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List of results

• Real-Time Control Experiments for Instruction and Research at Caltech  + (Conference paper)
• Fast Mode Switching for a Thrust Vectored Aircraft  + (Conference paper)
• Configuration Flatness of Lagrangian Systems Underactuated by One Control  + (Conference paper)
• The Geometry and Control of Dissipative Systems  + (Conference paper)
• Robust Nonlinear Control Theory with Applications to Aerospace Vehicles  + (Conference paper)
• Experimental Comparison of Trajectory Trackers for a Car with Trailers  + (Conference paper)
• Trajectory Generation for a Towed Cable System using Differential Flatness  + (Conference paper)
• Control of Rotating Stall in a Low-Speed Axial Flow Compressor Using Pulsed Air Injection: Modeling, Simulations, and Experimental Validation  + (Conference paper)
• Proportional Derivative (PD) Control on the Euclidean Group  + (Conference paper)
• Differential Flatness of Mechanical Control Systems: A Catalog of Prototype Systems  + (Conference paper)
• Converting Smooth, Time-Varying, Asymptotic Stabilizers for Driftless Systems to Homogeneous, Exponential Stabilizers  + (Conference paper)
• Robust Performance Analysis for a Class of Uncertain Nonlinear Systems  + (Conference paper)
• Approximate Trajectory Generation for Differentially Flat Systems with Zero Dynamics  + (Conference paper)
• Active Control of Rotating Stall Using Pulsed Air Injection: A Parametric Study on a Low-Speed, Axial Flow Compressor  + (Conference paper)
• Grasping with Flexible Link Fingers: An Initial Study  + (Conference paper)
• Experimental Evaluation of Air Injection for Actuation of Rotating Stall in a Low Speed, Axial Fan  + (Conference paper)
• An Efficient Algorithm for Performance Analysis of Nonlinear Control Systems  + (Conference paper)
• An Experimental Comparison of Controllers for a Vectored Thrust, Ducted Fan Engine  + (Conference paper)
• Exponential Stabilization of Driftless Nonlinear Control Systems via Time-varying, Homogeneous Feedback  + (Conference paper)
• Extending Exponential Stabilizers for Nonholonomic Systems from Kinematic Controllers to Dynamic Controllers  + (Conference paper)
• Nonholonomic Mechanics and Locomotion: The Snakeboard Example  + (Conference paper)
• Experiments in Exponential Stabilization of a Mobile Robot Towing a Trailer  + (Conference paper)
• Applications and Extensions of Goursat Normal Form to Control of Nonlinear Systems  + (Conference paper)
• Design Space Exploration of the Violacein Pathway in Escherichia coli Based Cell-Free System  + (Conference paper)
• Design and application of stationary phase combinatorial promoters  + (Conference paper)
• Identifying and exploiting tolerance to unexpected jumps in synthesized strategies for GR(1) specifications  + (Conference paper)
• Robust Model Predictive Control with a Safety Mode: Applied to Small-Body Proximity Operations  + (Conference paper)
• Optimal nonlinear guidance with inner-loop feedback for hypersonic re-entry  + (Conference paper)
• Model-Based Control of Cavity Oscillations, Part I: Experiments  + (Conference paper)
• Synthesis of Control Protocols for Switched Electrical Power Systems for Commercial Applications with Safety Specifications  + (Conference paper)
• Interfacing TuLiP with the JPL Statechart Autocoder: Initial progress toward synthesis of flight software from formal specifications  + (Conference paper)
• Robust Model Predictive Control for Signal Temporal Logic Synthesis  + (Conference paper)
• Stochastic Gene Expression in Single Gene Oscillator Variants  + (Conference paper)
• Control design for hybrid systems with TuLiP: The temporal logic planning toolbox  + (Conference paper)
• Enhancing tolerance to unexpected jumps in GR(1) games  + (Conference paper)
• Connected Cruise Control Design Using Probabilistic Model Checking  + (Conference paper)
• Quantifying Resource Competition and its Effects in the TX-TL System  + (Conference paper)
• Fast Automatic Verification of Large-Scale Systems with Lookup Tables  + (Conference paper)
• Repressing Integrase attachment site operation with CRISPR-Cas9 in E. coli  + (Conference paper)
• Engineering pulsatile communication in bacterial consortia  + (Conference paper)
• Hiding variables when decomposing specifications into GR(1) contracts  + (Conference paper)
• Decomposing GR(1) Games with Singleton Liveness Guarantees for Efficient Synthesis  + (Conference paper)
• Population regulation in microbial consortia using dual feedback control  + (Conference paper)
• Parallelizing Synthesis from Temporal Logic Specifications by Identifying Equicontrollable States  + (Conference paper)
• Learning-Based Abstractions for Nonlinear Constraint Solving  + (Conference paper)
• Synthesis of Correct-by-Construction Behavior Trees  + (Conference paper)
• A Bayesian approach to inferring chemical signal timing and amplitude in a temporal logic gate using the cell population distributional response  + (Conference paper)
• An In Silico Modeling Toolbox for Rapid Prototyping of Circuits in a Biomolecular “Breadboard” System  + (Conference paper)
• Length and time scales of cell-cell signaling circuits in agar  + (Conference paper)
• Control of bacterial population density with population feedback and molecular sequestration  + (Conference paper)
• Proof of concept continuous event logging in living cells  + (Conference paper)
• Modeling Dynamic Transcriptional Circuits with CRISPRi  + (Conference paper)
• Single day construction of multi-gene circuits with 3G assembly  + (Conference paper)
• Long-distance communication in synthetic bacterial consortia through active signal propagation  + (Conference paper)
• Voluntary lane-change policy synthesis with reactive control improvisation  + (Conference paper)
• Optimal Experiment Design and Leveraging Competition for Shared Resources in Cell-free Extracts  + (Conference paper)
• Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams  + (Conference paper)
• Temporal Logic Control of POMDPs via Label-based Stochastic Simulation Relations  + (Conference paper)
• Cell-Free Extract Data Variability Reduction in the Presence of Structural Non-Identifiability  + (Conference paper)
• A modal interface contract theory for guarded input/output automata with an application in traffic system design  + (Conference paper)
• Risk-aware motion planning for automated vehicle among human-driven cars  + (Conference paper)
• Robust Estimation Framework with Semantic Measurements  + (Conference paper)
• End-to-End Safe Reinforcement Learning through Barrier Functions for Safety-Critical Continuous Control Tasks  + (Conference paper)
• Inverse Abstraction of Neural Networks Using Symbolic Interpolation  + (Conference paper)
• Model of Paradoxical Signaling Regulated T-Cell Population Control for Design of Synthetic Circuits  + (Conference paper)
• Cooperation Enhances Robustness of Coexistence in Spatially Structured Consortia  + (Conference paper)
• Role of interaction network topology in controlling microbial population in consortia  + (Conference paper)
• Addressable, “Packet-Based” Intercellular Communication through Plasmid Conjugation  + (Conference paper)
• Quantitative characterization of random partitioning in the evolution of plasmid-encoded traits  + (Conference paper)
• Control of density and composition in an engineered two-member bacterial community  + (Conference paper)
• An automated model reduction tool to guide the design and analysis of synthetic biological circuits  + (Conference paper)
• Design of a genetic layered feedback controller in synthetic biological circuitry  + (Conference paper)
• Bacterial Controller Aided Wound Healing: A Case Study in Dynamical Population Controller Design  + (Conference paper)
• Contracts of Reactivity  + (Conference paper)
• Counter-example Guided Learning of Bounds on Environment Behavior  + (Conference paper)
• Model Reduction Tools For Phenomenological Modeling of Input-Controlled Biological Circuits  + (Conference paper)
• Theoretical Design of Paradoxical Signaling-Based Synthetic Population Control Circuit in E. coli  + (Conference paper)
• A geometric and structural approach to the analysis and design of biological circuit dynamics: a theory tailored for synthetic biology  + (Conference paper)
• Layered Feedback Control Improves Robust Functionality across Heterogeneous Cell Populations  + (Conference paper)
• Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems  + (Conference paper)
• Invariant Sets for Integrators and Quadrotor Obstacle Avoidance  + (Conference paper)
• Risk-Averse Planning Under Uncertainty  + (Conference paper)
• Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions  + (Conference paper)
• A two-state ribosome and protein model can robustly capture the chemical reaction dynamics of gene expression  + (Conference paper)
• Failure-Tolerant Contract-Based Design of an Automated Valet Parking System using a Directive-Response Architecture  + (Conference paper)
• Leveraging Classification Metrics for Quantitative System-Level Analysis with Temporal Logic Specifications  + (Conference paper)
• Synthesis of Static Test Environments for Observing Sequence-like Behaviors in Autonomous Systems  + (Conference paper)
• Planning and Optimization for Multi-Robot Planetary Cave Exploration under Intermittent Connectivity Constraints  + (Conference paper)
• Learning pose estimation for UAV autonomous navigation and landing using visual-inertial sensor data  + (Conference paper)
• Reactive motion planning with probabilistic safety guarantees  + (Conference paper)
• Engineering Logical Inflammation Sensing Circuit for Modulating Gut Conditions  + (Conference paper)
• Time-Optimal Navigation in Uncertain Environments with High-Level Specifications  + (Conference paper)
• Limits of probabilistic safety guarantees when considering human uncertainty  + (Conference paper)
• Bistable State Switch Enables Ultrasensitive Feedback Control in Heterogeneous Microbial Populations  + (Conference paper)
• Constrained risk-averse Markov decision processes  + (Conference paper)
• Systems Level Model of Dietary Effects on Cognition via the Microbiome-Gut-Brain Axis  + (Conference paper)
• Risk-Averse Decision Making Under Uncertainty  + (Conference paper)
• Robustness Guarantees for Structured Model Reduction of Dynamical Systems  + (Conference paper)
• The Python Control Systems Library (python-control)  + (Conference paper)
• Towards Better Test Coverage: Merging Unit Tests for Autonomous Systems  + (Conference paper)
• From Specification to Implementation: Assume-Guarantee Contracts for Synthetic Biology  + (Conference paper)
• Robust Safe Control Synthesis with Disturbance Observer-Based Control Barrier Functions  + (Conference paper)
• Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows  + (Conference paper)
• Evaluation Metrics for Object Detection for Autonomous Systems  + (Conference paper)
• Minimally Constrained Testing for Autonomy with Temporal Logic Specifications  + (Conference paper)
• Reasoning over Test Specifications using Assume-Guarantee Contracts  + (Conference paper)
• Evaluation Metrics of Object Detection for Quantitative System-Level Analysis of Autonomous Systems  + (Conference paper)
• A 65nm CMOS Living-Cell Dynamic Fluorescence Sensor with 1.05fA Sensitivity at 600/700nm Wavelengths  + (Conference paper)
• Optimizing protein expression in the One-Pot PURE system: Insights into reaction composition and translation efficiency  + (Conference paper)
• Specifying and Analyzing Networked and Layered Control Systems Operating on Multiple Clocks  + (Conference paper)
• Towards Assume-Guarantee Profiles for Autonomous Vehicles  + (Conference paper (submitted))
• A Robust Nonlinear Model Predictive Control Algorithm with a Safety Mode  + (Conference paperp)
• TRILL: Orchestrating Modular Deep-Learning Workflows for Democratized, Scalable Protein Analysis and Engineering  + (Conference poster)
• Context-Aided Variable Elimination for Requirement Engineering  + (Conference submission)
• A Model-Free Algorithm for Extremely Resilient Navigation  + (Conference submission)
• Efficient local validation of partially ordered models via Baysian directed sampling  + (Conference submission)
• Nonholonomic control systems: from steering to stabilization with sinuoids  + (Conference version)
• Equilibrium Controllability for a Class of Mechanical Systems  + (Conferencepaper)
• Control on the Sphere and Reduced Attitude Stabilization  + (Converence paper)
• Rapid in vitro engineering of 16 two-input logic gates  + (Downloading and printing FAQ)
• A Motion Planner for Nonholonomic Robots  + (Downloading and printing FAQ)
• Trajectory generation for the N-trailer problem using Goursat normal form  + (ERL memo)
• Future Directions in Control, Dynamics, and Systems: Overview, Grand Challenges, and New Courses  + (Journal submission)
• Effective Transition Rates for Epitaxial Growth Using Fast Modulation  + (Journal submission)
• Hard Limits And Performance Tradeoffs In A Class Of Sequestration Feedback Systems  + (Journal submission)

• Synergistic dual positive feedback loops established by molecular sequestration generate robust bimodal response  + (Journal Paper)

• Linear DNA for rapid prototyping of synthetic biological circuits in an Escherichia coli based TX-TL cell-free system  + (Journal Submission)
• Synthesis and Validation of Control Software For A Vehicular Electric Power Distribution Testbed  + (Journal Submission)
• UAV as a Reliable Wingman: A Flight Demonstration  + (Journal Submission)
• Optimal LQG Control Across a Packet-Dropping Link  + (Journal Submission)
• Design and implementation of a synthetic biomolecular concentration tracker  + (Journal article)
• Rapid cell-free forward engineering of novel genetic ring oscillators  + (Journal paper)
• Characterizing and Prototyping Genetic Networks with Cell-Free Transcription-Translation Reactions  + (Journal paper)
• Engineering Transcriptional Regulator Effector Specificity using Computational Design and In Vitro Rapid Prototyping: Developing a Vanillin Sensor  + (Journal paper)
• Synthetic circuit for exact adaptation and fold-change detection  + (Journal paper)
• A Contract-Based Methodology for Aircraft Electric Power System Design  + (Journal paper)
• Protocols for Implementing an Escherichia coli Based TX-TL Cell-Free Expression System for Synthetic Biology  + (Journal paper)
• A robust model predictive control algorithm augmented with a reactive safety mode  + (Journal paper)
• Synthesis of Reactive Switching Protocols from Temporal Logic Specifications  + (Journal paper)
• Timing molecular motion and production with a synthetic transcriptional clock  + (Journal paper)
• Discrete State Estimators for Systems on a Lattice  + (Journal paper)
• Modelling Efficient Pisciform Swimming for Control  + (Journal paper)
• An analytical approach to bistable biological circuit discrimination using real algebraic geometry  + (Journal paper)
• A population-based temporal logic gate for timing and recording chemical events  + (Journal paper)
• Biophysical Constraints Arising from Compositional Context in Synthetic Gene Networks  + (Journal paper)
• Recursively constructing analytic expressions for equilibrium distributions of stochastic biochemical reaction networks  + (Journal paper)
• Cell-free and in vivo characterization of Lux, Las, and Rpa quorum activation systems in E. coli  + (Journal paper)
• Layering assume-guarantee contracts for hierarchical system design  + (Journal paper)
• Control Theory for Synthetic Biology: Recent Advances in System Characterization, Control Design, and Controller Implementation for Synthetic Biology  + (Journal paper)
• On-chip membrane protein cell-free expression enables development of a direct binding assay: A curious case of potassium channel KcsA-Kv1.3  + (Journal paper)
• Engineering Transcriptional Regulator Effector Specificity Using Computational Design and In Vitro Rapid Prototyping: Developing a Vanillin Sensor  + (Journal paper)
• Assessment of Robustness to Temperature in a Negative Feedback Loop and a Feedforward Loop  + (Journal paper)
• A MATLAB toolbox for modeling genetic circuits in cell-free systems  + (Journal paper)
• Guidelines for Designing the Antithetic Feedback Motif  + (Journal paper)
• Data-driven network models for genetic circuits from time-series data with incomplete measurements  + (Journal paper)
• Robustness guarantees for structured model reduction of dynamical systems with applications to biomolecular models  + (Journal paper)
• Layered Feedback Control Overcomes Performance Trade-Off in Synthetic Biomolecular Networks  + (Journal paper)
• Metabolic engineering of Pseudomonas putida for production of vanillylamine from lignin-derived substrates  + (Journal paper)
• BioCRNpyler: Compiling chemical reaction networks from biomolecular parts in diverse contexts  + (Journal paper)
• Barrier-Based Test Synthesis for Safety-Critical Systems Subject to Timed Reach-Avoid Specifications  + (Journal paper)
• Fast and flexible simulation and parameter estimation for synthetic biology using bioscrape  + (Journal paper)
• Rules of the Road: Safety and Liveness Guarantees for Autonomous Vehicles  + (Journal paper)
• Control education for societal-scale challenges: A community roadmap  + (Journal paper)
• Development of cell-free transcription-translation systems in three soil Pseudomonads  + (Journal paper)
• Engineering the soil bacterium Pseudomonas synxantha 2-79 into a ratiometric bioreporter for phosphorus limitation  + (Journal paper)
• Addressable and adaptable intercellular communication via DNA messaging  + (Journal paper)
• Integrase-mediated differentiation circuits improve evolutionary stability of burdensome and toxic functions in E. coli  + (Journal paper)
• A Field-Deployable Arsenic Sensor Integrating Bacillus Megaterium with CMOS Technology  + (Journal paper)
• Impact of Chemical Dynamics of Commercial PURE Systems on Malachite Green Aptamer Fluorescence  + (Journal paper)
• Flow-Based Synthesis of Reactive Tests for Discrete Decision-Making Systems with Temporal Logic Specifications  + (Journal paper)
• The effects of time-varying temperature on delays in genetic networks  + (Journal submission)
• Bootstrapping bilinear models of simple vehicles  + (Journal submission)
• Convex Optimal Uncertainty Quantification  + (Journal submission)
• Specification and Synthesis of Reactive Protocols for Aircraft Electric Power Distribution  + (Journal submission)
• Synthesis of Control Protocols for Autonomous Systems  + (Journal submission)
• Cone Invariance and Rendezvous of Multiple Agents  + (Journal submission)
• State Estimation Over Packet Dropping Networks Using Multiple Description Coding  + (Journal submission)
• On a Stochastic Sensor Selection Algorithm with Applications in Sensor Scheduling and Sensor Coverage  + (Journal submission)
• Receding Horizon Control of a Vectored Thrust Flight Experiment  + (Journal submission)
• Model Reduction for Compressible Flows using POD and Galerkin Projection  + (Journal submission)
• Model Predictive Control for Signal Temporal Logic Specifications  + (Journal submission)
• The Effect of Compositional Context on Synthetic Gene Networks  + (Journal submission)
• A Method for Cost-Effective and Rapid Characterization of Engineered T7-based Transcription Factors by Cell-Free Protein Synthesis Reveals Insights into the Regulation of T7 RNA Polymerase-Driven Expression  + (Journal submission)
• Analysis of primitive genetic interactions for the design of a genetic signal differentiator  + (Journal submission)
• Synthetic mammalian signaling circuits for robust cell population control  + (Journal submission)
• Characterization of Integrase and Excisionase Activity in Cell-free Protein Expression System Using a Modeling and Analysis Pipeline  + (Journal submission)
• Pacti: Scaling Assume-Guarantee Reasoning for System Analysis and Design  + (Journal submission)
• A Method for Cost-Effective and Rapid Characterization of Genetic Parts  + (Journal submissions)
• Delay-dependent Stability of Genetic Regulatory Networks  + (MS thesis)
• Future Directions in Control in an Information-Rich World  + (Magazine article)
• Appealing to a Non-traditional Audience: A New Approach to Teaching Feedback  + (Magazine article)
• Distributed Computation for Cooperative Control  + (Magazine submission)
• Experiments in Planar Manipulation and Grasping  + (Masters Report)
• Rapid prototyping of biomolecular circuits through module characterization in cell-free expression systems  + (Masters Thesis)
• On Measures of Non-Integrability of Pfaffian Systems  + (Paper)
• Modeling and Control of Epitaxial Thin Film Growth  + (Ph.D. Dissertation)
• Distributed Gradient Systems and Dynamic Coordination  + (PhD Dissertation)
• Bio-Inspired Visuomotor Convergence in Navigation and Flight Control Systems  + (PhD Dissertation)
• Coarse analysis of multiscale systems: diffuser flows, charged particle motion, and connections to averaging theory  + (PhD Dissertation)
• State Estimation in Multi-Agent Decision and Control Systems  + (PhD Dissertation)
• Real-Time Optimal Trajectory Generation for Constrained Dynamical Systems  + (PhD Dissertation)
• Effects of Actuator Limits in Bifurcation Control with Applications to Active Control of Fluid Instabilities in Turbomachinery  + (PhD Dissertation)
• Robotic Manipulation with Flexible Link Fingers  + (PhD Dissertation)
• Robotic Control and Nonholonomic Motion Planning  + (PhD Dissertation)
• Real-time trajectory generation for constrained nonlinear dynamical systems using non-uniform rational B-spline basis functions  + (PhD dissertation)
• Synthetic logic circuits using RNA aptamer against T7 RNA polymerase  + (Preprint)
• Population diversification in a yeast metabolic program promotes anticipation of environmental shifts  + (Preprint)
• Bootstrapping bilinear models of robotic sensorimotor cascades  + (Preprint)
• TuLiP: A Software Toolbox for Receding Horizon Temporal Logic Planning  + (Preprint)
• Quantification and Minimization of Crosstalk Sensitivity in Networks  + (Preprint)
• Distributed Synthesis of Control Protocols for Smart Camera Networks  + (Preprint)
• Decentralized Multi-Agent Optimization via Dual Decomposition  + (Preprint)
• Stability and Performance of Non-Homogeneous Multi-Agent Systems on a Graph  + (Preprint)
• Dynamics and Stability of Low Reynolds Number Swimming Near a Wall  + (Preprint)
• Networks with the Smallest Average Distance and the Largest Average Clustering  + (Preprint)
• Resource optimisation in a wireless sensor network with guaranteed estimator performance  + (Preprint)
• Delay-Based Controller Design for Continuous-Time and Hybrid Applications  + (Preprint)
• Receding Horizon Temporal Logic Planning  + (Preprint)
• Tuning a synthetic in vitro oscillator using control-theoretic tools  + (Preprint)
• Synthesis of Embedded Control Systems with High Sampling Frequencies  + (Preprint)
• A bio-plausible design for visual pose stabilization  + (Preprint)
• Automatic Synthesis of Robust Embedded Control Software  + (Preprint)
• Autonomous Driving in Urban Environments: Approaches, Lessons and Challenges  + (Preprint)
• Receding Horizon Control for Temporal Logic Specifications  + (Preprint)
• Experimental Demonstration of the Dynamics and Stability of a Low Reynolds Number Swimmer Near a Plane Wall  + (Preprint)
• Limits on the network sensitivity function for multi-agent systems on a graph  + (Preprint)
• Simple Delay-Based Implementation of Continuous-Time Controllers  + (Preprint)
• Controlling biological networks by time-delayed signals  + (Preprint)
• A bootstrappable bio-plausible design for visual pose stabilization  + (Preprint)
• Flight dynamics and control of evasive maneuvers: the fruit fly's takeoff  + (Preprint)
• Quantized Consensus via Adaptive Stochastic Gossip Algorithm  + (Preprint)
• A bio-plausible design for visual attitude stabilization  + (Preprint)
• Receding Horizon Temporal Logic Planning for Dynamical Systems  + (Preprint)
• Geometric Control of Particle Manipulation in a Two-Dimensional Fluid  + (Preprint)
• Design of insulating devices for in vitro synthetic circuits  + (Preprint)
• Compositional stability analysis based on dual decomposition  + (Preprint)
• Automatic Conversion Software for the Safety Verification of Goal-Based Control Programs  + (Preprint)
• Probabilistic Safety Analysis of Sensor-Driven Hybrid Automata  + (Preprint)
• On Quantized Consensus by Means of Gossip Algorithm -- Part II: Convergence Time  + (Preprint)
• On Quantized Consensus by Means of Gossip Algorithm -- Part I: Convergence Proof  + (Preprint)
• Real-valued average consensus over noisy quantized channels  + (Preprint)
• Control Program Verification for a Sample Titan Aerobot Mission  + (Preprint)
• Optimal Sensor Hop Selection: Sensor Energy Minimization and Network Lifetime Maximization with Guaranteed System Performance  + (Preprint)
• Kalman Filtering Over A Packet-delaying Network: A Probabilistic Approach  + (Preprint)
• Kalman Filtering Over A Packet Dropping Network: A Probabilistic Perspective  + (Preprint)
• Design and performance of in vitro transcription rate regulatory circuit  + (Preprint)
• Probabilistic Performance of State Estimation Across a Lossy Network  + (Preprint)
• Formal Verification of an Autonomous Vehicle System  + (Preprint)
• Analysis of Dynamics in Escaping Flight Initiation in Drosophila  + (Preprint)
• Failure Probability of Verifiable Goal-based Control Programs due to State Estimation Uncertainty  + (Preprint)
• Model reduction of interconnected linear systems  + (Preprint)