Publications
2009
R. Pagliari, S. Kirti, K. A. Morgansen, T. Javidi and A. Scaglione. A simple and scalable algorithm for alignment in broadcast networks. To appear in IEEE Journal on Selected Areas in Communication, May 2009.
L. Vu and K. A. Morgansen. Stability of time-delay feedback switched linear systems. Submitted to the IEEE Transactions on Automatic Control, April 2009.
D. J. Klein, E. Lalish, and K. A. Morgansen. On controlled sinusoidal phase coupling. In Proceedings of the American Control Conference, June 2009.
L. Vu and K. A. Morgansen. Stability of feedback switched systems with state and switching delays. In Proceedings of the American Control Conference, June 2009.
B. I. Triplett, D. J. Klein and K. A. Morgansen. Cooperative estimation for coordinated target tracking in a cluttered environment. ACM/Springer Mobile Networks and Applications Journal (MONET), (invited—special issue), 14(3):336-349, June 2009.
2008
E. Lalish, K. A. Morgansen and T. Tsukamaki. Decentralized reactive collision avoidance for multiple unicycle-type vehicles. Submitted to the IEEE Transactions on Robotics, October 2008.
L. Vu and K. A. Morgansen. Modeling and analysis of dynamic decision making in sequential two-choice tasks. Iin Proceedings of the IEEE Conference on Decision and Control, December 2008.
E. Lalish and K. A. Morgansen. Decentralized reactive collision avoidance for multivehicle systems. In Proceedings of the IEEE Conference on Decision and Control, December 2008.
D. J. Klein and K. A. Morgansen. Set stability of phase-coupled agents in discrete time. In Proceedings of the American Control Conference, 2008.
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.
D. J. Klein, P. K. Bettale, 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.
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.
2007
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.
E. 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.
D. J. Klein, P. Lee, K. A. Morgansen and T. Javidi. Integration of communication and control using discrete time Kuramoto models for multivehicl coordination over broadcast networks. In Proceedings of the 2007 IEEE Conference on Decision and Control.
B. I. Triplett, D. J. Klein, and K. A. Morgansen. Distributed estimation for coordinated target tracking in a cluttered environment. In ROBOCOMM, 2007.
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.
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.
2006
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.
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.
D. J. Klein and K.A. Morgansen. Controlled collective motion for trajectory tracking. In Proceedings of the IEEE American Control Conference, 2006.
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.
2005
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.
C. Gonzalez and K. A. Morgansen. Stabilization of dynamic vehicle formation configurations using graph Laplacians. In Proceedings of the IFAC World Congress, 2005.
2003
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.
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.
2002
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.
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.
2001
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.
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.
2000
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.
1999
K. A. Morgansen. Temporal Patterns in Learning and Control. PhD Thesis, Engineering Sciences, Harvard University, 1999.
D. Hristu and K. A. Morgansen. Limited communication control. Systems & Control Letters, 43(7):193-205, July 1999.
K. A. Morgansen and R. W. Brockett. Nonholonomic control based on approximate inversion. In Proceedings of the American Control Conference, pp. 2515-19, 1999.
1997
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.
1996
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.
1995
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
D. J. Klein. Coordinated Control and Estimation for Multi-Agent Systems: Theory and Practice. PhD Thesis, Department of Aeronautics and Astronautics, University of Washington, 2008.
B. I. Triplett. Multiple Vehicle Coordination and Cooperative Estimation for target Tracking with Applications to Autonomous Underwater Vehicle Systems. PhD Thesis, Department of Aeronautics and Astronautics, University of Washington, 2008.
P. K. Bettale. Design of a Reliable Embedded Radio Transceiver Module with Applications to Autonomous Underwater Vehicle Systems. Master's Thesis, Department of Electrical Engineering, University of Washington, 2008.
R. Svac. Path Planning to Achieve Minimal Broadcast Power in Systems of Multiple Constant Speed Vehicles. Master's Thesis, Department of Aeronautics and Astronautics, University of Washington, 2008.
E. Lalish. Oscillatory Control for Constant-Speed Unicycle-Type Vehicles. Master’s Thesis, Department of Aeronautics and Astronautics, University of Washington, 2007.
K. Mushambi. Application of Modern Filtering Techniques for 3D Localisation in Biological and Robotic Systems. Master’s Thesis, Department of Aeronautics and Astronautics, University of Washington, 2006.
D. Klein. Coordinated Collective Motion for Multivehicle Trajectory Tracking. Master's Thesis, Department of Aeronautics and Astronautics, University of Washington, 2005.
B. Massey. Effects of Shed Vortices in Fluid Force Simulations for a Pitching and Heaving Flat Plate. Master’s Thesis, Department of Aeronautics and Astronautics, University of Washington, 2004. Joint advising with D. Dabiri.
J. D. Hwang. Distributed Coordinated Control using Discretized Spatial Density of Multi-Agent Configurations. Master's Thesis, Department of Aeronautics and Astronautics, University of Washington, 2009.