, W. Yu, and C. Ordonez, "Power Modeling of a Skid Steered, Wheeled Robotic Ground Vehicle,"Proceedings of the IEEE Conference on Robotics and Automation, pages 4118-4123, Kobe, Japan, May 12-17, 2009. [bib | pdf]

  • J. Jun and J. Clark, "Dynamic Stability of Variable Stiffness Running," Proceedings of the IEEE Conference on Robotics and Automation, pages 3985-3990, Kobe, Japan, May 12-17, 2009. [bib | link]

  • K. Galloway, J. Clark, and D. Koditschek, "Design of a Tunable Stiffness Composite Leg for Dynamic Locomotion,"ASME International Design Engineering Technical Conferences (IDETC), San Diego, CA, 2009. [bib | pdf]

  • M. Alise, R. G. Roberts, D. W. Repperger, C. A. Moore, and S. Tosunoglu, “On extending the wave variable method to multiple degree-of-freedom teleoperation systems,” IEEE/ASME Transactions on Mechatronics, vol. 14, no. 1, pp. 55-63, 2009. [bib | pdf]

  • I. S. Shin, S.-H. Nam, R. Roberts, and S. Moon, “Minimum-time algorithm for intercepting an object on the conveyor belt,” Industrial Robot, vol. 36, no. 2, pp. 127-137, March 2009. [bib | pdf]

  • R. C. Hoover, A. A. Maciejewski, and R. G. Roberts, “Eigendecomposition of images on S1, S2, and SO(3) Using Spectral Theory,” IEEE Transactions on Image Processing, vol. 18, no. 11, November 2009. [bib | pdf]

  • K. Saitwal, A. A. Maciejewski, and R. G. Roberts, “Computationally efficient eigenspace decomposition of correlated images characterized by three parameters,” Pattern Analysis and Applications, vol. 12, no. 4, pp. 391-406, December 2009. [bib | pdf]

  • R. G. Roberts, S. Siddiqui, and A. A. Maciejewski, “Designing equally fault-tolerant configurations for kinematically redundant manipulators,” Proceedings 41st IEEE Southeastern Symposium on System Theory (SSST2009), pp. 335-339, Tullahoma, Tennessee, March 15-17, 2009. [bib | pdf]

  • D. W. Repperger, A. R. Pinkus, K. A. Farris, R. G. Roberts, and R. D. Sorkin, “Investigation of image fusion procedures using optimal registration and SVD algorithms,” Proceedings 2009 IEEE National Aerospace and Electronics Conference (NAECON 2009), pp. 231-235, Dayton, Ohio, July 21-23, 2009. [bib | pdf]

  • D. W. Repperger, R. G. Roberts, M. Alise, and C. A. Moore, “A haptic teleoperation study using wave variables and scaling matrices,” Proceedings 2009 IEEE International Conference on Systems, Man, and Cybernetics, pp. 1-5, San Antonio, Texas, October 11-14, 2009. [bib | pdf]

  • J. C. Isaacs and R. G. Roberts, “Constructions of equiangular tight frames with genetic algorithms,” Proceedings 2009 IEEE International Conference on Systems, Man, and Cybernetics, pp. 595-598, San Antonio, Texas, October 11-14, 2009. [bib | pdf]

  • R. C. Hoover, A. A. Maciejewski, and R. G. Roberts, “Designing eigenspace manifolds: With application to object identification and pose estimation,” Proceedings 2009 IEEE International Conference on Systems, Man, and Cybernetics, pp. 3409-3414, San Antonio, Texas, October 11-14, 2009. [bib | pdf]

  • R. C. Hoover, A. A. Maciejewski, R. G. Roberts, and R. Hoppal, “An illustration of eigenspace decomposition for illumination invariant pose estimation,” Proceedings 2009 IEEE International Conference on Systems, Man, and Cybernetics, pp. 3415-3420, San Antonio, Texas, October 11-14, 2009. [bib | pdf]

  • C. F. Adetu, C. A. Moore, and R. G. Roberts, “Dynamic modeling and control of the Omega-3 parallel manipulator,” Proceedings 2009 IEEE International Conference on Systems, Man, and Cybernetics, pp. 3599-3604, San Antonio, Texas, October 11-14, 2009. [bib | pdf]

  • R. G. Roberts and D. W. Repperger, “On the absolute orientation problem in computer vision,” Proceedings 2009 IEEE International Conference on Systems, Man, and Cybernetics, pp. 4142-4145, San Antonio, Texas, October 11-14, 2009. [bib | pdf]

+ 2008 Publications

  • E. DuPont, C. Moore, E. Collins, and E. Coyle, "Frequency Response Method for Online Terrain Identification in Unmanned Ground Vehicles," Autonomous Robots, Vol. 24, No. 4, pp. 337-347, May, 2008. [bib | pdf]

  • C. Ordonez, E. Collins, M. Selekwa, and D. Dunlap, "The Virtual Wall Approach to Limit Cycle Avoidance for Unmanned Ground Vehicles," Robotics and Autonomous Systems, Vol. 56, pp. 645-657, 2008. [bib | pdf]

  • M. Selekwa, D. Dunlap, D. Shi, and E. Collins, "Robot Navigation in Very Cluttered Environments By Preference-Based Fuzzy Behaviors," Autonomous Robots, Vol. 56, No. 3, pp. 231-246, March, 2008. [bib | pdf]

  • E. Coyle and E. Collins, "A Comparison of Classifier Performance for Vibration-based Terrain Classification," 26th Army Science Conference, Orlando, FL, December 1-4, 2008. [bib | pdf]

  • K. Zhang, E. Collins, D. Shi, X. Liu, and O. Chuy, "A Stochastic Clustering Auction for Centralized and Distributed Task Allocation in Multi-Agent Teams." In Hajime Asama, Haruhisa Kurokawa, Jun Ota, and Kosuke Sekiyama, editors, Distributed Autonomous Robotic Systems 8, pages 345-354, Tsukuba, Ibaraki, Japan, 2008. [bib | pdf]

  • J. Sastra, W. Heredia, J. Clark, and M. Yim, "Biologically-Inspired Dynamic Legged Locomotion with a Modula Reconfigurable Robot," Proceedings ASME DSCC 2008, Ann Arbor, MI, October 20-22, 2008. [bib | pdf]

  • J. Auchter and C. Moore, "Off-Road Robot Modeling with Dexterous Manipulation Kinematics," Proceedings of the IEEE Conference on Robotics and Automation, pages 2313-2318, Pasadena, CA, May 19-23, 2008. [bib | pdf]

  • E. Collins and E. Coyle, "Vibration-Based Terrain Classification Using Surface Profile Input Frequency Responses,"Proceedings of the IEEE Conference on Robotics and Automation, pages 3276-3283, Pasadena, CA, May 19-23, 2008. [bib | pdf]

  • D. Shi, E. Collins, A. Donate, X. Liu, B. Goldiez, and D. Dunlap, "Human-Aware Robot Motion Planning with Velocity Constraints," International Symposium on Collaborative Technologies and Systems (CTS 2008), pages 490-497, Irvine, CA, May 19-23, 2008. [bib | pdf]

  • D. Dunlap, E. Collins, and C. Caldwell, "Sampling Based Model Predictive Control with Application to Autonomous Vehicle Guidance," Florida Conference on Recent Advances in Robotics, Melbourne, FL, May 8-9, 2008. [bib | pdf]

  • E. Coyle, E. Collins, E. DuPont, D. Dang, H. Wang, R. Cooper, and G. Grindle, "Vibration-Based Terrain Classification for Electric Powered Wheelchairs," Proceedings of the Fourth IASTED International Conference on Telehealth and Assistive Technologies (Telehealth/AT 2008), pages 139-144, Baltimore, MD, April 16-18, 2008. [bib | pdf]

  • H. K. Jung, C. D. Crane III, and R. G. Roberts, “Stiffness mapping of compliant parallel mechanisms in a serial arrangement,” Machine and Mechanism Theory, vol. 43, no. 3, pp. 271-284, March 2008. [bib | pdf]

  • M. Alise, R. G. Roberts, and D. W. Repperger, “Simulating a bilateral teleoperation system using Matlab and SIMULINK,” ASEE Computers in Education, vol. XVIII, no. 1, pp. 82-91, April-June 2008. [bib | pdf]

  • R. G. Roberts, H. G. Yu, and A. A. Maciejewski, “Fundamental limitations on designing optimally fault-tolerant redundant manipulators,” IEEE Transactions on Robotics, vol. 24, no. 5, pp. 1224-1237, October 2008. [bib | pdf]

  • R. C. Hoover, A. A. Maciejewski, and R. G. Roberts, “An analysis of sphere tessellations for pose estimation of 3-D objects using spherically correlated images,” Proceedings 2008 IEEE Southwest Symposium on Image Analysis and Interpretation, pp. 41-44, Santa Fe, NM, March 24-26, 2008. [bib | pdf]

  • R. C. Hoover, A. A. Maciejewski, and R. G. Roberts, “Aerial pose detection of 3-D objects using hemispherical harmonics,” 2008 IEEE Southwest Symposium on Image Analysis and Interpretation, pp. 157-160, Sante Fe, NM, March 24-26, 2008. [bib | pdf]

  • R. C. Hoover, A. A. Maciejewski, and R. G. Roberts, “Pose detection of 3-D objects using S^2-correlated images and discrete spherical harmonic transforms,” Proceedings 2008 IEEE International Conference on Robotics and Automation, pp. 993-998, Pasadena, CA, May 19-23, 2008. [bib | pdf]

  • E. DuPont, C. A. Moore, and R. Roberts, “Terrain classification for mobile robots traveling at various speeds: an eigenspace manifold approach,” Proceedings 2008 IEEE International Conference on Robotics and Automation, pp. 3284-3289, Pasadena, CA, May 19-23, 2008. [bib | pdf]

  • R. C. Hoover, A. A. Maciejewski, and R. G. Roberts, “Pose detection of 3-D objects using images sampled on SO(3), spherical harmonics, and Wigner-D matrices,” Proceedings 2008 IEEE International Conference on Automation Science and Engineering, pp. 47-5, Washington, DC, August 23-26, 2008. [bib | pdf]

+ 2007 Publications

  • D. Shi, E. Collins, and D. Dunlap, "Robot Navigation in Cluttered 3-D Environments using Preference-Based Fuzzy Behaviors," IEEE Transactions on Systems, Man, and Cybernetics - Part B: Cybernetics, Vol. 37, No. 6, pp. 1486-1499, 2007. [bib | pdf]

  • K. Galloway, J. Clark, and D. Koditschek, "Design of a Multi-Directional Variable Stiffness Leg for Dynamic Running,"Proceedings ASME IMECE 2007 International Mechanical Engineering Congress and Exposition Conference, Seattle, WA, November 11-15, 2007. [bib | pdf]

  • J. Auchter, C. Moore, and A. Ghosal, "Modeling of Wheeled Mobile Robots Using Dexterous Manipulation Kinematics,"Proceedings of WCECS International Conference on Intelligent Automation and Robotics, San Francisco, CA, October, 2007. [bib | pdf]

  • Lewei Qian. A New Adaptive Detection Algorithm for Power Quality Improvement. Ph.D. dissertation. The Florida State University, Tallahassee, FL, September, 2007. [bib | pdf]

  • Kai Huang. Shipboard Power System Reconfiguration Using Multiagent System. Ph.D. dissertation. The Florida State University, Tallahassee, FL, July, 2007. [bib | pdf]

  • J. Clark, D. Goldman, P. Lin, G. Lynch, T. Chen, H. Komsuoglu, R. Full, and D. Koditschek, "Design of a Bio-inspired Dynamical Vertical Climbing Robot," Robots: Science and Systems, Atlanta, GA, June 27-29, 2007. [bib | pdf]

  • O. Chuy Jr., Y. Hirata, Z. Wang, and K. Kosuge, "A Control Approach Based on Passive Behavior to Enhance User Interaction," IEEE Transactions on Robotics, pp. 899-908, 2007. [bib | pdf]

  • C-Y. Chang, A. A. Maciejewski, V. Balakrishnan, R. G. Roberts, and K. Saitwal “Quadtree-based eigendecomposition for pose detection in the presence of occlusion and background clutter,” Pattern Analysis and Applications, vol. 10, no. 1, pp. 15-31, February 2007. [bib | pdf]

  • A. Meyer-Baese, R. Roberts, and H. G. Yu, “Robust stability analysis of competitive neural networks with different time-scales under perturbations,” Neurocomputing, Vol. 71, No. 3, pp. 417-420, December 2007. [bib | pdf]

  • R. G. Roberts, R. Jamisola, and A. A. Maciejewski, “Identifying the failure-tolerant workspace boundaries of a kinematically redundant manipulator,” Proceedings IEEE International Conference on Robotics and Automation, pp. 4517-4523, Rome, Italy, April 10-14, 2007. [bib | pdf]

  • D. W. Repperger, R. G. Roberts, and A. R. Pinkus, “Computer vision studies using stochastic resonance/information theoretic methods,” Proceedings The 7th International Symposium on Computational Intelligence in Robotics and Automation (CIRA2007), pp. 119-124, Jacksonville, Florida, June 20-23, 2007. [bib | pdf]

  • D. W. Repperger, R. L. Ewing, J. B. Lyons, and R. G. Roberts, “Investigation of performance of distributed complex systems using information-theoretic means and genetic algorithms,” Proceedings The 7th International Symposium on Computational Intelligence in Robotics and Automation (CIRA2007), pp. 137-142, Jacksonville, Florida, June 20-23, 2007. [bib | pdf]

  • I. S. Shin, S.-H. Nam, R. Roberts, and S. Moon, “Minimum-time algorithm for intercepting an object on the conveyor belt by robot,” Proceedings The 7th International Symposium on Computational Intelligence in Robotics and Automation (CIRA2007), pp. 362-367, Jacksonville, Florida, June 20-23, 2007. [bib | [pdf]

  • A. Meyer-Baese, R. Roberts, and H.G. Yu, “Global asymptotic stability analysis of both matched and unmatched uncertain neural networks,” Proceedings International Joint Conference on Neural Networks, pp. 1669-1672, Orlando, Florida, August 12-17, 2007. [bib | pdf]

  • R. C. Hoover, R. G. Roberts, and A. A. Maciejewski, “Implementation issues in identifying the failure-tolerant workspace boundaries of a kinematically redundant manipulator,” Proceedings 2007 International Conference on Intelligent Robots and Systems (IROS 2007), pp. 3528-3533, San Diego, CA, Oct. 29 - Nov. 2, 2007. [bib | pdf]

  • R. G. Roberts, H. G. Yu and A. A. Maciejewski, “Characterizing optimally fault-tolerant manipulators based on relative manipulability indices,” Proceedings 2007 International Conference on Intelligent Robots and Systems (IROS 2007), pp. 3925-3930, San Diego, CA, Oct. 29 - Nov. 2, 2007. [bib | pdf]

  • Burden, S. and Clark, J. E. and Weingarten, J .and Komsouglu, H. and Koditschek, D. E. “Heterogeneous Leg Stiffness and Roll in Dynamic Running,” IEEE International Conference of Robotics and Automation, Rome, Italy, Apr 10-14, 2007. [bib | pdf]

+ 2006 Publications

  • O. Chuy Jr., Y. Hirata, and K. Kosuge, "A New Control Approach for a Robotic Walking Support System in Adapting User Characteristics," IEEE Transactions on Systems Man and Cybernetics, pp. 725-733, 2006. [bib | pdf]

  • K. Saitwal, A. Maciejewski, R. Roberts, and B. Draper. "Using the Low-Resolution Properties of Correlated Images to Improve the Computational Efficiency of Eigenspace Decomposition," IEEE Transactions on Image Processing. Vol. 15, No. 8, 2006. [bib | pdf]

  • D. Zhang, H. Li, and E. Collins, "Digital anti-windup PI controllers for variable-speed motor drives using FPGA and stochastic theory," IEEE Transactions on Power Electronics, Vol. 21, No. 5, 2006. [bib | pdf]

  • E. Collins, M. Selekwa, R. Walker, and S. Palanki, "A Stacked Model Structure for Off-line Parameter Variation Estimation in Multi-equilibria Nonlinear Systems," European Journal of Control, Vol. 12, No. 4, pp.353-372, 2006. [bib | pdf]

  • J. Clark and D. Koditschek, "A Spring-assisted One Degree of Freedom Climbing Model," Lecture Notes on Control and Information Sciences, pages 43-64, October, 2006. [bib | pdf]

  • C. Caldwell, E. Collins, and S. Palanki, "Integrated Guidance and Control of AUVs Using Shrinking Horizon Model Predictive Control," Proceedings of Oceans 2006, Boston, MA, September, 2006. [bib | pdf]

  • Kim, S., Clark, J.E. and Cutkosky, M.R., "iSprawl: Design and tuning for high-speed autonomous open-loop running," The International Journal of Robotics Research, vol. 25, no. 9, pp. 903-912, Sep 2006. [bib | pdf]

  • D. Dores, M. Santos, A. Krothapalli, L. Lourenco, E. Collins, F. Alvi, and P. Strykowski, "Characterization of a Counterflow Thrust Vectoring Scheme on a Gas Turbine Engine Exhaust Jet," Proceedings of the AIAA 3rd Flow Control Conference, San Francisco, CA, June, 2006. [bib | pdf]

  • Camilo Ordonez. Design and Implementation of a Limit Cycle Negotiation Strategy for Robot Navigation. Masters thesis. The Florida State University, Tallahassee, FL, June, 2006. [bib | pdf]

  • Dongqing Shi. Aerial Robot Navigation in Cluttered Urban Environments. Ph.D. dissertation. The Florida State University, Tallahassee, FL, June, 2006. [bib | pdf]

  • Li Liu. Robust Fault Detection and Diagnosis for Permanent Magnet Synchronous Motors. Ph.D. dissertation. The Florida State University, Tallahassee, FL, June, 2006. [bib | pdf]

  • Clark, J.E. and Cutkosky, M.R., "The effect of leg specialization in a biomimetic hexapedal running robot," Journal of Dynamic Systems, Measurement, and Control, vol. 128, no. 1, pp. 26-35, Mar 2006. [bib | pdf]

  • K. Saitwal, A. A. Maciejewski, R. G. Roberts, and B. A. Draper, “Using the low-resolution properties of correlated images to improve the computational efficiency of eigenspace decomposition,” IEEE Transactions on Image Processing, vol. 15, no. 4, pp. 2376-2387, August 2006 [bib | pdf]

  • R. Jamisola, A. A. Maciejewski, and R. G. Roberts, “Failure-tolerant path planning for kinematically redundant manipulators anticipating locked-joint failures,” IEEE Transactions on Robotics, vol. 22, no. 4, pp. 603-612, August 2006. [bib | pdf]

  • H. G. Yu and R. G. Roberts, “Stiffness matrix analysis and synthesis of pre-loaded planar structures,” CD Proceedings 37th IEEE Southeastern Symposium on System Theory (SSST2006), pp. 87-91, Cookeville, TN, March 5-7, 2006. [bib | pdf]

  • E. M. DuPont, R. G. Roberts, and C. A. Moore, “Speed independent terrain classification,” CD Proceedings 37th IEEE Southeastern Symposium on System Theory (SSST2006), pp. 240-244, Cookeville, TN, March 5-7, 2006. [bib | pdf]

  • K. Saitwal, A. A. Maciejewski, and R. G. Roberts, “Eigendecomposition of correlated images characterized by three parameters,” Proceedings IEEE Southwest Symposium on Image Analysis and Interpretation, pp. 203-207, Denver, CO, March 26-28, 2006. [bib | pdf]

  • M. Alise, R. G. Roberts, and D. W. Repperger, “The wave variable method for multiple degree of freedom teleoperation systems with time delay,” Proceedings IEEE International Conference on Robots and Automation, pp. 2908-2913, Orlando, FL, May 15-May 19, 2006. [bib | pdf]

  • A. Meyer-Baese, R. Roberts, and S. Joshi, “Robust stability analysis of a class of noise perturbed two-time scale neural networks,” Proceedings International Joint Conference on Neural Networks, pp. 2008-2011, Vancouver, BC, Canada, July 16-21, 2006. [bib | pdf]

  • Clark, J. E., Goldman, D. I., Chen, T. S., Full, R. J. and Koditschek, D. E. “Toward Vertical Dynamic Climbing,” Proceedings of the 9th International Conference on Climbing and Walking Robots, Brussels, Belgium, Sep. 2006. [bib] [pdf]

+ 2005 Publications

  • T. Curry and E. Collins, "Robust Fault Detection and Isolation Using Robust l1 Estimation," Journal of Guidance, Control, and Dynamics, Vol. 28, No. 6, pp. 1131-1139, November-December, 2005. [bib | pdf]

  • Y. Zhao, E. Collins, F. Alvi, and D. Dores, "Design and Implementation of Feedback Control for Counterflow Thrust Vectoring," AIAA Journal of Propulsion, Vol. 21, No. 5, pp. 815-821, September-October, 2005. [bib | pdf]

  • Y. Zhao and E. Collins, "Robust automatic parallel parking in tight spaces via fuzzy logic," Robotics and Autonomous Systems, 51(2-3):111-127, May, 2005. [bib | pdf]

  • M. Selekwa and E. Collins, "Numerical Solutions for Systems of 'Qualitative' Nonlinear Algebraic Equations by Fuzzy Logic," Fuzzy Sets and Systems, Vol. 15, No. 3, pp. 599-609, 2005. [bib | pdf]

  • E. DuPont, R. Roberts, C. Moore, M. Selekwa, and E. Collins, "Online Terrain Classification For Mobile Robots,"Proceedings of ASME IMECE 2005 International Mechanical Engineering Congress and Exposition Conference, Orlando, FL, November 5-11, 2005. [bib | pdf]

  • D. Shi, M. Selekwa, E. Collins, and C. Moore, "Fuzzy behavior navigation for an unmanned helicopter in unknown environments," IEEE International Conference on Systems, Man and Cybernetics, volume 4, pages 3897鈥?902, Big Island, HI, October 10-12, 2005. [bib | pdf]

  • M. Selekwa, D. Dunlap, and E. Collins, "Implementation of multivalued fuzzy behavior control for robot navigation in cluttered environments," Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pages 3688鈥?695, Barcelona, Spain, April 18-22, 2005. [bib | pdf]

  • Delfim Zambujo Das Dores. Feedback Control for Counterflow Thrust Vectoring With a Turbine Engine: Experiment Design and Robust Control Design and Implementation. Ph.D. dissertation. The Florida State University, Tallahassee, FL, April, 2005. [bib | pdf]

  • M. Alise, R. G. Roberts, and D. W. Repperger, “Time delayed teleoperation using wave variables on multiple degree-of-freedom systems,” in CD Proceedings 37th IEEE Southeastern Symposium on System Theory (SSST2005), pp. 253-257, Tuskegee, Alabama, March 20-22, 2005. [bib | pdf]

  • D. Belc, C. Chen, R. Roberts, M. Bettge, R. Arora and V. Mohite, “Effect of high AC magnetic field on magnetic nanoparticles for magnetic hyperthermia and radiation/chemotherapy applications,” NSTI Nanotechnology Conference and Trade Show, Anaheim, CA, pp. 23–26, May 8-12, 2005. [bib | pdf]

  • K. Saitwal, A. A. Maciejewski, and R. G. Roberts, “The effect of spatial resolution reduction techniques on the temporal properties of video sequences,” in Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1501-1506, Edmonton, Alberta, Canada, August 2-6, 2005. [bib | pdf]

  • D. Belc, S. Y. Foo, and R. Roberts, “Comparisons of multi-resolution analysis methods for mammogram and fingerprint image compression,” 18th International Conference on Systems Engineering, p. 269, August 16-18, 2005. [bib | pdf]

  • E. M. DuPont, R. G. Roberts, M. Selekwa, C. A. Moore, and E. G. Collins, Jr., “Online terrain classification for mobile robots,” ASME International Mechanical Engineering Congress and Exposition, Orlando, FL, November 5-11, 2005. [bib | pdf]

  • Clark, J. E., Provancher, M.R. and Mitiguy, P., “Theory, Simulation, and Hardware: Lab Design for an Integrated System Dynamics Education” Proceedings ASME IMECE 2005, Orlando, FL, CA, November 5-11, 2005. [bib | pdf]

  • Clark, J. E.and Cutkosky, M. R., “Stability Measure Comparison for the Design of a Dynamic Running Robot,” 8th International Conference on Climbing and Walking Robots (CLAWAR 2005), London, England, September 13-15, 2005. [bib | pdf]

+ 2004 Publications

  • Y. Zhao and E. Collins, "Comparison of Two Approaches to Automated PI Controller Tuning for an Industrial Weigh Belt Feeder," ISA Transactions, Vol. 43, No. 4, pp. 611-621, October, 2004. [bib | pdf]

  • K. Saitwal, A. Maciejewski, and R. Roberts, "Fast Eigenspace Decomposition of Correlated Images Using Their Low-resolution Properties," Proceedings of the IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS), pages 2707-2712, Sendai, Japan, September 28-October 2, 2004. [bib | pdf]

  • Tramone D. Curry. Robust Fault Detection and Isolation Using Mixed Structured Singular Value and l1 Theories. Ph.D. dissertation. The Florida Agricultural and Mechanical University, Tallahassee, FL, September, 2004. [bib | pdf]

  • D. Sadhukhan, C. Moore, and E. Collins, "Terrain Estimation Using Internal Sensors," Proceedings of the 10th IASTED International Conference on Robotics and Applications, pages 447-800, Honolulu, HI, August, 2004. [bib | pdf]

  • Damion Donyell Dunlap. Implementation of Multi-valued Fuzzy Behavior Control for Navigation in Cluttered Environments. Master’s thesis. The Florida Agricultural and Mechanical University, Tallahassee, FL, June, 2004. [bib | pdf]

  • R. Jamisola, A. Maciejewski, and R. Roberts, "Failure-tolerant Path Planning for the PA-10 Robot Operating Amongst Obstacles," Proceedings of the IEEE International Conference on Robots and Automation, New Orleans, LA, pages 4995-5000, April 26-May 1, 2004. [bib | pdf]

  • K. Saitwal, A. Maciejewski, and R. Roberts, "Analysis of Eigendecomposition for Sets of Correlated Images at Different Resolutions," Proceedings of the IEEE International Conference on Robots and Automation, New Orleans, LA, pages 1393-1398, April 26-May 1, 2004. [bib | pdf]

  • E. DuPont, H. Yu, and R. Roberts, "Object Pose Detection in the Presence of Background Clutter and Occlusion,"Proceedings of the Thirty-Sixth Southeastern Symposium on System Theory, pages 446-450, Atlanta, GA, March, 2004. [bib | pdf]

  • T. A. Shirey and R. G. Roberts, “Hybrid active/passive interaction control for robotic manipulators,” in Proceedings 36th IEEE Southeastern Symposium on System Theory (SSST2004), pp. 441-445, Atlanta, GA, March 14-16, 2004. [bib | pdf]

  • E. M. DuPont, H. Yu, and R.G Roberts, “Object pose detection in the presence of background clutter and occlusion," in Proceedings 36th IEEE Southeastern Symposium on System Theory (SSST2004), pp. 446-450, Atlanta, GA, March 14-16, 2004. [bib | pdf]

  • R. Jamisola, A. A. Maciejewski, and R. G. Roberts, “A computational feasibility study of failure-tolerant path planning,” in CD Proceedings 10th International Conference on Robotics and Remote Systems for Hazardous Environments, Gainesville, FL, March 28-31, 2004. [bib | pdf]

  • K. Saitwal, A. A. Maciejewski, and R. G. Roberts, “Analysis of eigendecomposition for sets of correlated images at different resolutions,” in Proceedings IEEE International Conference on Robots and Automation, pp. 1393-1398, New Orleans, LA, April 26-May 1, 2004. [bib | pdf]

  • R. Jamisola, A. A. Maciejewski, and R. G. Roberts, “Failure-tolerant path planning for the PA-10 robot operating amongst obstacles,” in Proceedings IEEE International Conference on Robots and Automation, pp. 4995-5000, New Orleans, LA, April 26-May 1, 2004. [bib | pdf]

  • R. G. Roberts and T. A. Shirey, “Synthesizing a positive definite spatial stiffness matrix with a hybrid connection of simple compliances,” in Proceedings The Eleventh International Symposium on Robotics With Applications (WAC2004), pp. 339-346, Seville, Spain, June 28-July 1, 2004. [bib | pdf]

  • K. Saitwal, A. A. Maciejewski, and R. G. Roberts, “Fast eigenspace decomposition of correlated images using their low-resolution properties,” in Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), p. 2707-2712, Sendai, Japan, September 28-October 2, 2004. [bib | pdf]

  • D. Belc, Y. Haik, C. J. Chen, R. Roberts, R. Arora, “Effect of high AC magnetic field on magnetic nanoparticles for magnetic hyperthermia and radiation/chemotherapy applications,” in CD Proceedings of IEEE International Workshop on Biomedical Circuits and Systems, Marina Mandarin Hotel, Singapore, December 1-3, 2004. [bib | pdf]

  • Clark, J. E., Thelen, D.G. and Cutkosky, M. R., “Dynamic Simulation and Analysis of a Passively Self-Stabilizing Hexapedal Running Robot” Proceedings ASME IMECE 2004, Anaheim, CA, November 13-20, 2004. [bib | pdf]

  • Provancher, W. R., Clark, J. E., Geisler, B., and Cutkosky, M. R., “Toward Penetration-based Clawed Climbing,” 7th International Conference on Climbing and Walking Robots (CLAWAR 2004), Madrid, Spain, September 22-24, 2004. [bib | pdf]

  • Kim, S., Clark, J. E.and Cutkosky, M. R., “iSprawl: Autonomy, and the Effects of Power Transmission,” 7th International Conference on Climbing and Walking Robots (CLAWAR 2004), Madrid, Spain, September 22-24, 2004. [bib | pdf]

+ 2003 Publications

  • Y. Zhao and E. Collins, "Fuzzy PI Control of a Weigh Belt Feeder," IEEE Transactions on Fuzzy Systems, Vol. 11, No. 3, pp. 311-319, June, 2003. [bib | pdf]

  • C. Fan, E. Collins, C. Liu, and B. Wang, "Radial Error Feedback Control for Bar Turning in CNC Turning Centers,"ASME Journal of Manufacturing Science and Engineering, Vol. 125, pp. 77-84, February, 2003. [bib | pdf]

  • M. Selekwa and E. Collins, "H2 Optimal Reduced Order Control Design Using a Fuzzy Logic Methodology with Bounds on System Variances," IEEE Transactions on Control Systems Technology, Vol. 11, No. 1, pp. 153-156, January, 2003. [bib | pdf]

  • K. Saitwal, A. Maciejewski, and R. Roberts, "A Comparison of Eigendecomposition for Sets of Correlated Images at Different Resolutions," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems,pages 1011-1017, Las Vegas, NV, October 27-31, 2003. [bib | pdf]

  • R. G. Roberts, “A case study to motivate engineering students to do mathematical proofs,” International Journal of Electrical Engineering Education, vol. 40, no. 4, pp. 231-242, 2003. [bib | pdf]

  • R. G. Roberts and T. A. Shirey, “Spatial stiffness synthesis with a hybrid connection of simple compliances,” in Proceedings 35th IEEE Southeastern Symposium on System Theory (SSST2003), pp. 340-344, Morgantown, WV, March 16-18, 2003. [bib | pdf]

  • R. G. Roberts and T. A. Shirey, “Algorithms for passive compliance mechanism design,” in CD Proceedings 35th IEEE Southeastern Symposium on System Theory (SSST2003), pp. 347-351, Morgantown, WV, March 16-18, 2003. [bib | pdf]

  • R. G. Roberts and T. A. Shirey, “Synthesizing any specified elastic behavior with a hybrid connection of simple components,” in CD Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, October 27-31, 2003. [bib | pdf]

  • R. Jamisola, A. A. Maciejewski, and R. G. Roberts, “A path planning strategy for kinematically redundant manipulators anticipating joint failures in the presence of obstacles,” in Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, pp. 142-148, October 27-31, 2003. [bib | pdf]

  • K. Saitwal, A. A. Maciejewski, and R. G. Roberts, “A comparison of eigendecomposition for sets of correlated images at different resolutions,” in Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1011-1017, Las Vegas, NV, October 27-31, 2003. [bib | pdf]

+ Prior to 2003 Publications

  • Cham, J.G., Bailey, S.A., Clark, J.E., Full, R.J. and Cutkosky, M.R., "Fast and robust: Hexapedal robots via shape deposition manufacturing," International Journal of Robotics Research, vol. 21, no. 10, pp. 869-882, Oct 2002 [bib | pdf]

  • E. Collins and M. Selekwa, "A Fuzzy Logic Approach to LQG Design With Variance Constraints," IEEE Transactions on Control Systems Technology, Vol. 10, No. 1, pp. 32-42, January, 2002. [bib | pdf]

  • R. G. Roberts, “Some recent results on the minimal realization of a spatial stiffness matrix,” International Journal on Robotics and Automation, vol. 17, no. 1, pp. 46-53, 2002. [bib | pdf]

  • C. Conklin, R. Watkins, S. Foo, G. Brooks, R. Roberts, and R. Perry, “Dichromatic color perception: A fast alternative for machine vision systems,” Engineering Applications of Artificial Intelligence, 15, pp. 351-355, 2002. [bib | pdf]

  • R. G. Roberts, “On the normal form of a spatial stiffness matrix,” in Proceedings 2002 IEEE International Conference on Robotics and Automation, pp. 556-561, Washington, DC, May 2002. [bib | pdf]

  • B. A. Harvey and R. G. Roberts, “A recursive algorithm for generating the family of n-length binary sequences with weight M,” ASEE Computers in Education Journal, vol. 12, no. 2, pp. 59-63, 2002. [bib | pdf]


  • E. Collins and Y. Zhao, "A Genetic Search Approach to Unfalsified PI Control Design for a Weigh Belt Feeder,"International Journal of Adaptive Control and Signal Processing, Vol. 15, pp. 519-534, July 27, 2001. [bib | pdf]

  • R. G. Roberts, “The dexterity and singularities of an underactuated robot,” Journal of Robotic Systems, vol. 18, no. 4, pp. 159-169, April 2001. [bib | pdf]

  • R. G. Roberts, “A note on the normal form of a spatial stiffness matrix,” IEEE Transactions on Robotics and Automation, vol. 17, no. 6, pp. 968-972, December 2001. [bib | pdf]

  • Cham, J. G., Karpick, J., Clark, J. E.and Cutkosky, M. R., “Stride Period Adaptation for a Biomimetic Running Hexapod,” 10th International Symposium of Robotics Research, Lorne, Victoria, Australia, November 9-12, 2001. [bib | pdf]

  • Clark, J. E., Xia, L. and Cutkosky, M. R., “An Interactive Aid for Designing and Planning Heterogeneous Layered Prototypes,” Proc. ASME DETC 2001, Pittsburg, Pennsylvania, USA, September 9-12, 2001. [bib | pdf]

  • Clark, J. E., Cham, J. G., Bailey, S. A., Froelich, E. M., Nahata, P. K., Full, R. J. and Cutkosky, M. R., “Biomimetic Design and Fabrication of a Hexapedal Running Robot,” Intl. Conf. Robotics and Automation (ICRA2001), Seoul, Korea, May 21-26, 2001. [bib | pdf]

  • T. Song, E. Collins, and R. Istepanian, "Improved Closed-Loop Stability for Fixed-Point Control Law Implementation Using the Delta Operator," International Journal of Robust and Nonlinear Control, Vol. 11, pp. 41-57, December, 2000. [bib | pdf]

  • E. Collins and T. Song, "Multiplier-Based Robust H∞ Estimation with Applications to Robust Fault Detection," Journal of Guidance, Control, and Dynamics, Vol. 23, No. 5. pp. 857-864, September-October, 2000. [bib | pdf]

  • T. Song and E. Collins, "Robust H2 Estimation with Application to Robust Fault Detection," Journal of Guidance, Control, and Dynamics, Vol. 23, No. 6, pp. 1067-1071, 2000. [bib | pdf]

  • E. Collins and D. Sadhukhan, "Synthesis of Fixed-Architecture, Robust H2 and H∞ Controllers," Mathematical Problems in Engineering, Vol. 6, pp. 125-144, 2000. [bib | pdf]

  • R. G. Roberts, “Minimal realization of an arbitrary spatial stiffness matrix with a parallel connection of simple and complex springs,” IEEE Transactions on Robotics and Automation, vol. 16, no. 5, pp. 603-608, October 2000. [bib | pdf]

  • R. G. Roberts, “Minimal realization of an arbitrary spatial stiffness matrix with a parallel connection of simple and complex springs,” in Proceedings 2000 IEEE International Conference on Robotics and Automation, pp. 3302-3307, San Francisco, California, April 2000. [bib | pdf]

  • E. Collins, D. Sadhukhan, and L. Watson, "Robust Controller Synthesis via Nonlinear Matrix Inequalities," International Journal of Control, Vol. 72, No. 11, pp. 971-980, 1999. [bib | pdf]

  • E. Collins and T. Song, "A Delta Operator Approach to Discrete-Time H∞ Control," International Journal of Control, Vol. 72, No. 4, pp. 315-320, 1999. [bib | pdf]

  • R. G. Roberts and D. W. Repperger, “On closed form expressions for the singular value decomposition of an orientational Jacobian and its application to a motion simulator,” The International Journal of Robotics Research, vol. 18, no. 1, pp. 109-115, January 1999. [bib | pdf]

  • R. G. Roberts, “Minimal realization of a spatial stiffness matrix with simple springs connected in parallel,” in Proceedings 1999 IEEE International Conference on Robotics and Automation, pp. 2153-2158, Detroit Michigan, May 10-15, 1999. [bib | pdf]

  • R. G. Roberts, “Minimal realization of a spatial stiffness matrix with simple springs connected in parallel,” IEEE Transactions on Robotics and Automation, Vol. 15, no. 5, pp. 953-958, October 1999 [bib | pdf]

  • R. G. Roberts, T. Graham, and T. Lippitt, “On the inverse kinematics, statics, and fault tolerance of cable-suspended robots,” Journal of Robotic Systems, vol. 15, no. 11, pp. 581-597, November 1998 [bib] [pdf]

  • E. Collins, W. Haddad, L. Watson, and D. Sadhukhan, "Probability-One Homotopy Algorithms for Robust Controller Synthesis with Fixed-Structure Multipliers," International Journal of Robust and Nonlinear Control, (Special Issue on the Multivariable Stability Margin), Vol. 17, pp. 165-185, 1997. [bib | pdf]

  • R. G. Roberts, T. Graham, and J. Trumpower, “On the inverse kinematics and statics of cable-suspended robots,” in Proceedings 1997 IEEE International Conference on Systems, Man, and Cybernetics, pp. 4291-4296, Orlando, Florida, October 12-15, 1997. [bib | pdf]

  • R. G. Roberts, “On the local fault tolerance of a kinematically redundant manipulator,” Journal of Robotic Systems, vol. 13, no. 10, pp. 649-661, October 1996. [bib | pdf]

  • R. G. Roberts and A. A. Maciejewski, “A local measure of fault tolerance for kinematically redundant manipulators,” IEEE Transactions on Robotics and Automation, vol. 12, no. 4, pp. 543-552, August 1996. [bib | pdf]

  • R. G. Roberts and A. A. Maciejewski, “Calculation of repeatable control strategies for kinematically redundant manipulators,” Journal of Intelligent and Robotic Systems, vol. 14, no. 1, pp. 105-135, September 1995. [bib | pdf]

  • A. A. Maciejewski and R. G. Roberts, “On the existence of an optimally fault tolerant 7R manipulator Jacobian,” Applied Mathematics and Computer Science, vol. 5, no. 2, pp. 343-357, 1995. [bib | pdf]

  • R. G. Roberts and D. W. Repperger, “The kinematics of robotic wrists,” in Proceedings 1994 IEEE International Conference on Robotics and Automation, pp. 3337-3341, San Diego, California, May 8-13, 1994. [bib | pdf]

  • D. W. Repperger, M. Huang, and R. Roberts, “Dynamic controller design for a fixed base motion simulator,” in Proceedings 1994 American Control Conference, pp. 2298-2302, Baltimore, Maryland, June 29-July 1, 1994 [bib | pdf]

  • R. G. Roberts and A. A. Maciejewski, “Singularities, stable surfaces, and the repeatable behavior of kinematically redundant manipulators,” The International Journal of Robotics Research, 13:1, pp. 70-81, February 1994, MIT Press. [bib | pdf]

  • R. G. Roberts and A. A. Maciejewski, “Repeatable generalized inverse control strategies for kinematically redundant manipulators,” IEEE Transactions on Automatic Control, vol. 38, no. 5, pp. 689-699, May 1993. [bib | pdf]

  • R. G. Roberts and A. A. Maciejewski, “Nearest optimal repeatable control strategies for kinematically redundant manipulators,” IEEE Transactions on Robotics and Automation, vol. 8, no. 3, pp. 327-337, June 1992. [bib | pdf]