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

Courses Associated Labs
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 and the Clare Boothe Luce Professor of Engineering 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
Publications
  1. D. J. Klein, C. Matlack and K. A. Morgansen. Cooperative target tracking using oscillator models in 3D. To appear in the 2007 American Control Conference.
  2. 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.
  3. 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.
  4. D. J. Klein and K.A. Morgansen. Controlled collective motion for trajectory tracking. In Proceedings. of the IEEE American Control Conference, 2006.
  5. 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.
  6. 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.
  7. C. Gonzalez and K. A. Morgansen. Stabilization of dynamic vehicle formation configurations using graph Laplacians. InProceedings of the IFAC World Congress, 2005.
  8. 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.
  9. 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.
  10. 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.
  11. 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.
  12. 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.
  13. 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.
  14. 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.
  15. 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.
  16. D. Hristu and K. A. Morgansen. Limited communication control. Systems & Control Letters, 43(7):193-205, July 1999.
  17. K. A. Morgansen and R. W. Brockett. Nonholonomic control based on approximate inversion. In Proceedings of the American Control Conference, pp. 2515-19, 1999.
  18. N. J. Ferrier, K. A. Morgansen, and D. Hristu, Implementation of Membrane Shape Reconstruction, Technicial Report 97-1, Harvard Robotics Laboratory, Harvard University, 1997.
  19. 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.
  20. 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.
  21. 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.
  22. 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.
  23. 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
CurrentFormer
Philip Hall (EE) Shane Cantrell (MS EE 2003)
Daniel J. Klein Brian Massey (MS AA 2004) (joint with D. Dabiri)
Emmett Lalish (AA)Tom Yochum (MS AA)
Charlie Matlack (EE)Kudah Mushambi (MS AA 2006)
Jaime Petranek (AA)
Randall Svac (AA)
Benjamin Triplett (AA)