BACK TO INDEX

Complete list of F. Bullo's publications sorted by year
Books
  1. F. Bullo, J. Cortes, and S. Martinez. Distributed Control of Robotic Networks, Princeton Series in Applied Mathematics. Princeton University Press, September 2008. Note: Manuscript under contract. Available electronically at http://www.coordinationbook.info. Keyword(s): Robotic Networks. [bibtex-key = fb-jc-sm:08] [bibtex-entry]


  2. F. Bullo and K. Fujimoto, editors. Lagrangian and Hamiltonian Methods for Nonlinear Control 2006, volume 366 of Lecture Notes in Control and Information Sciences, 2007. Springer. Note: Proceedings from the 3rd IFAC Workshop, Nagoya, Japan, July 2006. Keyword(s): Mechanical Control Systems. [bibtex-key = fb-kf:06p] [bibtex-entry]


  3. F. Bullo and A. D. Lewis. Geometric Control of Mechanical Systems, volume 49 of Texts in Applied Mathematics. Springer, 2004. Keyword(s): Mechanical Control Systems. [bibtex-key = fb-adl:04a] [bibtex-entry]


Theses
  1. N. Nordkvist. Motion Control along Relative Equilibria. PhD thesis, Mathematics Department, Technical University of Denmark, Lyngby, Denmark, January 2008. [PDF ] Keyword(s): Mechanical Control Systems. [bibtex-key = nn:08] [bibtex-entry]


  2. A. Ganguli. Motion Coordination for Mobile Robotic Networks with Visibility Sensors. PhD thesis, Electrical and Computer Engineering Department, University of Illinois at Urbana-Champaign, Urbana, IL, April 2007. [PDF ] Keyword(s): Visibility Sensors in Robotics. [bibtex-key = ag:07] [bibtex-entry]


  3. G. Notarstefano. Optimization Strategies for Constrained Control Systems and Robotic Networks. PhD thesis, Dipartimento di Ingegneria dell'Informazione, University of Padova, Padova, Italy, March 2007. [PDF ] Keyword(s): Robotic Networks. [bibtex-key = gn:07] [bibtex-entry]


  4. K. Savla. Multi UAV Systems with Motion and Communication Constraints. PhD thesis, Electrical and Computer Engineering Department, University of California at Santa Barbara, Santa Barbara, August 2007. Note: Available electronically at http://ccdc.mee.ucsb.edu. [PDF ] Keyword(s): Robotic Networks, Vehicle Routing. [bibtex-key = ks:07] [bibtex-entry]


  5. S. Susca. Distributed Boundary Estimation and Monitoring. PhD thesis, Electrical and Computer Engineering Department, University of California at Santa Barbara, Santa Barbara, December 2007. Note: Available electronically at http://ccdc.mee.ucsb.edu. [PDF ] Keyword(s): Robotic Networks. [bibtex-key = ss:07] [bibtex-entry]


  6. W. T. Cerven. Efficient Hierarchical Global Motion Planning for Autonomous Vehicles. PhD thesis, Aeronautical and Astronautical Engineering Department, University of Illinois at Urbana-Champaign, Urbana, IL, June 2003. [PDF ] [bibtex-key = wtc:03] [bibtex-entry]


  7. G. J. Toussaint. Robust Control and Motion Planning for Nonlinear Underactuated Systems using ${H}^{\infty}$ Techniques. PhD thesis, Electrical and Computer Engineering Department, University of Illinois at Urbana-Champaign, Urbana, IL, May 2000. [PDF ] [bibtex-key = gjt:00] [bibtex-entry]


  8. F. Bullo. Nonlinear Control of Mechanical Systems: A Riemannian Geometry Approach. PhD thesis, Control and Dynamical Systems Department, California Institute of Technology, Pasadena, CA, August 1998. [PDF ] [bibtex-key = fb:98b] [bibtex-entry]


Journal articles
  1. J. Cortes and F. Bullo. Nonsmooth Coordination and Geometric Optimization via Distributed Dynamical Systems. SIAM Review, 51(1), 2009. Note: To appear. [PDF ] Keyword(s): Robotic Networks. [bibtex-key = jc-fb:08r] [bibtex-entry]


  2. S. Susca, S. Martinez, and F. Bullo. Gradient Algorithms for Polygonal Approximation of Convex Contours. Automatica, 45(2), 2009. Note: To appear (Submitted Apr 2007). [PDF ] Keyword(s): Robotic Networks, Nonlinear Control. [bibtex-key = ss-sm-fb:07a] [bibtex-entry]


  3. S. D. Bopardikar, F. Bullo, and J. P. Hespanha. A Cooperative Homicidal Chauffeur Game. Automatica, July 2008. Note: Provisionally Accepted. [PDF ] [bibtex-key = sdb-fb-jph:07w] [bibtex-entry]


  4. S. D. Bopardikar, F. Bullo, and J. P. Hespanha. On Discrete-Time Pursuit-Evasion Games with Sensing Limitations. IEEE Transactions on Robotics, 24(6), 2008. Note: To appear (Submitted in Nov 2007). [PDF ] Keyword(s): Robotic Networks. [bibtex-key = sdb-fb-jph:07o] [bibtex-entry]


  5. R. Carli, F. Bullo, and S. Zampieri. Quantized Average Consensus via Dynamic Coding/Decoding Schemes. International Journal on Robust and Nonlinear Control, May 2008. Note: Provisionally accepted. [PDF ] Keyword(s): Robotic Networks. [bibtex-key = rc-fb-sz:08j] [bibtex-entry]


  6. J. J. Enright, K. Savla, E. Frazzoli, and F. Bullo. Dynamic Routing for Multiple-UAV Systems. AIAA Journal of Guidance, Control, and Dynamics, October 2008. Note: Submited. [PDF ] Keyword(s): Vehicle Routing. [bibtex-key = jje-ks-ef-fb:08k] [bibtex-entry]


  7. C. Gao, J. Cortes, and F. Bullo. Notes on Averaging over Acyclic Digraphs and Discrete Coverage Control. Automatica, 44(8):2120-2127, 2008. [PDF ] Keyword(s): Robotic Networks. [bibtex-key = cg-jc-fb:06o] [bibtex-entry]


  8. K. J. Obermeyer, A. Ganguli, and F. Bullo. A Complete Algorithm for Searchlight Scheduling. International Journal of Computational Geometry & Applications, October 2008. Note: Submitted. [PDF ] [bibtex-key = kjo-ag-fb:07i] [bibtex-entry]


  9. K. Plarre and F. Bullo. On Kalman Filtering for Detectable Systems with Intermittent Observations. IEEE Transactions on Automatic Control, May 2008. Note: To appear (Submitted May 2007). [PDF ] [bibtex-key = kp-fb:07j] [bibtex-entry]


  10. K. Savla, E. Frazzoli, and F. Bullo. Traveling Salesperson Problems for the Dubins vehicle. IEEE Transactions on Automatic Control, 53(6):1378-1391, 2008. [PDF ] Keyword(s): Motion Planning, Vehicle Routing. [bibtex-key = ks-ef-fb:06h] [bibtex-entry]


  11. S. L. Smith and F. Bullo. The Dynamic Team Forming Problem: Throughput and Delay for Unbiased Policies. Systems & Control Letters, July 2008. Note: Submitted. [PDF ] Keyword(s): Vehicle Routing. [bibtex-key = sls-fb:08o] [bibtex-entry]


  12. S. Susca, S. Martinez, and F. Bullo. Monitoring Environmental Boundaries with a Robotic Sensor Network. IEEE Transactions on Control Systems Technology, 16(2):288-296, 2008. [PDF ] Keyword(s): Robotic Networks. [bibtex-key = ss-sm-fb:06f] [bibtex-entry]


  13. F. Bullo and A. D. Lewis. Reduction, Linearization, and Stability of Relative Equilibria for Mechanical Systems on Riemannian Manifolds. Acta Applicandae Mathematicae, 99(1):53-95, 2007. [PDF ] Keyword(s): Mechanical Control Systems. [bibtex-key = fb-adl:05c] [bibtex-entry]


  14. R. Carli and F. Bullo. Quantized Coordination Algorithms for Rendezvous and Deployment. SIAM Journal on Control and Optimization, December 2007. Note: Submitted. [PDF ] Keyword(s): Robotic Networks. [bibtex-key = rc-fb:06j] [bibtex-entry]


  15. A. Ganguli, J. Cortes, and F. Bullo. Multirobot Rendezvous with Visibility Sensors in Nonconvex Environments. IEEE Transactions on Robotics, August 2007. Note: (Submitted Nov 2006) Conditionally Accepted. [PDF ] Keyword(s): Visibility Sensors in Robotics, Robotic Networks. [bibtex-key = ag-jc-fb:05k] [bibtex-entry]


  16. S. Martinez, F. Bullo, J. Cortes, and E. Frazzoli. On Synchronous Robotic Networks - Part I: Models, Tasks and Complexity. IEEE Transactions on Automatic Control, 52(12):2199-2213, 2007. [PDF ] Keyword(s): Robotic Networks. [bibtex-key = sm-fb-jc-ef:05m] [bibtex-entry]


  17. S. Martinez, F. Bullo, J. Cortes, and E. Frazzoli. On Synchronous Robotic Networks - Part II: Time Complexity of Rendezvous and Deployment Algorithms. IEEE Transactions on Automatic Control, 52(12):2214-2226, 2007. [PDF ] Keyword(s): Robotic Networks. [bibtex-key = sm-fb-jc-ef:05n] [bibtex-entry]


  18. S. Martinez, J. Cortes, and F. Bullo. Motion Coordination with Distributed Information. IEEE Control Systems Magazine, 27(4):75-88, 2007. [PDF ] Keyword(s): Robotic Networks. [bibtex-key = sm-jc-fb:04n] [bibtex-entry]


  19. N. Nordkvist and F. Bullo. Control Algorithms along Relative Equilibria of Underactuated Lagrangian Systems on Lie Groups. IEEE Transactions on Automatic Control, November 2007. Note: (Submitted Jan 2007) To appear. [PDF ] Keyword(s): Motion Planning, Mechanical Control Systems. [bibtex-key = nn-fb:06i] [bibtex-entry]


  20. K. Savla, F. Bullo, and E. Frazzoli. Traveling Salesperson Problems for a Double Integrator. IEEE Transactions on Automatic Control, 2007. Note: (Submitted Nov 2006) To appear. [PDF ] Keyword(s): Motion Planning, Vehicle Routing. [bibtex-key = ks-fb-ef:06m] [bibtex-entry]


  21. K. Savla, G. Notarstefano, and F. Bullo. Maintaining Limited-Range Connectivity among Second-Order Agents. SIAM Journal on Control and Optimization, 2007. Note: Special issue on Control and Optimization in Cooperative Networks. To appear. [PDF ] Keyword(s): Robotic Networks. [bibtex-key = ks-gn-fb:06g] [bibtex-entry]


  22. S. L. Smith and F. Bullo. Monotonic Target Assignment for Robotic Networks. IEEE Transactions on Automatic Control, June 2007. Note: To appear. [PDF ] Keyword(s): Robotic Networks, Vehicle Routing. [bibtex-key = sls-fb:07l] [bibtex-entry]


  23. F. Bullo and D. Liberzon. Quantized Control via Locational Optimization. IEEE Transactions on Automatic Control, 51(1):2--13, 2006. [PDF ] Keyword(s): Nonlinear Control. [bibtex-key = fb-dl:02f] [bibtex-entry]


  24. J. Cortes, S. Martinez, and F. Bullo. Robust Rendezvous for Mobile Autonomous Agents via Proximity Graphs in Arbitrary Dimensions. IEEE Transactions on Automatic Control, 51(8):1289-1298, 2006. [PDF ] Keyword(s): Robotic Networks. [bibtex-key = jc-sm-fb:04h] [bibtex-entry]


  25. A. Ganguli, J. Cortes, and F. Bullo. Maximizing Visibility in Nonconvex Polygons: Nonsmooth Analysis and Gradient Algorithm Design. SIAM Journal on Control and Optimization, 45(5):1657-1679, 2006. [PDF ] Keyword(s): Nonlinear Control, Visibility Sensors in Robotics. [bibtex-key = ag-jc-fb:05b] [bibtex-entry]


  26. S. Martinez and F. Bullo. Optimal Sensor Placement and Motion Coordination for Target Tracking. Automatica, 42(4):661--668, 2006. [PDF ] Keyword(s): Robotic Networks. [bibtex-key = sm-fb:04p] [bibtex-entry]


  27. F. Bullo and A. D. Lewis. Low-order Controllability and Kinematic Reductions for Affine Connection Control Systems. SIAM Journal on Control and Optimization, 44(3):885--908, 2005. [PDF ] Keyword(s): Mechanical Control Systems. [bibtex-key = fb-adl:02n] [bibtex-entry]


  28. J. Cortes and F. Bullo. Coordination and Geometric Optimization via Distributed Dynamical Systems. SIAM Journal on Control and Optimization, 44(5):1543--1574, 2005. [PDF ] Keyword(s): Robotic Networks. [bibtex-key = jc-fb:02m] [bibtex-entry]


  29. J. Cortes, S. Martinez, and F. Bullo. Spatially-Distributed Coverage Optimization and Control with Limited-Range Interactions. ESAIM. Control, Optimisation & Calculus of Variations, 11:691--719, 2005. [PDF ] Keyword(s): Robotic Networks. [bibtex-key = jc-sm-fb:03p] [bibtex-entry]


  30. M. W. Spong and F. Bullo. Controlled Symmetries and Passive Walking. IEEE Transactions on Automatic Control, 50(7):1025--1031, 2005. [PDF ] Keyword(s): Mechanical Control Systems. [bibtex-key = mws-fb:03g] [bibtex-entry]


  31. F. Bullo. Trajectory Design for Mechanical Systems: from Geometry to Algorithms. European Journal of Control, 10(5):397--410, 2004. [PDF ] Keyword(s): Mechanical Control Systems, Motion Planning. [bibtex-key = fb:03d] [bibtex-entry]


  32. W. T. Cerven, F. Bullo, and V. L. Coverstone. Vehicle Motion Planning with Time-Varying Constraints. AIAA Journal of Guidance, Control, and Dynamics, 27(3):506--508, 2004. [PDF ] Keyword(s): Motion Planning. [bibtex-key = wtc-fb-vlc:03k] [bibtex-entry]


  33. J. Cortes, S. Martinez, T. Karatas, and F. Bullo. Coverage Control for Mobile Sensing Networks. IEEE Transactions on Robotics and Automation, 20(2):243--255, 2004. [PDF ] Keyword(s): Robotic Networks. [bibtex-key = jc-sm-tk-fb:02j] [bibtex-entry]


  34. F. Bullo and A. D. Lewis. Kinematic Controllability and Motion Planning for the Snakeboard. IEEE Transactions on Robotics and Automation, 19(3):494--498, 2003. [PDF ] Keyword(s): Mechanical Control Systems, Motion Planning. [bibtex-key = fb-adl:01t] [bibtex-entry]


  35. W. T. Cerven and F. Bullo. Constructive Controllability Algorithms for Motion Planning and Optimization. IEEE Transactions on Automatic Control, 48(4):575--589, 2003. [PDF ] Keyword(s): Nonlinear Control, Motion Planning. [bibtex-key = wtc-fb:01b] [bibtex-entry]


  36. S. Martinez, J. Cortes, and F. Bullo. Analysis and Design of Oscillatory Control Systems. IEEE Transactions on Automatic Control, 48(7):1164--1177, 2003. [PDF ] Keyword(s): Nonlinear Control. [bibtex-key = sm-jc-fb:01e] [bibtex-entry]


  37. J. W. Melody, T. Basar, and F. Bullo. On Nonlinear Controllability of Homogeneous Systems Linear in the Controls. IEEE Transactions on Automatic Control, 48(1):139--143, 2003. [PDF ] Keyword(s): Nonlinear Control. [bibtex-key = jwm-tb-fb:01g] [bibtex-entry]


  38. F. Bullo. Averaging and Vibrational Control of Mechanical Systems. SIAM Journal on Control and Optimization, 41(2):542--562, 2002. [PDF ] Keyword(s): Mechanical Control Systems. [bibtex-key = fb:99b] [bibtex-entry]


  39. F. Bullo. Series Expansions for Analytic Systems Linear in Controls. Automatica, 38(9):1425--1432, 2002. [PDF ] Keyword(s): Nonlinear Control. [bibtex-key = fb:00g] [bibtex-entry]


  40. F. Bullo and M. Zefran. Modeling and Controllability for a Class of Hybrid Mechanical Systems. IEEE Transactions on Robotics and Automation, 18(4):563--573, 2002. [PDF ] Keyword(s): Mechanical Control Systems. [bibtex-key = fb-mz:00s] [bibtex-entry]


  41. F. Bullo and M. Zefran. On Mechanical Control Systems with Nonholonomic Constraints and Symmetries. Systems & Control Letters, 45(2):133--143, 2002. [PDF ] Keyword(s): Mechanical Control Systems. [bibtex-key = fb-mz:01d] [bibtex-entry]


  42. J. Cortes, S. Martinez, and F. Bullo. On Nonlinear Controllability and Series Expansions for Lagrangian Systems with Dissipative Forces. IEEE Transactions on Automatic Control, 47(8):1396--1401, 2002. [PDF ] Keyword(s): Mechanical Control Systems. [bibtex-key = jc-sm-fb:01m] [bibtex-entry]


  43. F. Bullo. Series Expansions for the Evolution of Mechanical Control Systems. SIAM Journal on Control and Optimization, 40(1):166--190, 2001. [PDF ] Keyword(s): Mechanical Control Systems. [bibtex-key = fb:99a] [bibtex-entry]


  44. F. Bullo and K. M. Lynch. Kinematic Controllability for Decoupled Trajectory Planning in Underactuated Mechanical Systems. IEEE Transactions on Robotics and Automation, 17(4):402--412, 2001. [PDF ] Keyword(s): Mechanical Control Systems, Motion Planning. [bibtex-key = fb-kml:01a] [bibtex-entry]


  45. F. Bullo. Stabilization of Relative Equilibria for Underactuated Systems on Riemannian Manifolds. Automatica, 36(12):1819--1834, 2000. [PDF ] Keyword(s): Mechanical Control Systems. [bibtex-key = fb:98d] [bibtex-entry]


  46. F. Bullo, N. E. Leonard, and A. D. Lewis. Controllability and Motion Algorithms for Underactuated Lagrangian Systems on Lie Groups. IEEE Transactions on Automatic Control, 45(8):1437--1454, 2000. [PDF ] Keyword(s): Mechanical Control Systems, Motion Planning. [bibtex-key = fb-nel-adl:00] [bibtex-entry]


  47. F. Bullo and R. M. Murray. Tracking for Fully Actuated Mechanical Systems: A Geometric Framework. Automatica, 35(1):17--34, 1999. [PDF ] Keyword(s): Mechanical Control Systems. [bibtex-key = fb-rmm:97a] [bibtex-entry]


  48. E. Masry and F. Bullo. Convergence Analysis of the Sign Algorithm for Adaptive Filtering. IEEE Transactions on Information Theory, 41(2):489--495, 1995. [PDF ] [bibtex-key = em-fb:95] [bibtex-entry]


Book chapters and conference articles
  1. S. D. Bopardikar, S. L. Smith, F. Bullo, and J. P. Hespanha. Dynamic vehicle routing with moving demands - Part I: Low speed demands and high arrival rates. In American Control Conference, St. Louis, MO, June 2009. Note: Submitted. Keyword(s): Vehicle Routing. [bibtex-key = sdb-sls-fb:08l-a] [bibtex-entry]


  2. S. H. Dandach and F. Bullo. Algorithms for regional source localization. In American Control Conference, St. Louis, MO, June 2009. Note: Submitted. [bibtex-key = sd-fb:07n] [bibtex-entry]


  3. P. Frasca, R. Carli, and F. Bullo. Gossip coverage control: dynamical systems on the space of partitions. In American Control Conference, St. Louis, MO, June 2009. Note: Submitted. [bibtex-key = pf-rc-fb:08m] [bibtex-entry]


  4. M. Pavone, A. Arsie, E. Frazzoli, and F. Bullo. Equitable partitioning policies for robotic networks. In IEEE Int. Conf. on Robotics and Automation, Kobe, Japan, May 2009. Note: Submitted. [bibtex-key = mp-ef-fb:08h-icra] [bibtex-entry]


  5. M. Pavone, S. L. Smith, F. Bullo, and E. Frazzoli. Dynamic multi-vehicle routing with multiple classes of demands. In American Control Conference, St. Louis, MO, June 2009. Note: Submitted. Keyword(s): Vehicle Routing. [bibtex-key = sls-mp-fb-ef:08q] [bibtex-entry]


  6. S. L. Smith, S. D. Bopardikar, F. Bullo, and J. P. Hespanha. Dynamic vehicle routing with moving demands - Part II: High speed demands or low arrival rates. In American Control Conference, St. Louis, MO, June 2009. Note: Submitted. Keyword(s): Vehicle Routing. [bibtex-key = sdb-sls-fb:08l-b] [bibtex-entry]


  7. F. Bullo, J. Cortes, and S. Martinez. Distributed Algorithms for Robotic Networks. In R. Meyers, editor, Encyclopedia of Complexity and Systems Science. Springer, 2008. Note: To appear. [PDF ] [bibtex-key = fb-jc-sm:08c] [bibtex-entry]


  8. S. D. Bopardikar, F. Bullo, and J. P. Hespanha. A pursuit game with range-only measurements. In IEEE Conf. on Decision and Control, Cancun, Mexico, December 2008. Note: To appear. [PDF ] [bibtex-key = sdb-fb-jph:07y] [bibtex-entry]


  9. R. Carli, F. Bullo, and S. Zampieri. Quantized average consensus via dynamic coding/decoding schemes. In IEEE Conf. on Decision and Control, Cancun, Mexico, December 2008. Note: To appear. [PDF ] [bibtex-key = rc-fb-sz:08e] [bibtex-entry]


  10. J. W. Durham and F. Bullo. Smooth nearness-diagram navigation. In IEEE/RSJ Int. Conf. on Intelligent Robots & Systems, Nice, France, pages 690-695, September 2008. [PDF ] [bibtex-key = jwd-fb:08a] [bibtex-entry]


  11. F. Morbidi, F. Bullo, and D. Prattichizzo. On visibility maintenance via controlled invariance for leader-follower Dubins-like vehicles. In IEEE Conf. on Decision and Control, Cancun, Mexico, December 2008. Note: To appear. [PDF ] [bibtex-key = fm-fb-dp:07u] [bibtex-entry]


  12. M. Pavone, E. Frazzoli, and F. Bullo. Distributed policies for equitable partitioning: Theory and applications. In IEEE Conf. on Decision and Control, Cancun, Mexico, December 2008. Note: To appear. [bibtex-key = mp-ef-fb:08h] [bibtex-entry]


  13. G. Piovan, I. Shames, B. Fidan, F. Bullo, and B. D. O. Anderson. On frame and orientation localization for relative sensing networks. In IEEE Conf. on Decision and Control, Cancun, Mexico, December 2008. Note: To appear. [PDF ] [bibtex-key = gp-is-bf-fb-bdoa:07q] [bibtex-entry]


  14. K. Plarre and F. Bullo. Increasingly correct message passing averaging algorithms. In IEEE Conf. on Decision and Control, Cancun, Mexico, December 2008. Note: To appear. [PDF ] [bibtex-key = kp-fb:08i] [bibtex-entry]


  15. M. Schwager, F. Bullo, D. Skelly, and D. Rus. A ladybug exploration strategy for distributed adaptive coverage control. In IEEE Int. Conf. on Robotics and Automation, Pasadena, CA, pages 2346-2353, May 2008. [bibtex-key = ms-fb-ds-dr:07s] [bibtex-entry]


  16. S. L. Smith and F. Bullo. Dynamic multi-agent team forming: Asymptotic results on throughput versus delay. In American Control Conference, Seattle, WA, pages 1406-1411, June 2008. [PDF ] [bibtex-key = sls-fb:07r] [bibtex-entry]


  17. S. L. Smith, M. Pavone, F. Bullo, and E. Frazzoli. Dynamic Vehicle Routing with Heterogeneous Demands. In IEEE Conf. on Decision and Control, Cancun, Mexico, December 2008. Note: To appear. Keyword(s): Vehicle Routing. [bibtex-key = sls-mp-fb-ef:08g] [bibtex-entry]


  18. A. Ganguli, J. Cortes, and F. Bullo. Distributed Coverage of Nonconvex Environments. In V. Saligrama, editor, Networked Sensing Information and Control (Proceedings of the NSF Workshop on Future Directions in Systems Research for Networked Sensing, May 2006, Boston, MA), Lecture Notes in Control and Information Sciences, pages 289-305. Springer, 2007. [PDF ] Keyword(s): Visibility Sensors in Robotics. [bibtex-key = ag-jc-fb:06s] [bibtex-entry]


  19. K. Savla, E. Frazzoli, and F. Bullo. On the Dubins Traveling Salesperson Problems: Novel Approximation Algorithms. In G. S. Sukhatme, S. Schaal, W. Burgard, and D. Fox, editors, Robotics: Science and Systems II (Proceedings of the Second RSS Conference, August 2006, Philadelphia PA). MIT Press, Cambridge, MA, 2007. Note: Available electronically at http://arxiv.org/abs/cs/0603010. [PDF ] [bibtex-key = ks-ef-fb:06a] [bibtex-entry]


  20. S. L. Smith and F. Bullo. A Geometric Assignment Problem for Robotic Networks. In A. Chiuso, A. Ferrante, and S. Pinzoni, editors, Modeling, Estimation and Control: Festschrift in Honor of Giorgio Picci on the Occasion of his Sixty-Fifth Birthday, volume 364 of Lecture Notes in Control and Information Sciences, pages 271-284. Springer, 2007. [PDF ] [bibtex-key = sls-fb:07h] [bibtex-entry]


  21. S. D. Bopardikar, F. Bullo, and J. P. Hespanha. A cooperative Homicidal Chauffeur game. In IEEE Conf. on Decision and Control, New Orleans, LA, pages 4857-4862, December 2007. [PDF ] [bibtex-key = sdb-fb-jph:07e] [bibtex-entry]


  22. S. D. Bopardikar, F. Bullo, and J. P. Hespanha. Cooperative pursuit with sensing limitations. In American Control Conference, New York, pages 5394-5399, July 2007. [PDF ] [bibtex-key = sdb-fb-jph:06q] [bibtex-entry]


  23. S. D. Bopardikar, F. Bullo, and J. P. Hespanha. Sensing limitations in the Lion and Man problem. In American Control Conference, New York, pages 5958-5963, July 2007. [PDF ] [bibtex-key = sdb-fb-jph:05l] [bibtex-entry]


  24. A. Ganguli, J. Cortes, and F. Bullo. Visibility-based multi-agent deployment in orthogonal environments. In American Control Conference, New York, pages 3426-3431, July 2007. [PDF ] Keyword(s): Visibility Sensors in Robotics. [bibtex-key = ag-jc-fb:06r] [bibtex-entry]


  25. N. Nordkvist and F. Bullo. Control algorithms along relative equilibria of underactuated Lagrangian systems on Lie groups. In IEEE Conf. on Decision and Control, New Orleans, LA, pages 6232-6237, December 2007. [PDF ] [bibtex-key = nn-fb:07d] [bibtex-entry]


  26. G. Notarstefano and F. Bullo. Network abstract linear programming with application to minimum-time formation control. In IEEE Conf. on Decision and Control, New Orleans, LA, pages 927-932, December 2007. [PDF ] [bibtex-key = gn-fb:06z] [bibtex-entry]


  27. K. J. Obermeyer, A. Ganguli, and F. Bullo. Asynchronous distributed searchlight scheduling. In IEEE Conf. on Decision and Control, New Orleans, LA, pages 4863-4868, December 2007. [PDF ] Keyword(s): Visibility Sensors in Robotics. [bibtex-key = kjo-ag-fb:06n] [bibtex-entry]


  28. F. Pasqualetti, A. Bicchi, and F. Bullo. Distributed intrusion detection for secure consensus computations. In IEEE Conf. on Decision and Control, New Orleans, LA, pages 5594-5599, December 2007. [PDF ] [bibtex-key = fp-ab-fb:06v] [bibtex-entry]


  29. M. Pavone, E. Frazzoli, and F. Bullo. Decentralized algorithms for stochastic and dynamic vehicle routing with general target distribution. In IEEE Conf. on Decision and Control, New Orleans, LA, pages 4869-4874, December 2007. [PDF ] Keyword(s): Vehicle Routing. [bibtex-key = mp-ef-fb:07g] [bibtex-entry]


  30. K. Savla, F. Bullo, and E. Frazzoli. The coverage problem for loitering Dubins vehicles. In IEEE Conf. on Decision and Control, New Orleans, LA, pages 1398-1403, December 2007. [PDF ] [bibtex-key = ks-fb-ef:07b] [bibtex-entry]


  31. S. L. Smith and F. Bullo. Target assignment for robotic networks: Asymptotic performance under limited communication. In American Control Conference, New York, pages 1155-1160, July 2007. [PDF ] [bibtex-key = sls-fb:06k] [bibtex-entry]


  32. S. L. Smith and F. Bullo. Target assignment for robotic networks: Worst-case and stochastic performance in dense environments. In IEEE Conf. on Decision and Control, New Orleans, LA, pages 3585-3590, December 2007. [PDF ] [bibtex-key = sls-fb:07f] [bibtex-entry]


  33. S. Susca, F. Bullo, and S. Martinez. Synchronization of beads on a ring. In IEEE Conf. on Decision and Control, New Orleans, LA, pages 4845-4850, December 2007. [PDF ] [bibtex-key = ss-fb-sm:07c] [bibtex-entry]


  34. F. Bullo. Notes on Multi-Agent Motion Coordination: Models and Algorithms. In P. J. Antsaklis and P. Tabuada, editors, Network Embedded Sensing and Control. (Proceedings of NESC'05 Worskhop), volume 331 of Lecture Notes in Control and Information Sciences, pages 3--8. Springer, 2006. [PDF ] [bibtex-key = fb:05v] [bibtex-entry]


  35. A. Ganguli, J. Cortes, and F. Bullo. Distributed deployment of asynchronous guards in art galleries. In American Control Conference, Minneapolis, MN, pages 1416-1421, June 2006. [PDF ] Keyword(s): Visibility Sensors in Robotics. [bibtex-key = ag-jc-fb:05z] [bibtex-entry]


  36. C. Gao, F. Bullo, J. Cortes, and A. Jadbabaie. Notes on averaging over acyclic digraphs and discrete coverage control. In IEEE Conf. on Decision and Control, San Diego, CA, pages 4651-4656, December 2006. [PDF ] [bibtex-key = cg-fb-jc-aj:05q] [bibtex-entry]


  37. G. Notarstefano and F. Bullo. Distributed consensus on enclosing shapes and minimum time rendezvous. In IEEE Conf. on Decision and Control, San Diego, CA, pages 4295-4300, December 2006. [PDF ] [bibtex-key = gn-fb:06d] [bibtex-entry]


  38. G. Notarstefano, K. Savla, F. Bullo, and A. Jadbabaie. Maintaining limited-range connectivity among second-order agents. In American Control Conference, Minneapolis, MN, pages 2124-2129, June 2006. [PDF ] [bibtex-key = gn-ks-fb-aj:05s] [bibtex-entry]


  39. K. Savla and F. Bullo. On the time complexity of formation control. In Allerton Conference on Communications, Control and Computing, pages 1310-1314, September 2006. [PDF ] [bibtex-key = ks-fb:06u] [bibtex-entry]


  40. K. Savla, F. Bullo, and E. Frazzoli. On Traveling Salesperson Problems for a double integrator. In IEEE Conf. on Decision and Control, San Diego, CA, pages 5305-5310, December 2006. [PDF ] [bibtex-key = ks-fb-ef:06e] [bibtex-entry]


  41. S. Susca, S. Martinez, and F. Bullo. Distributed algorithms for polygonal approximation of convex contours. In IEEE Conf. on Decision and Control, San Diego, CA, pages 6512-6517, December 2006. [PDF ] [bibtex-key = ss-sm-fb:05y] [bibtex-entry]


  42. S. Susca, S. Martinez, and F. Bullo. Monitoring environmental boundaries with a robotic sensor network. In American Control Conference, Minneapolis, MN, pages 2072-2077, June 2006. [PDF ] [bibtex-key = ss-sm-fb:05u] [bibtex-entry]


  43. F. Bullo and J. Cortes. Adaptive and Distributed Coordination Algorithms for Mobile Sensing Networks. In V. Kumar, N. E. Leonard, and A. S. Morse, editors, Cooperative Control. (Proceedings of the 2003 Block Island Workshop on Cooperative Control), volume 309 of Lecture Notes in Control and Information Sciences, pages 43--62. Springer, 2005. [PDF ] [bibtex-key = fb-jc:03i] [bibtex-entry]


  44. S. E. Aranda, S. Martinez, and F. Bullo. On optimal sensor placement and motion coordination for target tracking. In IEEE Int. Conf. on Robotics and Automation, Barcelona, Spain, pages 4544-4549, April 2005. [PDF ] [bibtex-key = sa-sm-fb:04f] [bibtex-entry]


  45. J. Cortes, S. Martinez, and F. Bullo. Analysis and design tools for distributed motion coordination. In American Control Conference, Portland, OR, pages 1680--1685, June 2005. [PDF ] [bibtex-key = jc-sm-fb:04k] [bibtex-entry]


  46. J. J. Enright, E. Frazzoli, K. Savla, and F. Bullo. On multiple UAV routing with stochastic targets: performance bounds and algorithms. In AIAA Conf. on Guidance, Navigation and Control, August 2005. Note: Electronic Proceedings. [PDF ] [bibtex-key = jje-ef-ks-fb:05t] [bibtex-entry]


  47. A. Ganguli, J. Cortes, and F. Bullo. Maximizing visibility in nonconvex polygons: Nonsmooth analysis and gradient algorithm design. In American Control Conference, Portland, OR, pages 792--797, June 2005. [PDF ] [bibtex-key = ag-jc-fb:04m] [bibtex-entry]


  48. A. Ganguli, J. Cortes, and F. Bullo. On rendezvous for visually-guided agents in a nonconvex polygon. In IEEE Conf. on Decision and Control and European Control Conference, Seville, Spain, pages 5686--5691, December 2005. [PDF ] [bibtex-key = ag-jc-fb:05g] [bibtex-entry]


  49. A. Ganguli, S. Susca, S. Martinez, F. Bullo, and J. Cortes. On collective motion in sensor networks: Sample problems and distributed algorithms. In IEEE Conf. on Decision and Control and European Control Conference, Seville, Spain, pages 4239--4244, December 2005. [PDF ] [bibtex-key = ag-ss-sm-fb-jc:05o] [bibtex-entry]


  50. S. Martinez, F. Bullo, J. Cortes, and E. Frazzoli. On synchronous robotic networks - Part I: Models, tasks and complexity notions. In IEEE Conf. on Decision and Control and European Control Conference, Seville, Spain, pages 2047--2852, December 2005. [PDF ] [bibtex-key = sm-fb-jc-ef:05e] [bibtex-entry]


  51. S. Martinez, F. Bullo, J. Cortes, and E. Frazzoli. On synchronous robotic networks - Part II: Time complexity of rendezvous and deployment algorithms. In IEEE Conf. on Decision and Control and European Control Conference, Seville, Spain, pages 8313--8318, December 2005. [PDF ] [bibtex-key = sm-fb-jc-ef:05f] [bibtex-entry]


  52. S. Martinez, J. Cortes, and F. Bullo. On robust rendezvous for mobile autonomous agents. In IFAC World Congress, Prague, Czech Republic, July 2005. Note: Electronic Proceedings. [PDF ] [bibtex-key = sm-jc-fb:04j] [bibtex-entry]


  53. K. Savla, F. Bullo, and E. Frazzoli. On traveling salesperson problems for Dubins' vehicle: stochastic and dynamic environments. In IEEE Conf. on Decision and Control and European Control Conference, Seville, Spain, pages 4530--4535, December 2005. [PDF ] [bibtex-key = ks-fb-ef:05j] [bibtex-entry]


  54. K. Savla, E. Frazzoli, and F. Bullo. On the point-to-point and traveling salesperson problems for Dubins' vehicle. In American Control Conference, Portland, OR, pages 786--791, June 2005. [PDF ] [bibtex-key = ks-ef-fb:04l] [bibtex-entry]


  55. F. Bullo, J. Cortes, A. D. Lewis, and S. Martinez. Vector-valued Quadratic Forms in Control Theory. In V. Blondel and A. Megretski, editors, Unsolved Problems in Mathematical Systems and Control Theory, pages 315--320. Princeton University Press, Princeton, NJ, 2004. [PDF ] [bibtex-key = fb-jc-adl-sm:03b] [bibtex-entry]


  56. M. Zefran and F. Bullo. Lagrangian Dynamics. In T. R. Kurfess, editor, Robotics and Automation Handbook, chapter 5. CRC Press, Boca Raton, FL, 2004. [PDF ] [bibtex-key = mz-fb:04a] [bibtex-entry]


  57. J. Cortes, S. Martinez, and F. Bullo. Coordinated deployment of mobile sensing networks with limited-range interactions. In IEEE Conf. on Decision and Control, Paradise Island, Bahamas, pages 1944--1949, December 2004. [PDF ] [bibtex-key = jc-sm-fb:04e] [bibtex-entry]


  58. E. Frazzoli and F. Bullo. Decentralized algorithms for vehicle routing in a stochastic time-varying environment. In IEEE Conf. on Decision and Control, Paradise Island, Bahamas, pages 3357--3363, December 2004. [PDF ] Keyword(s): Vehicle Routing. [bibtex-key = ef-fb:03r] [bibtex-entry]


  59. C. L. Robinson, D. Block, S. Brennan, F. Bullo, and J. Cortes. Nonsmooth analysis and sonar-based implementation of distributed coordination algorithms. In IEEE Int. Conf. on Robotics and Automation, New Orleans, LA, pages 3000--3005, April 2004. [PDF ] [bibtex-key = clr-db-sb-fb-jc:03l] [bibtex-entry]


  60. F. Bullo. Trajectory Design for Mechanical Systems: from Geometry to Algorithms. In A. Astolfi, F. Gordillo, and A. J. van der Schaft, editors, Lagrangian and Hamiltonian Methods in Nonlinear Control 2003 (A Proceedings Volume from the 2nd IFAC Workshop, Seville, Spain, April 2003), pages 1--16. Elsevier, Oxford, UK, 2003. [PDF ] [bibtex-key = fb:03d-chapter] [bibtex-entry]


  61. S. Martinez, J. Cortes, and F. Bullo. Motion Planning and Control Problems for Underactuated Robots. In A. Bicchi, H. Christensen, and D. Prattichizzo, editors, Control Problems in Robotics, volume 4 of Tracts in Advanced Robotics, pages 59--74. Springer, 2003. [PDF ] [bibtex-key = sm-jc-fb:02h] [bibtex-entry]


  62. F. Bullo and D. Liberzon. On quantized control and geometric optimization. In IEEE Conf. on Decision and Control, Maui, HI, pages 2567--2572, December 2003. [PDF ] [bibtex-key = fb-dl:03f] [bibtex-entry]


  63. J. Cortes and F. Bullo. From geometric optimization and nonsmooth analysis to distributed coordination algorithms. In IEEE Conf. on Decision and Control, Maui, HI, pages 3274--3280, December 2003. [PDF ] [bibtex-key = jc-fb:03a] [bibtex-entry]


  64. S. Martinez, J. Cortes, and F. Bullo. A catalog of inverse-kinematics planners for underactuated systems on matrix Lie groups. In IEEE/RSJ Int. Conf. on Intelligent Robots & Systems, Las Vegas, NV, pages 625--630, October 2003. [PDF ] [bibtex-key = sm-jc-fb:03e] [bibtex-entry]


  65. F. Bullo, J. Cortes, A. D. Lewis, and S. Martinez. Vector-valued quadratic forms in control theory. In Mathematical Theory of Networks and Systems, South Bend, IN, August 2002. Note: Electronic Proceedings. [PDF ] [bibtex-key = fb-jc-adl-sm:02d] [bibtex-entry]


  66. F. Bullo, A. D. Lewis, and K. M. Lynch. Controllable kinematic reductions for mechanical systems: concepts, computational tools, and examples. In Mathematical Theory of Networks and Systems, South Bend, IN, August 2002. [PDF ] [bibtex-key = fb-adl-kml:02a] [bibtex-entry]


  67. F. Bullo and M. Zefran. On mechanical control systems with nonholonomic constraints and symmetries. In IEEE Int. Conf. on Robotics and Automation, Arlington, VA, pages 1741--1746, May 2002. [PDF ] [bibtex-key = fb-mz:01o] [bibtex-entry]


  68. J. Cortes, S. Martinez, T. Karatas, and F. Bullo. Coverage control for mobile sensing networks. In IEEE Int. Conf. on Robotics and Automation, Arlington, VA, pages 1327--1332, May 2002. [PDF ] [bibtex-key = jc-sm-tk-fb:01k] [bibtex-entry]


  69. J. Cortes, S. Martinez, T. Karatas, and F. Bullo. Coverage control for mobile sensing networks: variations on a theme. In Mediterranean Conference on Control and Automation, Lisbon, Portugal, July 2002. Note: Electronic Proceedings. [PDF ] [bibtex-key = jc-sm-tk-fb:02b] [bibtex-entry]


  70. E. Frazzoli and F. Bullo. On quantization and optimal control of dynamical systems with symmetries. In IEEE Conf. on Decision and Control, Las Vegas, NV, pages 817--823, December 2002. [PDF ] [bibtex-key = ef-fb:02e] [bibtex-entry]


  71. S. Martinez, J. Cortes, and F. Bullo. Analysis of oscillatory control systems. In IFAC World Congress, Barcelona, Spain, July 2002. Note: Electronic Proceedings. [PDF ] [bibtex-key = sm-jc-fb:01q] [bibtex-entry]


  72. S. Martinez, J. Cortes, and F. Bullo. Design of oscillatory control systems. In IEEE Conf. on Decision and Control, Las Vegas, NV, pages 1509--1514, December 2002. [PDF ] [bibtex-key = sm-jc-fb:02c] [bibtex-entry]


  73. M. W. Spong and F. Bullo. Controlled symmetries and passive walking. In IFAC World Congress, Barcelona, Spain, July 2002. Note: Electronic Proceedings. [PDF ] [bibtex-key = mws-fb:01n] [bibtex-entry]


  74. F. Bullo and K. M. Lynch. Kinematic controllability and decoupled trajectory planning for underactuated mechanical systems. In IEEE Int. Conf. on Robotics and Automation, Seoul, Korea, pages 3300--3307, April 2001. [PDF ] [bibtex-key = fb-kml:00q] [bibtex-entry]


  75. J. Cortes, S. Martinez, and F. Bullo. On nonlinear controllability and series expansions for Lagrangian systems with damping. In IEEE Conf. on Decision and Control, Orlando, FL, pages 2619--2624, December 2001. [PDF ] [bibtex-key = jc-sm-fb:01c] [bibtex-entry]


  76. T. Karatas and F. Bullo. Randomized searches and nonlinear programming in trajectory planning. In IEEE Conf. on Decision and Control, Orlando, FL, pages 5032--5037, December 2001. [PDF ] [bibtex-key = tk-fb:01h] [bibtex-entry]


  77. G. J. Toussaint, T. Basar, and F. Bullo. Motion planning for nonlinear underactuated vehicles using ${H}^{\infty}$ techniques. In American Control Conference, Arlington, VA, pages 4907--4102, June 2001. [PDF ] [bibtex-key = gjt-tb-fb:00p] [bibtex-entry]


  78. M. Zefran, F. Bullo, and M. Stein. A notion of passivity for hybrid systems. In IEEE Conf. on Decision and Control, Orlando, FL, pages 768--773, December 2001. [PDF ] [bibtex-key = mz-fb-ms:01i] [bibtex-entry]


  79. F. Bullo. On perturbation methods for mechanical control systems. In N. E. Leonard and R. Ortega, editors, Proceedings of the First IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Princeton, NJ, pages 163--164, March 2000. [PDF ] [bibtex-key = fb:99c] [bibtex-entry]


  80. F. Bullo. Series expansions for analytic systems linear in the controls. In IEEE Conf. on Decision and Control, Sydney, Australia, pages 3392--3397, December 2000. [PDF ] [bibtex-key = fb:00b] [bibtex-entry]


  81. F. Bullo and W. T. Cerven. On trajectory optimization for polynomial systems via series expansions. In IEEE Conf. on Decision and Control, Sydney, Australia, pages 772--777, December 2000. [PDF ] [bibtex-key = fb-wtc:00a] [bibtex-entry]


  82. F. Bullo and A. D. Lewis. On the homogeneity of the affine connection model for mechanical control systems. In IEEE Conf. on Decision and Control, Sydney, Australia, pages 1260--1265, December 2000. [PDF ] [bibtex-key = fb-adl:00d] [bibtex-entry]


  83. J. W. Melody, T. Basar, and F. Bullo. On nonlinear controllability of homogeneous systems linear in the controls. In IEEE Conf. on Decision and Control, Sydney, Australia, pages 3971--3976, December 2000. [PDF ] [bibtex-key = jwm-tb-fb:00l] [bibtex-entry]


  84. G. J. Toussaint, T. Basar, and F. Bullo. ${H}^{\infty}$-Optimal tracking control techniques for nonlinear underactuated systems. In IEEE Conf. on Decision and Control, Sydney, Australia, pages 2078--2083, December 2000. [PDF ] [bibtex-key = gjt-tb-fb:00e] [bibtex-entry]


  85. G. J. Toussaint, T. Basar, and F. Bullo. Tracking for nonlinear underactuated surface vessels with generalized forces. In IEEE Conf. on Control Applications, Anchorage, AK, pages 355--360, September 2000. [PDF ] [bibtex-key = gjt-tb-fb:00c] [bibtex-entry]


  86. F. Bullo. A series describing the evolution of mechanical control systems. In IFAC World Congress, volume 6, Beijing, China, pages 479--485, July 1999. [PDF ] [bibtex-key = fb:98a] [bibtex-entry]


  87. F. Bullo. Stabilization of relative equilibria for systems on Riemannian manifolds. In American Control Conference, San Diego, CA, pages 1618--1622, June 1999. [PDF ] [bibtex-key = fb:98c] [bibtex-entry]


  88. M. Zefran, F. Bullo, and J. Radford. An investigation into non-smooth locomotion. In IEEE Int. Conf. on Robotics and Automation, Detroit, MI, pages 2038--2043, May 1999. [PDF ] [bibtex-key = mz-fb-jr:98e] [bibtex-entry]


  89. F. Bullo. Exponential stabilization of relative equilibria for mechanical systems with symmetries. In Mathematical Theory of Networks and Systems, Padova, Italy, pages 987--990, July 1998. [PDF ] [bibtex-key = fb:97a] [bibtex-entry]


  90. F. Bullo and N. E. Leonard. Motion primitives for stabilization and control of underactuated vehicles. In IFAC Symposium on Nonlinear Control Systems, volume 1, Enschede, the Netherlands, pages 133--138, July 1998. [PDF ] [bibtex-key = fb-nel:97a] [bibtex-entry]


  91. F. Bullo and M. Zefran. On modeling and locomotion of hybrid mechanical systems with impacts. In IEEE Conf. on Decision and Control, Tampa, FL, pages 2633--2638, December 1998. [PDF ] [bibtex-key = fb-mz:98a] [bibtex-entry]


  92. F. Bullo and N. E. Leonard. Motion control for underactuated mechanical systems on Lie groups. In European Control Conference, Brussels, Belgium, pages 480, July 1997. [PDF ] [bibtex-key = fb-nel:96e] [bibtex-entry]


  93. F. Bullo and R. M. Murray. Trajectory tracking for fully actuated mechanical systems. In European Control Conference, Brussels, Belgium, pages 707, July 1997. [PDF ] [bibtex-key = fb-rmm:96f] [bibtex-entry]


  94. F. Bullo and A. D. Lewis. Configuration controllability of mechanical systems on Lie groups. In Mathematical Theory of Networks and Systems, St. Louis, MO, June 1996. [PDF ] [bibtex-key = fb-adl:96a] [bibtex-entry]


  95. F. Bullo and R. M. Murray. Experimental comparison of trajectory trackers for a car with trailers. In IFAC World Congress, volume F, San Francisco, CA, pages 407--412, July 1996. [PDF ] [bibtex-key = fb-rmm:96b] [bibtex-entry]


  96. F. Bullo and R. M. Murray. Proportional derivative (PD) control on the Euclidean group. In European Control Conference, volume 2, Rome, Italy, pages 1091--1097, June 1995. [PDF ] [bibtex-key = fb-rmm:95b] [bibtex-entry]


  97. F. Bullo, R. M. Murray, and A. Sarti. Control on the sphere and reduced attitude stabilization. In IFAC Symposium on Nonlinear Control Systems, volume 2, Tahoe City, CA, pages 495--501, June 1995. [PDF ] [bibtex-key = fb-rmm-as:94b] [bibtex-entry]


  98. E. Masry and F. Bullo. Performance analysis of adaptive filters using the sign algorithm. In IEEE International Symposium on Information Theory, Trondheim, Norway, pages 360, June 1994. [PDF ] [bibtex-key = em-fb:94b] [bibtex-entry]


Technical reports
  1. S. D. Bopardikar, F. Bullo, and J. P. Hespanha. A pursuit game with range-only measurements. Technical report CCDC-08-0906, Center for Control, Dynamical Systems and Computation. University of California at Santa Barbara, 2008. Note: Available electronically at http://ccdc.mee.ucsb.edu. [PDF ] [bibtex-key = sdb-fb-jph:07y-techreport] [bibtex-entry]


  2. S. D. Bopardikar, F. Bullo, and J. P. Hespanha. On Discrete-Time Pursuit-Evasion Games with Sensing Limitations. Technical report CCDC-08-0313, Center for Control, Dynamical Systems and Computation. University of California at Santa Barbara, 2008. Note: Available electronically at http://ccdc.mee.ucsb.edu. [PDF ] [bibtex-key = sdb-fb-jph:07o-techreport] [bibtex-entry]


  3. G. Piovan, I. Shames, B. Fidan, F. Bullo, and B. D. O. Anderson. On frame and orientation localization for relative sensing networks. Technical report CCDC-08-0905, Center for Control, Dynamical Systems and Computation. University of California at Santa Barbara, 2008. Note: Available electronically at http://ccdc.mee.ucsb.edu. [PDF ] [bibtex-key = gp-is-bf-fb-bdoa:07q-techreport] [bibtex-entry]


  4. S. L. Smith, M. Pavone, F. Bullo, and E. Frazzoli. Dynamic Vehicle Routing with Heterogeneous Demands. Technical report CCDC-08-0904, Center for Control, Dynamical Systems and Computation. University of California at Santa Barbara, 2008. Note: Available electronically at http://ccdc.mee.ucsb.edu. [PDF ] [bibtex-key = sls-mp-fb-ef:08g-techreport] [bibtex-entry]


  5. S. D. Bopardikar, F. Bullo, and J. P. Hespanha. A Cooperative Homicidal Chauffeur Game. Technical report CCDC-07-0827, Center for Control, Dynamical Systems and Computation. University of California at Santa Barbara, 2007. Note: Available electronically at http://ccdc.mee.ucsb.edu. [PDF ] [bibtex-key = sdb-fb-jph:07e-report] [bibtex-entry]


  6. S. L. Smith and F. Bullo. Monotonic Target Assignment For Robotic Networks. Technical report CCDC-07-0817, Center for Control, Dynamical Systems and Computation. University of California at Santa Barbara, 2007. Note: Available electronically at http://ccdc.mee.ucsb.edu. [bibtex-key = sls-fb:07f-techreport] [bibtex-entry]


  7. C. Gao, F. Bullo, and J. Cortes. Notes on Averaging over Acyclic Digraphs and Discrete Coverage Control. Technical report CCDC-06-0706, Center for Control, Dynamical Systems and Computation. University of California at Santa Barbara, 2006. Note: Available electronically at http://ccdc.mee.ucsb.edu. [PDF ] Keyword(s): Robotic Networks. [bibtex-key = cg-fb-jc:06l-techreport] [bibtex-entry]


  8. S. Susca, S. Martinez, and F. Bullo. Monitoring Environmental Boundaries with a Robotic Sensor Network. Technical report CCDC-06-0125, Center for Control, Dynamical Systems and Computation. University of California at Santa Barbara, 2006. Note: Available electronically at http://ccdc.mee.ucsb.edu. [PDF ] [bibtex-key = ss-sm-fb:05p-techreport] [bibtex-entry]


  9. S. E. Aranda, S. Martinez, and F. Bullo. On optimal sensor placement and motion coordination for target tracking. Technical report CCEC-04-1013, Center for Control Engineering and Computation. University of California at Santa Barbara, 2004. Note: Available electronically at http://ccdc.mee.ucsb.edu. [PDF ] [bibtex-key = sm-fb:04f-techreport] [bibtex-entry]


  10. F. Bullo and R. M. Murray. Proportional Derivative (PD) Control on the Euclidean Group. Technical Report Caltech/CDS 95--010, California Institute of Technology, May 1995. Note: Short version appeared in the Proc. of ECC'95. Available at http://resolver.caltech.edu/CaltechCDSTR:1995.CIT-CDS-95-010. [PDF ] [bibtex-key = fb-rmm:95c-techreport] [bibtex-entry]


  11. F. Bullo, R. M. Murray, and A. Sarti. Control on the Sphere and Reduced Attitude Stabilization. Technical Report Caltech/CDS 95--005, California Institute of Technology, January 1995. Note: Short version appeared in Proc. of the 1995 IFAC Symposium on Nonlinear control systems design (NOLCOS). Available at http://resolver.caltech.edu/CaltechCDSTR:1995.CIT-CDS-95-005. [PDF ] [bibtex-key = fb-rmm-as:95a] [bibtex-entry]


Miscellaneous
  1. K. J. Obermeyer. The VisiLibity library. http://www.VisiLibity.org, 2008. Note: R-1.
    Annotation:
    VisiLibity is a free open source C++ library of floating-point visibility algorithms and supporting data types. It is intended for use in robot and sensor network design software. Other possible applications include architectural/urban planning, computer games, and education. The entire library consists only of a single compilation unit (one .h + one .C file) with no dependence on third party libraries. It is therefore suitable for applications where visibility computations are needed but the power of a fully fledged computational geometry library, e.g., LEDA or CGAL, is not necessary (and may even be cumbersome). The website http://www.VisiLibity.org contains: (1) the complete open-source C++ library including Matlab interface, (2) documentation of all implemented/available routines, (3) relevant bibliography, (4) acknowledgement of DoD/NSF support.
    [bibtex-key = kjo:08-visilibity] [bibtex-entry]


  2. K. J. Obermeyer, A. Ganguli, and F. Bullo. Asynchronous distributed searchlight scheduling, January 2007. Note: Available electronically at http://arxiv.org/abs/cs/0701077. [bibtex-key = kjo-ag-fb:06n-arxiv] [bibtex-entry]


  3. S. L. Smith and F. Bullo. Target assignment for robotic networks: asymptotic performance under limited communication, March 2007. Note: Available electronically at http://arxiv.org/abs/cs/0703067. [bibtex-key = sls-fb:06k-arxiv] [bibtex-entry]


  4. A. Ganguli, J. Cortes, and F. Bullo. Multirobot rendezvous with visibility sensors in nonconvex environments, November 2006. Note: Available electronically at http://arxiv.org/abs/cs/0611022. [bibtex-key = ag-jc-fb:05k-arxiv] [bibtex-entry]


  5. G. Notarstefano and F. Bullo. Distributed consensus on enclosing shapes and minimum time rendezvous, September 2006. Note: Available electronically at http://arxiv.org/abs/math/0609169. [bibtex-key = gn-fb:06d-arxiv] [bibtex-entry]


  6. K. Savla, E. Frazzoli, and F. Bullo. Asymptotic constant-factor approximation algorithms for the Traveling Salesperson Problem for Dubins' vehicle, March 2006. Note: Available electronically at http://arxiv.org/abs/cs/0603010. [bibtex-key = ks-ef-fb:06a-arxiv] [bibtex-entry]


  7. F. Bullo and A. D. Lewis. Supplementary Chapters for Geometric Control of Mechanical Systems, January 2005. [PDF ] [bibtex-key = fb-adl:04b] [bibtex-entry]


  8. S. Martinez, F. Bullo, J. Cortes, and E. Frazzoli. Synchronous Robotic Networks and Complexity of Control and Communication Laws, January 2005. Note: Available electronically at http://arxiv.org/abs/math/0501499. [PDF ] [bibtex-key = sm-fb-jc-ef:03q] [bibtex-entry]


  9. S. E. Aranda. Motion Planning for Mobile Sensor Networks. Master's thesis, Electrical and Computer Engineering Department, University of Illinois at Urbana-Champaign, Urbana, IL, April 2004. [PDF ] [bibtex-key = sea:04] [bibtex-entry]


  10. T. Karatas. An Algorithmic and Experimental Study of Coordinated Networked Vehicles. Ph.D. Preliminary Examination, March 2004. [PDF ] [bibtex-key = tk:04] [bibtex-entry]


  11. F. Bullo and K. M. Lynch. Kinematic controllability and decoupled planning for underactuated mechanical systems. Note: SIAM Conference on Control and Its Applications, July 2001. [bibtex-key = fb-mz:siam01c] [bibtex-entry]


  12. F. Bullo and M. Zefran. On Mechanical Control Systems with Nonholonomic Constraints and Symmetries. Note: SIAM Conference on Control and Its Applications, July 2001. [bibtex-key = fb-mz:siam01a] [bibtex-entry]


  13. M. Zefran and F. Bullo. Non-Euclidean Splines in Robotics: Metrics and Computation. Note: SIAM Conference on Control and Its Applications, July 2001. [bibtex-key = mz-fb:siam01b] [bibtex-entry]


  14. F. Bullo. Nonlinear control of mechanical systems. Note: Caltech-CDS Research Proposal, March 1996. [PDF ] [bibtex-key = fb:96d] [bibtex-entry]


  15. F. Bullo. Controllo Nonlineare su Varietà Riemanniane: Applicazioni al Controllo di Satelliti. Master's thesis, Università di Padova, Italy, 14 Giugno 1994. Note: Tesi di Laurea (in Italian). [PDF ] Keyword(s): Mechanical Control Systems. [bibtex-key = fb:94a] [bibtex-entry]



BACK TO INDEX