• Publications
  • Influence
Consensus problems in networks of agents with switching topology and time-delays
TLDR
In this paper, we discuss consensus problems for networks of dynamic agents with fixed and switching topologies and provide a convergence analysis in all three cases. Expand
  • 9,555
  • 618
  • PDF
A Mathematical Introduction to Robotic Manipulation
INTRODUCTION: Brief History. Multifingered Hands and Dextrous Manipulation. Outline of the Book. Bibliography. RIGID BODY MOTION: Rigid Body Transformations. Rotational Motion in R3. Rigid Motion inExpand
  • 6,108
  • 549
  • PDF
INFORMATION FLOW AND COOPERATIVE CONTROL OF VEHICLE FORMATIONS
Abstract Vehicles in formation often lack global information regarding the state of all the vehicles, a deficiency which can lead to instability and poor performance. In this paper, we demonstrateExpand
  • 1,911
  • 135
Information flow and cooperative control of vehicle formations
  • J. A. Fax, R. Murray
  • Mathematics, Computer Science
  • IEEE Transactions on Automatic Control
  • 13 September 2004
TLDR
We consider the problem of cooperation among a collection of vehicles performing a shared task using intervehicle communication to coordinate their actions. Expand
  • 2,374
  • 97
  • PDF
Nonholonomic motion planning: steering using sinusoids
Methods for steering systems with nonholonomic c.onstraints between arbitrary configurations are investigated. Suboptimal trajectories are derived for systems that are not in canonical form. SystemsExpand
  • 1,728
  • 74
  • PDF
IL-7 is critical for homeostatic proliferation and survival of naïve T cells
  • J. T. Tan, E. Dudl, +4 authors C. Surh
  • Biology, Medicine
  • Proceedings of the National Academy of Sciences…
  • 10 July 2001
In T cell-deficient conditions, naïve T cells undergo spontaneous “homeostatic” proliferation in response to contact with self-MHC/peptide ligands. With the aid of an in vitro system, we show hereExpand
  • 955
  • 52
  • PDF
Consensus protocols for networks of dynamic agents
TLDR
In this paper, we introduce linear and nonlinear consensus protocols for networks of dynamic agents with undirected information flow that solve an averageconsensus problem in a distributed way. Expand
  • 648
  • 41
  • PDF
Privacy preserving average consensus
TLDR
We propose a privacy preserving average consensus algorithm and derive upper and lower bounds for the covariance matrix of the maximum likelihood estimate on the initial state. Expand
  • 185
  • 35
  • PDF
Tracking for fully actuated mechanical systems: a geometric framework
TLDR
We present a general framework for the control of Lagrangian systems with as many inputs as degrees of freedom, based on the geometry of mechanical systems on manifolds. Expand
  • 233
  • 33
Distributed receding horizon control for multi-vehicle formation stabilization
TLDR
We consider the control of interacting subsystems whose dynamics and constraints are decoupled, but whose state vectors are coupled non-separably in a single cost function of a finite horizon optimal control problem. Expand
  • 641
  • 27
  • PDF