Papers

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2009

  • D. Thorsley, R. Egbert and E. Klavins, Observers for Stochastic Chemical Kinetics. 3nd q-bio Conference on Cellular Information Processing. 2009. Abstract + poster + oral presentation.
  • N. Napp, S. Burden and E. Klavins. Setpoint Regulation for Stochastically Interacting Robots, Robotics: Science and Systems V. MIT Press. 2009. pdf
  • N. Napp, D. Thorsley and E. Klavins, Hidden Markov Models for Non-Well-Mixed Reaction Networks, Proceedings of the American Control Conference, 2009. pdf
  • D. Thorsley and E. Klavins. A Theory of Approximation for Stochastic Biochemical Networks, Control-Theoretic Approaches in Systems Biology. Eds. B. Ingalls and P. Iglesias. MIT Press, 2009. preprint

2008

  • D. Thorsley, R. Egbert and E. Klavins, Dynamic Event Detection in Stochastic Gene Regulatory Networks. CSHL Workshop on Engineering Principles in Biological Systems. 2008. Abstract + oral presentation.
  • J. Bishop, D. Georgiev and E. Klavins, Experimental Design of In Vitro DNA Reaction Networks. 2nd q-bio Conference on Cellular Information Processing. 2008. Abstract + spotlight presentation.
  • D. Georgiev and E. Klavins. Model Discrimination of Polynomial Systems via Stochastic Inputs. 2008 Conference on Decision and Control. pdf
  • F. Shaw and E. Klavins. Distributed Estimation and Control For Stochastically Interacting Robots. 2008 Conference on Decision and Control. pdf
  • J. M. McNew and E. Klavins. Non-deterministic Reconfiguration of Tree Formations. American Control Conference, June 2008, pp. 690-697. pdf
  • D. Thorsley and E. Klavins. Model Reduction of Stochastic Processes Using Wasserstein Pseudometrics. American Control Conference, June 2008, pp. 1374-1381. pdf

2007

  • E. Klavins, Programmable Self-Assembly. Control Systems Magazine, Aug. 2007. Vol. 24, No. 4, pp. 43-56. pdf.
  • W. B. Dunbar, N. A. Wilson, J. Schaeffer, E. Klavins, J. Bishop and B. Tanner. Dynamics and control of biomolecules: Research venues and opportunites. 46th Conference on Decision and Control, Dec. 2007. pp 3297--3307. pdf.
  • M. Yim, W.M. Shen, B. Salemi, D. Rus, M. Moll, H. Lipson, E. Klavins and G.S. Chirickjian, Modular Self-Reconfigurable Robot Systems, IEEE Robotics and Automation Magazine, Mar. 2007. Vol. 14, No. 1, pp. 43-42. pdf.
  • C. Belta, A. Bicchi, M. Egerstedt, E. Frazzoli, E. Klavins and G.J. Pappas, Symbolic Planning and Control of Robot Motion, IEEE Robotics and Automation Magazine. Mar. 2007. Vol. 14, No. 1, pp. 61-70. pdf
  • J. M. McNew, E. Klavins and M. Egerstedt. Solving Coverage Problems with Embedded Graph Grammars. Hybrid Systems: Computation and Control. 2007. pdf.
  • S. Waydo, J. Hauser and R. Bailey, E. Klavins and R. Murray, UAV as a Reliable Wingman: A Flight Demonstration, IEEE Transactions on Control Systems Technology, Jul. 2007, Vol. 15, No. 4, pp. 680--688.
  • J. Bishop and E. Klavins, Improved repeatability of an autonomous DNA nanomotor. In 4th Annual Conference on the Foundations of Nanoscience, Snowbird, UT, April 2007. Poster + Abstract.
  • N. Napp and E. Klavins, An extended state-space markov chain model for self-organizing systems in non-well-mixed environments. In 4th Annual Conference on the Foundations of Nanoscience, Snowbird, UT, April 2007. Contributed Talk + Abstract.
  • D. Thorsley and E. Klavins, Non-equilibrium Analysis of Stochasticity Biochemical Reaction Networks, In 1st q-Bio Conference on Cellular Information Processing, Santa Fe, NM, Aug. 2007. Poster + Abstract.

2006

  • E. Klavins, S. Burden and N. Napp, Optimal Rules for Programmed Stochastic Self-Assembly, Robotics: Science and Systems II. MIT Press, 2006. pp. 9-16. pdf.
  • J. Bishop and E. Klavins, Collective Sensing with Self-Organizing Robots, 45th IEEE Conference on Decision and Control. 2006, pp. 4175-81. pdf
  • J. M. McNew and E. Klavins, Locally Interacting Hybrid Systems with Embedded Graph Grammars, 45th IEEE Conference on Decision and Control. 2006, pp. 6080--87. pdf
  • E. Klavins, Self-Assembly From the Point of View of Its Pieces, American Control Conference. Jun. 2006. pdf
  • J. M. McNew and E. Klavins, Model-Checking and Control of Self-Assembly, American Control Conference, Jun. 2006. pdf
  • S. Burden, N. Napp, E. Klavins, The Statistical Dynamics of Programmed Robotic Self-Assembly, International Conference on Robotics and Automation. May 2006. pp. 1469--76. pdf
  • E. Klavins, R. Ghrist and D. Lipsky, A Grammatical Approach to Self-Organizing Robotic Systems, IEEE Transactions on Automatic Control. Jun. 2006, Vol. 51, No. 5, pp. 949-962. url
  • D. Del Vecchio, R. Murray and E. Klavins, Discrete State Estimators for Systems on a Lattice, Automatica. 2006, Vol. 42, No. 2, pp. 271-285.
  • S. Burden, N. Napp, and E. Klavins. Tuning reaction networks for self-assembly. In 3rd Annual Conference on the Foundations of Nanoscience, Snowbird, UT, April 2006. Poster + Abstract.

2005

  • J. M. McNew and E. Klavins, A Grammatical Approach to Cooperative Control: The wanderers and Scouts Example, Cooperative Control. 2005. pdf
  • J. Bishop, S. Burden, E. Klavins, R. Kreisberg, W. Malone, N. Napp and T. Nguyen, Self-Organizing Programmable Parts, International Conference on Intelligent Robots and Systems, 2005. pdf

2004

  • E. Klavins, Universal Self-Replication Using Graph Grammars, In 2004 International Conference on MEMs, NANO and Smart Systems. Banff, Canada, 2004. pdf.
  • E. Klavins, Directed Self-Assembly Using Graph Grammars, Foundations of Nanoscience: Self Assembled Architectures and Devices. Snowbird, UT, 2004. Invited Talk + Extended Abstract. This online version has some corrections. pdf
  • E. Klavins, R. Ghrist, and D. Lipsky, Graph Grammars for Self-Assembling Robotic Systems, Proceedings of the International Conference on Robotics and Automation. May, 2004, pp. 5293- 5300. pdf
  • E. Klavins, A Language for Modeling and Programming Cooperative Control Systems, Proceedings of the International Conference on Robotics and Automation. May 2004, pp. 3403- 3410. pdf
  • E. Klavins and R. Murray, Distributed Algorithms for Cooperative Control, IEEE Pervasive Computing. 2004, Vol. 3, No. 1, pp. 56--65. pdf

2003

  • E. Klavins, A Formal Model of a Multi-Robot Control and Communication Task, 42nd IEEE Conference on Decision and Control. Dec. 2003. pdf
  • D. Del Vecchio and E. Klavins, Observation of Hybrid Guarded Command Programs, 42nd IEEE Conference on Decision and Control. Dec. 2003.
  • S. Waydo. B. Dunbar and E. Klavins, Toward Feedback Stabilization of Faulty Software Systems: {A} Case Study, 42nd IEEE Conference on Decision and Control. Dec. 2003. pdf

2002

  • E. Klavins, Automatically Synthesized Controllers for Distributed Assembly: Partial Correctness, Cooperative Control: Models, Applications and Algorithms. Eds. S. Butenko, R. Murphey and P. M. Pardalos. Kluwer, 2002, pp. 111-127. pdf
  • E. Klavins, Toward the Control of Self-Assembling Systems, Control Problems in Robotics. Eds. A. Bicchi, H. Christensen and D. Prattichizzo. Springer, 2003, Vol. 4, pp. 153-168. pdf
  • E. Klavins and U. Saranli, Object Oriented State Machines, Embedded Systems Magazine. May 2002. pp. 30-42.
  • E. Klavins, Automatic Synthesis of Controllers for Distributed Assembly and Formation Forming, In Proceedings of the IEEE Conference on Robotics and Automation. May 2002. pdf
  • E. Klavins and D. E. Koditschek, Phase Regulation of Decentralized Cyclic Robotic Systems, International Journal of Robotics Research. 2002, Vol. 21, No. 3, pp. 257-276. pdf.
  • T. Chung, L. Cremean, B. Dunbar, Z. Jin, E. Klavins, D. Moore, A. Tiwari, D. van Gogh and S. Waydo, A Platform for Cooperative and Coordinated Control of Multiple Vehicles: The Caltech Multi-Vehicle Wireless Testbed, Proceedings of the Conference on Cooperative Control and Optimization. Kluwer, 2002.
  • E. Klavins, Communication Complexity of Multi-Robot Systems, Algorithmic Foundations of Robotics V. Eds. J.-D. Boissonnat, J. Burdick, K. Goldberg, S. Hutchinson. Springer, 2003, Vol. 7, pp. 275-292. pdf
  • L. Cremean, B. Dunbar, D. van Gogh, J. Hickey, E. Klavins, J. Meltzer and R. M. Murray, The Caltech Multi-Vehicle Wireless Testbed, In 41st IEEE Conference on Decision and Control. Dec. 2002.

2001

  • E. Klavins, H. Komsuoglu, R. J. Full and D. E. Koditschek, The Role of Reflexes Versus Central Pattern Generators in Dynamical Legged Locomotion, Neurotechnology for Biomimetic Robots. Eds. J. Ayers, J. Davis and A. Rudolph. MIT Press, 2001.
  • E. Klavins and D. E. Koditschek, Stability of Hybrid Coupled Oscillators, In International Conference on Robotics and Automation. 2001.pdf
  • E. Klavins. Decentralized Phase Regulation of Cyclic Robotic Systems, Ph.D. Thesis, University of Michigan, June 2001. pdf

2000

  • E. Klavins, Automatic Compilation of Concurrent Hybrid Factories from Product Assembly Specifications, Hybrid Systems: Computation and Control. LNCS 1790. Springer-Verlag, 2000, pp. 174-187. pdf
  • E. Klavins and D. E. Koditschek, A Formalism for the Composition of Concurrent Robot Behaviors, In Proceedings of the IEEE Conference on Robotics and Automation, 2000. pdf
  • E. Klavins, D. E. Koditschek and R. Ghrist, Toward the Regulation and Composition of Cyclic Behaviors, Algorithmic and Computational Robotics: New Directions (2000 WAFR). Eds. B. R. Donald, K. M. Lynch and D. Rus. A. K. Peters, 2001, pp. 205-220. ps
  • E. Klavins, The Construction of Attention Functions for Phase Regulation, University of Michigan Technical Report No. CSE-TR-422-00, 2000.pdf

1999

  • E. Klavins, A Formalism for the Composition of Loosely Coupled Robot Behaviors, University of Michigan Technical Report No. CSE-TR-412-99, 1999. pdf

1998

  • E. Klavins, W. C. Rounds, and Q.-Q. Zhang, Experimenting with Power Default Reasoning, In Proceedings of AAAI-98. 1998. ps
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