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List of results

• Nonlinear Control of Mechanical Systems: A Reimannian Geometry Approach  + (PhD Dissertation, Caltech, August 1998)
• Nonlinear Control of Rotating Stall and Surge with Axisymmetric Bleed and Air Injection on Axial Flow Compressors  + (PhD Dissertation, Caltech, August 1998)
• Exponential Stabilization of Driftless Nonlinear Control Systems  + (PhD Dissertation, Caltech, Dec 1994)
• Robotic Manipulation with Flexible Link Fingers  + (PhD Dissertation, Caltech, January 1997)
• Trajectory Generation for Nonlinear Control Systems  + (PhD Dissertation, Caltech, Jul 1996)
• Aspects of Geometric Mechanics and Control of Mechanical Systems  + (PhD Dissertation, Caltech, Jun 1995)
• The Mechanics and Control of Robotic Locomotion with Applications to Aquatic Vehicles  + (PhD Dissertation, Caltech, June 1998)
• Differentially Flat Nonlinear Control Systems  + (PhD Dissertation, Caltech, May 1997)
• Nonlinear Control and Modeling of Rotating Stall in an Axial Flow Compressor  + (PhD Dissertation, Caltech, Sep 1996)
• Distributed Gradient Systems and Dynamic Coordination  + (PhD Dissertation, Control and Dynamical Systems)
• Bio-Inspired Visuomotor Convergence in Navigation and Flight Control Systems  + (PhD Dissertation, Control and Dynamical Systems)
• State Estimation in Multi-Agent Decision and Control Systems  + (PhD Dissertation, Control and Dynamical Systems)
• Real-Time Optimal Trajectory Generation for Constrained Dynamical Systems  + (PhD Dissertation, Control and Dynamical Systems)
• Managing information in networked and multi-agent control systems  + (PhD Dissertation, Mechanical Engineering)
• System architectures and environment modeling for high-speed autonomous navigation  + (PhD Dissertation, Mechanical Engineering)
• Robotic Control and Nonholonomic Motion Planning  + (PhD Dissertation, UC Berkeley, Dec 1990)
• Real-time trajectory generation for constrained nonlinear dynamical systems using non-uniform rational B-spline basis functions  + (PhD dissertation, Control and Dynamical Systems, Nov 2007)
• Autonomous Driving in Urban Environments: Approaches, Lessons and Challenges  + (Philosophical Transactions of the Royal Society - A, 2009 (Submitted))
• Controlling biological networks by time-delayed signals  + (Philosophical Transactions of the Royal Society - A, 2009 (Submitted))
• Guidelines for Designing the Antithetic Feedback Motif  + (Physical Biology, 17(5):055002, 2020)
• Dynamics and stability of a class of low Reynolds number swimmers near a wall  + (Physical Review E, 19(4))
• Engineering Transcriptional Regulator Effector Specificity Through Rational Design and Rapid Prototyping  + (Presented at Synthetic Biology: Engineering, Evolution and Design (SEED), 14-18 July 2014)
• Prototyping 1,4-butanediol (BDO) biosynthesis pathway in a cell-free transcription-translation (TX-TL) system  + (Presented at Synthetic Biology: Engineering, Evolution and Design (SEED), 10-13 June 2015)
• Design of a Toolbox of RNA Thermometers  + (Presented at Synthetic Biology: Engineering, Evolution and Design (SEED), 10-13 June 2015)
• Design and Implementation of a Biomolecular Circuit for Tracking Protein Concentration  + (Presented, 2013 American Control Conference (ACC))
• Characterization of minimum inducer separation time for a two-input integrase-based event detector  + (Presented, 2015 Winter q-bio Conference (5 Nov 2014))
• Rapid in vitro engineering of 16 two-input logic gates  + (Presented, 2016 Winter q-Bio)
• Use of population-level cell-state switching for recording transient inducer pulses  + (Presented, 2016 Winter q-Bio (5 Nov 2015))
• Finding stationary solutions to the chemical master equation by gluing state spaces at one or two states recursively  + (Presented, 2016 Winter q-Bio Conference)
• Applications and Extensions of Goursat Normal Form to Control of Nonlinear Systems  + (Proceedings of the 32nd Conference on Decision and Control<br>December 1993)
• Exponential Stabilization of Driftless Nonlinear Control Systems via Time-varying, Homogeneous Feedback  + (Proceedings of the 32nd Conference on Decision and Control<br>December 1994)
• Geometric Phases, Control Theory, and Robotics  + (Proceedings of the Board on Mathematical Sciences, Science and Technology Symposium, Washington DC, 12 April 1994)
• Consensus and Cooperation in Networked Multi-Agent Systems  + (Proceedings of the IEEE, 95(1):215 - 233, 2007)
• Cone invariance and rendezvous of multiple agents  + (Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 223(6):779-789)
• Trajectory Generation for Mechanical Systems with Application to Robotic Locomotion  + (Proceedings, 1998 Workshop on Algorithmic Foundations of Robotics)
• Minimally Constrained Testing for Autonomy with Temporal Logic Specifications  + (RSS 2022 Workshop on Envisioning an Infrastructure for Multi-Robot and Collaborative Autonomy Testing and Evaluation)
• Metabolic perturbations to an E. coli-based cell-free system reveal a trade-off between transcription and translation  + (SEED 2023)
• Optimizing protein expression in the One-Pot PURE system: Insights into reaction composition and translation efficiency  + (SEED, 2024)
• Dynamics and Stability of Low Reynolds Number Swimming Near a Wall  + (SIAM Journal of Applied Dynamical Systems (SIADS), 10(3):1013â1041)
• Analysis of Circuits for Dosage Control in Microbial Populations  + (Senior thesis)
• Simultaneous Stabilization of Stall and Surge via Axisymmetric Air Injection  + (Submitted, 1998 Conference on Control Applications)
• Constrained Trajectory Generation for Microsatellite Formation Flying  + (Submitted, 2001 AIAA Guidance, Navigation and Control Conference)
• J2 Dynamics and Formation Flight  + (Submitted, 2001 AIAA Guidance, Navigation and Control Conference)
• Modeling and Control of Thin Film Morphology Using Unsteady Processing Parameters: Problem Formulation and Initial Results  + (Submitted, 2001 Conference on Decision and Control)
• Model Predictive Control of Coordinated Multi-Vehicle Formations  + (Submitted, 2002 Conference on Decision and Control (CDC))
• Distributed Structural Stabilization and Tracking for Formations of Dynamic Multi-Agents  + (Submitted, 2002 Conference on Decision and Control (CDC))
• Real-Time Constrained Trajectory Generation Applied to a Flight Control Experiment  + (Submitted, 2002 IFAC World Congress)
• Stability Analysis of Interconnected Nonlinear Systems Under Matrix Feedback  + (Submitted, 2003 Conference on Decision and Control (CDC))
• Cooperative Task Planning of Multi-Robot Systems with Temporal Constraints  + (Submitted, 2003 International Conference on Robotics and Automation)
• Sensor Scheduling Algorithms Requiring Limited Computation  + (Submitted, 2004 International Conference on Acoustics, Speech, and Signal Processing (ICASSP))

• A Frequency Domain Condition for Stability of Interconnected MIMO Systems  + (Submitted, 2004 American Control Conference)

• A Constrained Optimization Framework for Wireless Networking in Multi-Vehicle Applications  + (Submitted, 2004 American Control Conference (ACC))
• On the Synthesis of Control Laws for a Network of Autonomous Agents  + (Submitted, 2004 American Control Conference (ACC))
• Ellipsoidal Cones and Rendezvous of Multiple Agents  + (Submitted, 2004 Conference on Decision and Control)
• Polyhedral Cone Invariance Applied to Rendezvous of Multiple Agents  + (Submitted, 2004 Conference on Decision and Control (CDC))
• Nonlinear Trajectory Generation for Unmanned Air Vehicles with Multiple Radars  + (Submitted, 2004 Conference on Decision and Control (CDC))
• Robust Connectivity of Networked Vehicles  + (Submitted, 2004 Conference on Decision and Control (CDC))
• Receding Horizon Control of Multi-Vehicle Formations: A Distributed Implementation  + (Submitted, 2004 Conference on Decision and Control (CDC))
• Discrete State Estimators for a Class of Nondeterministic Hybrid Systems on a Lattice  + (Submitted, 2004 Conference on Decision and Control (CDC))
• Observability of a Class of Hybrid Systems on Bounded Lattices  + (Submitted, 2004 Conference on Decision and Control (CDC))
• Scheduling for Distributed Sensor Networks with Single Sensor Measurement per Time Step  + (Submitted, 2004 International Conference on Robotics and Automation)
• Identification of Decision Rules in a Human-controlled System: Vehicles at a Traffic Intersection  + (Submitted, 2004 International Conference on Robotics and Automation (ICRA))
• On LQG Control Across a Stochastic Packet-Dropping Link  + (Submitted, 2005 American Control Conference (ACC))
• Sensorimotor Convergence in Visual Navigation and Flight Control Systems  + (Submitted, 2005 IFAC World Congress)
• Cascade Discrete-Continuous State Estimators for a Class of Monotone Systems  + (Submitted, 2005 IFAC World Congress)
• Uncertainty-based Sensor Fusion of Range Data for Real-time Digital Elevation Mapping (RTDEM)  + (Submitted, 2005 International Conference on Robotics and Automation)
• On Decentralized Classification using a Network of Mobile Sensors  + (Submitted, 2005 International Conference on Robotics and Automation)
• On the Effect of Quantization on Performance  + (Submitted, 2006 American Control Conference)
• On a Cooperative Pursuit Strategy  + (Submitted, 2006 American Control Conference)
• Optimum Allocation of Computing Resources in Networked Sensing and Control  + (Submitted, 2006 American Control Conference)
• Towards a Packet-based Control Theory - Part II: Rate Issues  + (Submitted, 2006 American Control Conference)
• Robust Control over a Packet-Based Network  + (Submitted, 2006 American Control Conference)
• Estimation over Communication Networks: Performance Bounds and Achievability Results  + (Submitted, 2006 Conference on Decision and Control)
• Optimization-Based Navigation for the DARPA Grand Challenge  + (Submitted, 2006 Conference on Decision and Control)
• Multi-Hop Relay Protocols for Fast Consensus Seeking  + (Submitted, 2006 Conference on Decision and Control)
• Approximation of Subnetwork Models using Frequency-Domain Data  + (Submitted, 2006 Conference on Decision and Control)
• Towards Robust Control Over a Packet Dropping Network  + (Submitted, 2006 International Symposium on Mathematical Theory of Networks and Systems (MTNS))
• Data Transmission over Networks for Estimation  + (Submitted, 2006 International Symposium on Mathematical Theory of Networks and Systems (MTNS))
• Effective Sensor Scheduling Schemes Employing Feedback in the Communication Loop  + (Submitted, 2007 American Control Conference (ACC))
• Synthesis of Switching Protocols from Temporal Logic Specifications  + (Submitted, 2012 American Control Conference)
• Robust Control of Uncertain Markov Decision Processes with Temporal Logic Specifications  + (Submitted, 2012 American Control Conference (ACC))
• Temporal Logic Control of Switched Affine Systems with an Application in Fuel Balancing  + (Submitted, 2012 American Control Conference (ACC))
• Parametric Delay-margin Maximization of Consensus Network Using Local Control Scheme  + (Submitted, 2012 American Control Conference (ACC))
• Delay-Based Approximations of Biological Systems for Analysis and Design  + (Submitted, 2012 American Control Conference (ACC))
• Decentralised minimal-time dynamic consensus  + (Submitted, 2012 American Control Conference (ACC))
• Bisimulations for Reasoning about Input-to-State Stability Properties of Hybrid Systems  + (Submitted, 2012 Conference on Decision and Control (CDC))
• On Synthesizing Robust Discrete Controllers under Modeling Uncertainty  + (Submitted, 2012 International Conf on Hybrid Systems: Computation and Control (HSCC))
• Learning diffeomorphism models of robotic sensorimotor cascades  + (Submitted, 2012 International Conference on Robotics and Automation)
• Fault detection and isolation from uninterpreted data in robotic sensorimotor cascades  + (Submitted, 2012 International Conference on Robotics and Automation (ICRA))
• Feedback architectures to regulate flux of components in artificial gene networks  + (Submitted, 2013 American Control Conference (ACC))
• Resource Competition as a Source of Non-Minimum Phase Behavior in Transcription-Translation Systems  + (Submitted, 2013 Conference on Decision and Control (CDC))
• Modeling Environmental Disturbances with the Chemical Master Equation  + (Submitted, 2013 Conference on Decision and Control (CDC))
• Temperature Dependence of Biomolecular Circuit Designs  + (Submitted, 2013 Conference on Decison and Control (CDC))
• Dynamic State Estimation in Distributed Aircraft Electric Control Systems via Adaptive Submodularity  + (Submitted, 2013 Conference on Decison and Control (CDC))
• Stability of Discrete Time Systems with Stochastically Delayed Feedback  + (Submitted, 2013 European Control Conference (ECC))
• Robot Navigation in Dense Human Crowds: the Case for Cooperation  + (Submitted, 2013 International Conference on Robotics and Automation)
• Efficient reactive controller synthesis for a fragment of linear temporal logic  + (Submitted, 2013 International Conference on Robotics and Automation (ICRA))
• Motion planning in observations space with learned diffeomorphism models  + (Submitted, 2013 International Conference on Robotics and Automation (ICRA))
• Optimal Control of Nonlinear Systems with Temporal Logic Specifications  + (Submitted, 2013 International Symposium on Robotics Research (ISRR))
• Efficient control synthesis for augmented finite transition systems with an application to switching protocols  + (Submitted, 2014 American Control Conference (ACC))
• Synthesis of Correct-by-construction Control Protocols for Hybrid Systems Using Partial State Information  + (Submitted, 2014 American Control Conference (ACC))