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2012 - Selected Publications

• K. Zhang, E. Collins, and D. Shi, "Centralized and Distributed Task Allocation in Multi-Robot Teams via A Stochastic Clustering Auction," ACM Transactions on Autonomous and Adaptive Systems, Vol. 7, Issue 2, Article 21, pp. 21:1-21:22, July 2012.
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2011 - Selected Publications

• L. Lu, C. Ordonez, E. G. Collins, Jr., E. Coyle, and D. Palejiya, "Terrain Surface Classification with Control Mode Update Rule Using a 2D Laser Stripe-Based Structured Light Sensor," Robotics and Autonomous Systems, Vol. 59, No. 11, pp. 954 - 965, 2011.
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• D. D. Dunlap, C. V. Caldwell, E. G. Collins, Jr. and O. Chuy, "Motion Planning for Mobile Robots Via Sampling-Based Model Predictive Optimization," in Mobile Robots/Book 1, ISBN 978-953-307-909-7, InTech, to appear.
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• D. D. Dunlap, "Sampling Based Model Predictive Optimization with Application to Robot Kinodynamic Motion Planning," Ph.D. dissertation, Florida State University, 2011.
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• A. Donate, Y. Wang, X. Liu, and E. Collins, "Efficient Path-Based Stereo Matching With Sub-pixel Accuracy," IEEE Transactions on Systems, Man, and Cybernetics - Part B: Cybernetics, 41(1),183-195,February, 2011.
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• D. Dunlap, W. Yu, E. Collins, and C. Caldwell, "Motion Planning for Steep Hill Climbing," IEEE International Conference on Robotics and Automation, pp. 707-714, May 2011.
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2010 - Selected Publications

• C. V. Caldwell, D. D. Dunlap, and E. G. Collins Jr., "Application of Sampling Based Model Predictive Control to an Autonomous Underwater Vehicle," Ship Science and Technology, Vol. 4, No. 7, pp. 55-63, July 2010.
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• C. Ordonez, O. Chuy, E. Collins, and X. Liu, "A Laser Based Rut Detection and Following System for Autonomous Ground Vehicles," Journal of Field Robotics, 28(2), 158-179,2010.
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• I.-Y. Chung, W. Liu, D. Cartes, E. Collins, and S.-I. Moon, "Control Methods of Inverter-Interfaced Distributed Generators in a Microgrid System," IEEE Transactions on Industry Applications, Vol. 46, No. 3, pp. 1078-1088, May/June, 2010.
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• W. Yu, O. Chuy, E. Collins, and P. Hollis, "Analysis and Experimental Verification for Dynamic Modeling of a Skid Steered Vehicle," IEEE Transactions on Robotics, Vol. 26, No. 2, pp. 340-353, April, 2010.
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• E. Dupont, E. Collins, E. Coyle, and R. Roberts, "Terrain Classification Using Vibration Sensors: Theory and Methods," Mobile Robots: New Research, Nova Science Publishers, Inc., 2010.
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• K. Zhang, E. Collins and A. Barbu, "A Novel Stochastic Clustering Auction for Task Allocation in Multi-Robot Teams," IEEE/RSJ International Conference on Intelligent RObots and Systems,  pages 3300-3307, Taipei, Taiwan, October 18-22, 2010.
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• D. Dunlap, C. Caldwell, and E. Collins, "Nonlinear Model Predictive Control Using Sampling and Goal-Directed Optimization," Proceedings of the Multi-Conference on Systems and Control, Yokohama, Japan, September 8-9, 2010.
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• E. Coyle and E. Collins, "Updating Control Modes Based on Terrain Classification," Proceedings of the IEEE Conference on Robotics and Automation,  pages 4417-4423, Anchorage, AK, May 3-5, 2010.
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2009 - Selected Publications

• J. Schmitt and J. Clark, "Modeling posture-dependent leg actuation in sagittal plane locomotion", Bioinspiration & Biomimetics, Vol. 4, No. 4, pp. 1-17,  November 30, 2009.
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• L. Lu, C. Ordonez, E. Collins, and E. Dupont, "Terrain Surface Classification for Autonomous Ground Vehicles Using a 2D Laser Stripe-Based Structured Light Sensor," Proceedings of the IEEE/RSJ International Conference on Intelligent RObots and Systems, pages 2174-2181, St. Louis, MO, October 11-15, 2009.
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• G. Lynch, J. Clark, and D. Koditschek, "A Self-Exciting Controller for High-Speed Vertical Running," Proceedings of the IEEE/RSJ International Conference on Intelligent RObots and Systems, pages 631-638, St. Louis, MO, October 11-15, 2009.
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• O. Chuy, V. Kumar, F. Holt III, E. Collins, and F. Alvi, "Microjet-based Separation Control Using a Virtual Sensor for Degree of Separation," Florida Center for Advanced Aero-Propulsion (FCAAP) Annual Technical Symposium, Orlando, FL, August, 2009.
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• O. Chuy, E. Collins, W. Yu, and C. Ordonez, "Power Modeling of a Skid Steered, Wheeled Robotic Ground Vehicle," Proceedings of the IEEE Conference on Robotics and Automation, pages 4118-4123, Kobe, Japan, May 12-17, 2009.
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• J. Jun and J. Clark, "Dynamic Stability of Variable Stiffness Running," Proceedings of the IEEE Conference on Robotics and Automation, pages 3985-3990, Kobe, Japan, May 12-17, 2009.
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• K. Galloway, J. Clark, and D. Koditschek, "Design of a Tunable Stiffness Composite Leg for Dynamic Locomotion," ASME International Design Engineering Technical Conferences (IDETC), San Diego, CA, 2009.
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2008 - Selected Publications

• E. DuPont, C. Moore, E. Collins, and E. Coyle, "Frequency Response Method for Online Terrain Identification in Unmanned Ground Vehicles," Autonomous Robots, Vol. 24, No. 4, pp. 337-347, May, 2008.
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• C. Ordonez, E. Collins, M. Selekwa, and D. Dunlap, "The Virtual Wall Approach to Limit Cycle Avoidance for Unmanned Ground Vehicles," Robotics and Autonomous Systems, Vol. 56, pp. 645-657, 2008.
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• M. Selekwa, D. Dunlap, D. Shi, and E. Collins, "Robot Navigation in Very Cluttered Environments By Preference-Based Fuzzy Behaviors," Autonomous Robots, Vol. 56, No. 3, pp. 231-246, March, 2008.
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• E. Coyle and E. Collins, "A Comparison of Classifier Performance for Vibration-based Terrain Classification," 26th Army Science Conference, Orlando, FL, December 1-4, 2008.
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• K. Zhang, E. Collins, D. Shi, X. Liu, and O. Chuy, "A Stochastic Clustering Auction for Centralized and Distributed Task Allocation in Multi-Agent Teams." In Hajime Asama, Haruhisa Kurokawa, Jun Ota, and Kosuke Sekiyama, editors, Distributed Autonomous Robotic Systems 8, pages 345-354, Tsukuba, Ibaraki, Japan, 2008.
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• J. Sastra, W. Heredia, J. Clark, and M. Yim, "Biologically-Inspired Dynamic Legged Locomotion with a Modula Reconfigurable Robot," Proceedings ASME DSCC 2008, Ann Arbor, MI, October 20-22, 2008.
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• J. Auchter and C. Moore, "Off-Road Robot Modeling with Dexterous Manipulation Kinematics," Proceedings of the IEEE Conference on Robotics and Automation, pages 2313-2318, Pasadena, CA, May 19-23, 2008.
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• E. Collins and E. Coyle, "Vibration-Based Terrain Classification Using Surface Profile Input Frequency Responses," Proceedings of the IEEE Conference on Robotics and Automation, pages 3276-3283, Pasadena, CA, May 19-23, 2008.
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• D. Shi, E. Collins, A. Donate, X. Liu, B. Goldiez, and D. Dunlap, "Human-Aware Robot Motion Planning with Velocity Constraints," International Symposium on Collaborative Technologies and Systems (CTS 2008), pages 490-497, Irvine, CA, May 19-23, 2008.
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• D. Dunlap, E. Collins, and C. Caldwell, "Sampling Based Model Predictive Control with Application to Autonomous Vehicle Guidance," Florida Conference on Recent Advances in Robotics, Melbourne, FL, May 8-9, 2008.
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• E. Coyle, E. Collins, E. DuPont, D. Dang, H. Wang, R. Cooper, and G. Grindle, "Vibration-Based Terrain Classification for Electric Powered Wheelchairs," Proceedings of the Fourth IASTED International Conference on Telehealth and Assistive Technologies (Telehealth/AT 2008), pages 139-144, Baltimore, MD, April 16-18, 2008.
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2007 - Selected Publications

• D. Shi, E. Collins, and D. Dunlap, "Robot Navigation in Cluttered 3-D Environments using Preference-Based Fuzzy Behaviors," IEEE Transactions on Systems, Man, and Cybernetics - Part B: Cybernetics, Vol. 37, No. 6, pp. 1486-1499, 2007.
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• K. Galloway, J. Clark, and D. Koditschek, "Design of a Multi-Directional Variable Stiffness Leg for Dynamic Running," Proceedings ASME IMECE 2007 International Mechanical Engineering Congress and Exposition Conference, Seattle, WA, November 11-15, 2007.
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• J. Auchter, C. Moore, and A. Ghosal, "Modeling of Wheeled Mobile Robots Using Dexterous Manipulation Kinematics," Proceedings of WCECS International Conference on Intelligent Automation and Robotics, San Francisco, CA, October, 2007.
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• J. Clark, D. Goldman, P. Lin, G. Lynch, T. Chen, H. Komsuoglu, R. Full, and D. Koditschek, "Design of a Bio-inspired Dynamical Vertical Climbing Robot," Robots: Science and Systems, Atlanta, GA, June 27-29, 2007.
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2006 - Selected Publications

• K. Saitwal, A. Maciejewski, R. Roberts, and B. Draper. "Using the Low-Resolution Properties of Correlated Images to Improve the Computational Efficiency of Eigenspace Decomposition," IEEE Transactions on Image Processing. Vol. 15, No. 8, 2006.
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• D. Zhang, H. Li, and E. Collins, "Digital anti-windup PI controllers for variable-speed motor drives using FPGA and stochastic theory," IEEE Transactions on Power Electronics, Vol. 21, No. 5, 2006.
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• E. Collins, M. Selekwa, R. Walker, and S. Palanki, "A Stacked Model Structure for Off-line Parameter Variation Estimation in Multi-equilibria Nonlinear Systems," European Journal of Control, Vol. 12, No. 4, pp.353-372, 2006.
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• J. Clark and D. Koditschek, "A Spring-assisted One Degree of Freedom Climbing Model," Lecture Notes on Control and Information Sciences, pages 43-64, October, 2006.
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• C. Caldwell, E. Collins, and S. Palanki, "Integrated Guidance and Control of AUVs Using Shrinking Horizon Model Predictive Control," Proceedings of Oceans 2006, Boston, MA, September, 2006.
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• D. Dores, M. Santos, A. Krothapalli, L. Lourenco, E. Collins, F. Alvi, and P. Strykowski, "Characterization of a Counterflow Thrust Vectoring Scheme on a Gas Turbine Engine Exhaust Jet," Proceedings of the AIAA 3rd Flow Control Conference, San Francisco, CA, June, 2006.
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2005 - Selected Publications

• T. Curry and E. Collins, "Robust Fault Detection and Isolation Using Robust l₁ Estimation," Journal of Guidance, Control, and Dynamics, Vol. 28, No. 6, pp. 1131-1139, November-December, 2005.
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• Y. Zhao, E. Collins, F. Alvi, and D. Dores, "Design and Implementation of Feedback Control for Counterflow Thrust Vectoring," AIAA Journal of Propulsion, Vol. 21, No. 5, pp. 815-821, September-October, 2005.
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• Y. Zhao and E. Collins, "Robust automatic parallel parking in tight spaces via fuzzy logic," Robotics and Autonomous Systems, 51(2-3):111-127, May, 2005.
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• M. Selekwa and E. Collins, "Numerical Solutions for Systems of 'Qualitative' Nonlinear Algebraic Equations by Fuzzy Logic," Fuzzy Sets and Systems, Vol. 15, No. 3, pp. 599-609, 2005.
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• E. DuPont, R. Roberts, C. Moore, M. Selekwa, and E. Collins, "Online Terrain Classification For Mobile Robots," Proceedings of ASME IMECE 2005 International Mechanical Engineering Congress and Exposition Conference, Orlando, FL, November 5-11, 2005.
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• D. Shi, M. Selekwa, E. Collins, and C. Moore, "Fuzzy behavior navigation for an unmanned helicopter in unknown environments," IEEE International Conference on Systems, Man and Cybernetics, volume 4, pages 3897鈥?902, Big Island, HI, October 10-12, 2005.
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• M. Selekwa, D. Dunlap, and E. Collins, "Implementation of multivalued fuzzy behavior control for robot navigation in cluttered environments," Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pages 3688鈥?695, Barcelona, Spain, April 18-22, 2005.
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2004 - Selected Publications

• Y. Zhao and E. Collins, "Comparison of Two Approaches to Automated PI Controller Tuning for an Industrial Weigh Belt Feeder," ISA Transactions, Vol. 43, No. 4, pp. 611-621, October, 2004.
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• K. Saitwal, A. Maciejewski, and R. Roberts, "Fast Eigenspace Decomposition of Correlated Images Using Their Low-resolution Properties," Proceedings of the IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS), pages 2707-2712, Sendai, Japan, September 28-October 2, 2004.
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• D. Sadhukhan, C. Moore, and E. Collins, "Terrain Estimation Using Internal Sensors," Proceedings of the 10th IASTED International Conference on Robotics and Applications, pages 447-800, Honolulu, HI, August, 2004.
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• R. Jamisola, A. Maciejewski, and R. Roberts, "Failure-tolerant Path Planning for the PA-10 Robot Operating Amongst Obstacles," Proceedings of the IEEE International Conference on Robots and Automation, New Orleans, LA, pages 4995-5000, April 26-May 1, 2004.
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• K. Saitwal, A. Maciejewski, and R. Roberts, "Analysis of Eigendecomposition for Sets of Correlated Images at Different Resolutions," Proceedings of the IEEE International Conference on Robots and Automation, New Orleans, LA, pages 1393-1398, April 26-May 1, 2004.
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• E. DuPont, H. Yu, and R. Roberts, "Object Pose Detection in the Presence of Background Clutter and Occlusion," Proceedings of the Thirty-Sixth Southeastern Symposium on System Theory,  pages 446-450, Atlanta, GA, March, 2004.
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2003 - Selected Publications

• Y. Zhao and E. Collins, "Fuzzy PI Control of a Weigh Belt Feeder," IEEE Transactions on Fuzzy Systems, Vol. 11, No. 3, pp. 311-319, June, 2003.
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• C. Fan, E. Collins, C. Liu, and B. Wang, "Radial Error Feedback Control for Bar Turning in CNC Turning Centers," ASME Journal of Manufacturing Science and Engineering, Vol. 125, pp. 77-84, February, 2003.
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• M. Selekwa and E. Collins, "H₂ Optimal Reduced Order Control Design Using a Fuzzy Logic Methodology with Bounds on System Variances," IEEE Transactions on Control Systems Technology, Vol. 11, No. 1, pp. 153-156, January, 2003.
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• K. Saitwal, A. Maciejewski, and R. Roberts, "A Comparison of Eigendecomposition for Sets of Correlated Images at Different Resolutions," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems,pages 1011-1017, Las Vegas, NV, October 27-31, 2003.
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Selected Publications Prior to 2003

• E. Collins and M. Selekwa, "A Fuzzy Logic Approach to LQG Design With Variance Constraints," IEEE Transactions on Control Systems Technology, Vol. 10, No. 1, pp. 32-42, January, 2002.
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• E. Collins and Y. Zhao, "A Genetic Search Approach to Unfalsified PI Control Design for a Weigh Belt Feeder," International Journal of Adaptive Control and Signal Processing, Vol. 15, pp. 519-534, July 27, 2001.
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• T. Song, E. Collins, and R. Istepanian, "Improved Closed-Loop Stability for Fixed-Point Control Law Implementation Using the Delta Operator," International Journal of Robust and Nonlinear Control, Vol. 11, pp. 41-57, December, 2000.
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• E. Collins and T. Song, "Multiplier-Based Robust H∞ Estimation with Applications to Robust Fault Detection," Journal of Guidance, Control, and Dynamics, Vol. 23, No. 5. pp. 857-864, September-October, 2000.
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• T. Song and E. Collins, "Robust H₂ Estimation with Application to Robust Fault Detection," Journal of Guidance, Control, and Dynamics, Vol. 23, No. 6, pp. 1067-1071, 2000.
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• E. Collins and D. Sadhukhan, "Synthesis of Fixed-Architecture, Robust H₂ and H∞ Controllers," Mathematical Problems in Engineering, Vol. 6, pp. 125-144, 2000.
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• E. Collins, D. Sadhukhan, and L. Watson, "Robust Controller Synthesis via Nonlinear Matrix Inequalities," International Journal of Control, Vol. 72, No. 11, pp. 971-980, 1999.
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• E. Collins and T. Song, "A Delta Operator Approach to Discrete-Time H∞ Control," International Journal of Control, Vol. 72, No. 4, pp. 315-320, 1999.
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• E. Collins, W. Haddad, L. Watson, and D. Sadhukhan, "Probability-One Homotopy Algorithms for Robust Controller Synthesis with Fixed-Structure Multipliers," International Journal of Robust and Nonlinear Control, (Special Issue on the Multivariable Stability Margin), Vol. 17, pp. 165-185, 1997.
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Dissertations and Theses

• Lewei Qian. A New Adaptive Detection Algorithm for Power Quality Improvement. Ph.D. dissertation. The Florida State University, Tallahassee, FL, September, 2007.
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• Kai Huang. Shipboard Power System Reconfiguration Using Multiagent System. Ph.D. dissertation. The Florida State University, Tallahassee, FL, July, 2007.
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• Camilo Ordonez. Design and Implementation of a Limit Cycle Negotiation Strategy for Robot Navigation. Masters thesis. The Florida State University, Tallahassee, FL, June, 2006.
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• Dongqing Shi. Aerial Robot Navigation in Cluttered Urban Environments. Ph.D. dissertation. The Florida State University, Tallahassee, FL, June, 2006.
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• Li Liu. Robust Fault Detection and Diagnosis for Permanent Magnet Synchronous Motors. Ph.D. dissertation. The Florida State University, Tallahassee, FL, June, 2006.
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• Delfim Zambujo Das Dores. Feedback Control for Counterflow Thrust Vectoring With a Turbine Engine: Experiment Design and Robust Control Design and Implementation. Ph.D. dissertation. The Florida State University, Tallahassee, FL, April, 2005.
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• Tramone D. Curry. Robust Fault Detection and Isolation Using Mixed Structured Singular Value and l₁ Theories. Ph.D. dissertation. The Florida Agricultural and Mechanical University, Tallahassee, FL, September, 2004.
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• Damion Donyell Dunlap. Implementation of Multi-valued Fuzzy Behavior Control for Navigation in Cluttered Environments. Master’s thesis. The Florida Agricultural and Mechanical University, Tallahassee, FL, June, 2004.
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