Departmental Papers (ESE)
The Department of Electrical & Systems Engineering at the University of Pennsylvania is a leader in the areas of Electroscience, Systems Science, Network Systems and Telecommunications.
The creation and dissemination of scholarly research in both basic and applied arenas has placed the Department of Electrical and Systems Engineering at the forefront of research and application in the areas of motion-capture, SWARM and Nanotechnologies, cyber-physical systems integration, Metananocircuits, robotics, urban transit, mobile solar power, prosthetic device enhancements and more. Engineers from the department have and are working to relentlessly push the boundaries of current engineering disciplines for the application of existing problems and those of tomorrow.
Papers from 2018
A hybrid dynamical extension of averaging and its application to the analysis of legged gait stability, Avik De, Samuel A. Burden, and Daniel E. Koditschek
Vertical hopper compositions for preflexive and feedback-stabilized quadrupedal bounding, pacing, pronking, and trotting, Avik De and Daniel E. Koditschek
Nomadic Monument for Women in Robotics, Diedra Krieger, Gaby Alfaro, Joey Hartmann-Dow, and Sonia F. Roberts
Using the art practice of play to communicate legged robotics research concepts, Diedra Krieger and Sonia F. Roberts
A Dynamical System for Prioritizing and Coordinating Motivations, Paul Reverdy and Daniel E. Koditschek
Inertial Velocity and Attitude Estimation for Quadrotors: Supplementary Material, James B. Svacha Jr, Kartik Mohta, Michael Watterson, Giuseppe Loianno, and Vijay Kumar
Sensor-Based Reactive Execution of Symbolic Rearrangement Plans by a Legged Mobile Manipulator, Vasileios Vasilopoulos, T. Turner Topping, William Vega-Brown, Nicholas Roy, and Daniel E. Koditschek
Sensor-Based Reactive Symbolic Planning in Partially Known Environments, Vasileios Vasilopoulos, William Vega-Brown, Omur Arslan, Nicholas Roy, and Daniel E. Koditschek
Papers from 2017
Discriminative Measures for Comparison of Phylogenetic Trees, Omur Arslan, Dan P. Guralnik, and Daniel E. Koditschek
Smooth Extensions of Feedback Motion Planners via Reference Governors, Omur Arslan and Daniel E. Koditschek
Sensory Steering for Sampling-Based Motion Planning, Omur Arslan, Vincent Pacelli, and Daniel E. Koditschek
Modular Hopping and Running via Parallel Composition, Avik De
Towards Reactive Control of Transitional Legged Robot Maneuvers, Jeff Duperret
Empirical validation of a spined sagittal-plane quadrupedal model, Jeff Duperret and Daniel E. Koditschek
Detecting Poisoning Attacks on Hierarchical Malware Classification Systems, Dan P. Guralnik, Bill Moran, Ali Pezeshki, and Omur Arslan
Ground robotic measurement of aeolian processes, Feifei Qian, Douglas J. Jerolmack, Nicholas Lancaster, George Nikolich, Paul B. Reverdy, Sonia F. Roberts, Thomas F. Shipley, Robert Scott Van pelt, Ted M. Zobeck, and Daniel E. Koditschek
Spatial Sampling Strategies with Multiple Scientific Frames of Reference, Paul B. Reverdy, Thomas F. Shipley, and Daniel E. Koditschek
Quasi-Static and Dynamic Mismatch for Door Opening and Stair Climbing With a Legged Robot, T. Turner Topping, Gavin Kenneally, and Daniel E. Koditschek
Sensor-Based Legged Robot Homing Using Range-Only Target Localization, Vasileios Vasilopoulos, Omur Arslan, Avik De, and Daniel E. Koditschek
Papers from 2016
Clustering-Based Robot Navigation and Control, Omur Arslan
Coordinated Robot Navigation via Hierarchical Clustering, Omur Arslan, Dan P. Guralnik, and Daniel E. Koditschek
Clustering-Based Robot Navigation and Control, Omur Arslan, Dan P. Guralnik, and Daniel E. Koditschek
Exact Robot Navigation Using Power Diagrams, Omur Arslan and Daniel E. Koditschek
On the Optimality of Napoleon Triangles, Omur Arslan and Daniel E. Koditschek
Voronoi-Based Coverage Control of Heterogeneous Disk-Shaped Robots, Omur Arslan and Daniel E. Koditschek
Core Actuation Promotes Self-Manipulability on a Direct-Drive Quadrupedal Robot, Jeff Duperret, Benjamin Kramer, and Daniel E. Koditschek
Single-Mode Optical Waveguides on Native High-Refractive-Index Substrates, Richard R. Grote and Lee C. Bassett
Universal Memory Architectures for Autonomous Machines, Dan P. Guralnik and Daniel E. Koditschek
A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems, Aaron M. Johnson, Sam Burden, and Daniel E. Koditschek
Design Principles for a Family of Direct-Drive Legged Robots, Gavin Kenneally, Avik De, and Daniel E. Koditschek
Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation, Thomas Libby, Aaron M Johnson, Evan Chang-Sui, R J. Full, and Daniel E. Koditschek
Mobile Robots as Remote Sensors for Spatial Point Process Models, Paul B. Reverdy and Daniel E. Koditschek
Towards Bipedal Behavior on a Quadrupedal Platform Using Optimal Control, Turner Topping, Vasileios Vasilopoulos, Avik De, and Daniel E. Koditschek
Papers from 2015
Tail-Assisted Rigid and Compliant Legged Leaping, Anna Brill, Avik De, Aaron Johnson, and Daniel E. Koditschek
Averaged Anchoring of Decoupled Templates in a Tail-Energized Monoped, Avik De and Daniel E. Koditschek
Parallel Composition of Templates for Tail-Energized Planar Hopping, Avik De and Daniel E. Koditschek
An Empirical Investigation of Legged Transitional Maneuvers Leveraging Raibert’s Scissor Algorithm, Jeff Duperret and Daniel E. Koditschek
Leg Design for Energy Management in an Electromechanical Robot, Gavin Kenneally
Migrating the Internet to IPv6: An Exploration of the When and Why, Mehdi Nikkhah and Roch Guerin
A drift-diffusion model for robotic obstacle avoidance, Paul B. Reverdy, B. Deniz Ilhan, and Daniel E. Koditschek
Robotic Measurement of Aeolian Processes, Sonia Roberts, Douglas J. Jerolmack, Nick Lancaster, George Nikolich, Paul B. Reverdy, Thomas F. Shipley, Scott van Pelt, Ted Zobeck, and Daniel E. Koditschek
Semi-autonomous exploration of multi-floor buildings with a legged robot, Garrett Wenger, Aaron Johnson, Camilo Jose Taylor, and Daniel E. Koditschek
Papers from 2014
Navigation of Distinct Euclidean Particles via Hierarchical Clustering, Omur Arslan, Dan P. Guralnik, and Daniel E. Koditschek
A Recursive, Distributed Minimum Spanning Tree Algorithm for Mobile Ad Hoc Networks, Omur Arslan and Daniel E. Koditschek
Active Sensing for Dynamic, Non-holonomic, Robust Visual Servoing, Avik De, Karl S. Bayer, and Daniel E. Koditschek
Towards a Comparative Measure for Legged Agility, Jeffrey Duperret, Gavin Kenneally, Jason Pusey, and Daniel E. Koditschek
Coordinated Navigation of Multiple Independent Disk-Shaped Robots, C. Serkan Karagoz, H. Isil Bozma, and Daniel E. Koditschek
A Systems Approach to Healthcare: Agent-based Modeling, Community Mental Health, and Population Well-being, Barry G. Silverman, Nancy Hanrahan, Gnana K. Bharathy, Kim Gordon, and Dan Johnson
Papers from 2013
PTM Metamaterials via Complex-Coordinate Transformation Optics, Giuseppe Castaldi, Silvio Savoia, Vincenzo Galdi, Andrea Alù, and Nader Engheta
Toward Dynamical Sensor Management for Reactive Wall-following, Avik De and Daniel E. Koditschek
Convergence of Bayesian Histogram Filters for Location Estimation, Avik De, Alejandro Ribeiro, William Moran, and Daniel E. Koditschek
Variable Stiffness Legs for Robust, Efficient, and Stable Dynamic Running, Kevin C. Galloway, Jonathan E. Clark, and Daniel E. Koditschek
Legged Self-Manipulation, Aaron Johnson and Daniel E. Koditschek
Robot Parkour: The Ground Reaction Complex & Dynamic Transitions, Aaron M. Johnson
Toward a Vocabulary of Legged Leaping, Aaron M. Johnson and Daniel E. Koditschek
Lensing system and Fourier transformation using epsilon-near-zero metamaterials, M. Navarro-Cía, M. Beruete, M. Sorolla, and Nader Engheta
Social Learning and Adoption of New Behavior in a Virtual Agent Society, Benjamin D. Nye and Barry G. Silverman
Social Learning and Adoption of New Behavior in a Virtual Agent Society, Benjamin D. Nye and Barry G. Silverman
Optimal Resource Allocation for Network Protection Against Spreading Processes, Victor M. Preciado, Michael Zargham, Chinwendu Enyioha, Ali Jadbabaie, and George Pappas
Free-Standing Leaping Experiments with a Power-Autonomous, Elastic-Spined Quadruped, Jason L. Pusey, Jeffrey M. Duperret, G. Clark Haynes, Ryan Knopf, and Daniel E. Koditschek
Experimental Verification of n = 0 Structures for Visible Light, Ernst Jan R. Vesseur, Toon Coenen, Humeyra Caglayan, Nader Engheta, and Albert Polman
Papers from 2012
Pricing Strategies for User-Provided Connectivity Services, M. H. Afrasiabi and Roch A. Guérin
Boosting Optical Nonlinearities in Є-Near-Zero Plasmonic Channels, Christos Argyropoulos, Pai-Yen Chen, Giuseppe D'Aguanno, Nader Engheta, and Andrea Alù
Hierarchically Clustered Navigation of Distinct Euclidean Partlces, Omur Arslan, Dan P. Guralnik, Yuliy M. Baryshnikov, and Daniel E. Koditschek
A Distributed Routing Protocol for Predictable Rates in Wireless Mesh Networks, Behnaz Arzani, Roch A. Guérin, and Alejandro Ribeiro
Holistically Evaluating Agent Based Social System Models, Gnana K. Bharathy and Barry G. Silverman
Nonlocal Transformation Optics, Giuseppe Castaldi, Vincenzo Galdi, Andrea Alù, and Nader Engheta
Analytical study of subwavelength imaging by uniaxial epsilon-near-zero metamaterial slabs, Giuseppe Castaldi, Silvio Savoia, Vincenzo Galdi, Andrea Alù, and Nader Engheta
Optical Frequency Mixing Through Nanoantenna Enhanced Difference Frequency Generation: Metatronic Mixer, Uday K. Chettiar and Nader Engheta
Experimental Verification of Displacement-Current Conduits in Metamaterials-Inspired Optical Circuitry, Brian Edwards and Nader Engheta
Consensus Over Martingale Graph Processes, Arastoo Fazeli and Ali Jadbabaie
Duopoly Pricing Game in Networks With Local Coordination Effects, Arastoo Fazeli and Ali Jadbabaie
Game Theoretic Analysis of a Strategic Model of Competitive Contagion and Product Adoption in Social Networks, Arastoo Fazeli and Ali Jadbabaie
Targeted Marketing and Seeding Products with Positive Externality, Arastoo Fazeli and Ali Jadbabaie
Toward a Memory Model for Autonomous Topological Mapping and Navigation: the Case of Binary Sensors and Discrete Actions, Dan P. Guralnik and Daniel E. Koditschek
Laboratory on Legs: An Architechture for Adjustable Morphology with Legged Robots, G. Clark Haynes, Jason Pusey, Ryan Knopf, Aaron M. Johnson, and Daniel E. Koditschek
Standing Self-Manipulation for a Legged Robot, Aaron M. Johnson, G. Clark Haynes, and Daniel E. Koditschek
Tail Assisted Dynamic Self Righting, Aaron M. Johnson, Thomas Libby, Evan Chang-Siu, Masayoshi Tomizuka, Robert J. Full, and Daniel E. Koditschek
Towards a terramechanics for bio-in spired locomotion in granular environments, Chen Li, Yang Ding, Ryan D. Maladen, Andrew Masse, Paul B. Umbanhowar, Haldun Kimsuoglu, Daniel E. Koditschek, and Daniel I. Goldman
A Bioinspired Dynamical Vertical Climbing Robot, Goran A. Lynch, Jonathan E. Clark, Pei-Chun Lei, and Daniel E. Koditschek
Multi-agent Flocking With Random Communication Radius, Samuel Martin, Arastoo Fazeli, Ali Jadbabaie, and Antoine Girard
Time-triggered Implementations of Dynamic Controllers, Truong X. Nghiem, George J. Pappas, Rajeev Alur, and Antoine Girard
Affordance, Benjamin D. Nye and Barry G. Silverman
Affordances in AI, Benjamin D. Nye and Barry G. Silverman
Dynamical Trajectory Replanning for Uncertain Environments, Shai Revzen, B. Deniz Ilhan, and Daniel E. Koditschek
Avoiding Metallic Walls: Use of Modal Superposition in Plasmonic Waveguides to Reduce Propagation Loss, Francisco J. Rodríguez-Fortuño and Nader Engheta
Analysis of Slotted ALOHA with Multipacket Messages in Clustered Surveillance Networks, Soumya Sen, David J. Dorsey, Roch A. Guérin, and Mung Chiang
Sampling and Squeezing Electromagnetic Waves through Subwavelength Ultranarrow Regions or Openings, Mário G. Silveirinha and Nader Engheta
Effective Medium Approach to Electron Waves: Graphene Superlattices, Mário G. Silveirinha and Nader Engheta
Metamaterial-Inspired Model for Electron Waves in Bulk Semiconductors, Mário G. Silveirinha and Nader Engheta
Transformation Electronics: Tailoring the Effective Mass of Electrons, Mário G. Silveirinha and Nader Engheta
Fourier Optics on Graphene, Ashkan Vakil and Nader Engheta
Papers from 2011
Exploring User-Provided Connectivity - A Simple Model, M. H. Afrasiabi and Roch A. Guérin
Experimental Validation of Strong Directional Selectivity in Nonsymmetric Metallic Gratings with a Subwavelength Slit, Semih Cakmakyapan, Humeyra Caglayan, Andriy E. Serebryannikov, and Ekmel Ozbay
Electromagnetic tunneling through a single-negative slab paired with a double-positive bilayer, Giuseppe Castaldi, Ilaria Gallina, Vincenzo Galdi, Andrea Alù, and Nadar Engheta
Motor Sizing for Legged Robots Using Dynamic Task Specification, Avik De, Goran Lynch, Aaron Johnson, and Daniel E. Koditschek
On Consensus in a Correlated Model of Network Formation Based on a Polya Urn Process, Arastoo Fazeli and Ali Jadbabaie
Experimental Investigations into the Role of Passive Variable Compliant Legs for Dynamic Robot Locomotion, Kevin C. Galloway, Jonathan E. Clark, Mark Yim, and Daniel E. Koditschek
Multistable Phase Regulation for Robust Steady and Transitional Legged Gaits, G. C. Haynes, Alfred A. Rizzi, and Daniel E. Koditschek
Autonomous Legged Hill and Stairwell Ascent, Aaron M. Johnson, Matthew T. Hale, G. C. Haynes, and Daniel E. Koditschek