Nonlinear Dynamics and Control Lab

Aeronautics and Astronautics

University of Washington

 

 

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PAPERS

 

K. A. Morgansen, B. I. Triplett, and D. J. Klein.  Geometric methods for modeling and control of free-swimming fin-actuated underwater vehicles.  Submitted to IEEE Transactions on Robotics, 2007. (pdf)

 

B. I. Triplett, D. J. Klein, and K. A. Morgansen.  Distributed estimation for coordinated target tracking in a cluttered environment.  To appear in ROBOCOMM 2007. (pdf)

 

D. J. Klein, P. Lee, K. A. Morgansen, and T. Javidi.  Integration of communication and control using discrete time Kuramoto models for multivehicle coordination over broadcast networks.  Submitted to the IEEE Journal on Selected Areas in Communicaiton, 2007.  (pdf)

 

A. Pongpunwattana, B. I. Triplett, and K. A. Morgansen.  Target tracking control with limited communication and steering dynamics.  To appear in the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007 (pdf).

 

E. Lalish, K. A. Morgansen and T. Tsukamaki.  Oscillatory control for constant-speed unicycle-type vehicles.  To appear in  the 2007 IEEE Conference on Decision and Control. (pdf)

 

D. J. Klein, P. Lee, K. A. Morgansen and T. Javidi.  Integration of communication and control using discrete time Kuramoto models for multivehicle coordination over broadcast networks.  To appear in the 2007 IEEE Conference on Decision and Control. (pdf)

 

D. J. Klein, C. Matlack and K. A. Morgansen.  Cooperative target tracking using oscillator models in 3D. In Proceedings of the 2007 American Control Conference.  (pdf)

 

E. Lalish and K. A. Morgansen.  Formation tracking control using virtual structures and deconfliction.  In Proceedings of the IEEE Conference on Decision and Control, December 2006. (pdf)

 

B. I. Triplett and K.A. Morgansen.  Abbreviated zero order hold for formation control in the presence of communication and sensing delays.  In Proceedings of the IEEE American Control Conference, 2006. (pdf)

 

D. J. Klein and K.A. Morgansen.  Controlled collective motion for trajectory tracking.  In Proceedings. of the IEEE American Control Conference, 2006. (pdf)

 

A. E. Kunkel and K. A. Morgansen.  Buoyancy control of an autonomous fin-actuated underwater vehicle.  In Proceedings of the AIAA Region VI Student Conference, April 2006.  Winner of Undergraduate Third Place Prize.

 

K. A. Morgansen, T. M. La Fond, and J. X. Zhang.  Agile maneuvering for fin-actuated underwater vehicles.  In Proceedings of the 2006 Second International Symposium on Communications, Control and Signal Processing, 2006. (pdf)

 

B. I. Triplett, D. J. Klein and K. A. Morgansen.  Discrete time Kuramoto models with delay.  In Lecture Notes in Control and Information Sciences, Springer, 2005. (pdf)

 

C. Gonzalez and K. A. Morgansen.  Stabilization of dynamic vehicle formation configurations using graph Laplacians.  In Proceedings of the IFAC World Congress, 2005. (pdf)

 

K. A. Morgansen.  Oscillatory signals with nonlinear frequencies for control of nonholonomic systems.  In Proceedings of the 42nd IEEE Conference on Decision and Control, 2003. (pdf)
 

K. A. Morgansen.  Geometric methods for modeling and control of a free-swimming carangiform fish robot.  In Proceedings of the 13th International Symposium on Unmanned Untethered Submersible Technology, 2003. (pdf)

 

P. A. Vela, K. A. Morgansen, and J. W. Burdick.  Underwater locomotion from oscillatory shape deformations.  In Proceedings of the 41st IEEE Conference on Decision and Control, pp. 2074-2080, 2002. (pdf)

 

P. A. Vela, K. A. Morgansen, and J. W. Burdick.  Second order averaging methods for oscillatory control of underactuated mechanical systems.  In Proceedings of the American Control Conference, pp. 4672-4677, 2002. (pdf)

 

K. A. Morgansen, P. A. Vela, and J. W. Burdick.  Trajectory stabilization for a planar carangiform robot fish.  In Proceedings of the IEEE International Conference on Robotics and Automation, pp. 756-762, 2002. (pdf)

 

K. A. Morgansen.  Controllability and trajectory tracking for classes of cascade form second-order nonholonomic systems.  In Proceedings of the 40th IEEE Conference on Decision and Control, pp. 3031-3036, 2001.  (pdf)

 

K. A. Morgansen, V. Duindam, R.J. Mason, J. W. Burdick, and R. M. Murray.  Nonlinear control methods for planar carangiform robot fish locomotion.  In Proceedings of the IEEE International Conference on Robotics and Automation, pp. 427-434, 2001. (pdf)

 

K. A. Morgansen and R. W. Brockett.  Optimal regulation and reinforcement learning for the nonholonomic integrator.  In Proceedings of the American Control Conference, pp. 462-466, 2000. (pdf)

 

D. Hristu and K. A. Morgansen.  Limited communication control.  Systems & Control Letters, 43(7):193-205, July 1999. (html)

       

K. A. Morgansen and R. W. Brockett.  Nonholonomic control based on approximate inversion.  In Proceedings of the American Control Conference, pp. 2515-19, 1999. (pdf)

 

N. J. Ferrier, K. A. Morgansen, and D. Hristu, Implementation of Membrane Shape Reconstruction, Technicial Report 97-1, Harvard Robotics Laboratory, Harvard University, 1997.

 

F. G. Pin, C. J. Hacker, K. B. Glower and K. A. Morgansen.  Including a non-holonomic constraint in the FSP (Full Space Parameterization) method for mobile manipulators' motion planning.  In IEEE International Conference on Robotics and Automation, pp. 2914-19, 1997. (html)

 

F. G. Pin, K. A. Morgansen, F. A. Tulloch, C. J. Hacker, K. B. Gower.  Motion planning for mobile manipulators with a non-holonomic constraint using the FSP (full space parameterization) method.  Journal of Robotic Systems, v. 13, no. 11, pp. 723-36, 1996. (html)

 

F. G. Pin, K. A. Morgansen, F. A. Tulloch and C. J. Hacker.  Motion planning for mobile manipulators using the FSP (Full Space Parameterization) approach.  In Proceedings of the Sixth International Symposium on Robotics and Manufacturing, pp. 739-44, 1996.

 

K. A. Morgansen and F. G. Pin.  Impact mitigation using kinematic constraints and the full space parameterization method.  In IEEE International Conference on Robotics and Automation, 1996. (pdf)

 

K. A. Morgansen and F. G. Pin.  Enhanced Code for the Full Space Parameterization Approach to Solving Underspecified Systems of Algebraic Equations Version 1.0. Oak Ridge National Laboratory Technical Manuscript ORNL/TM-12816, March 1995.

 

 

THESES

 

E. Lalish.  Oscillatory Control for Constant-Speed Unicycle-Type Vehicles.  Master’s Thesis, University of Washington, 2007. (pdf)

 

K. Mushambi.  Application of Modern Filtering Techniques for 3D Localisation in Biological and Robotic Systems.  Master’s Thesis, University of Washington, 2006. (pdf)

 

D. Klein. Coordinated Collective Motion for Multivehicle Trajectory Tracking.  Master's Thesis, University of Washington, 2005. (pdf)

 

B. Massey.  Effects of Shed Vortices in Fluid Force Simulations for a Pitching and Heaving Flat Plate.  Master’s Thesis, University of Washington, 2004. (pdf)  Joint advising with D. Dabiri.

 

 

 

 

 

Last updated on: Monday, August 13, 2007 9:54 Send questions or comments to morgansen@aa.washington.edu