Technical Reports (ESE)
Papers from 2023
Extended Version of Stability of a Groucho-Style Bounding Run in the Sagittal Plane, Jeff Duperret and D. E. Koditschek
Papers from 2022
Discovering Reduced-Order Dynamical Models From Data, William Qian and Pratik A. Chaudhari
Papers from 2017
Technical Report on: Towards Reactive Control of Simplified Legged Robotics Maneuvers, Jeff Duperret and D. E. Koditschek
Papers from 2016
Technical Report on: Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation, Thomas Libby, Aaron Johnson, Evan Chang-Siu, R J. Full, and Daniel E. Koditschek
RHex Slips on Granular Media, Sonia F. Roberts and Dan E. Koditschek
Papers from 2015
Coordinated Robot Navigation via Hierarchical Clustering, Omur Arslan, Dan P. Guralnik, and Daniel E. Koditschek
The Penn Jerboa: A Platform for Exploring Parallel Composition of Templates, Avik De and Daniel E. Koditschek
Papers from 2014
Anytime Hierarchical Clustering, Omur Arslan and Daniel E. Koditschek
Desert RHex Technical Report: Jornada and White Sands Trip, Sonia Roberts, Jeff Duperret, Aaron M. Johnson, Scott van Pelt, Ted Zobeck, Nick Lancaster, and Daniel E. Koditschek
Towards a method for obstacle porosity classification, Sonia F. Roberts
Desert RHex Technical Report: Tengger Desert Trip, Sonia F. Roberts, Jeffrey M. Duperret, Xinwan Li, Hesheng Wang, and D. E. Koditschek
Papers from 2012
Parametric Jumping Dataset on the RHex Robot, Aaron M. Johnson and Daniel E. Koditschek
Tail Assisted Dynamic Self Righting: Full Derivations, Aaron M. Johnson, Tomas Libby, Evan Chang-Siu, Masayoshi Tomizuka, R J. Full, and Daniel E. Koditschek
Papers from 2011
Functionality-rich Versus Minimalist Platforms: A Two-sided Market Analysis, Soumya Sen, Roch A. Guérin, and Kartik Hosanagar
Papers from 2010
X-RHex: A Highly Mobile Hexapedal Robot for Sensorimotor Tasks, Kevin C. Galloway, Galen Clark Haynes, B. Deniz Ilhan, Aaron M. Johnson, Ryan Knopf, Goran A. Lynch, Benjamin N. Plotnick, Mackenzie White, and Daniel E. Koditschek
DTIME: Discrete Topological Imaging for Multipath Environments, Robert Ghrist, H. Owen, and Michael Robinson
Real-time Heart Model for Implantable Cardiac Device Validation and Verification, Zhihao Jiang, Miroslav Pajic, Allison T. Connolly, Sanjay Dixit, and Rahul Mangharam
Feedback Control of the National Airspace System, Jerome LE NY and Hamsa Balakrishnan
Adaptive Algorithms for Coverage Control and Space Partitioning in Mobile Robotic Networks, Jerome Le Ny and George J. Pappas
Adaptive Robot Deployment Algorithms, Jerome LE NY and George J. Pappas
Joint Metering and Conflict Resolution in Air Traffic Control, Jerome Le Ny and George J. Pappas
Papers from 2008
Always Acyclic Distributed Path Computation, Saikat Ray, Roch A. Guérin, Kin-Wah (Eric) Kwong, and Rute Sofia
Papers from 2003
On the Coordinated Navigation of Multiple Independent Disk-Shaped Robots, Cem Serkan Karagöz, H. Isil Bozma, and Daniel E. Koditschek
Papers from 1988
Application of a New Lyapunov Function: Global Adaptive Inverse Dynamics for a Single Rigid Body, Daniel E. Koditschek
Papers from 1987
Quadratic Lyapunov Functions for Mechanical Systems, Daniel E. Koditschek