Publications

IN PREPARATION

  1. R. Fierro, “Robot kinematics: Part II,” Encyclopedia of Electrical and Electronics Engineering, J. G. Webster, (ed.), John Wiley & Sons Inc., October 2007. (Invited)

  2. J. McClintock and R. Fierro, “A Multi-vehicle framework for the development of robotic games,” Oct. 2007.

JOURNAL PAPERS & BOOK CHAPTERS

  1. F. Xie and R. Fierro, "First-State Contractive Model Predictive Control of Nonholonomic Mobile Robots," IEEE/ASME Transactions on Mechatronics, July 2007. (Submitted)

  2. B. Perteet, S. Ferrari, R. Fierro, and K. Baumgartner, “A geometric optimization approach to detecting and intercepting dynamic targets using mobile sensors,” SIAM Journal on Control and Optimization, Special Issue on Control and Optimization in Cooperative Networks, January 2007. (Submitted)

  3. D. Cruz, J. McClintock, B. Perteet, O. Orqueda, Y. Cao, and R. Fierro, "Decentralized cooperative control: A multivehicle platform for research in networked embedded systems," IEEE Control Systems Magazine, vol. 27, no. 3, pp. 58-78, June 2007. [PDF]

  4. O. A. A. Orqueda, X. Zhang, and R. Fierro, “An output feedback nonlinear decentralized controller for unmanned vehicle coordination,” International Journal of Robust and Nonlinear Control, vol. 17, no. 12, pp. 1106-1128, 2007.

  5. J. Clark and R. Fierro, "Mobile robotic sensors for perimeter detection and tracking," ISA Transactions, vol. 46, no. 1, pp. 3-13, 2007.

  6. O. A.A. Orqueda and R. Fierro, “Model predictive path-space iteration for multirobot coordination,” In Cooperative Systems: Control and Optimization Series, D. Grundel, R. Murphey, P. Pardalos, and O. Prokopyev (eds.), Springer, Lecture Notes in Economics and Mathematical Systems, vol. 588, 2007. (In press)

  7. C. Branca and R. Fierro, "Hierarchical optimization strategies for deployment of mobile robots," International Journal of Intelligent Control and Systems IJICS, Special Issue on Swarm Robotics, vol. 11, no. 3, pp. 141-153, 2006.

  8. R. Fierro, L. Chaimowicz, and V. Kumar, “Multi-Robot Cooperation,” In Autonomous Mobile Robots: Sensing, Control, Decision Making and Applications, S. S. Ge and F. L. Lewis (eds.), CRC Press - Taylor & Francis Group, chapter 11, pp. 417-459, May 2006.

  9. R. Fierro and P. Song, "Coordination of Robot Teams: A Decentralized Approach,"  in Current Trends in Nonlinear Systems and Control: In honor of Petar Kokotovic and Turi Nicosia, L. Menini, L. Zaccarian, and C. T. Abdallah (eds.), Systems & Control: Foundations & Applications Series, Birkhäuser, pp. 347-363, 2005.

  10. R. Fierro, J. Clark, D. Hougen, and S. Commuri, "A multi-robot testbed for biologically-inspired cooperative control," in Multi-Robot Systems. From Swarms to Intelligent Automata, Volume III, L. E. Parker, F. E. Schneider, and A. C. Schultz (eds.), Springer, pp. 171-182, 2005.

  11. R. Fierro and K. Wesselowski, "Optimization-based control of multi-vehicle systems," in A Post-Workshop Volume 2003 Block Island Workshop on Cooperative Control Series, V. Kumar, N.E. Leonard, and A.S. Morse (eds.), Springer-Verlag, Lecture Notes in Control and Information Sciences , Vol.  309, pp. 63-78, 2005.

  12. R. Fierro and A. K. Das, "On dynamic reconfiguration of multi-robot formations," in Multi-Robot Systems: From Swarms to Intelligent Automata, A. C. Schultz, L. E. Parker, and F. E. Schneider (eds.), Kluwer Academic Press,  vol. 2, pp. 299-300, March 2003.

  13. A. K. Das, R. Fierro, and V. Kumar, "Control graphs for robot networks," in Cooperative Control: Models, Applications and Algorithms, S. Butenko, R. Murphey and P. Pardalos (eds.), Cooperative Systems, vol. 1, chapter 4, pp. 55-73, Kluwer Academic Press, January 2003.

  14. R. Fierro,  A. Das, J. Spletzer, R. Alur, J. Esposito, Y. Hur, G. Grudic, V. Kumar, I. Lee, J. P. Ostrowski, G. Pappas, J. Southall and C. J. Taylor, "A framework and architecture for multi-robot coordination," The International Journal of Robotics Research, vol. 21, no.10-11, pp. 977-995, Oct-Nov 2002.

  15. A. K. Das, R. Fierro, V. Kumar, J. P. Ostrowski, J. Spletzer, and C. J. Taylor, "A vision-based formation control  framework," IEEE Trans. Robotics and Automation, vol. 18, no. 5, pp. 813-825, Oct. 2002.

  16. R. Fierro, P. Song, A. Das, and V. Kumar, "Cooperative control of robot formations," in Cooperative Control and Optimization, R. Murphey and P. Pardalos (eds.), Applied Optimization, vol. 66, chapter 5, pp. 73-93, Kluwer Academic Press, 2002.

  17. R. Alur, T. Dang, J. Esposito, R. Fierro, Y. Hur, F. Ivancic, V. Kumar, I. Lee, P. Mishra, G. Pappas, and O. Sokolsky, "Hierarchical hybrid modeling of embedded systems," Embedded Software, T. A. Henzinger and C. M. Kirsch (eds.),  LNCS 2211, Springer, pp. 14-31, 2001.

  18. R. Alur, A. Das, J. Esposito, R. Fierro, Y. Hur, G. Grudic, V. Kumar, I. Lee, J. P. Ostrowski, G. Pappas, J. Southall, J. Spletzer, and C. Taylor, "A framework and architecture for multirobot coordination," Experimental Robotics VII, D. Rus and S. Singh (eds.), Springer, LNCIS 271, pp. 303-312, 2001.

  19. R. Fierro, F. L. Lewis, and A. Lowe, "Hybrid control for a class of underactuated mechanical systems," IEEE Trans. Syst., Man, Cyber-Part A: Systems and Humans, vol. 29, no. 6, pp. 649-654, Nov. 1999.

  20. R. Fierro and F. L. Lewis, "Robot kinematics," Encyclopedia of Electrical and Electronics Engineering, J. G. Webster (ed.), John Wiley & Sons Inc., 1999.

  21. R. Fierro and F. L. Lewis, "Control of a nonholonomic mobile robot using neural networks," IEEE Trans. Neural Networks, vol. 9, no. 4, pp. 589-600, July 1998.

  22. R. Fierro, F. L. Lewis, and K. Liu, "Hybrid control system design using a fuzzy logic interface," Circuits, Systems, and Signal Processing, vol. 17, no. 3, pp. 401-419, 1998.

  23. R. Fierro and F. L. Lewis, "A framework for hybrid control design," IEEE Trans. Syst., Man, Cyber., vol. 27-A, no. 6, pp. 765-773, Nov. 1997.

  24. R. Fierro and F. L. Lewis, "Control of a nonholonomic mobile robot: Backstepping kinematics into dynamics," Journal of Robotic Systems, vol. 14, no. 3, pp. 149-163, 1997.

  25. R. Fierro and F. L. Lewis, "Robust practical point stabilization of a nonholonomic mobile robot using neural networks," Journal of Intelligent Robotic Systems, Kluwer Academic Publishers, no. 20, pp. 295-317, 1997.

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CONFERENCE PROCEEDINGS

  1. J. McClintock and R. Fierro, “A hybrid controller and path planner for multi-robot navigation,” IEEE International Conference on Robotics and Automation ICRA'08, Pasadena, CA, September 2007. (Submitted)

  2. S. Ferrari, C. Cai, R. Fierro, and B. Perteet, "A geometric optimization approach to detecting and intercepting dynamic targets,” American Control Conference, New York City, July 11-13, 2007, pp. 5316-5321.

  3. O. A.A. Orqueda and R. Fierro, "Visual tracking of mobile robots in formation," American Control Conference, New York City, July 11-13, 2007, pp. 5940-5945.

  4. F. Xie and R. Fierro, "On motion coordination of multiple vehicles with nonholonomic constraints," American Control Conference, New York City, July 11-13, 2007, pp. 1888-1893.

  5. B. Perteet, J. McClintock, and R. Fierro, "A multi-vehicle framework for the development of Robotic Games: The Marco Polo case," IEEE International Conference on Robotics and Automation ICRA'07, Rome, Italy, April 10-14, 2007, pp. 3717-3722.

  6. Y. Cao and R. Fierro, "Dynamic boundary tracking using dynamic sensor nets," IEEE Conf. on Decision and Control (CDC'06), San Diego, CA, December 13-15, 2006, pp. 703-708.

  7. C. Branca and R. Fierro, "A Hierarchical optimization algorithm for cooperative vehicle networks," American Control Conference, Minneapolis, MN, June 14-16, 2006, pp. 4225-4230.

  8. O. A.A. Orqueda and R. Fierro, "Robust Vision-based nonlinear formation control," American Control Conference, Minneapolis, MN, June 14-16, 2006, pp. 1422-1427.

  9. O. A.A. Orqueda and R. Fierro, "Vision-based nonlinear decentralized controller for unmanned vehicles," IEEE International Conference on Robotics and Automation, Orlando, Fl, May 15-19, 2006, pp. 1-6.

  10. D. Pack, G. York, and R. Fierro, “Information-based cooperative control for multiple unmanned aerial vehicles,” IEEE Int. Conference on Networking, Sensing, and Control, Ft. Lauderdale, Fl, April 23-25, 2006, pp 672-676. Invited paper.

  11. E. Edwan and R. Fierro, "A low cost modular autonomous robot vehicle," 38th Southeastern Symposium on System Theory (SSST 2006), Cookeville, TN, March 5-6, 2006, pp. 245-249.

  12. F. Xie, T. Zhang, R. Fierro, and M. Motter, "Autopilot-based nonlinear UAV formation controller with extremum-seeking," IEEE Conf. on Decision and Control and European Control Conference (CDC-ECC'05), Seville, Spain, December 12-15, 2005, pp. 4933-4938.

  13. J. Clark and R. Fierro, "Cooperative hybrid control of robotic sensors for perimeter detection and tracking," American Control Conference (ACC), Portland, OR, June 8-10, 2005, pp. 3500-3505. Best Paper Presentation in the FrA03 Autonomous Systems and Networks Session.

  14. R. Fierro, C. Branca, and J. Spletzer, “On-line optimization-based coordination of multiple unmanned vehicles,” IEEE Int. Conference on Networking, Sensing and Control, Tucson, AZ, March 19-22, 2005, pp. 716-721. Invited paper.

  15. J. Spletzer and R. Fierro, "Optimal position strategies for shape changes in robot teams," IEEE Int. Conference on Robotics and Automation, Barcelona, Spain, April 18-22, 2005, pp.754-759.

  16. S. Commuri, Y. Li, D. Hougen, and R. Fierro, “Evaluating intelligence in unmanned ground vehicle teams,” Performance Metrics for Intelligent Systems Workshop (PerMIS’04), NIST, Gaithersburg, MD, 2004.

  17. S. Commuri, R. Fierro, D. Hougen, and R. Muthuraman, "System intelligence requires distributed learning," IEEE International Symposium on Intelligent Control, Taipei, Taiwan, September 2-4, 2004, pp. 67-72.

  18. S. Commuri, Y. Li, D. Hougen, and R. Fierro, "Designing for system intelligence," 5th IFAC Symposium on Intelligent Autonomous Vehicles IAV, Lisbon, Portugal, July 5-7, 2004.

  19. R. Fierro, J. Clark, J. Sánchez, K. Walling et al., “A low-cost modular multi-vehicle experimental testbed for cooperative control,” 2nd Annual Swarming: Network Enabled C4ISR Conference, Washington DC, June 14-16, 2004.

  20. K. Wesselowski and R. Fierro, "A dual-mode model predictive controller for robot formations," IEEE Conf. on Decision and  Control, Maui, Hawaii, December 9-12, 2003, pp. 3615-3620.

  21. J. Sanchez and R. Fierro, "Sliding mode control for robot formations," IEEE Int. Symposium on Intelligent Control, Houston TX, October 5-8, 2003, pp. 438-443.

  22. R. Fierro and A. K. Das, "Hybrid control of reconfigurable robot formations,"  American Control Conference,  Denver CO, June 4-6, 2003, pp. 4607-4612.

  23. Y. Hur, R. Fierro, and I. Lee, "Modeling distributed autonomous robots using CHARON: Formation control case study," Sixth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing (ISORC'03), Hakodate, Hokkaido, Japan, May 14-16, 2003, pp. 93 -96.

  24. R. Fierro and A. K. Das, "A modular architecture for formation control," IEEE 3rd International Workshop on Robot Motion and Control (RoMoCo'02), Bukowy Dworek, Poland, Nov. 9-11, 2002, pp. 285-290.

  25. R. Fierro and E. Edwan, "The OSU multi-vehicle coordination testbed," Proc. IEEE Midwest Symposium on Circuits and Systems (MWSCAS), vol. 3, Tulsa, OK, August 4-7, 2002, pp. 41-44.

  26. R. Fierro, C. Belta, J. Desai, and V. Kumar, "On controlling aircraft formations," Proc. IEEE Conference on Decision and Control, CDC2001, Orlando, FL, Dec. 2001, pp. 1065-1070.

  27. R. Alur, T. Dang, J. Esposito, R. Fierro, Y. Hur, F. Ivancic, V. Kumar, I. Lee, P. Mishra, G. Pappas, and O. Sokolsky, "Hierarchical hybrid modeling of embedded systems," EMSOFT 2001: First International Workshop on Embedded Software, Tahoe City, CA, Oct. 8-10, 2001.

  28. J. Spletzer, A. K. Das, R. Fierro, C. J. Taylor, V. Kumar, and J. P. Ostrowski, "Cooperative localization and control for multi-robot manipulation," IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS2001,  Maui, Hawaii, Oct. 2001, pp. 631-636.

  29. R. Fierro, A. Das, V. Kumar, and J. P. Ostrowski, "Hybrid control of formations of robots," IEEE Int. Conf. on Robotics and Automation, Seoul, Korea, May 2001, pp. 157-162. Finalist in the Best Conference Paper Competition.

  30. A. Das, R. Fierro, V. Kumar, J. Southall, J. Spletzer, and C. Taylor, "Real-time vision based control of a nonholonomic mobile robot," IEEE Int. Conf. on Robotics and Automation, Seoul, Korea, May 2001, pp. 1714-1719.

  31. R. Fierro, Y. Hur, I. Lee, and L. Sha, "Modeling the Simplex architecture using CHARON," Proc. Work-In-Progress Sessions of The 21st IEEE Real-Time Systems Symposium, Orlando, FL, Nov. 27-30, 2000, pp. 77-80.

  32. R. Alur, A. Das, J. Esposito, R. Fierro, Y. Hur, G. Grudic, V. Kumar, I. Lee, J. P. Ostrowski, G. Pappas, J. Southall, J. Spletzer, and C. Taylor, "A framework and architecture for multirobot coordination," Proc.  ISER00, Seventh International Symposium on Experimental Robotics, Honolulu, Hawaii, Dec. 10-13, 2000.

  33. R. Fierro, F. L. Lewis, and A. Lowe, "A hybrid control approach for a class of underactuated mechanical systems," IEEE Int. Symp. Intell. Contr., Istanbul, Turkey, July 1997. pp. 367-372.

  34. R. Fierro, F. L. Lewis, and K. Liu, "A framework for hybrid control design and its relations with a class of fuzzy logic control systems," IEEE Mediterranean Conf. Contr. Syst., July 1997.

  35. R. Fierro and F. L. Lewis, "Practical point stabilization of a nonholonomic mobile robot using neural networks," Proc. IEEE Conf. Dec. Contr., Kobe, Japan, Dec. 1996, pp. 1722-1727.

  36. R. Fierro, F. L. Lewis, and C. T. Abdallah, "Common, multiple and parametric Lyapunov functions for a class of hybrid dynamical systems," Proc. IEEE Mediterranean Symp. New Directions in Contr. and Automat., Crete, Greece, June 1996, pp. 77-82.

  37. R. Fierro and F. L. Lewis, "Control of a nonholonomic mobile robot: Backstepping kinematics into dynamics," Proc. IEEE Conf. Dec. Contr., New Orleans, LA, Dec. 1995, pp. 3805-3810.

  38. R. Fierro and F. L. Lewis, "Control of a nonholonomic mobile robot using neural networks," Proc. IEEE Int. Symp. Intell. Contr., Monterey, CA, Aug. 1995, pp. 415-421.

  39. F. L. Lewis, H. Huang, R. Fierro, and D. Tacconi, "Real-time task planning, resource allocation, and deadlock avoidance," Proc. ISIC Workshop on Architectures for Semiotic Modeling and Situation Analysis in Large Complex Systems, Monterey, CA, Aug. 1995, pp. 347-355.

  40. R. Zulli, R. Fierro, G. Conte, and F. L. Lewis, "Motion planning and control for non-holonomic mobile robots," Proc. IEEE Int. Symp. Intell. Contr., Monterey, CA, Aug. 1995, pp. 551-557.

  41. K. Ratlif, R. Fierro, R. Richardson, and F. L. Lewis, "Towards a framework for intelligent control," Proc. ISPE/IFAC Int. Conference on CAD/CAM, Robotics and Factories of the Future, CARs & FOF '94, Ottawa, Canada, Aug. 1994, pp. 921-927.

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TECHNICAL REPORTS

  1. R. Fierro, P. Song, A. Das, and V. Kumar, "A framework for scalable cooperative navigation of autonomous vehicles," Technical Report MS-CIS-01-09, Department of Computer and Information Science, University of Pennsylvania, March 2001. Available at here.

  2. D. Cruz, B. Perteet, J. McClintock, O. Orqueda and R. Fierro, “An experimental multi-vehicle testbed for cooperative control systems,” The MARHES Lab, School of Electrical and Computer Engineering, Oklahoma State University, May 2006. 

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Last updated Sep. 16 , 2007