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Todd D. Murphey, Ph.D. - Publications

Affiliations: 
2004-2008 University of Colorado, Boulder, Boulder, CO, United States 
 2009- Mechanical Engineering Northwestern University, Evanston, IL 
Area:
computational methods in dynamics and control
Website:
http://www.mccormick.northwestern.edu/research-faculty/directory/profiles/murphey-todd.html
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63 high-probability publications. We are testing a new system for linking publications to authors. You can help! If you notice any inaccuracies, please sign in and mark papers as correct or incorrect matches. If you identify any major omissions or other inaccuracies in the publication list, please let us know.

Year Citation  Score
2020 Broad A, Abraham I, Murphey TD, Argall B. Data-driven Koopman operators for model-based shared control of human–machine systems: The International Journal of Robotics Research. 39: 1178-1195. DOI: 10.1177/0278364920921935  0.307
2019 Tzorakoleftherakis E, Murphey TD. Iterative Sequential Action Control for Stable, Model-Based Control of Nonlinear Systems Ieee Transactions On Automatic Control. 64: 3170-3183. DOI: 10.1109/Tac.2018.2885477  0.367
2018 Mamakoukas G, MacIver MA, Murphey TD. Feedback synthesis for underactuated systems using sequential second-order needle variations The International Journal of Robotics Research. 37: 1826-1853. DOI: 10.1177/0278364918776083  0.373
2018 Mavrommati A, Tzorakoleftherakis E, Abraham I, Murphey TD. Real-Time Area Coverage and Target Localization Using Receding-Horizon Ergodic Exploration Ieee Transactions On Robotics. 34: 62-80. DOI: 10.1109/Tro.2017.2766265  0.353
2018 Flaßkamp K, Murphey TD. Structure-preserving local optimal control of mechanical systems Optimal Control Applications and Methods. 40: 310-329. DOI: 10.1002/Oca.2479  0.347
2017 Wilson AD, Schultz JA, Ansari AR, Murphey TD. Dynamic Task Execution Using Active Parameter Identification With the Baxter Research Robot Ieee Transactions On Automation Science and Engineering. 14: 391-397. DOI: 10.1109/Tase.2016.2594147  0.554
2017 Broad A, Schultz J, Derry M, Murphey T, Argall B. Trust Adaptation Leads to Lower Control Effort in Shared Control of Crane Automation Ieee Robotics and Automation Letters. 2: 239-246. DOI: 10.1109/LRA.2016.2593740  0.493
2017 Flaßkamp K, Ansari AR, Murphey TD. Hybrid control for tracking of invariant manifolds Nonlinear Analysis: Hybrid Systems. 25: 298-311. DOI: 10.1016/J.Nahs.2016.08.002  0.373
2017 Flaßkamp K, Murphey TD, Büskens C. Variational integrators for open-loop and closed-loop optimal control of mechanical systems Pamm. 17: 791-792. DOI: 10.1002/Pamm.201710363  0.374
2016 Farshchiansadegh A, Melendez-Calderon A, Ranganathan R, Murphey TD, Mussa-Ivaldi FA. Sensory Agreement Guides Kinetic Energy Optimization of Arm Movements during Object Manipulation. Plos Computational Biology. 12: e1004861. PMID 27035587 DOI: 10.1371/Journal.Pcbi.1004861  0.333
2016 Schultz J, Flaßkamp K, Murphey TD. Variational Integrators for Structure-Preserving Filtering Journal of Computational and Nonlinear Dynamics. 12. DOI: 10.1115/1.4034728  0.537
2016 Ansari AR, Murphey TD. Sequential Action Control: Closed-Form Optimal Control for Nonlinear and Nonsmooth Systems Ieee Transactions On Robotics. 32: 1196-1214. DOI: 10.1109/Tro.2016.2596768  0.406
2016 Mavrommati A, Schultz J, Murphey TD. Real-Time Dynamic-Mode Scheduling Using Single-Integration Hybrid Optimization Ieee Transactions On Automation Science and Engineering. 13: 1385-1398. DOI: 10.1109/Tase.2016.2570141  0.586
2016 Tzorakoleftherakis E, Ansari A, Wilson A, Schultz J, Murphey TD. Model-Based Reactive Control for Hybrid and High-Dimensional Robotic Systems Ieee Robotics and Automation Letters. 1: 431-438. DOI: 10.1109/LRA.2016.2522078  0.506
2016 Caldwell TM, Murphey TD. Projection-based iterative mode scheduling for switched systems Nonlinear Analysis: Hybrid Systems. 21: 59-83. DOI: 10.1016/J.Nahs.2015.11.002  0.573
2016 Caldwell TM, Murphey TD. Power Network Regulation Benchmark for Switched-Mode Optimal Control Ifac-Papersonline. 48: 280-285. DOI: 10.1016/J.Ifacol.2015.11.188  0.309
2016 Schultz J, Murphey T. Low-Infrastructure Real-Time Embedded Control via Variational Integrators Pamm. 16: 949-952. DOI: 10.1002/Pamm.201610455  0.553
2015 Ansari A, Murphey T. Minimum sensitivity control for planning with parametric and hybrid uncertainty The International Journal of Robotics Research. 35: 823-839. DOI: 10.1177/0278364915600536  0.384
2015 Miller LM, Silverman Y, MacIver MA, Murphey TD. Ergodic Exploration of Distributed Information Ieee Transactions On Robotics. DOI: 10.1109/Tro.2015.2500441  0.307
2015 Johnson E, Schultz J, Murphey T. Structured linearization of discrete mechanical systems for analysis and optimal control Ieee Transactions On Automation Science and Engineering. 12: 140-152. DOI: 10.1109/Tase.2014.2333239  0.694
2015 Wilson AD, Schultz JA, Murphey TD. Trajectory optimization for well-conditioned parameter estimation Ieee Transactions On Automation Science and Engineering. 12: 28-36. DOI: 10.1109/Tase.2014.2323934  0.569
2015 Wilson AD, Schultz JA, Ansari AR, Murphey TD. Real-time trajectory synthesis for information maximization using Sequential Action Control and least-squares estimation Ieee International Conference On Intelligent Robots and Systems. 2015: 4935-4940. DOI: 10.1109/IROS.2015.7354071  0.496
2015 Ansari A, Flaßkamp K, Murphey TD. Sequential Action Control for Tracking of Free Invariant Manifolds**This material is based upon work supported by the National Science Foundation under Grant CMMI 1200321. Any opinions, _ndings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reect the views of the National Science Foundation. Ifac-Papersonline. 48: 335-342. DOI: 10.1016/J.Ifacol.2015.11.197  0.382
2014 Wilson AD, Schultz JA, Murphey TD. Trajectory Synthesis for Fisher Information Maximization. Ieee Transactions On Robotics : a Publication of the Ieee Robotics and Automation Society. 30: 1358-1370. PMID 25598763 DOI: 10.1109/TRO.2014.2345918  0.542
2014 Quist BW, Seghete V, Huet LA, Murphey TD, Hartmann MJ. Modeling forces and moments at the base of a rat vibrissa during noncontact whisking and whisking against an object. The Journal of Neuroscience : the Official Journal of the Society For Neuroscience. 34: 9828-44. PMID 25057187 DOI: 10.1523/Jneurosci.1707-12.2014  0.728
2014 Seghete V, Murphey TD. A propagative model of simultaneous impact: Existence, uniqueness, and design consequences Ieee Transactions On Automation Science and Engineering. 11: 154-168. DOI: 10.1109/Tase.2013.2267731  0.742
2014 Schultz J, Murphey TD. Extending filter performance through structured integration Proceedings of the American Control Conference. 430-436. DOI: 10.1109/ACC.2014.6858979  0.443
2014 Seghete V, Murphey TD. Continuous-time optimal control of impacting mechanical systems via a projected Hamilton's principle Proceedings of the American Control Conference. 2438-2444. DOI: 10.1109/ACC.2014.6858797  0.752
2014 Jochum E, Schultz J, Johnson E, Murphey TD. Robotic puppets and the engineering of autonomous theater Controls and Art: Inquiries At the Intersection of the Subjective and the Objective. 107-128. DOI: 10.1007/978-3-319-03904-6_5  0.449
2013 Miller LM, Murphey TD. Simultaneous optimal estimation of mode transition times and parameters applied to simple traction models Ieee Transactions On Robotics. 29: 1496-1503. DOI: 10.1109/Tro.2013.2273848  0.344
2013 Caldwell TM, Murphey TD. Projection-based optimal mode scheduling Proceedings of the Ieee Conference On Decision and Control. 5307-5314. DOI: 10.1109/CDC.2013.6760724  0.488
2013 Flaßkamp K, Murphey T, Ober-Blöbaum S. Optimization for discretized switched systems Pamm. 13: 401-402. DOI: 10.1002/Pamm.201310196  0.342
2013 Schultz J, Murphey TD. Embedded control synthesis using one-step methods in discrete mechanics Proceedings of the American Control Conference. 5293-5298.  0.485
2012 Caldwell TM, Murphey TD. Single integration optimization of linear time-varying switched systems Ieee Transactions On Automatic Control. 57: 1592-1597. DOI: 10.1109/Tac.2011.2174694  0.571
2012 Schultz J, Murphey T. Trajectory generation for underactuated control of a suspended mass Proceedings - Ieee International Conference On Robotics and Automation. 123-129. DOI: 10.1109/ICRA.2012.6225032  0.489
2012 Seghete V, Murphey T. Conditions for uniqueness in simultaneous impact with application to mechanical design Proceedings - Ieee International Conference On Robotics and Automation. 5006-5011. DOI: 10.1109/ICRA.2012.6224737  0.722
2012 Caldwell TM, Murphey TD. Projection-based switched system optimization: Absolute continuity of the line search Proceedings of the Ieee Conference On Decision and Control. 699-706. DOI: 10.1109/CDC.2012.6426270  0.487
2011 Travers M, Murphey T, Pao L. Impulsive data association with an unknown number of targets Hscc'11 - Proceedings of the 2011 Acm/Sigbed Hybrid Systems: Computation and Control. 261-270. DOI: 10.1145/1967701.1967739  0.447
2011 Johnson ER, Murphey TD. Second-order switching time optimization for nonlinear time-varying dynamic systems Ieee Transactions On Automatic Control. 56: 1953-1957. DOI: 10.1109/Tac.2011.2150310  0.345
2011 Martin P, Johnson E, Murphey T, Egerstedt M. Constructing and implementing motion programs for robotic marionettes Ieee Transactions On Automatic Control. 56: 902-907. DOI: 10.1109/Tac.2011.2105312  0.554
2011 Caldwell TM, Murphey TD. Switching mode generation and optimal estimation with application to skid-steering Automatica. 47: 50-64. DOI: 10.1016/J.Automatica.2010.10.010  0.58
2010 Chirikjian G, Choset H, Morales M, Murphey T. Editorial The International Journal of Robotics Research. 29: 787-788. DOI: 10.1177/0278364910363634  0.607
2010 Seghete V, Murphey T. Variational solutions to simultaneous collisions between multiple rigid bodies Proceedings - Ieee International Conference On Robotics and Automation. 2731-2738. DOI: 10.1109/ROBOT.2010.5509766  0.718
2010 Caldwell TM, Murphey TD. Relaxed optimization for mode estimation in skid steering Proceedings - Ieee International Conference On Robotics and Automation. 5423-5428. DOI: 10.1109/ROBOT.2010.5509356  0.489
2010 Travers M, Murphey T, Pao L. Impulse optimization for data association Proceedings of the Ieee Conference On Decision and Control. 2204-2209. DOI: 10.1109/CDC.2010.5717434  0.5
2010 Caldwell TM, Murphey TD. An adjoint method for second-order switching time optimization Proceedings of the Ieee Conference On Decision and Control. 2155-2162. DOI: 10.1109/CDC.2010.5717354  0.51
2009 Johnson ER, Murphey TD. Scalable variational integrators for constrained mechanical systems in generalized coordinates Ieee Transactions On Robotics. 25: 1249-1261. DOI: 10.1109/Tro.2009.2032955  0.336
2009 Caldwell TM, Murphey TD. Second-order optimal estimation of slip state for a simple slip-steered vehicle 2009 Ieee International Conference On Automation Science and Engineering, Case 2009. 133-139. DOI: 10.1109/COASE.2009.5234155  0.507
2009 Seghete V, Murphey TD. Multiple instantaneous collisions in a variational framework Proceedings of the Ieee Conference On Decision and Control. 5015-5020. DOI: 10.1109/CDC.2009.5400369  0.726
2008 Shucker B, Murphey TD, Bennett JK. Convergence-preserving switching for topology-dependent decentralized systems Ieee Transactions On Robotics. 24: 1405-1415. DOI: 10.1109/Tro.2008.2007940  0.307
2008 Murphey TD. On multiple model control for multiple contact systems Automatica. 44: 451-458. DOI: 10.1016/J.Automatica.2007.05.018  0.371
2007 Murphey TD. Kinematic reductions for uncertain mechanical contact Robotica. 25: 751-764. DOI: 10.1017/S0263574707003827  0.343
2006 Murphey TD, Burdick JW. The power dissipation method and kinematic reducibility of multiple-model robotic systems Ieee Transactions On Robotics. 22: 694-710. DOI: 10.1109/Tro.2006.878971  0.562
2004 Murphey TD, Burdick JW. Feedback control methods for distributed manipulation systems that involve mechanical contacts International Journal of Robotics Research. 23: 763-781. DOI: 10.1177/0278364904045480  0.558
2004 Murphey TD, Burdick JW. Feedback control for distributed manipulation Springer Tracts in Advanced Robotics. 7: 487-503. DOI: 10.1007/978-3-540-45058-0_29  0.461
2003 Murphey TD, Burdick JW, Burgess J, Homyk A. Experiments in nonsmooth control of distributed manipulation Proceedings - Ieee International Conference On Robotics and Automation. 3: 3600-3606.  0.446
2003 Murphey TD, Burdick JW. Smooth feedback control algorithms for distributed manipulators Proceedings - Ieee International Conference On Robotics and Automation. 3: 3619-3623.  0.454
2003 Murphey TD, Burdick JW. Kinematic Reducibility of Multiple Model Systems Proceedings of the Ieee Conference On Decision and Control. 5: 5307-5313.  0.459
2002 Murphey TD, Burdick JW. Global exponential stabilizability for distributed manipulation systems Proceedings - Ieee International Conference On Robotics and Automation. 2: 1210-1216.  0.444
2002 Murphey TD, Burdick JW. Nonsmooth controllability theory and an example Proceedings of the Ieee Conference On Decision and Control. 1: 370-376.  0.436
2001 Murphey TD, Burdick JW. On the stability and design of distributed manipulation control systems Proceedings - Ieee International Conference On Robotics and Automation. 3: 2686-2691. DOI: 10.1109/ROBOT.2001.933028  0.472
2001 Murphey TD, Burdick JW. A controllability test and motion planning primitives for overconstrained vehicles Proceedings - Ieee International Conference On Robotics and Automation. 3: 2716-2722.  0.431
2001 Murphey TD, Burdick JW. Global stability for distributed systems with changing contact states Ieee International Conference On Intelligent Robots and Systems. 1: 214-219.  0.429
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