Preprint archive
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This page contains a list of all papers, reports and preprints available on this wiki. Preprints are listed in reverse chronological order (more or less).
This is a searchable database.
2023b_bwm23-iros
- Evaluation Metrics of Object Detection for Quantitative System-Level Analysis of Autonomous Systems
- Apurva Badithela, Tichakorn Wongpiromsarn, and Richard M. Murray
- To appear, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2023a_bgim23-nfm
- Reasoning over Test Specifications using Assume-Guarantee Contracts
- Apurva Badithela, Josefine B. Graebener, Inigo Incer, and Richard M. Murray
- Submitted, NASA Formal Methods (NFM), 2023
2022o_whp+22-ploscompbio
- BioCRNpyler: Compiling chemical reaction networks from biomolecular parts in diverse contexts
- William Poole, Ayush Pandey, Zoltan Tuza, Andrey Shur, Richard M. Murray
- PLoS Computational Biology, 18(4), e1009987, 2022
2022n_PRPM22-biorxiv
- Characterization of Integrase and Excisionase Activity in Cell-free Protein Expression System Using a Modeling and Analysis Pipeline
- Ayush Pandey, Makena L. Rodriguez, William Poole, Richard M. Murray
- Submitted, ACS Synthetic Biology, 2022
2022m_BGM22-rss_workshop
- Minimally Constrained Testing for Autonomy with Temporal Logic Specifications
- Apurva Badithela, Josefine Graebener, Richard M. Murray
- RSS 2022 Workshop on Envisioning an Infrastructure for Multi-Robot and Collaborative Autonomy Testing and Evaluation
2022d_Str+23-ICRA
- A Model-Free Algorithm for Extremely Resilient Navigation
- Christian J. Stromberger, Josefine B. Graebener, James F. Ragan, Richard M. Murray
- Submitted, 2023 International Conference on Robotics and Automation (ICRA)
2022d_Bad+23-ICRA
- Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows
- Apurva Badithela, Josefine B. Graebener, Wyatt Ubellacker, Eric V. Mazumdar, Aaron D. Ames, Richard M. Murray
- Submitted, 2023 International Conference on Robotics and Automation (ICRA)
2022d_HM22-NatureComms
- Layered Feedback Control Overcomes Performance Trade-Off in Synthetic Biomolecular Networks
- Chelsea Hu, Richard M. Murray
- Nature Communications 13(1):1-13, 2022
2022c_BMW23-ICRA
- Evaluation Metrics for Object Detection for Autonomous Systems
- Apurva Badithela, Tichakorn Wongpiromsarn, Richard M. Murray
- Submitted, 2023 International Conference on Robotics and Automation (ICRA)
2022b_DM22-CDC
- Robust Safe Control Synthesis with Disturbance Observer-Based Control Barrier Functions
- Ersin Das, Richard M. Murray
- To appear, 2022 Conference on Decision and Control (CDC)
2022b_PISM22-IWBDA
- From Specification to Implementation: Assume-Guarantee Contracts for Synthetic Biology
- Ayush Pandey, Inigo Incer, Alberto Sangiovanni-Vincentelli, Richard M. Murray
- To appear, 2022 International Workshop on Biodesign Automation (IWBDA)
2022b_GBM22-NFM
- Towards Better Test Coverage: Merging Unit Tests for Autonomous Systems
- Josefine Graebener, Apurva Badithela, Richard M. Murray
- 2022 NASA Formal Methods Symposium (NFM)
2022a_PM22-IJRNC
- Robustness guarantees for structured model reduction of dynamical systems with applications to biomolecular models
- Ayush Pandey, Richard M. Murray
- International Journal on Robust and Nonlinear Control (IJRNC), 1-29, 2022
2021x__Col+21-microbio
- Metabolic engineering of Pseudomonas putida for production of vanillylamine from lignin-derived substrates
- João Heitor Colombelli Manfrão-Netto, Fredrik Lund, Nina Muratovska, Elin M. Larsson, Nádia Skorupa Parachin, Magnus Carlquist
- Microbial Biotechnology, 14( 6), 2448– 2462, 2021
2021n_Ahm+21-AAAI
- Risk-Averse Decision Making Under Uncertainty
- Mohamadreza Ahmadi, Ugo Rosolia, Michel D. Ingham, Richard M. Murray, Aaron D. Ames
- 2021 AAAI Conference on Artificial Intelligence (AAAI-21)
2021n_cm21-biorxiv
- How to model DNA replication in stochastic models of synthetic genetic circuits (and why)
- Samuel E. Clamons, Richard M. Murray
- bioRxiv 2021.09.26.461880
2021m_Yeu+21-JRSI
- Data-driven network models for genetic circuits from time-series data with incomplete measurements
- Enoch Yeung, Jim Kim, Ye Yuan, Jorge Gonçalves, Richard M. Murray
- Journal of the Royal Society Interface 18 (182), 20210413
2021m_BWM21-cdc
- Leveraging Classification Metrics for Quantitative System-Level Analysis with Temporal Logic Specifications
- Apurva Badithela, Tichakorn Wongpiromsarn, Richard M Murray
- To appear, 2021 Conference on Decision and Control
2021e_MA+21-aaai
- Constrained risk-averse Markov decision processes
- Mohamadreza Ahmadi, Ugo Rosolia, Michel D Ingham, Richard M Murray, Aaron D Ames
- 35th AAAI Conference on Artificial Intelligence (AAAI-21)
2021e_JBM+21-jove
- A Method for Cost-Effective and Rapid Characterization of Genetic Parts
- John B. McManus, Casey B. Bernhards, Caitlin E. Sharpes, David C. Garcia, Stephanie D. Cole, Richard M. Murray, Peter A. Emanuel, Matthew W. Lux
- To appear, Journal of Visualized Experiments (JoVE)
2021e_BM21-nfm
- Synthesis of Static Test Environments for Observing Sequence-like Behaviors in Autonomous Systems
- Apurva Badithela, Richard M. Murray
- Submitted, 2021 NASA Formal Methods (NFM)
2021c_ful+21-cdc
- The Python Control Systems Library (python-control)
- Sawyer Fuller, Ben Greiner, Jason Moore, Richard M. Murray, Renee van Paassen, Rory Yorke
- IEEE Conference on Decision and Control (CDC), 2021
2021c_AP21-CDC
- Robustness Guarantees for Structured Model Reduction of Dynamical Systems
- Ayush Pandey, Richard M. Murray
- IEEE Conference on Decision and Control (CDC), 2021
2021c_Gra+21:CDC
- Failure-Tolerant Contract-Based Design of an Automated Valet Parking System using a Directive-Response Architecture
- Josefine Graebener, Tung Phan-Minh, Jiaqi Yan, Qiming Zhao, Richard M. Murray
- Submitted, 2021 Conference on Decision and Control (CDC)
2021c_CMB21-cdc
- Limits of probabilistic safety guarantees when considering human uncertainty
- Richard Cheng, Richard M. Murray, Joel W. Burdick
- Submitted, 2021 Conference on Decision and Control (CDC)
2021c_RAMA21-cdc
- Time-Optimal Navigation in Uncertain Environments with High-Level Specifications
- Ugo Rosolia, Mohamadreza Ahmadi, Richard M. Murray, Aaron D. Ames
- To appear, 2021 Conference on Decision and Control (CDC)
2021c_CPCM21-tro
- Rules of the Road: Safety and Liveness Guarantees for Autonomous Vehicles
- Karena X. Cai, Tung Phan-Minh, Soon-Jo Chung, Richard M. Murray
- To appear, IEEE T. Robotics, 2023
2021a_STSM21-oupsynbio
- A MATLAB toolbox for modeling genetic circuits in cell-free systems
- Vipul Singhal, Zoltan A. Tuza, Zachary Z. Sun, Richard M. Murray
- Synthetic Biology, 6(1):ysab007, 2021
2020k_YC+20-corl
- Reactive motion planning with probabilistic safety guarantees
- Yuxiao Chen, Ugo Rosolia, Chuchu Fan, Aaron D. Ames, Richard M. Murray
- Submitted, Conference on Robotic Learning (CoRL)
2020i_may+21-ecc
- Systems Level Model of Dietary Effects on Cognition via the Microbiome-Gut-Brain Axis
- Michaëlle N. Mayalu, Anish Sarma, Fangzhou Xiao, John C. Doyle and Richard M. Murray
- 2021 European Control Conference (ECC)
2020i_RCMF21-acc
- Bistable State Switch Enables Ultrasensitive Feedback Control in Heterogeneous Microbial Populations
- Xinying Ren, Christian Cuba Samaniego, Richard M. Murray, Elisa Franco
- 2021 American Control Conference (ACC)
2020i_LNM+20-ime
- Engineering Logical Inflammation Sensing Circuit for Modulating Gut Conditions
- Liana N. Merk, Andrey S. Shur, Ayush Pandey, Richard M. Murray, Leopold N. Green
- 3rd International Microbiome Engineering Conference
2020i_YM+20-biorxiv
- Synthetic mammalian signaling circuits for robust cell population control
- Yitong Ma, Mark W. Budde, Michaëlle N. Mayalu, Junqin Zhu, Richard M. Murray, Michael B. Elowitz
- Submitted, Cell Systems
2020d_WCM20-biorxiv
- Analysis of Circuits for Dosage Control in Microbial Populations
- Sophie J. Walton, Samuel E. Clamons, Richard M. Murray
- Senior thesis
2020c_FK+20-icaps
- Planning and Optimization for Multi-Robot Planetary Cave Exploration under Intermittent Connectivity Constraints
- Filip Klaesson, Petter Nilsson, Tiago Stegun Vaquero, Scott Tepsuporn, Aaron D. Ames and Richard M. Murray
- 8th ICAPS Workshop on Planning and Robotics
2020c_PM21-wqbio
- A two-state ribosome and protein model can robustly capture the chemical reaction dynamics of gene expression
- Ayush Pandey, Richard M. Murray
- 2020 Winter q-bio
2020b_PMS20-ACSsynbio
- Assessment of Robustness to Temperature in a Negative Feedback Loop and a Feedforward Loop
- Abhilash Patel, Richard M. Murray, Shaunak Sen
- ACS Synthetic Biology, 9(7):1581-1590, 2020
2020a_AAMA20-cdc
- Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions
- Prithvi Akella, Mohamadreza Ahmadi, Richard M. Murray, Aaron D. Ames
- To appear, 2020 Conference on Decision and Control (CDC)
2019x_WM19-biorxiv
- Tunable integrase-mediated differentiation facilitates improved output of burdensome functions in E. coli
- Rory L. Williams, Richard M. Murray
- bioRxiv 614529, 2019 (revised 2020)
2019m_LMM19-biorxiv
- Construction of an inducible amyloid expression circuit in Bacillus megaterium: A case study with CsgA and TasA
- Elin M. Larsson, John B. McManus, Richard M. Murray
- bioRxiv 858266
2019l_ahm+20-acc
- Risk-Averse Planning Under Uncertainty
- Mohamadreza Ahmadi, Masahiro Ono, Michel D. Ingham, Richard M. Murray, Aaron D. Ames
- 2020 American Control Conference (ACC)
2019l_dnam20-acc
- Invariant Sets for Integrators and Quadrotor Obstacle Avoidance
- Ludvig Doeser, Petter Nilsson, Aaron D. Ames, and Richard M. Murray
- 2020 American Control Conference (ACC)
2019k_knam20-iccps
- Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems
- Filip Klaesson, Petter Nilsson, Aaron D. Ames, Richard M. Murray
- 2020 International Conference on Cyberphysical Systems (ICCPS)
2019i_BAM20-acc
- Learning pose estimation for UAV autonomous navigation and landing using visual-inertial sensor data
- Francesca Baldini, Animashree Anandkumar, Richard M. Murray
- 2020 American Control Conference (ACC)
2019i_rm20-wqbio
- Layered Feedback Control Improves Robust Functionality across Heterogeneous Cell Populations
- Xinying Ren, Richard M. Murray
- 2020 Winter q-bio
2019i_mxm20-wqbio
- A geometric and structural approach to the analysis and design of biological circuit dynamics: a theory tailored for synthetic biology
- John P. Marken, Fangzhou Xiao, Richard M. Murray
- 2020 Winter q-bio
2019i_mm20-wqbio
- Theoretical Design of Paradoxical Signaling-Based Synthetic Population Control Circuit in E. coli
- Michaëlle N. Mayalu, Richard M. Murray
- 2020 Winter q-bio
2019i_pm20-wqbio
- Model Reduction Tools For Phenomenological Modeling of Input-Controlled Biological Circuits
- Ayush Pandey, Richard M. Murray
- 2020 Winter q-bio
2019h_cdpm19-corl
- Counter-example Guided Learning of Bounds on Environment Behavior
- Yuxiao Chen, Sumanth Dathathri, Tung Phan-Minh, Richard M. Murray
- 2019 Conference on Robot Learning (CoRL)
2019g_CM19-biorxiv
- Modeling predicts that CRISPR-based activators, unlike CRISPR-based repressors, scale well with increasing gRNA competition and dCas9 bottlenecking
- Samuel Clamons, Richard M. Murray
- bioRxiv preprint
