PUBLICATIONS

• C. H. Caicedo-N. and M. Žefran, Balancing Sensing and Coverage in Mobile Sensor Networks: Aggregation Based Approach. 2007 IEEE International Conference on Robotics and Automation, Workshop on Collective Behaviors inspired by Biological and Biochemical Systems, Rome, Italy, 2007.
• S. Wei, K. Uthaichana, M. Žefran, R. A. DeCarlo and S. Bengea, Applications of numerical optimal control to nonlinear hybrid systems. Nonlinear Analysis: Hybrid Systems, vol. 1, no. 2, Nonlinear Hybrid Control Systems, pp. 264-279, 2007.
• S. Wei, M. Žefran, K. Uthaichana and R. A. DeCarlo, Hybrid Model Predictive Control for Stabilization of Wheeled Mobile Robots Subject to Wheel Slippage. 2007 IEEE International Conference on Robotics and Automation, Rome, Italy, 2007.
• P. Tzanos and M. Žefran, Locating a Circular Biochemical Source: Modeling and Control. 2007 IEEE International Conference on Robotics and Automation, Rome, Italy, 2007.
• S. Wei and M. Žefran, Towards a Formal Design of Behaviors for Autonomous Robots. 2006 IEEE International Conference on Networking, Sensing and Control, Fort Lauderdale, FL, 2006.
• P. Tzanos and M. Žefran, Stability Analysis of Information Based Control for Biochemical Source Localization. 2006 IEEE International Conference on Robotics and Automation, Orlando, FL, 2006.
• C. H. Caicedo-N. and M. Žefran, Task Switching in Mobile Wireless Sensor Networks. 2006 IEEE International Conference on Networking, Sensing and Control, Fort Lauderdale, FL, pp. 12-17, 2006.
• P. Tzanos, M. Žefran, and A. Nehorai, Information Based Distributed Control for Biochemical Source Detection and Localization. 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 2005.
• S. Wei and M. Žefran, Smooth path planning and control for mobile robots. 2005 IEEE International Conference on Networking, Sensing and Control, Tucson, AZ, 2005.
• C. H. Caicedo-N. and M. Žefran, Energy Cost of Coordination Algorithms for Wireless Mobile Sensor Networks. 2005 IEEE International Conference on Networking, Sensing and Control, Tucson, AZ, 2005.
• G. Song and M. Žefran, A Computational Approach to Dynamic Bipedal Walking. IROS 2003, Las Vegas, NV, 2003.
• S. Mahapatra and M. Žefran, Stable Haptic Interaction with Switched Virtual Environments. 2003 International Conference on Robotics and Automation, Taipei, TW, 2003.
• F. Bullo and M. Žefran, Modeling and controllability for a class of hybrid mechanical systems. IEEE Transactions on Robotics and Automation, vol. 18, no. 4, pp. 563-573, 2002.
• F. Bullo and M. Žefran, On mechanical control systems with nonholonomic constraints and symmetries. Systems & Control Letters, vol. 45, no. 2, pp. 133-143, 2002.
• B. Goodwine and M. Žefran, Feedback stabilization of a class of unstable nonholonomic systems. ASME Journal of Dynamic Systems, Measurement, and Control, vol. 124, no. 1, pp. 221-230, 2002. (see abstract)
• M. Žefran and V. Kumar, A geometrical approach to the study of the Cartesian stiffness matrix. ASME Journal of Mechanical Design, vol. 124, no. 1, pp. 30-38, 2002. (see abstract)
• F. Bullo and M. Žefran, On mechanical control systems with nonholonomic constraints and symmetries. 2002 International Conference on Robotics and Automation, Washington, DC, pp. 1741-1746, 2002.
• M. Žefran, A feedback strategy for dextrous manipulation. 2002 International Conference on Robotics and Automation, Washington, DC, pp. 2479-2484, 2002.
• M. Žefran, Passivity of hybrid systems based on multiple storage functions. 2001 Allerton Conference, Monticello, IL, pp. 1244-1252, 2001.
• M. Žefran, F. Bullo and M. Stein, A notion of passivity for hybrid systems. IEEE Conference on Decision and Control, Orlando, FL, December 2001.
• M. Žefran, Motion planning for a class of hybrid locomotion systems. 2000 Allerton Conference, Monticello, IL, 2000.
• J. Desai, M. Žefran, and V. Kumar, Two-arm manipulation tasks with friction-assisted grasping. Advanced Robotics, vol. 12, no. 5, pp. 485-507, 1999.
• M. Žefran, F. Bullo and J. Radford, An investigation into non-smooth locomotion. 1999 International Conference on Robotics and Automation, Detroit, MI, May 1999.
• F. Bullo and M. Žefran, On modeling and locomotion of hybrid mechanical systems with impacts. 1998 IEEE Conference on Decision and Control, Tampa, FL, December 1998.
• M. Žefran and J. W. Burdick, Design of switching controllers for systems with changing dynamics. 1998 IEEE Conference on Decision and Control, Tampa, FL, December 1998.
• M. Žefran and J. W. Burdick, Stabilization of systems with changing dynamics. Submitted to IEEE Transactions on Automatic Control, August 1998.
• M. Žefran and J. W. Burdick, Stabilization of systems with changing dynamics. Hybrid systems: Computation and control, Berkeley, CA, April 1998.
• M. Žefran and J. W. Burdick, Stabilization of systems with changing dynamics by means of switching. 1998 International Conference on Robotics and Automation, Leuven, Belgium, May 1998.
• M. Žefran and V. Kumar, Two methods for interpolating rigid body motions. 1998 International Conference on Robotics and Automation, Leuven, Belgium, May 1998.
• M. Žefran and V. Kumar, A variational calculus framework for motion planning. 1997 International Conference on Advanced Robotics, Monterey, CA, July 1997.
• M. Žefran and V. Kumar, Affine Connections for the Cartesian Stiffness Matrix. 1997 International Conference on Robotics and Automation, Albuquerque, NM, April 1997.
• G. J. Garvin, M. Žefran, E. A. Henis and V. Kumar, Two-Arm Trajectory Planning in a Manipulation Task. Biological Cybernetics, Vol. 76(1), 1997
• M. Žefran, T. Bajd and A. Kralj, Kinematic Modeling of Four-Point Walking Patterns in Paraplegic Subjects. IEEE Transactions on Systems, Man, and Cybernetics Part A: Systems and Humans, Vol. 26(6), 1996
• M. Žefran, V. Kumar and C. Croke, Choice of Riemannian Metrics for Rigid Body Kinematics. ASME 24th Biennial Mechanisms Conference, Irvine, CA, 1996.
• M. Žefran, J. P. Desai and V. Kumar, Continuous Motion Plans for Robotic Systems with Changing Dynamic Behavior. 2nd Int. Workshop on Algorithmic Foundations of Robotics, Toulouse, France 1996.
• M. Žefran and V. Kumar, Coordinate-Free Formulation of the Cartesian Stiffness Matrix. 5th International Symposium on Advances in Robot Kinematics, Portoroz, Slovenia, 1996.
• M. Žefran, V. Kumar and C. Croke, Metrics and Connections for Rigid Body Kinematics. Submitted to the International Journal of Robotics Research, May 1996.
• M. Žefran and V. Kumar, Planning of smooth motions on SE(3). 1996 International Conference on Robotics and Automation, Minneapolis, MN, April 1996.
• J. Desai, C.-C. Wang, M. Žefran and V. Kumar, Motion Planning for Multiple Mobile Manipulators. 1996 International Conference on Robotics and Automation, Minneapolis, MN, April 1996.
• M. Žefran, V. Kumar and C. Croke, On the generation of smooth three-dimensional rigid body motions. Submitted to IEEE Transactions on Robotics and Automation, November 1995.
• M. Žefran, V. Kumar, J. Desai and E. A. Henis, Two-arm manipulation: What can we learn by studying humans? IROS'95, Pittsburgh, PA, August 1995.
• W. S. Howard, M. Žefran and V. Kumar, On the 6x6 stiffness matrix for three dimensional motions. 9th World Congress of the IFToMM, Milano, Italy, August 1995.
• M. Žefran and V. Kumar, Optimal control of systems with unilateral constraints. 1995 IEEE International Conference on Robotics and Automation, Nagoya, Japan, May 1995.
• M. Žefran, V. Kumar and X. Yun, Optimal Trajectories and Force Distribution for Cooperating Arms. 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, May 1994.
• G. J. Garvin, M. Žefran, E. A. Henis and V. Kumar, A study on optimality criteria for two-hand reaching tasks. 13th Southern Biomedical Engineering Conference, Rockwille, MD, April 1994.
• M. Žefran, Review of the Literature on Time-Optimal Control of Robotic Manipulators. Technical Report MS-CIS-94-30, University of Pennsylvania, Philadelphia, PA, May 1994.