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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, W. Whiteley, and Y. R. Yang, Graphical Properties of Easily Localizable Sensor Networks, Wireless Networks, to appear.

*      J. Aspenes, T. Eren, D. K. Goldenberg, A. S. Morse, W. Whiteley, Y. R. Yang, B. D. O. Anderson, and P. Belhumeur, A Theory of Network Localization, IEEE Transactions on Mobile Computing, to appear.

*      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 SystemsAutomatica,  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 ControllersAutomatica, 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: SwitchingInternational 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, W. Whiteley, Y. R. Yang, A. S. Morse, B. D. O. Anderson, and P. N. Belhumeur, Rigidity, Computation, and Randomization in Network Localization, Proceedings

       INFOCOM 2004, 2004.

 

*   T. Eren, W. Whiteley, A. S. Morse, P. N. Belhumeur, and B. D. O. Anderson, Information Structures to Secure Control of Globally Rigid Formations, Proceedings 2004 ACC, 2004.

 

*   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 Mobile Ad Hoc Networking and Computing, 2004.

 

*   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 Constraints2002 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, St. Petersburg,  July 2001.

 

*      Virtual Shells for Avoiding Collisions,  Workshop on Control of Groups, SIAM National Meeting, San Diego, July, 2001.

 

*      Coordination of Groups of Mobile Autonomous Agents Using Nearest Neighbor Rules, University of Illinois, March, 2002

 

*   Multi-Agent Formations and Sensor Networks, IEEE CSS Conference on Decision and Control, San Diego, December, 2006