Research

Publications

 

Papers | Theses

Papers

2018

J. Quenzer, B. Barzgaran, M. Mesbahi, and K. Morganen.  The generic wide body aircraft model.  2018 AIAA SciTech, accepted.

2017

A. Alaeddini, K. A. Morgansen and M. Mesbahi.  Optimal control with limited sensing via empirical gramians and piecewise linear feedback.  Systems & Control Letters, in review.

K. A. Morgansen and N. Brace. Observability-based sensor sampling. Sensing and Control for Autonomous Vehicles. Springer International Publishing, pp. 229-248, 2017.

A. Alaeddini, K. A. Morgansen and M. Mesbahi.  Adaptive communication networks with privacy guarantees. In Proceedings of the American Control Conference, May 2017.

2016

N. L. Brace, T. L. Hedrick, D. H. Theriault, N. W. Fuller, Z. Wu, M. Betke, J. K. Parrish, D. Grunbaum, and K. A. Morgansen.  Using collision cones to assess biological deconfliction methods.  Journal of the Royal Society Interface, 13(122), September 2016.

A. Alaeddini and K. A. Morgansen. Optimal disease outbreak detection in a community using network observability. In American Control Conference, July 2016.

2015

N. D. Powel and K. A. Morgansen. Empirical observability gramian rank condition for observability of nonlinear systems with control. In IEEE Conference on Decision and Control, December 2015.

A. Wolek, T. Gode, C. A. Woolsey, J. Quenzer and K. A. Morgansen.  Design and Testing of a Pneumatically Propelled Underwater Glider for Shallow Water.  Technical Report No. VaCAS-2015-01, Virginia Center for Autonomous Systems, Virginia Polytechnic Institute & State University, October 2015.

A. Wolek, C. Woolsey, J. Quenzer, and K. A. Morgansen. Testing a pneumatic underwater glider and acoustic ranging system in shallow water. OCEANS, October 2015.

B. T. Hinson and K. A. Morgansen. Gyroscopic sensing in the wings of the hawkmoth Manduca sexta: The role of sensor location and directional sensitivityBioinspiration & Biomimetics10(5), October 2015.

A. Alaeddini and K. A. Morgansen. Bio-inspired navigation for a nonholonomic mobile robotAIAA Journal of Aerospace Information Systems, special issue on Estimation and Information Theory Applications for Resilient and Distributed Operation of Aerosapce Systems, in press, 2015. doi:http://arc.aiaa.org/doi/abs/10.2514/1.I010294

2014

B. T. Hinson, N. D. Powel, J. Quenzer, and K. A. Morgansen. Observability-based guidance algorithm for navigation using a single ranging beacon. In Robotics: Science and Systems, Workshop on Autonomous Control, Adaptation, and Learning for Underwater Vehicles, July 2014.

B. T. Hinson and K. A. Morgansen. Observability-based optimal sensor placement for flapping airfoils wake estimation. AIAA Journal of Guidance, Control and Dynamics37(5):1477-1486.

A. Alaeddini and K. A. Morgansen. Trajectory design for a nonlinear system to insure observability. In European Control Conference, June 2014.

J. Quenzer and K. A. Morgansen. Observability based control in range-only underwater vehicle localization. In American Control Conference, June 2014.

F. van Breugel, K. A. Morgansen and M. Dickinson. Monocular distance estimation from optic flow during active landing maneuvers. Bioinspiration & Biomimetics9(2), May 2014.

2013

B. T. Hinson, E. Rombokas, J. P. Dyhr, T. L Daniel and K. A. Morgansen. Sensing from control: Airframe deformation for simultaneous actuation and state estimation. In Proceedings of the Conference on Decision and Control, December 2013.

A. Alaeddini and K. A. Morgansen. Autonomous state estimation using optic flow sensing. In Proceedings of the American Control Conference, June 2013.

B. L. Boardman, T. L. Hedrick, D. H. Theriault, N. W. Fuller, M. Betke and K. A. Morgansen. Collision avoidance in biological systems using collision cones. In Proceedings of the American Control Conference, June 2013.

B. T. Hinson and K. A. Morgansen. Observability optimization for the nonholonomic integrator. In Proceedings of the American Control Conference, June 2013.

B. T. Hinson, M. K. Binder, and K. A. Morgansen. Path planning to optimize observability in a planar uniform flow field. In Proceedings of the American Control Conference, June 2013.

J. Dyhr, K. A. Morgansen, T. L. Daniel and N. Cowan. Flexible strategies for flight control: An active role for the abdomen. Journal of Experimental Biology216(9):1523-1536, 2013.

2012

J. Dyhr, D. Colmanares, N. Cowan, T. L. Daniel, and K. A. Morgansen. Autostabilizing airframe articulation: Animal inspired air vehicle control. In Proceedings of the IEEE Conference on Decision and Control, December 2012.

A. Wolek, J. Burns, C. Woolsey, J. Quenzer, L. Techy and K. Morgansen. A maneuverable, pneumatic underwater glider. In OCEANS, October 2012.

A. Demir, M. Mert Ankarali, J. P. Dyhr, K. A. Morgansen, T. L. Daniel, and N. J. Cowan. Inertial redirection of thrust forces for flight stabilization. In Proceedings of the WSPC, 2012.

N. D. Powel and K. A. Morgansen. Multiserver queueing for supervisory control of autonomous vehicles. In Proceedings of the American Control Conference, June 2012.

B. Hinson and K. A. Morgansen. Flowfield estimation in the wake of a pitching and heaving airfoil. In Proceedings of the American Control Conference, June 2012.

E. Lalish and K. A. Morgansen. Distributed reactive collision avoidance. Autonomous Robots, special issue, 32(3), April 2012.

C. Woodruff, L. Vu, K. A. Morgansen and D. Tomlin. Deterministic modeling and evaluation of decision-making dynamics in sequential two-alternative forced choice tasksProceedings of the IEEE, special issue on Interaction Dynamics: The Interface of Humans and Smart Machines100(3):734-750, March 2012.

B. Hinson, M. K. Binder, and K. A. Morgansen. Path Planning to Optimize Wind Observability in a Planar Uniform Flow Field. University of Washington Aeronautics & Astronautics Technical Report, UWAATR-2012-0001, January 2012.

2011

L. Techy, K. A. Morgansen and C. Woolsey. Long-baseline acoustic localization of the Seaglider underwater glider. In Proceedings of the American Control Conference, June 2011.

N. Powel and K. A. Morgansen. Communication-based performance bounds in nonlinear coordinated control. International Journal of Robust and Nonlinear Control, Special Issue: Cooperative Control of Autonomous Systems, 21(12):1410-1420, August 2011.

2010

D. J. Klein, V. Gupta, and K. A. Morgansen. Cordinated control of robotic fish using an underwater wireless network. In Wireless Networking Based Control, S. K. Maumder, ed., pp. 323-339, Springer-Verlag, 2010.

C. Woodruff, L. Vu, K. A. Morgansen and D. Tomlin. Modeling and evaluation of decision-making dynamics in sequential two-alternative forced choice tasks. In Proceedings of the 2010 IEEE Conference on Decision and Control, December 2010.

A. P. Melander, N. D. Powel, E. Lalish, K. A. Morgansen, J. S. Jang and J. Vian. Implementation of deconfliction in multivehicle autonomous systems. In Proceedings of the 27th International Congress of the Aeronautical Sciences, September 2010.

L. Techy, R. Tomokiyo, J. Quenzer, T. Beauchamp, K. A. Morgansen. Full-scale wind tunnel study of the Seaglider underwater glider. University of Washington Aeronautics & Astronautics Technical Report, UWAATR-2010-0002, September 2010.

L. Techy, K. A. Morgansen and C. A. Woolsey. Long-baseline ranging system for acoustic underwater localization of the Seaglider underwater glider. University of Washington Aeronautics & Astronautics Technical Report, UWAATR-2010-0001, September 2010.

L. Vu and K. A. Morgansen. Stability of time-delay feedback switched linear systemsIEEE Transactions on Automatic Control55(10):2385-2389, October 2010.

R. Pagliari, S. Kirti, K. A. Morgansen, T. Javidi and A. Scaglione. A simple and scalable algorithm for alignment in broadcast networks. IEEE Journal on Selected Areas in Communication28(7):1190-1199, September 2010.

L. Techy, C. A. Woolsey and K. A. Morgansen. Planar path planning for flight vehicles in wind with turn rate and accleration bounds. In Proceedings of the International Conference on Robotics and Automation, May 2010.

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. Recipient of the 2009 O. Hugo Schuck award for Best Paper in the Theory Category.

B. I. Triplett, D. J. Klein and K. A. Morgansen. Cooperative estimation for coordinated target tracking in a cluttered environmentACM/Springer Mobile Networks and Applications Journal (MONET), (invited—special issue), 14(3):336-349, June 2009.

2008

L. Vu and K. A. Morgansen. Modeling and analysis of dynamic decision making in sequential two-choice tasks. In 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, June 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, June 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 networksIEEE Journal on Selected Areas in Communication 26(4):695-705, May 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, April 2008.

2007

K. A. Morgansen, B. I. Triplett, and D. J. Klein. Geometric methods for modeling and control of free-swimming fin-actuated underwater vehiclesIEEE Transactions on Robotics23(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 IEEE Conference on Decision and Control, December 2007.

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 IEEE Conference on Decision and Control, December 2007.

B. I. Triplett, D. J. Klein, and K. A. Morgansen. Distributed estimation for coordinated target tracking in a cluttered environment. In ROBOCOMM, October 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, October 2007.

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

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, June 2006.

D. J. Klein and K.A. Morgansen. Controlled collective motion for trajectory tracking. In Proceedings of the IEEE American Control Conference, June 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, March 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, July 2005.

2003

K. A. Morgansen. Oscillatory signals with nonlinear frequencies for control of nonholonomic systems. In Proceedings of the IEEE Conference on Decision and Control, December 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, August 2003.

2002

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

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, May 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, May 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, December 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, May 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, June 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 controlSystems & Control Letters43(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, June 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, May 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) methodJournal of Robotic Systems13(11):723-36, 1996.

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, May 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.

PhD Dissertations

A. Alaeddini.  Observability-Based Approach to Design, Analysis and Optimization of Dynamical Systems.  PhD Dissertation, Department of Aeronautics & Astronautics, University of Washington, 2016.

N. D. Powel.  Noise-Enabled Observability of Nonlinear Dynamic Systems Using the Empirical Observability Gramian.  PhD Dissertation, Department of Aeronautics & Astronautics, University of Washington, 2016.

B. T. Hinson. Observability-Based Guidance and Sensor Placement.  PhD Dissertation, Department of Aeronautics & Astronautics, University of Washington, 2014.

E. Lalish.  Distributed Reactive Collision Avoidance.  PhD Dissertation, Department of Aeronautics & Astronautics, University of Washington, 2009.

D. J. Klein. Coordinated Control and Estimation for Multi-Agent Systems: Theory and Practice. PhD Dissertation, Department of Aeronautics & 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 Dissertation, Department of Aeronautics & Astronautics, University of Washington, 2008.

MS Theses

A. L. Jenkins.  The Homogeneity of Optimal Sensor Placement Across Multiple Winged Insect Species.  Master's Thesis, Department of Aeronautics & Astronautics, University of Washington, 2016.

D. A. Wallace.  Dynamics and Control of a Quadrotor with Active Geometric Morphing. Master's Thesis, Department of Aeronautics & Astronautics, University of Washington, 2016.

T. Avant.  Multi-Vehicle Function Tracking by Moment Matching.  Master's Thesis, Department of Aeronautics & Astronautics, University of Washington, 2016.

N. Brace.  Using Collision Cones to Assess Biological Deconfliction Methods.  Master's Thesis, Department of Aeronautics & Astronautics, University of Washington, 2014.

C. Deacon. Autonomous Collision Avoidance and Mapping for a Quadrotor Using Panning Sonar Sensors. Master's Thesis, Department of Aeronautics & Astronautics, University of Washington, 2014

J. Quenzer. Observability Metric Based Path Planning in Range-only Localization. Master's Thesis, Department of Aeronautics & Astronautics, University of Washington, 2013.

J. Becker. Modeling and Control of a Quadrotor with Dynamic Inertia. Master's Thesis, Department of Aeronautics & Astronautics, University of Washington, 2013.

B. Boardman. Collision Avoidance in Biological Systems using Collision Cones. Master's Thesis, Department of Aeronautics & Astronautics, University of Washington, 2012.

N. Powel. Multiserver queueing in supervisory control of autonomous unmanned vehicles. Master's Thesis, Department of Aeronautics & Astronautics, University of Washington, 2011.

A. Melander. Quadrotor Implementation of the Distributed Reactive Collision Avoidance Algorithm. Master's Thesis, Department of Aeronautics & Astronautics, University of Washington, 2010.

J. D. Hwang. Distributed Coordinated Control using Discretized Spatial Density of Multi-Agent Configurations. Master's Thesis, Department of Aeronautics & Astronautics, University of Washington, 2009.

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 & Astronautics, University of Washington, 2008.

E. Lalish. Oscillatory Control for Constant-Speed Unicycle-Type Vehicles. Master’s Thesis, Department of Aeronautics & 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 & Astronautics, University of Washington, 2006.

D. Klein. Coordinated Collective Motion for Multivehicle Trajectory Tracking. Master's Thesis, Department of Aeronautics & 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 & Astronautics, University of Washington, 2004. Joint advising with D. Dabiri.