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Richard M. Murray Thomas E. and Doris Everhart Professor of Control and Dynamical Systems Division of Engineering and Applied Science California Institute of Technology Papers Research Group Teaching Contact

Other Activities: Group Schedule Feedback Systems CDS 90 CDS 110b IST

Publications

Recent publications:

Feedback Systems: An Introduction for Scientists and Engineers (textbook) Alice: An Information-Rich Autonomous Vehicle for High-Speed Desert Navigation (JFR 06) Consensus and Cooperation in Networked Multi-Agent Systems (Proc of the IEEE 07) Discrete State Estimators for Systems on a Lattice (Automatica 06)

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Research

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. Template:Active projects [Archive]

Group

Dionysios Barmpoutis (CNS) Julia Braman (ME) John Carson (ME) Mary Dunlop (ME) Sawyer Fuller (BE)

Elisa Franco (CDS) Shuo Han (EE) Doug MacMynowski (CDS) Yizhar Or (CDS) Dominic Rizzo (CS)

Ling Shi (CDS) Pete Trautman (CDS) Johan Ugander+ (Lund) Nok Wongpiromsarn (ME) Francisco Zabala+ (CSUF)

* co-advised students

+ visiting researchers

° rotation students

† undergraduates

Former graduate students:

• Melvin Flores (CDS) - Ph.D. in Control and Dynamical Systems, February 2008 (thesis)
• Michael Epstein (ME) - Ph.D. in Mechanical Engineering, December 2007
• Steve Waydo* (CDS) - Ph.D. in Control and Dynamical Systems, October 2007
• Tim Chung* (ME) - Ph.D. in Mechanical Engineering, June 2007
• Zhipu Jin (EE) - Ph.D. in Electrical Engineering, August 2006
• Abhishek Tiwari - Ph.D. in Electrical Engineering, August 2006

Robert Behnken (thesis) Francesco Bullo (thesis) Robert Bodenheimer* Lars Cremean (thesis) Raff D'Andrea* Samantha (Feakins) Daly# Domitilla Del Vecchio (thesis) William Dunbar Alex Fax (thesis) Jimmy Fung Martha Gallivan (thesis)

Vijay Gupta (thesis) Sonja Glavaski* Adam Hayes* Sean Humbert (thesis) Scott Kelly (thesis) Dmitriy Kogan# Andrew Lewis (thesis) Robert M'Closkey (thesis) Mark Milam (thesis) Michiel van Nieuwstadt (thesis)

Muruhan Rathinam (thesis) Clancy Rowley* Ben Shapiro (thesis) Demetri Spanos (thesis) Sudipto Sur (thesis) Amber Thweatt# Jorge Tierno* David van Gogh# Tony Vanelli# (thesis) Yong Wang (thesis) Simon Yeung (thesis)

# Masters or Engineers degree

Former postdocs:

Raktim Bhattacharya (2002-04) Brianno Coller (1995-97) Tamer Inanc (2002-04) Eric Klavins* (2001-03) Feng-Li Lian (2001-02)

Kristi Morgansen (1999-2001) Pascal Morin (1996-97) Yasamin Mostofi (2004-06) Reza Olfati-Saber (2001-04) Nicolas Petit (2001-02)

Henrik Sandberg (2005-07) B. N. Shashikanth* (1998-2000) Willem Sluis (1994-96) Herbert Streumper (1997-99)

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 older courses are available on a separate page.

• CS/EE/ME 75 - Introduction to Multi-Disciplinary Systems Engineering (04-05, 06-07)
• CDS 90 - Senior Thesis in Control and Dynamical Systems (04-05, 05-06)
• CDS 101 - Analysis and Design of Feedback Systems (Fa02, Fa03, Fa04, Fa 06, Fa 07)
• CDS 110ab - Introduction to Control Theory (97-98, 01-02, 02-03, 03-04, Fa04, Wi 06, Wi 07, Wi 08)
• CDS 190 - Independent Work in Control and Dynamical Systems
• CDS 202 - Geometry of Nonlinear Systems (Wi93, Wi94, Wi04)
• CDS 270 - Networked Control Systems (Sp 06)
• CDS 273 - Frontiers in Control and Dynamical Systems (Sp01, Sp02, Sp03, Sp04, Sp05, Sp 06)

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, (626) 395-6460 Asst: Gloria Bain, x4140 Labs: 12 STL, 110 GUG (x2319)
Other links Caltech Engineering and Applied Science Control and Dynamical Systems Mechanical Engineering	Additional information Presentations Recent CV PGP key Travel info