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PUBLICATIONS
Journal Papers and Book Chapters
Cooperative Control and Sensor Networks
M. Cao, A. S. Morse, and B. D. O. Anderson, Agreeing Asynchronously in Continuous Time, IEEE
Transactions on Automatic Control, submitted.
M. Cao, A. S. Morse, and B. D. O. Anderson, Reaching a Consensus in a Dynamically Changing
Environment – A Graphical Approach, SIAM Journal on Control and
Optimization, submitted.
M. Cao, A. S. Morse, and B. D. O. Anderson, Reaching a Consensus in a Dynamically Changing
Environment – Convergence Rates, Measurement Delays and Asynchronous
Events, SIAM Journal on Control and Optimization, submitted.
J. Lin, A. S. Morse, and B. D. O. Anderson, The Multi-Agent Rendezvous Problem – Part 1:
The Synchronous Case, SIAM Journal on Control and Optimization, to
appear.
J. Lin, A. S. Morse, and B. D. O. Anderson, The Multi-Agent Rendezvous Problem – Part 2:
The Asynchronous Case, SIAM Journal on Control and Optimization,
submitted.
B. D. O. Anderson, P. Belhumeur, T. Eren, D. K. Goldenberg,
A. S. Morse,
J. Aspenes, T. Eren, D. K. Goldenberg, A. S. Morse,
M. Cao, B. D. O. Anderson, and A. S. Morse, Sensor Network Localization with Imprecise
Distances, Systems and Control Letters, to appear.
T. Eren, B. D. O. Anderson, A. S. Morse, W. Whiteley, and P.
B. Belhumeur, Operations on Rigid
Formations of Autonomous Agents, Communications in Information and
Systems, pages 223 -258, 2004.
A. Jadbabaie, J. Lin, and A. S. Morse, Coordination of Groups of Mobile Autonomous Agents Using
Nearest Neighbor Rules, IEEE Transactions on Automatic Control,
pages 2953 – 2958, June, 2003.
Switched Systems and Adaptive Control
A. S. Morse, Lecture Notes
on Logically Switched Dynamical Systems, to appear.
C. De Persis, R. De Santis, and A. S. Morse, Supervisory Control with State – Dependent
Dwell Time Logic and Constraints,
Automatica, pages 269 - 275, 2004.
C. De Persis, R. De Santis, and A.
S. Morse, Switched Nonlinear Systems with State-Dependent Dwell
Time, Systems and Control Letters, pages 291 -302, 2004.
J. P. Hespanha, D. Liberzon, and A. S. Morse, Overcoming the Limitations of Adaptive Control by
Means of Logic-Based Switching, System and Control Letters, pages 49
– 65, 2003.
J. P. Hespanha, D. Liberzon, and A. S. Morse, Hysteresis-Based Supervisory Control
of Uncertain Linear Systems, Automatica, pages 263
– 272, February, 2003.
J. P. Hespanha and A. S. Morse, Switching Between Stabilizing Controllers, Automatica, pages 1905 – 1917, 2002.
J. P. Hespanha, D. Liberzon, and A. S. Morse, Supervision of Integral-Input-to-State
Stabilizing Controllers, Automatica, pages 1327 – 1335,
August, 2002.
A. S. Morse, Is
Monopoli’s Model Reference Adaptive Controller Correct?, Open Problems in the Mathematical Theory of Systems, pages 48 – 54,
Springer Verlag, 2002.
J. P. Hespanha,
D. Liberzon, A. S. Morse, B. D. O. Anderson, T. S. Brinsmead and F.de Bruyne, Multiple Model Adaptive Control, Part 2: Switching,
International Journal on Robust and Nonlinear Control, pages 479 -496, 2001.
B. D. O. Anderson, T. Brinsmead, D. Liberzon, A. S.
Morse, Multiple Model Adaptive Control with Safe
Switching, Special issue of the International Journal of Adaptive
Control and Signal Processing, , pages 446 – 470, August, 2001.
G. Chang, J. P. Hespanha, A. S. Morse, M. Netto, and R.
Ortega, Supervisory Field-Oriented Control of
Induction Motors with Uncertain Rotor Resistance, Special Issue on
Switching and Logic in Adaptive Control, International Journal of Adaptive
Control and Signal Processing, pages 353 – 375, May, 2001.
B. D. O. Anderson, T. S. Brinsmead, F. de Bruyne, J.
P. Hespanha, D. Liberzon and A. S. Morse, Multiple
Model Adaptive Control. I. Finite Controller Coverings, George Zames
Special Issue, International Journal of Robust and Nonlinear Control,
10(11-12):909--929, Sep. 2000.
J. P. Hespanha, D. Liberzon, and A. S. Morse, Logic-based Switching Control of a Nonholonomic System
with Parametric Modeling Uncertainty, Special Issue on Hybrid Systems,
Systems & Control Letters, 38(3):167--177, November, 1999.
D. Liberzon, J. P. Hespanha and A. S. Morse, Stability of Switched Linear Systems: a Lie-Algebraic
Condition, Systems and Control Letters, 37(3):117--122, June 1999.
J. P. Hespanha and A. S. Morse, Stabilization
of Nonholonomic Integrators via Logic-Based Switching, Special Issue on
Hybrid Systems, Automatica, 35(3):385-393, March 1999.
J. P. Hespanha and A. S. Morse, Certainty
Equivalence Implies Detectability, Systems and Control Letters,
36(1):1--13, Jan. 1999.
J. P. Hespanha and A. S. Morse,
Input-Output Gains of Switched Linear Systems, Open Problems in
Mathematical Systems Theory and
Control, editors: V. D. Blondel, E. D. Sontag, M. Vidyasagar, and J.
C. Willems, Springer, 1999.
D. Liberzon and A. S. Morse, Benchmark Problems in Stability and Design of Switched
Systems, IEEE Control Systems Magazine, pages 59 - 70, October,
1999.
D. Borrelli, A. S. Morse, and E. Mosca, Discrete-time Supervisory Control of Families of
Two-degree of Freedom Linear Set-point Controllers, IEEE Transactions on
Automatic Control, pages 178 -181, January, 1999.
A. S. Morse, A
Bound for the Disturbance-to-Tracking-Error Gain of a Supervised Set-Point
Control System, Perspectives in Control - Theory and Application,
Editor: D. Normand Cyrot, 23 -- 41, Springer-Verlag, 1998.
A. S. Morse, Estimator-Based Supervisory Control – A
Review, Journal of the Institute of Systems, Control and Information Engineers,
pages 319 -326, 1998.
A. S. Morse, Overcoming the Obstacle of High Relative
Degree, European Journal of Control, 2(1):29-35, 1996.
A. S. Morse, Supervisory Control of Families of Linear
Set-Point Controllers - Part 1: Exact Matching, IEEE Transactions on
Automatic Control, pages 1413-1431, October, 1996.
A. S. Morse, Supervisory Control of Families of Linear
Set-Point Controllers - Part 2: Robustness, IEEE Transactions on Automatic
Control, pages 1500-1515, November, 1997.
A. S. Morse,
Control Using Logic-Based Switching, Trends in Control, Editor: A.
Isidori, pages 69-113, Springer-Verlag,1995.
A. S. Morse, Logic-Based Switching and Control, Feedback
Control, Nonlinear Systems and Complexity, Springer, pages 173 – 195,
1995.
F. M. Pait and A. S. Morse, A Cyclic Switching Strategy for
Parameter Adaptive Control, IEEE Transactions on Automatic Control,
pages 1172 -1183,
June, 1994.
A. S. Morse, MIMO Design Models and Internal Regulators for
Cyclically-Switched Parameter-Adaptive Control Systems,
IEEE Transactions on Automatic Control, pages 1809 – 1818,
September, 1994.
System Theory and Modeling
D. Liberzon, A. S. Morse, and E. D. Sontag, Output-Input Stability and Minimum-Phase
Nonlinear Systems, IEEE Transactions on Automatic Control,
pages 422 -436, March, 2002.
R. D.
Grober, J. Acimovic, J. Schuck, D. Hessman, P. J. Kindlemann, J.
P. Hespanha, A.
S. Morse, K. Karrai, I. Tiemann, and S. Manus, Fundamental
Limits to Force Detection Using Quartz Tuning Forks, Review of
Scientific Instruments, 71(7):2776--2780, July, 2000.
J. P. Hespanha, Z. Dodds, G. Hager and A. S.
Morse, What
Tasks can be Performed with an Un-calibrated Stereo Vision System? Special Issue on Vision Research at
Yale, International Journal of Computer Vision, 35(1):65-85, November,
1999.
A. Isidori
and A. S. Morse, State-Feedback Implementation of Cascade
Compensators, Systems & Control Letters, pages 63-68, 1986.
A. S. Morse, System Invariants Under Feedback and Cascade
Control, Proc. Int. Symp. on Mathematical System Theory,
Springer, pages 61-74, 1975..
G. D. Hager, W-C Chang, and A. S. Morse, Robot Hand-Eye
Coordination Cased on Stereo Vision, IEEE Control Systems Magazine, pages 30
-39, February, 1995.
Conference Papers
Cooperative Control and Sensor Networks
M. Cao
and A. S. Morse, Maintaining an Autonomous Agent’s
Position in a Moving Formation with Range - Only Measurements, Proceedings 2007 ECC,
submitted.
M. Cao
and A. S. Morse, Station Keeping in the Plane with Range - Only
Measurements, Proceedings 2007 ACC, submitted.
J. Fang, M. Cao, A. S. Morse, and B.
D. O. Anderson, Localization of Sensor Networks Using
Sweeps, Proceedings 2006 CDC, to
be presented.
M. Cao, A. S. Morse, and B. D. O.
Anderson, Reaching a Consensus in the Face
of Measurement Delays,
Proceedings 2006 CDC, to be
presented.
M. Cao, A. S. Morse, and B. D. O.
Anderson, Agreeing Asynchronously,
Proceedings 2006 CDC, to be
presented.
D. K. Goldenberg, P. Bihler, M. Cao, J. Fang, B. D. O. Anderson, A. S. Morse, and Y. M. Yang, Localization in Sparse Networks Using Sweeps, Proceedings 2006 MOBICOM, to be presented.
J. Fang, M. Cao, A. S. Morse, and B. D. O. Anderson, Sequential Localization of Networks,
Proceedings MTNS2006.
M. Cao, D. A.
Spielman, and A. S. Morse, A Lower Bound on
Convergence of a Distributed Network Consensus Algorithm, Proceedings 2005 IEEE CDC, 2005.
M. Cao, A. S.
Morse, and B. D. O. Anderson, Localization
with Imprecise Distance Information in Sensor Networks, Proceedings 2005 IEEE CDC, 2005.
D. K. Goldenberg, a. Krishnamurthy, W. C. Maness, Y. R.
Yang, A. Young, A. S. Morse, A. Savvides, and B. D. O. Anderson, Network Localization in Partially Localizable
Networks, Proceedings 2005 INFOCOM, 2005.
M. Cao, A. S. Morse, and B. D. O. Anderson, Coordination of an Asynchronous Multi-Agent System
Via Averaging, Proceedings 2005 IFAC
Congress, 2005.
T. Eren, W. Whiteley, B. D. O. Anderson, A. S. Morse, and P.
N. Belhumeur, Information Structures to Secure
Control of Rigid Formations with Leader-Follower Structure, Proceedings 2005 ACC,
2005.
T. Eren, G. Goldenberg,
INFOCOM 2004,
2004.
T. Eren,
T. Eren, P. N. Belhumeur, A. S. Morse, W. Whiteley, and B.
D. O. Anderson, Information Structures to Control
Formation Splitting and Merging, Proceedings
2004 ACC, 2004.
D.
Goldenberg, J. Lin, A. S. Morse, B. Rosen, and Y. R. Yang, Towards Mobility as a Network Control Primitive, Proceedings 5th ACM Symp. on
T.
Eren, W. Whiteley, B. D. O. Anderson, A. S. Morse, and P. N. Belhumeur, Merging Globally Rigid Formations of Mobile Autonomous
Agents, Proceedings 3rdJoint
Conference on
Autonomous Agents and Multi-Agent Systems, 2004.
J.
Lin, A. S. Morse, and B. D. O. Anderson, The Multi-Agent
Rendezvous Problem – the Asynchronous Case, Proceedings 2004 IEEE CDC, 2004.
J. Lin, A. S. Morse, and B. D. O. Anderson, The Multi-Agent Rendezvous Problem, Proceedings 2003 IEEE CDC, 2004.
T.
Eren, W. Whiteley, A. S. Morse, and
P. N. Belhumeur, and B. D. O. Anderson,
Sensor and Network Topologies of Formations
with Distance, Bearing, and Angle Information Between Agents,
Proceedings 2003 IEEE CDC, 2003.
T. Eren, P. N. Belhumeur, B. D. O. Anderson, and A. S.
Morse, A Framework for Maintaining Formations
Based on Rigidity, IFAC Congress, 2002.
T. Eren, P. N. Belhumeur, and A. S. Morse, Closing
Ranks in Vehicle Formations Based on Rigidity, 2002 IEEE conference on Decision
and Control, 2002.
Switched Systems and Adaptive Control
A.
S. Morse, Analysis of a Supervised Set-point control
System Containing a Compact Continuum of Finite Dimensional Linear Controllers, Proceedings
2004 MTNS, 2004.
C. De Persis, R. De Santis, and A. S. Morse, Further Results on Switched Control of Linear
Systems with Constraints, 2002 IEEE Conference on Decision and
Control, 2002.
C. De Persis, R. De Santis, and A. S. Morse, On the Supervisory Control of Linear Systems with
Input Constraints, Proceedings of the 2002 IFAC Congress, July,
2002.
A. Jadbabaie and A. S. Morse, On
the ISS Property for Receding Horizon Control of Constrained Linear Systems,
Proceedings of the 2002 IFAC Congress, July, 2002.
J. P. Hespanha, D. Liberzon, and A. S. Morse, Bounds on the Number of Switches with Scale-Independent
Hysteresis: Applications to Supervisory Control, Proceedings of the 39th
Conference on Decision and Control, December, 2000.
D. Liberzon, J. P. Hespanha, and A. S. Morse, Hierarchical Hysteresis Switching, Proceedings of
the 39th Conference on Decision and Control, December, 2000.
J. P. Hespanha and A. S. Morse, Stability of Switched Systems with Average Dwell Time,
Proceedings 38th Conference on
Decision and Control, December, 1999.
J.
P. Hespanha and A. S. Morse, Supervisory Control of Integral Input
– to - State Stabilizing
Controllers, Proceedings 1999
European Control Conference, 1999.
S. Fujii, J. P. Hespanha, and A. S. Morse, Supervisory Control of Families of Noise Suppressing
Controllers, Proceedings of the 37th Conference on Decision
and Control, 1641--1646, Dec. 1998.
System Theory and Modeling
W-C Chang and A. S. Morse, Six
Degree-of Freedom Task encoding in Vision-based Control Systems, Proceedings 1999 IFAC Congress, 1999.
J. P. Hespanha, Z. Dodds, G. D. Hager, and A. S. Morse, Decidability of Robot Positioning Tasks Using Stereo
Vision Systems, Proceedings 1998 IEEE
CDC, 1998.
Presentations
Controlling Highly Uncertain
Systems Using Fast Switching,
IFAC NOLCOS 2001,
Virtual
Shells for Avoiding Collisions,
Workshop on Control of Groups,
Coordination of Groups of Mobile Autonomous Agents Using
Nearest Neighbor Rules,
Multi-Agent Formations and Sensor
Networks, IEEE CSS Conference on Decision and Control,