College of Engineering

Aeronautics & Astronautics

Kristi Morgansen

Assistant Professor
Adjunct in Electrical Engineering

morgansen@aa.washington.edu
Office: 318B Guggenheim
Phone: (206) 616-5950

University of Washington
BOX 352400
Seattle, WA 98195-2400

 

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Research Fields

• Nonlinear Control
• Dynamical Systems
• Coordinated Control
• Bio-inspired Systems
• Autonomous Vehicles
• Human Cognition in Autonomous System

Courses

• A A 312 Structural Vibrations (W05, W07)
• AA 447 (formerly AA 450) - Control in Aerospace Systems (A02, A03, A04, A05)
• AA/ChemE/EE/ME 549 - Estimation and System Identification (S03, S05, S07)
• AA/EE/ME 570 (formerly AA546/599) - Manifolds and Geometry for Systems and Control (W04, W06, W08)
• AA/EE/ME 580 (formerly AA547/599D) - Geometric Methods for Nonlinear Control Systems (S04, S06, S08)
• AA/EE/ME 547 - Linear System Theory (A06, A07, A08)

Associated Labs

• Nonlinear Dynamics and Control Lab
• Autonomous Flight Systems Lab
• Distributed Space Systems Lab
• Robotics, Control, and Mechatronics Group

Background

Kristi Morgansen received a B.S. and a M.S. in Mechanical Engineering from Boston University, respectively in 1993 and 1994, an S.M. in Applied Mathematics in 1996 from Harvard University and a Ph.D. in Engineering Sciences in 1999 from Harvard University. Until joining the University of Washington, she was first a postdoctoral scholar then a senior research fellow in Control and Dynamical Systems at the California Institute of Technology. She has been an assistant professor in the Department of Aeronautics and Astronautics since the summer of 2002.

Research Activities

Professor Morgansen's research interests focus on control methods for nonlinear and coordinated control systems. Current topics include the use of fish-like propulsive methods for locomotion and active flow control, control of coordinated systems with communication constraints, vision-based sensing for state estimation, and learning methods for nonlinear systems.

Current Projects

• Fin-actuated autonomous underwater vehicles
• Coordination and cooperation in multivehicle systems
• Schooling in nature and engineering
• Hierarchical integrated communication and control
• Coordination, steering and deconfliction for unmanned air vehicles
• Human cognition in autonomous system operation

Publications

1. L. Vu and K.A. Morgansen. Modeling and analysis of dynamic decision making in sequential two-choice tasks. To appear in Proceedings of the IEEE Conference on Decision and Control, March 2008.
2. E. Lalish and K.A. Morgansen. Decentralized reactive collision avoidance for multivehicle systems. To appear in Proceedings of the IEEE Conference on Decision and Control, March 2008.
3. D.J. Klein and K.A. Morgansen. Set stability of phase-coupled agents in discrete time. In Proceedings of the American Control Conference, 2008.
4. E. Lalish, K.A. Morgansen and T. Tsukamaki. Decentralized reactive collision avoidance for multiple unicycle-type vehicles. In Proceedings of the American Control Conference, 2008.
5. B.I. Triplett, D.J. Klein and K.A. Morgansen. Cooperative estimation for coordinated target tracking in a cluttered environment. Submitted to ACM/Springer Mobile Networks and Applications Journal (MONET), (invited—special issue), March 2008.
6. D.J. Klein, P.K. Bettalle, B.I. Triplett and K.A. Morgansen. Autonomous underwater multivehicle control with limited communication:  Theory and experiment. In Proceedings of the Second IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, 2008.
7. 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. IEEE Journal on Selected Areas in Communication 26(4):695-705, May 2008.
8. K. A. Morgansen, B. I. Triplett, and D. J. Klein.  Geometric methods for modeling and control of free-swimming fin-actuated underwater vehicles. IEEE Transactions on Robotics, 23(6):1184-1199, December 2007.
9. B. I. Triplett, D. J. Klein, and K. A. Morgansen.  Distributed estimation for coordinated target tracking in a cluttered environment.  In ROBOCOMM 2007.
10. A. Pongpunwattana, B. I. Triplett, and K. A. Morgansen.  Target tracking control with limited communication and steering dynamics.  In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007.
11. Lalish, K. A. Morgansen and T. Tsukamaki.  Oscillatory control for constant-speed unicycle-type vehicles.  In Proceedings of  the 2007 IEEE Conference on Decision and Control.
12. 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.  In Proceedings of the 2007 IEEE Conference on Decision and Control.
13. 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.
14. 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.
15. 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.
16. D. J. Klein and K.A. Morgansen.  Controlled collective motion for trajectory tracking.  In Proceedings. of the IEEE American Control Conference, 2006.
17. 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.
18. 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.
19. C. Gonzalez and K. A. Morgansen.  Stabilization of dynamic vehicle formation configurations using graph Laplacians.  In Proceedings of the IFAC World Congress, 2005.
20. K. A. Morgansen.  Oscillatory signals with nonlinear frequencies for control of nonholonomic systems.  In Proceedings of the 42^nd IEEE Conference on Decision and Control, 2003.
21. K. A. Morgansen.  Geometric methods for modeling and control of a free-swimming carangiform fish robot.  In Proceedings of the 13^th International Symposium on Unmanned Untethered Submersible Technology, 2003.
22. P. A. Vela, K. A. Morgansen, and J. W. Burdick.  Underwater locomotion from oscillatory shape deformations.  In Proceedings of the 41^st IEEE Conference on Decision and Control, pp. 2074-2080, 2002.
23. 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.
24. 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.
25. K. A. Morgansen.  Controllability and trajectory tracking for classes of cascade form second-order nonholonomic systems.  In Proceedings of the 40^th IEEE Conference on Decision and Control, pp. 3031-3036, 2001. 
26. 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.
27. 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.
28. D. Hristu and K. A. Morgansen.  Limited communication control.  Systems & Control Letters, 43(7):193-205, July 1999.
29. K. A. Morgansen and R. W. Brockett.  Nonholonomic control based on approximate inversion.  In Proceedings of the American Control Conference, pp. 2515-19, 1999.
30. N. J. Ferrier, K. A. Morgansen, and D. Hristu, Implementation of Membrane Shape Reconstruction, Technicial Report 97-1, Harvard Robotics Laboratory, Harvard University, 1997.
31. 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.
32. 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.
33. 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.
34. 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.
35. 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.

Graduate Students

Current	Former
JaeDong Hwang (AA) Emmett Lalish (AA) Charlie Matlack (EE) Jaime Petranek (AA)	Patrick Bettale (MSEE 2008) Shane Cantrell (MSEE 2003) Daniel J. Klein (PhD AA 2008) Brian Massey (MSAA 2004)     joint with D. Dabiri Kudah Mushambi (MSAA 2006) Randall Svac (MSAA 2008) Benjamin I. Triplett (PhD AA 2008) Tom Yochum (MSAE 2005)