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<td align=center width=20%> [[Image:Murray-cds04.jpg]]</td>
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<font face="Comic Sans MS" size=5>
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<font size=5>
 
<b>Richard M. Murray</b><br><br>
 
<b>Richard M. Murray</b><br><br>
 
</font>
 
</font>
<font face="Comic Sans MS" size=3>
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<font size=3>
Thomas E. and Doris Everhart Professor <br>
+
Thomas E. and Doris Everhart Professor of <br>
of Control and Dynamical Systems<br><br>
+
Control & Dynamical Systems and Bioengineering<br><br>
Division of Engineering and Applied Science<br>
 
 
California Institute of Technology<br>
 
California Institute of Technology<br>
 
</font>
 
</font>
<font face="Comic Sans MS"><br><hr>
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<font size=3><br><hr>
 
<table width=100%> __NOTOC__
 
<table width=100%> __NOTOC__
 
<tr>
 
<tr>
<td width=20% align=center> [[#Publications|Papers]]</td>
+
<td width=20% align=center> [[Papers]]</td>
<td width=20% align=center> [[#Projects|Research]]</td>
+
<td width=20% align=center> [[Research Overview|Research]]</td>
 
<td width=20% align=center> [[#Group|Group]]</td>
 
<td width=20% align=center> [[#Group|Group]]</td>
 
<td width=20% align=center> [[#Teaching|Teaching]]</td>
 
<td width=20% align=center> [[#Teaching|Teaching]]</td>
 
<td width=20% align=center> [[#Contact|Contact]]</td>
 
<td width=20% align=center> [[#Contact|Contact]]</td>
</table></font></td>
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</tr></table></font></td>
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<td align=center width=135px>
<font face="Comic Sans MS">
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<font>
Other Activities:
+
Quick Links:
  
[[Group Schedule]]
+
[[Group Schedule]]  
  
[[CDS 90]]<br>
+
[https://fbswiki.org/wiki/index.php/Feedback_Systems:_An_Introduction_for_Scientists_and_Engineers ''Feedback Systems'']
[[CDS 270-2]]<br>
 
[[CDS 273]]<br>
 
[[CS/EE/ME 75]]<br>
 
  
[http://www.ist.caltech.edu IST]
+
[https://fbswiki.org/wiki/index.php/Biomolecular_Feedback_Systems ''Biomolecular Feedback Systems'']
 
</font></td>
 
</font></td>
 
</tr></table>
 
</tr></table>
 +
<br>
 +
<!-- '''Prospective graduate students''': Students in my group come through the [[http:www.cds.caltech.edu|CDS]], [[http:www.cms.caltech.edu/academics/grad_cms|CMS]], [[http:be.caltech.edu|BE]], [[http:/www.its.caltech.edu/~biochem|BMB]], [[http:www.cms.caltech.edu/academics/grad_acm|ACM]], [[http:www.cms.caltech.edu/academics/grad_cs|CS]] and [[http:www.me.caltech.edu|ME]] graduate programs at Caltech.  Some of my students also come from the CNS and EE departments, but I do not actively participate in admissions decisions in those programs.  Please take a look at my current [[Research Overview|research interests]] to get a sense of what my group is currently working on.  -->
 +
<!-- '''Prospective postdocs''': I typically make decisions about postdocs in the April-May timeframe, when I know what my grants look like for fall.  Please take a look at my current [[Research Overview|research interests]] to see what projects we are currently working on. -->
 +
<!-- Caltech has several postdoc programs that admit exceptionally qualified postdocs for independent study at Caltech:
 +
* Caltech [[http:cmi.caltech.edu|Center for the Mathematics of Information (CMI)]] postdocs - applications due mid-December
 +
* Caltech [[http:www.its.caltech.edu/~bi/fellows.html|Beckman Fellows program]] - applications due early January
 +
-->
 +
== Research ==
 +
My group's research is in the application of feedback and control to networked systems, with applications in biology and autonomy.  Current projects include work on biomolecular feedback systems, novel architectures for control systems, and networked control systems (see my [[Research Overview|research overview]] for more details).
  
== Publications ==
+
{| border=1 style="float: right"
* [[AMwiki:Main_Page|Feedback Systems: An Introduction for Scientists and Engineers]] (textbook)
+
|-
* [http://www.cds.caltech.edu/~murray/papers/2005t_cre+06-jfr Alice: An Information-Rich Autonomous Vehicle for High-Speed Desert Navigation] (JFR 06)
+
|
* [http://www.cds.caltech.edu/%7Emurray/papers/2005c_mm05-cdc.html New Design Principles for Estimation over Fading Channels in Mobile Sensor Networks] (CDC 05)
+
[[Preprint archive]] <br>
* [http://www.cds.caltech.edu/%7Emurray/papers/2004x_gchm04-automatica.html On a Stochastic Sensor Selection Algorithm with Applications in Sensor Scheduling and Sensor Coverage] (Automatica 04)
+
[http://thesis.library.caltech.edu/view/advisor/Murray-R-M.html Caltech theses]<br>
* [http://www.cds.caltech.edu/%7Emurray/papers/2004l_dmk04-automatica.html Discrete State Estimators for Systems on a Lattice] (Automatica 06)
+
[http://scholar.google.com/scholar?q=author:richard-m-murray Google Scholar]
 +
|}
 +
Active projects:
 +
{{#ask:
 +
  [[Category:Active projects]]
 +
  | ?agency =
 +
  | format = ul
 +
  | sort=Start date
 +
  | order=descending
 +
}}
 +
[[Projects|<nowiki>[Archive]</nowiki>]]
  
== Research ==
+
== Group ==
My group's research is in the application
 
of feedback and control to mechanical, information, and biological systems.  Current projects include integration of control, communications, and computer science in multi-agent systems, information dynamics in networked feedback systems, analysis of insect flight control systems, and synthetic biology using genetically-encoded finite state machines. 
 
* [http://www.cds.caltech.edu/~murray/VaVmuri Specification, Design and Verification of Distributed Embedded Systems] (MURI/AFOSR)
 
* [[Networked Feedback Systems in Biology]] ([http://www.icb.ucsb.edu/ ARO ICB])
 
* [http://www.cds.caltech.edu/~murray/projects/nsf03-infodyn/ Information Dynamics for Networked Feedback Systems] (NSF)
 
* [[Packet-Based Estimation and Control|Packet-Based Algorithms for Cooperative Surveillance and Reconnaissance]] (AFOSR)
 
* [http://www.cds.caltech.edu/~murray/projects/ed02-fipse/index.html Control and Dynamical Systems Alliance] (Dept of Education)
 
[[Completed projects|<nowiki>[Archive]</nowiki>]]
 
  
== Group ==
 
 
<blockquote>
 
<blockquote>
 
{| width=100% border=0 cellpadding=0 cellspacing=0
 
{| width=100% border=0 cellpadding=0 cellspacing=0
 
|- valign=top
 
|- valign=top
 
| width=33% |  
 
| width=33% |  
<table>
+
{|
<tr><td>Julia Braman (ME)</td></tr>
+
{{group entry|Apurva Badithela|CDS}}
<tr><td>John Carson (ME)</td></tr>
+
{{group entry|Victoria Chen†|BE}}
<tr><td>[http://robotics.caltech.edu/~timothyc/ Tim Chung]* (ME)</td></tr>
+
{{group entry|Ersin Das+|Turkey}}
<tr><td>[http://www.its.caltech.edu/~mjdunlop Mary Dunlop] (ME)</td></tr>
+
{{group entry|Abhishek Dey+|India}}
<tr><td>[http://www.cds.caltech.edu/~epstein/ Michael Epstein] (ME)</td></tr>
+
{{group entry|Chelsea Hu|BE}}
<tr><td>Ziad Fares+ (Supelec)</td></tr>
+
{{group entry|Josefine Graebener|AS}}
</table>
+
{{group entry|Zoila Jurado|ME}}
 +
|}
 
| width=33% |  
 
| width=33% |  
<table>
+
{|
<tr><td>Melvin Flores (CDS)</td></tr>
+
<!-- {{group entry|Andrew Halleran|BE}} -->
<tr><td>Sawyer Fuller° (BE)</td></tr>
+
{{group entry|Manisha Kapasiawala|BE}}
<tr><td>Elisa Franco (CDS)</td></tr>
+
{{group entry|Matthieu Kratz*|BE}}
<tr><td>[http://www.cds.caltech.edu/~jzp Zhipu Jin] (EE)</td></tr>
+
{{group entry|Elin Larsson*|BE}}
<tr><td>[http://www.cds.caltech.edu/~macmardg Doug MacMynowski] (CDS)</td></tr>
+
{{group entry|John Marken|BE}}
<tr><td>[http://www.cds.caltech.edu/~yasi Yasamin Mostofi] (EE)</td></tr>
+
{{group entry|[[http:www.its.caltech.edu/~mmayalu/mmayalu|Michaelle Mayalu]]|CMS}}
</table>
+
{{group entry|Joe Meyerowitz|BMB}}
 +
{{group entry|Kellan Moorse|CNS}}
 +
|}
 
| width=33% |  
 
| width=33% |  
<table>
+
{|
<tr><td>[http://www.cds.caltech.edu/~henriks/ Henrik Sandberg] (CDS)</td></tr>
+
{{group entry|[[http:ayush-pandey.github.io|Ayush Pandey]]|CDS}}
<tr><td>[http://www.cds.caltech.edu/~shiling Ling Shi] (CDS)</td></tr>
+
{{group entry|William Poole*|CNS}}
<tr><td>[http://www.cds.caltech.edu/~demetri Demetri Spanos] (CDS)</td></tr>
+
{{group entry|Mark Prator#|EAS}}
<tr><td>[http://www.cds.caltech.edu/~atiwari/ Abhishek Tiwari] (EE)</td></tr>
+
{{group entry|Xinying (Cindy) Ren|CDS}}
<tr><td>[http://www.its.caltech.edu/~feiwang/index3.htm Fei Wang] (EE)</td></tr>
+
{{group entry|Andrey Shur|BE}}
<tr><td>[http://www.cds.caltech.edu/~Ewaydo Steve Waydo]* (CDS)</td></tr>
+
{{group entry|Rory Williams|BE}}
</table>
+
{{group entry|Miki Yun#|EAS}}
 +
|}
 
|}
 
|}
 +
</blockquote>
 
<font size="-2">
 
<font size="-2">
 
{| width=100%
 
{| width=100%
 
|-
 
|-
 
| * co-advised students  || + visiting researchers
 
| * co-advised students  || + visiting researchers
| ° rotation students || † undergraduates
+
| ° rotation students || † undergraduates || # research tech
 
|}
 
|}
 
</font>
 
</font>
</blockquote>
+
<!-- 10 PhD students (+3 joint); 3 postdocs -->
  
 
==== Former graduate students: ====
 
==== Former graduate students: ====
* [http://www.cds.caltech.edu/~vijay Vijay Gupta] - Ph.D. in Electrical Engineering, August 2006
+
<!-- 72 PhD students (59 primary; 13 joint); 28 postdocs (incl. 1 visiting); 7 MS students -->
* [http://www.cds.caltech.edu/~lars Lars Cremean] - Ph.D. in Mechanical Engineering, June 2006
+
* Samuel Clamons - PhD in Bioengineering, September 2021
* [http://www.cds.caltech.edu/~demetri Demetri Spanos] - Ph.D. in Control and Dynamical Systems, March 2006 [http://www.cds.caltech.edu/~murray/papers/2006_dps06-phd.html (thesis)]
+
* Cindy Ren - PhD in Control and Dynamical Systems, June 2021
* [http://www.cds.caltech.edu/~jshumber Sean Humbert] - Ph.D. in Mechanical Engineering, June 2005 [http://www.cds.caltech.edu/~murray/papers/2005_jsh05-phd.html (thesis)]
+
* Reed McCardell - PhD in Bioengineering, May 2021
* [http://www.cds.caltech.edu/~fung Jimmy Fung] - Ph.D. in Aeronautics, June 2005
+
* Karena Cai - PhD in Control and Dynamical Systems, March 2021
* Dmitriy Kogan# - M.S. in Control and Dynamical Systems, June 2005
+
* James Parkin - PhD in Bioengineering, March 2021
* [http://www.cds.caltech.edu/~ddomitilla Domitilla Del Vecchio] - Ph.D. in Control and Dynamical Systems, March 2005 [http://www.cds.caltech.edu/~murray/papers/2005_ddv05-phd.html (thesis)]
+
* [[http:rcheng805.github.io|Richard Cheng]]* - PhD in Mechanical Engineering, February 2021
* [http://www.cds.caltech.edu/~dunbar/ Bill Dunbar] - Ph.D. in Control and Dynamical Systems, June 2004
 
  
 
<blockquote>
 
<blockquote>
Line 109: Line 119:
 
| width=33% |  
 
| width=33% |  
 
<table>
 
<table>
 +
<tr><td> Dionysios Barmpoutis [http://resolver.caltech.edu/CaltechTHESIS:12102011-161913831 (thesis)]</td></tr>
 
<tr><td>[http://www.jsc.nasa.gov/Bios/htmlbios/behnken-rl.html Robert Behnken] [http://www.cds.caltech.edu/~murray/papers/1996_rlb96-phd.html (thesis)]</td></tr>
 
<tr><td>[http://www.jsc.nasa.gov/Bios/htmlbios/behnken-rl.html Robert Behnken] [http://www.cds.caltech.edu/~murray/papers/1996_rlb96-phd.html (thesis)]</td></tr>
<tr><td>[http://www.coro.caltech.edu/People/athayes/athayes.html Adam Hayes]*</td></tr>
+
<tr><td>[http://www.its.caltech.edu/~braman/ Julia Badger (Braman)] [http://resolver.caltech.edu/CaltechETD:etd-05292009-111937 (thesis)]</td></tr>
<tr><td>[http://www.glue.umd.edu/~benshap/ Ben Shapiro] [http://www.cds.caltech.edu/~murray/papers/1999_bs99-phd.html (thesis)]</td></tr>
+
<tr><td> Ania Baetica [https://resolver.caltech.edu/CaltechTHESIS:06042018-171639726 (thesis)]</td></tr>
 +
<tr><td>[http://motion.mee.ucsb.edu/ Francesco Bullo] [http://www.cds.caltech.edu/~murray/papers/1998_fb98-phd.html (thesis)]</td></tr>
 
<tr><td>[http://www.vuse.vanderbilt.edu/~bobbyb/ Robert Bodenheimer]*</td></tr>
 
<tr><td>[http://www.vuse.vanderbilt.edu/~bobbyb/ Robert Bodenheimer]*</td></tr>
<tr><td>[http://www.mie.uiuc.edu/content/asp/people/faculty/current/scott_d_kelly.asp Scott Kelly] [http://www.cds.caltech.edu/~murray/papers/1998_sdk98-phd.html (thesis)]</td></tr>
+
<tr><td>John Carson [http://thesis.library.caltech.edu/1664/ (thesis)]</td></tr>
<tr><td>[http://alumnus.caltech.edu/~sur/ Sudipto Sur] [http://www.cds.caltech.edu/~murray/papers/1997_ss97-phd.html (thesis)]</td></tr>
+
<tr><td> [[http:censi.mit.edu|Andrea Censi]] [http://thesis.library.caltech.edu/7248/ (thesis)]</td></tr>
<tr><td>[http://motion.csl.uiuc.edu/~bullo/ Francesco Bullo] [http://www.cds.caltech.edu/~murray/papers/1998_fb98-phd.html (thesis)]</td></tr>
+
<tr><td> Benson Christalin# </td></tr>
<tr><td>[http://penelope.mast.queensu.ca/~andrew/ Andrew Lewis] [http://www.cds.caltech.edu/~murray/papers/1995_adl95-phd.html (thesis)] </td></tr>
+
<tr><td>[http://robotics.caltech.edu/~timothyc/ Tim Chung*]</td></tr>
 +
<tr><td>[http://www.cds.caltech.edu/~lars Lars Cremean] [http://www.cds.caltech.edu/~murray/papers/2006_lbc06-phd.html (thesis)]</td></tr>
 +
<tr><td>Nadine Dabby* </td></tr>
 +
<tr><td>[http://www.mae.cornell.edu/Raff/ Raff D'Andrea*]</td></tr>
 +
<tr><td> Sumanth Dathathri [https://resolver.caltech.edu/CaltechTHESIS:04292020-165136662 (thesis)]</td></tr>
 +
<tr><td>[http://www.its.caltech.edu/~feakins/index.html Samantha (Feakins) Daly#]</td></tr>
 +
<tr><td>Emzo de los Santos [http://resolver.caltech.edu/CaltechTHESIS:05182015-163708506 (thesis)]
 +
<tr><td>[http://www.mit.edu/~ddv/ Domitilla Del Vecchio] [http://www.cds.caltech.edu/~murray/papers/2005_ddv05-phd.html (thesis)]</td></tr>
 +
<tr><td>[http://www.cds.caltech.edu/~mjdunlop Mary Dunlop] [http://resolver.caltech.edu/CaltechETD:etd-05302008-141602 (thesis)]</td></tr>
 +
<tr><td>[http://www.soe.ucsc.edu/~dunbar/ William Dunbar] [http://resolver.caltech.edu/CaltechETD:etd-05282004-170123 (thesis)]</td></tr>
 +
<tr><td>[http://www.cds.caltech.edu/~epstein/ Michael Epstein] [http://resolver.caltech.edu/CaltechETD:etd-12192007-153619 (thesis)]</td></tr>
 +
<tr><td>[http://www.cds.caltech.edu/~fax Alex Fax] [http://www.cds.caltech.edu/~murray/papers/2002_fax02-phd.html (thesis)]</td></tr>
 +
<tr><td> Ioannis Filippidis [https://resolver.caltech.edu/CaltechTHESIS:07202018-115217471 (thesis)]</td></tr>
 +
<tr><td>Anthony Fragoso [http://resolver.caltech.edu/CaltechTHESIS:10242017-193520989 (thesis)]</td></tr>
 +
<tr><td>[http://www.media.mit.edu/~minster/ Sawyer Fuller] (thesis)</td></tr>
 +
<tr><td>Melvin Flores [http://resolver.caltech.edu/CaltechETD:etd-02192008-153449 (thesis)]</td></tr>
 
</table>
 
</table>
 
| width=33% |  
 
| width=33% |  
 
<table>
 
<table>
<tr><td>Amber Thweatt#</td></tr>
+
<tr><td>[https://samueli.ucla.edu/people/elisa-franco/ Elisa Franco] [http://resolver.caltech.edu/CaltechTHESIS:10192011-161454857 (thesis)]</td></tr>
<tr><td>[http://www.mae.cornell.edu/Raff/ Raff D'Andrea]*</td></tr>
+
<tr><td>[http://www.cds.caltech.edu/~fung Jimmy Fung] [http://resolver.caltech.edu/CaltechETD:etd-05272005-165938/ (thesis)]</td></tr>
 +
<tr><td>[http://caltech.academia.edu/MarcellaGomez Marcella Gomez] [http://resolver.caltech.edu/CaltechTHESIS:08282014-165029252 (thesis)]</td></tr>
 +
<tr><td>[http://www.chbe.gatech.edu/grover/ Martha Grover (Gallivan)]  [http://www.cds.caltech.edu/~murray/papers/2002_mag02-phd.html (thesis)]</td></tr>
 +
<tr><td>Shaobin Guo [http://resolver.caltech.edu/CaltechTHESIS:03082017-163613964 (thesis)]</td></tr>
 +
<tr><td>[http://ee.nd.edu/faculty/vgupta/ Vijay Gupta] [http://resolver.caltech.edu/CaltechETD:etd-08172006-130145 (thesis)]</td></tr>
 +
<tr><td>Sonja Glavaski*</td></tr>
 +
<tr><td>[[http:fling.seas.upenn.edu/~hanshuo/cgi-bin/wordpress/|Shuo Han]] ([[http:resolver.caltech.edu/CaltechTHESIS:10162013-111333269|thesis]])</td></tr>
 +
<tr><td>Adam Hayes*</td></tr>
 +
<tr><td>[http://www.avl.umd.edu/people/director.html Sean Humbert]  [http://www.cds.caltech.edu/~murray/papers/2005_jsh05-phd.html (thesis)]</td></tr>
 +
{{PhD alum|Victoria Hsiao|option=BE|completed=May 2016|thesis=http:resolver.caltech.edu/CaltechTHESIS:05082016-170628018}}
 +
<tr><td>[http://www.seas.upenn.edu/~jadbabai Ali Jadbabaie*] [http://www.seas.upenn.edu/~jadbabai/papers/Phdthesis.pdf (thesis)]</td></tr>
 +
<tr><td>[http://www.cds.caltech.edu/~jzp Zhipu Jin] [http://resolver.caltech.edu/CaltechETD:etd-09182006-162259 (thesis)]</td></tr>
 +
<tr><td>Vanessa Jonsson [http://resolver.caltech.edu/CaltechTHESIS:10132015-121212703 (thesis)]</td></tr>
 +
<tr><td>[http://www.coe.uncc.edu/~skelly52/ Scott Kelly] [http://www.cds.caltech.edu/~murray/papers/1998_sdk98-phd.html (thesis)]</td></tr>
 +
<tr><td> [http://www.linkedin.com/pub/1/446/a84 Dmitriy Kogan#] </td></tr>
 +
<tr><td> [http://www.ee.columbia.edu/~lavaei Javad Lavaei*] [http://thesis.library.caltech.edu/6391/ (thesis)]</td></tr>
 +
<tr><td>[http://www.mast.queensu.ca/~andrew/ Andrew Lewis] [http://www.cds.caltech.edu/~murray/papers/1995_adl95-phd.html (thesis)] </td></tr>
 +
{{PhD alum|[[http:scottman.net/|Scott Livingston]]|option=CDS|completed=Dec 2015|thesis=http:resolver.caltech.edu/CaltechTHESIS:12312015-131513787}}
 
<tr><td>[http://www.seas.ucla.edu/~mcloskey/ Robert M'Closkey] [http://www.cds.caltech.edu/~murray/papers/1994_rtm94-phd.html (thesis)]</td></tr>
 
<tr><td>[http://www.seas.ucla.edu/~mcloskey/ Robert M'Closkey] [http://www.cds.caltech.edu/~murray/papers/1994_rtm94-phd.html (thesis)]</td></tr>
<tr><td>Jorge Tierno*</td></tr>
+
<tr><td>[http://www.cds.caltech.edu/~milam/ Mark Milam] [http://www.cds.caltech.edu/~murray/papers/2003_milam03-phd.html (thesis)]</td></tr>
<tr><td>[http://www.cds.caltech.edu/~fax Alex Fax] [http://www.cds.caltech.edu/~murray/papers/2002_fax02-phd.html (thesis)]</td></tr>
+
<tr><td>Michiel van Nieuwstadt [http://www.cds.caltech.edu/~murray/papers/1996_mvn96-phd.html (thesis)]</td></tr>
<tr><td>[http://www.cds.caltech.edu/~milam/ Mark Milam] [http://www.cds.caltech.edu/~murray/papers/2003_milam03-phd.html thesis]]</td></tr>
+
<tr><td> Ivan Papusha [http://resolver.caltech.edu/CaltechTHESIS:06032016-102336160 (thesis)]</td></tr>
<tr><td>[http://www.its.caltech.edu/~dvangogh/~dvangogh.html David van Gogh]#</td></tr>
+
<tr><td> Tung Phan [https://resolver.caltech.edu/CaltechTHESIS:01132021-065636010 (thesis)]</td></tr>
<tr><td>[http://www.its.caltech.edu/~feakins/index.html Samantha (Feakins) Daly]#</td></tr>
+
<tr><td>[http://www.math.umbc.edu/~muruhan/ Muruhan Rathinam] [http://www.cds.caltech.edu/~murray/papers/1997_mr97-phd.html (thesis)]</td></tr>
 
</table>
 
</table>
 
| width=33% |  
 
| width=33% |  
 
<table>
 
<table>
<tr><td>[http://avalon.caltech.edu/~vannieuw/ Michiel van Nieuwstadt] [http://www.cds.caltech.edu/~murray/papers/1996_mvn96-phd.html (thesis)]</td></tr>
+
<tr><td>[http://weblamp.princeton.edu/cwrowley/ Clancy Rowley*]</td></tr>
 +
<tr><td>[http://www.glue.umd.edu/~benshap/ Ben Shapiro] [http://www.cds.caltech.edu/~murray/papers/1999_bs99-phd.html (thesis)]</td></tr>
 +
<tr><td>[http://www.cds.caltech.edu/~shiling/ Ling Shi] [http://resolver.caltech.edu/CaltechETD:etd-08272008-121822 (thesis)]</td></tr>
 +
<tr><td> Vipul Singhal [https://resolver.caltech.edu/CaltechTHESIS:08262018-213846283 (thesis)]</td></tr>
 +
<tr><td>[http://www.cds.caltech.edu/~demetri Demetri Spanos] [http://www.cds.caltech.edu/~murray/papers/2006_dps06-phd.html (thesis)]</td></tr>
 +
<tr><td>Zachary Sun [http://resolver.caltech.edu/CaltechTHESIS:10012015-221355676 (thesis)]/</td></tr>
 +
<tr><td>[http://alumnus.caltech.edu/~sur/ Sudipto Sur] [http://www.cds.caltech.edu/~murray/papers/1997_ss97-phd.html (thesis)]</td></tr>
 +
<tr><td> Anandh Swaminathan [https://resolver.caltech.edu/CaltechTHESIS:12132017-121914940 (thesis)]</td></tr>
 +
<tr><td> Anu Thubagere* [http://resolver.caltech.edu/CaltechTHESIS:06082017-194534497 (thesis)]</td></tr>
 +
<tr><td>Amber Thweatt#</td></tr>
 +
<tr><td>Jorge Tierno*</td></tr>
 +
<tr><td>[http://www.cds.caltech.edu/~atiwari/ Abhishek Tiwari] [http://resolver.caltech.edu/CaltechETD:etd-05202007-135411 (thesis)]</td></tr>
 +
<tr><td> Pete Trautman [http://resolver.caltech.edu/CaltechTHESIS:05182013-191132413 (thesis)]</td></tr>
 +
<tr><td>  Stephanie Tsuei#</td></tr>
 +
<tr><td>David van Gogh#</td></tr>
 
<tr><td>Tony Vanelli# [http://www.cds.caltech.edu/~murray/papers/1997_cav97-eng.html (thesis)]</td></tr>
 
<tr><td>Tony Vanelli# [http://www.cds.caltech.edu/~murray/papers/1997_cav97-eng.html (thesis)]</td></tr>
<tr><td>[http://www.che.gatech.edu/Facresearch/gallivan.htm Martha Gallivan]  [http://www.cds.caltech.edu/~murray/papers/2002_mag02-phd.html (thesis)]</td></tr>
+
<tr><td>Ophelia Venturelli ([[http:resolver.caltech.edu/CaltechTHESIS:06072013-095239958|thesis]])</td></tr>
<tr><td>[http://green.caltech.edu/~clancy/ Clancy Rowley]*</td></tr>
 
 
<tr><td>[http://www.mech.pku.edu.cn/robot/teacher/wangyong/ Yong Wang] [http://www.cds.caltech.edu/~murray/papers/2000_yw00-phd.html (thesis)]</td></tr>
 
<tr><td>[http://www.mech.pku.edu.cn/robot/teacher/wangyong/ Yong Wang] [http://www.cds.caltech.edu/~murray/papers/2000_yw00-phd.html (thesis)]</td></tr>
<tr><td>Sonja Glavaski*</td></tr>
+
<tr><td>[http://www.cds.caltech.edu/~waydo Steve Waydo*] [http://resolver.caltech.edu/CaltechETD:etd-11022007-104734 (thesis)]</td></tr>
<tr><td>[http://www.engineering.ucsb.edu/~muruhan/ Muruhan Rathinam] [http://www.cds.caltech.edu/~murray/papers/1997_mr97-phd.html (thesis)]</td></tr>
+
<tr><td>[[http:www.cds.caltech.edu/~ewolff|Eric Wolff]] [http://resolver.caltech.edu/CaltechTHESIS:02172014-121159358/ (thesis)]</td></tr>
<tr><td>[http://avalon.caltech.edu/~cxy/ Simon Yeung] [http://www.cds.caltech.edu/~murray/papers/1998_chy98-phd.html (thesis)]</td></tr>
+
<tr><td>[http://robotics.caltech.edu/~nok Nok Wongpiromsarn] [http://thesis.library.caltech.edu/5864/ (thesis)]</td></tr>
 +
<tr><td>Yong Wu [http://resolver.caltech.edu/CaltechTHESIS:08302017-121452132 (thesis)]</td></tr>
 +
<tr><td>[[http:www.aero.umd.edu/~mumu/|Huan (Mumu) Xu]] ([[http:resolver.caltech.edu/CaltechTHESIS:05312013-103940337|thesis]])</td></tr>
 +
{{PhD alum|Enoch Yeung|option=CDS|completed=Jan 2016|thesis=http:resolver.caltech.edu/CaltechThesis:05272016-145559554}}
 +
<tr><td>[http://www.linkedin.com/pub/3/a32/258 Simon Yeung] [http://www.cds.caltech.edu/~murray/papers/1998_chy98-phd.html (thesis)]</td></tr>
 
</table>
 
</table>
 
|}
 
|}
 +
<font size="-2"># Masters or Engineers degree &nbsp;&nbsp; * Co-advised student</font>
 
</blockquote>
 
</blockquote>
<font size="-2"># Masters or Engineers degree</font>
 
  
 
==== Former postdocs: ====
 
==== Former postdocs: ====
 +
* David Garcia (2020-21) - BE Postdoctoral Fellow
 +
* Leopold Green (2018-2021) - BE Postdoctoral Fellow
 +
* Chuchu Fan (2019-2020) - CMS Postdoctoral Fellow
 +
* John McManus (2018-2019) - Visiting Postdoctoral Fellow
 +
* Jin Ge (2017-2018) - CMS Postdoctoral Fellow
 
<blockquote>
 
<blockquote>
 
{| width=100% border=0 cellpadding=0 cellspacing=0
 
{| width=100% border=0 cellpadding=0 cellspacing=0
Line 151: Line 217:
 
<table>
 
<table>
 
<tr><td>[http://www.cds.caltech.edu/~raktim Raktim Bhattacharya] (2002-04)</td></tr>
 
<tr><td>[http://www.cds.caltech.edu/~raktim Raktim Bhattacharya] (2002-04)</td></tr>
 +
<tr><td>[http://www.niu.edu/faculty/coller.shtml Brianno Coller] (1995-97) </td></tr>
 +
<tr><td>Noel du Toit (2011)</td></tr>
 +
<tr><td>Samira Farahani (2014-15) </td></tr>
 +
<tr><td>Sofie Haesaert (2016-2018) </td></tr>
 +
<tr><td>Yutaka Hori (2013-2016) </td></tr>
 +
<tr><td>[http://www.ece.louisville.edu/~t0inan01/ Tamer Inanc] (2002-04)</td></tr>
 +
<tr><td>Jongmin Kim (2010-14)</td></tr>
 +
<tr><td>[http://soslab.ee.washington.edu/mw/index.php/User:Klavins Eric Klavins]* (2001-03)</td></tr>
 
<tr><td>[http://cc.ee.ntu.edu.tw/~fengli/ Feng-Li Lian] (2001-02)</td></tr>
 
<tr><td>[http://cc.ee.ntu.edu.tw/~fengli/ Feng-Li Lian] (2001-02)</td></tr>
<tr><td>[http://cas.ensmp.fr/~petit/ Nicolas Petit] (2001-02)</td></tr>
 
<tr><td>Brianno Coller (1995-97) </td></tr>
 
 
</table>
 
</table>
 
| width=33% |  
 
| width=33% |  
 
<table>
 
<table>
 +
<tr><td>Jun Liu (2011-2012)</td></tr>
 +
<tr><td>Catherine McGhan (2014-2016)</td></tr>
 +
<tr><td>Yilin Mo (2013-15)</td></tr>
 
<tr><td>[http://www.aa.washington.edu/faculty/morgansen/ Kristi Morgansen] (1999-2001)</td></tr>
 
<tr><td>[http://www.aa.washington.edu/faculty/morgansen/ Kristi Morgansen] (1999-2001)</td></tr>
<tr><td>[http://www.me.nmsu.edu/faculty/shashi.htm B. N. Shashikanth]* (1998-2000)</td></tr>
 
<tr><td>[http://www.cds.caltech.edu/~tinanc/ Tamer Inanc] (2002-04)</td></tr>
 
 
<tr><td>[http://www-sop.inria.fr/icare/personnel/morin/morin-personnel.html Pascal Morin] (1996-97)</td></tr>
 
<tr><td>[http://www-sop.inria.fr/icare/personnel/morin/morin-personnel.html Pascal Morin] (1996-97)</td></tr>
 +
<tr><td>[http://www.ece.ucsb.edu/~ymostofi/ Yasamin Mostofi] (2004-06)</td></tr>
 +
<tr><td>Reza Olfati-Saber (2001-04)</td></tr>
 +
<tr><td>[http://www.cds.caltech.edu/~izi/ Yizhar Or] (2007-09)</td></tr>
 +
<tr><td>Necmiye Ozay (2010-13)</td></tr>
 +
<tr><td>Pavithra Prabhakar (2011-12)</td></tr>
 
</table>
 
</table>
 
| width=33% |  
 
| width=33% |  
 
<table>
 
<table>
 +
<tr><td>[http://cas.ensmp.fr/~petit/ Nicolas Petit] (2001-02)</td></tr>
 +
<tr><td>Vasu Raman (2013-15)</td></tr>
 +
<tr><td>[http://www.ee.kth.se/php/index.php?action=people&cmd=extended&peopleid=768 Henrik Sandberg] (2005-07)</td></tr>
 +
<tr><td>Shaunak Sen (2011-12)</td></tr>
 +
<tr><td>[http://me.nmsu.edu/~shashi/ B. N. Shashikanth*] (1998-2000)</td></tr>
 +
<tr><td>Dan Siegal (2012-15)</td></tr>
 +
<tr><td>[[http:www.its.caltech.edu/~astraw/|Andrew Straw*]] (2010)</td></tr>
 
<tr><td>Willem Sluis (1994-96)</td></tr>
 
<tr><td>Willem Sluis (1994-96)</td></tr>
<tr><td>[http://www.cs.caltech.edu/~klavins Eric Klavins]* (2001-03)</td></tr>
 
<tr><td>[http://www.cds.caltech.edu/~olfati Reza Olfati-Saber] (2001-04)</td></tr>
 
 
<tr><td>[http://www.cds.caltech.edu/~herb/ Herbert Streumper] (1997-99)</td></tr>
 
<tr><td>[http://www.cds.caltech.edu/~herb/ Herbert Streumper] (1997-99)</td></tr>
 +
<tr><td>Ufuk Topcu (2008-12)</td></tr>
 
</table>
 
</table>
 
|}
 
|}
 
</blockquote>
 
</blockquote>
 +
'''Additional group alumni:''' &nbsp; [[SURF alumni|SURF]] &nbsp;&nbsp; [[Undergraduate alumni|Undergrads]]  &nbsp;&nbsp; [[Visitors]]
  
 
== Teaching ==
 
== Teaching ==
The list below is the courses that I have taught at Caltech in the last 5 years. The course links will take you to the (current) course homepage, where you can find the syllabus, handouts, and homework sets. The links for specific terms take you to the course homepage for that term. Links to [[Teaching Archive|older courses]] are available on a separate page.
+
The list below is the courses that I have taught at Caltech (or at least most of them). The course links will take you to the (current) course homepage, where you can find the syllabus, handouts, and homework sets. The links for specific terms take you to the course homepage for that term. Links to [[Teaching Archive|older courses]] are available on a separate page.
  
* [[CDS 90]] - Senior Thesis in Control and Dynamical Systems (04-05, 05-06)
+
<!--
* [[CDS 101]] - Analysis and Design of Feedback Systems (Fa02, Fa03, Fa04)
+
* BE/APh 162 - Physical Biology Laboratory ([http://www.rpgroup.caltech.edu/courses/aph162/2009/ Wi09])
* [[CDS 110]] - Introduction to Control Theory (97-98, 01-02, 02-03, 03-04, Fa04, [[CDS 110b, Winter 2006|Wi 06]])
+
-->
* [[CDS 190]] - Independent Work in Control and Dynamical Systems  
+
* [[ACM/EE 116]] - Probability and Random Processes ([[ACM/EE_116,_Fall_2011|Fa11]])
* CDS 202, Geometry of Nonlinear Systems (Wi93, Wi94, Wi04)
+
* [[BE 107]] - Exploring Biological Principles Through Bio-Inspired Design ([[BE 107, Spring 2015|Sp15]], [[BE 107, Spring 2016|Sp16]], [[BE 107, Spring 2019|Sp19]])
* [[CDS 270-2|CDS 270]] - Networked Control Systems (Sp 06)
+
* [[BE 150/Bi 250b]] - Systems Biology ([[Bi/BE_250c_Winter_2011|Wi11]], [[BE_150/Bi_250b_Winter_2012|Wi12]], [[BE_150/Bi_250b_Winter_2013|Wi13]], [[BE 150/Bi 250 Spring 2014|Sp14]])
* [[CDS 273]] - Frontiers in Control and Dynamical Systems (Sp01, Sp02, Sp03, Sp04, Sp05, [[CDS 273, 2006|Sp 06]])
+
* [[CS/EE/ME 75]] - Introduction to Multi-Disciplinary Systems Engineering (04-05, 06-07, 10-11, [[CS/EE/ME 75, 2015-16|15-16]])
 +
* [[CDS 90]] - Senior Thesis in Control and Dynamical Systems (2004-2014, 2020)
 +
* [[CDS 101|CDS 101/110]] - Analysis and Design of Feedback Systems (Fa97, Fa01, [[http:www.cds.caltech.edu/~murray/courses/cds101/fa02|Fa02]], [[http:www.cds.caltech.edu/~murray/courses/cds101/fa03/|Fa03]], [[http:www.cds.caltech.edu/~murray/courses/cds101/fa04/|Fa04]], [[CDS 101/110a, Fall 2006|Fa06]], [[CDS 101/110a, Fall 2007|Fa07]], [[CDS 101/110a, Fall 2008|Fa08]], [[CDS 101/110a, Fall 2012|Fa12]], [[CDS 101/110, Fall 2015|Fa15]])
 +
* [[CDS 112]] - Optimization-Based Control (Wi98, Wi02, Wi03, Wi04, [[CDS 110b, Winter 2006|Wi06]], [[CDS 110b, Winter 2007|Wi07]], [[CDS 110b, Winter 2008|Wi08]])
 +
* [[CDS 131]] - Linear Systems Theory ([[CDS 131, Fall 2018|Fa18]], [[CDS 131, Fall 2019|Fa19]])
 +
* [[CDS 140]] - Differential Equations and Dynamical Systems ([[AM 101b/AM 125b/CDS 140a, Winter 2011|Wi11]], [[AM 101b/AM 125b/CDS 140a, Winter 2013|Wi13]], [[ACM 101b/AM 125b/CDS 140a, Winter 2014|Wi14]], [[CDS 140, Winter 2015|Wi15]])
 +
* [[CDS 240]] - Nonlinear Dynamical Systems ([[CDS 140b, Spring 2014|Sp14]], [[CDS 240, Spring 2016|Sp16]])
 +
* [[CDS 202]] - Geometry of Nonlinear Systems (Wi93, Wi94, [[http:www.cds.caltech.edu/~murray/courses/cds202/wi04/|Wi04]], [[CDS 202, Winter 2009|Wi09]], [[CDS 202, Spring 2013|Sp13]])
 +
* [[http:www.cds.caltech.edu/cs142|CS 142]] - Distributed Computing ([[CS 142, Fall 2017|Fa17]], [[CS 142, Fall 2019|Fa19]])
 +
* CS 143 - Communication Networks (Fa18)
 +
* [[Teaching Archive|Older courses]] (not taught in the last 10 years)
 +
* [[:Category:Guest lectures|Guest lectures]] - some individual lectures I have given in various courses
  
 
== Contact ==
 
== Contact ==
Line 197: Line 293:
 
==== Contact information ====
 
==== Contact information ====
 
E-mail: murray@cds.caltech.edu <br>
 
E-mail: murray@cds.caltech.edu <br>
Office: 109 Steele, (626) 395-6460 <br>
+
Office: 109 Steele Lab, (626) 395-6460 <br>
Asst: Gloria Bain, x4140 <br>
+
Asst: Monica Nolasco, x4140 <br>
Labs: 12 STL, 110 GUG (x2319)
+
Labs: B112 Steele, 136 Keck
|-
+
|- valign=bottom
 
|
 
|
  
Line 206: Line 302:
 
[http://www.caltech.edu Caltech]<br>
 
[http://www.caltech.edu Caltech]<br>
 
[http://www.eas.caltech.edu Engineering and Applied Science]<br>
 
[http://www.eas.caltech.edu Engineering and Applied Science]<br>
 +
[http://cms.caltech.edu Computing and Mathematical Sciences]<br>
 +
|
 +
[http://be.caltech.edu/ Bioengineering]<br>
 
[http://www.cds.caltech.edu Control and Dynamical Systems]<br>
 
[http://www.cds.caltech.edu Control and Dynamical Systems]<br>
[http://www.me.caltech.edu Mechanical Engineering]
+
[http://www.linkedin.com/in/murrayrm LinkedIn]
|
 
 
 
==== Additional information ====
 
Presentations<br>
 
Recent CV<br>
 
PGP key<br>
 
Travel info
 
 
|}
 
|}

Revision as of 00:49, 26 September 2021

Murray-14Dec16.jpg

Richard M. Murray

Thomas E. and Doris Everhart Professor of
Control & Dynamical Systems and Bioengineering

California Institute of Technology



Papers Research Group Teaching Contact

Quick Links:

Group Schedule

Feedback Systems

Biomolecular Feedback Systems


Research

My group's research is in the application of feedback and control to networked systems, with applications in biology and autonomy. Current projects include work on biomolecular feedback systems, novel architectures for control systems, and networked control systems (see my research overview for more details).

Preprint archive
Caltech theses
Google Scholar

Active projects:

[Archive]

Group

Apurva Badithela (CDS)
Victoria Chen† (BE)
Ersin Das+ (Turkey)
Abhishek Dey+ (India)
Chelsea Hu (BE)
Josefine Graebener (AS)
Zoila Jurado (ME)
Manisha Kapasiawala (BE)
Matthieu Kratz* (BE)
Elin Larsson* (BE)
John Marken (BE)
Michaelle Mayalu (CMS)
Joe Meyerowitz (BMB)
Kellan Moorse (CNS)
Ayush Pandey (CDS)
William Poole* (CNS)
Mark Prator# (EAS)
Xinying (Cindy) Ren (CDS)
Andrey Shur (BE)
Rory Williams (BE)
Miki Yun# (EAS)

* co-advised students + visiting researchers ° rotation students † undergraduates # research tech

Former graduate students:

  • Samuel Clamons - PhD in Bioengineering, September 2021
  • Cindy Ren - PhD in Control and Dynamical Systems, June 2021
  • Reed McCardell - PhD in Bioengineering, May 2021
  • Karena Cai - PhD in Control and Dynamical Systems, March 2021
  • James Parkin - PhD in Bioengineering, March 2021
  • Richard Cheng* - PhD in Mechanical Engineering, February 2021
Dionysios Barmpoutis (thesis)
Robert Behnken (thesis)
Julia Badger (Braman) (thesis)
Ania Baetica (thesis)
Francesco Bullo (thesis)
Robert Bodenheimer*
John Carson (thesis)
Andrea Censi (thesis)
Benson Christalin#
Tim Chung*
Lars Cremean (thesis)
Nadine Dabby*
Raff D'Andrea*
Sumanth Dathathri (thesis)
Samantha (Feakins) Daly#
Emzo de los Santos (thesis)
Domitilla Del Vecchio (thesis)
Mary Dunlop (thesis)
William Dunbar (thesis)
Michael Epstein (thesis)
Alex Fax (thesis)
Ioannis Filippidis (thesis)
Anthony Fragoso (thesis)
Sawyer Fuller (thesis)
Melvin Flores (thesis)
Elisa Franco (thesis)
Jimmy Fung (thesis)
Marcella Gomez (thesis)
Martha Grover (Gallivan) (thesis)
Shaobin Guo (thesis)
Vijay Gupta (thesis)
Sonja Glavaski*
Shuo Han (thesis)
Adam Hayes*
Sean Humbert (thesis)
Victoria Hsiao (thesis)
Ali Jadbabaie* (thesis)
Zhipu Jin (thesis)
Vanessa Jonsson (thesis)
Scott Kelly (thesis)
Dmitriy Kogan#
Javad Lavaei* (thesis)
Andrew Lewis (thesis)
Scott Livingston (thesis)
Robert M'Closkey (thesis)
Mark Milam (thesis)
Michiel van Nieuwstadt (thesis)
Ivan Papusha (thesis)
Tung Phan (thesis)
Muruhan Rathinam (thesis)
Clancy Rowley*
Ben Shapiro (thesis)
Ling Shi (thesis)
Vipul Singhal (thesis)
Demetri Spanos (thesis)
Zachary Sun (thesis)/
Sudipto Sur (thesis)
Anandh Swaminathan (thesis)
Anu Thubagere* (thesis)
Amber Thweatt#
Jorge Tierno*
Abhishek Tiwari (thesis)
Pete Trautman (thesis)
Stephanie Tsuei#
David van Gogh#
Tony Vanelli# (thesis)
Ophelia Venturelli (thesis)
Yong Wang (thesis)
Steve Waydo* (thesis)
Eric Wolff (thesis)
Nok Wongpiromsarn (thesis)
Yong Wu (thesis)
Huan (Mumu) Xu (thesis)
Enoch Yeung (thesis)
Simon Yeung (thesis)

# Masters or Engineers degree    * Co-advised student

Former postdocs:

  • David Garcia (2020-21) - BE Postdoctoral Fellow
  • Leopold Green (2018-2021) - BE Postdoctoral Fellow
  • Chuchu Fan (2019-2020) - CMS Postdoctoral Fellow
  • John McManus (2018-2019) - Visiting Postdoctoral Fellow
  • Jin Ge (2017-2018) - CMS Postdoctoral Fellow
Raktim Bhattacharya (2002-04)
Brianno Coller (1995-97)
Noel du Toit (2011)
Samira Farahani (2014-15)
Sofie Haesaert (2016-2018)
Yutaka Hori (2013-2016)
Tamer Inanc (2002-04)
Jongmin Kim (2010-14)
Eric Klavins* (2001-03)
Feng-Li Lian (2001-02)
Jun Liu (2011-2012)
Catherine McGhan (2014-2016)
Yilin Mo (2013-15)
Kristi Morgansen (1999-2001)
Pascal Morin (1996-97)
Yasamin Mostofi (2004-06)
Reza Olfati-Saber (2001-04)
Yizhar Or (2007-09)
Necmiye Ozay (2010-13)
Pavithra Prabhakar (2011-12)
Nicolas Petit (2001-02)
Vasu Raman (2013-15)
Henrik Sandberg (2005-07)
Shaunak Sen (2011-12)
B. N. Shashikanth* (1998-2000)
Dan Siegal (2012-15)
Andrew Straw* (2010)
Willem Sluis (1994-96)
Herbert Streumper (1997-99)
Ufuk Topcu (2008-12)

Additional group alumni:   SURF    Undergrads    Visitors

Teaching

The list below is the courses that I have taught at Caltech (or at least most of them). The course links will take you to the (current) course homepage, where you can find the syllabus, handouts, and homework sets. The links for specific terms take you to the course homepage for that term. Links to older courses are available on a separate page.

Contact

Mailing Address

Richard M. Murray
Control and Dynamical Systems 107-81
California Institute of Technology
1200 E. California Blvd
Pasadena, CA 91125 USA

Contact information

E-mail: murray@cds.caltech.edu
Office: 109 Steele Lab, (626) 395-6460
Asst: Monica Nolasco, x4140
Labs: B112 Steele, 136 Keck

Other links

Caltech
Engineering and Applied Science
Computing and Mathematical Sciences

Bioengineering
Control and Dynamical Systems
LinkedIn