Select Publications from Naomi Leonard's Research Group, MAE, Princeton University  

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          2014

         Journal papers

          Collective decision-making in ideal networks: The speed-accuracy tradeoff
          IEEE Transactions on Control of Network Systems (with V. Srivastava)          

          Modeling human decision-making in generalized Gaussian multi-armed bandits
          Proceedings of the IEEE (with P. Reverdy and V. Srivastava)          

          Adaptive network dynamics and evolution of leadership in collective migration
          Physica D (with D. Pais)          

          Book Chapters

          In the dance studio: An art and engineering exploration of human flocking
          Controls and Art: Inquiries at the Intersection of the Subjective and the Objective (Springer, with G.F. Young, K. Hochgraf, D. Swain, W. Chen, A. Trippe, K. Fitch, and S. Marshall)         

          Conference papers

          Algorithmic models of human decision making in Gaussian multi-armed bandit problems
          Best Student Paper Award, Proc. European Control Conference (with P. Reverdy and V. Srivastava)         

          Integrating a human designer's preferences in a Multidisciplinary Design Optimization
          15th AIAA/ISSMO Multidisciplinary Analysis and Optimization Conference (with P. Reverdy, A. Reddy, and L. Martinelli)         

          2013

          Multi-agent system dynamics: Bifurcation and behavior of animal groups
          Plenary paper, IFAC Symposium on Nonlinear Control Systems          

          Book Chapters

          Cooperative vehicle environmental monitoring
          Handbook of Ocean Engineering, Part B: Autonomous Ocean Vehicles, Subsystems and Control (Springer)          

          Journal papers

          A new notion of effective resistance for directed graphs -- Part I: Definition and properties
          arXiv:1310.5163 [math.OC] (with G. Young and L. Scardovi)          

          A new notion of effective resistance for directed graphs -- Part II: Computing resistances
          arXiv:1310.5168 [math.OC] (with G. Young and L. Scardovi)          

          Nonuniform line coverage from noisy scalar measurements
          arXiv:1310.4188v2 [math.OC] (with P. Davison, A. Olshevsky and M. Schwemmer)          

          A mechanism for value-sensitive decision-making
          PLoS One (with D. Pais, P.M. Hogan, T. Schlegel, N. Franks, and J.A.R. Marshall)          

          Nonuniform coverage control on the line
          IEEE Transactions on Automatic Control (with A. Olshevsky)         

          Starling flock networks manage uncertainty in consensus at low cost
          PLoS Computational Biology (with G.F. Young, L. Scardovi, A. Cavagna, I. Giardina)         

          Conference papers

          On optimal foraging and multi-armed bandits
          Proc. 51st Annual Allerton Conference on Communication, Control and Computing (with V. Srivastava and P. Reverdy)         

          Information centrality and optimal leader selection in noisy networks
          Proc. IEEE Conference on Decision and Control (with K. Fitch)         

          On the speed-accuracy tradeoff in collective decision-making
          Proc. IEEE Conference on Decision and Control (with V. Srivastava)         

          Cooperative learning in multi-agent systems from intermittent measurements
          Proc. IEEE Conference on Decision and Control (with A. Olshevsky)         

          Pursuit, herding and evasion: A three-agent model of caribou predation
          American Control Conference (with W. Scott)         

          2012

         Journal papers

          Node classification in networks of stochastic evidence accumulators
          arXiv:1210.4235 [math.OC] (with I. Poulakakis and L. Scardovi)         

          Hopf bifurcations and limit cycles in evolutionary network dynamics
          SIAM Journal on Applied Dynamical Systems (with D. Pais and C.H. Caicedo-Nunez)         

          Cooperative learning in multi-agent systems from intermittent measurements
          arXiv:1209.2194v1 [math.OC] (with A. Olshevsky)         

          Can post-error dynamics explain sequential reaction time patterns?
          Frontiers in Psychology (with S. Goldfarb, K. Wong-Lin, M. Schwemmer, P. Holmes)         

          Decision versus compromise for animal groups in motion
          Proceedings of the National Academy of Sciences (with T. Shen, B. Nabet, L. Scardovi, I.D. Couzin, S.A. Levin)         

          Towards human-robot teams: Model-based analysis of human decision making in two-alternative choice tasks with social feedback
          Proceedings of the IEEE (with A. Stewart, M. Cao, A. Nedic, D. Tomlin)         

          Real-time feedback-controlled robotic fish for behavioral experiments with fish schools
          Proceedings of the IEEE (with D. Swain and I.D. Couzin)         

          Conference papers

          Distributed nonuniform coverage with limited scalar measurements
          Proc. Allerton Conf. Communication, Control and Computing (with P. Davison and M. Schwemmer)         

          Node certainty in collective decision making
          Proc. IEEE Conference on Decision and Control (with I. Poulakakis and L. Scardovi)         

          Towards optimization of a human-inspired heuristic for solving explore-exploit problems
          Proc. IEEE Conference on Decision and Control (with P. Reverdy, R. Wilson, P. Holmes)         

          In the dance studio: Analysis of human flocking
          Proc. American Control Conference (with G. Young, K. Hochgraf, D. Swain, A. Trippe, W. Chen, S. Marshall)         

          2011

         Journal papers

          Uninformed individuals promote democratic consensus in animal groups
          Science (with I.D. Couzin, C.C. Ioannou, G. Demirel, T. Gross, C.J. Torney, A. Hartnett, L. Conradt, S.A. Levin)         

          Conference papers

          Limit cycles in replicator-mutator network dynamics
          Proc. IEEE Conference on Decision and Control (with D. Pais)         

          Rearranging trees for robust consensus
          Proc. IEEE Conference on Decision and Control (with G.F. Young and L. Scardovi)         

          Nonuniform coverage control on the line
          Proc. IEEE Conference on Decision and Control (with A. Olshevsky)         

          Symmetric coverage of dynamic mapping error for mobile sensor networks
          Proc. American Control Conference (with C.H. Caicedo-Nunez)         

          2010

         Journal papers

          Coordinated Control of an Underwater Glider Fleet in an Adaptive Ocean Sampling Field Experiment in Monterey Bay
          Journal of Field Robotics (with D. Paley, R. Davis, D. Fratantoni, F. Lekien and F. Zhang)         

          Cooperative Filters and Control for Cooperative Exploration
          IEEE Transactions on Automatic Control (with F. Zhang)         

          Convergence in Human Decision-Making Dynamics
          Systems and Control Letters (with M. Cao and A. Stewart)         

          Conference papers

          The role of social feedback in steady-state performance of human decision making for two-alternative choice tasks
          Proc. IEEE Conference on Decision and Control (with A. Stewart)         

          Nonuniform Coverage and Cartograms
          Proc. IEEE Conference on Decision and Control (with F. Lekien)         

          Pursuit and Evasion: Evolutionary Dynamics and Collective Motion
          Proc. AIAA Guidance, Navigation and Control Conference (with D. Pais)         

          Robustness of Noisy Consensus Dynamics with Directed Communication
          Proc. American Control Conference (with G. Young and L. Scardovi)         

          Coupled Stochastic Differential Equations and Collective Decision Making in the Two-Alternative Forced-Choice Task
          Proc. American Control Conference (with I. Poulakakis and L. Scardovi)         

          Steady-state distributions for human decisions in two-alternative choice tasks
          Proc. American Control Conference (with A. Stewart and M. Cao)         

          2009

         Journal papers

          Dynamics of Decision Making in Animal Group Motion
          Journal of Nonlinear Science (with B. Nabet, I.D. Couzin and S.A. Levin)         

          Nonuniform Coverage and Cartograms
          SIAM Journal on Control and Optimization (with F. Lekien)         

          Routing Strategies for Underwater Gliders
          Deep-Sea Research II (with R.E. Davis and D.M. Fratantoni)         

          Preparing to Predict: The Second Autonomous Ocean Sampling Network (AOSN-II) Experiment in the Monterey Bay
          Deep-Sea Research II (with S.R. Ramp, R.E. Davis, I. Shulman et al)         

          Autonomous rigid body attitude synchronization
          Automatica (with A. Sarlette and R. Sepulchre)         

          Tensegrity Models and Shape Control of Vehicle Formations
          ArXiv (with B. Nabet)         

          Conference papers

          Robustness of Aggregation in Networked Dynamical Systems
          Proc. ROBOCOMM'09 (with L. Scardovi)         

          On the Trajectories and Coordination of Steered Particles with Time-Periodic Speed Profiles
          Proc. American Control Conference (with D.T. Swain)         

          Formation shape and orientation control using projected collinear tensegrity structures
          Proc. American Control Conference (with D. Pais and M. Cao)         

          Explore vs. Exploit: Task Allocation for Multi-robot Foraging
          Preprint (with C. Baldassano)         

          2008

         Journal papers

          Stabilization of Three Dimensional Collective Motion
          Communications in Information and Systems (with L. Scardovi and R. Sepulchre)         

          Stabilization of Planar Collective Motion with Limited Communication
          IEEE Transactions on Automatic Control (with R. Sepulchre and D.A. Paley)         

          Nonlinear Gliding Stability and Control for Vehicles with Hydrodynamic Forcing
          Automatica (with P. Bhatta)         

          Cooperative Control for Ocean Sampling: The Glider Coordinated Control System
          IEEE Transactions on Control Systems Technology (with D. Paley and F. Zhang)         

          Stable Synchronization of Mechanical System Networks
          SIAM Journal of Control and Optimization (with S. Nair)         

          Stabilization of Symmetric Formations to Motion around Convex Loops
          Systems and Control Letters (with D. Paley and R. Sepulchre)         

          Conference papers

          Effective sensing regions and connectivity of agents undergoing periodic relative motions
          Proc. 47th IEEE Conference on Decision and Control (with D. Swain and M. Cao)         

          Integrating human and robot decision-making dynamics with feedback: Models and convergence analysis
          Proc. 47th IEEE Conference on Decision and Control (with M. Cao and A. Stewart)         

          Cooperative Kalman filters for cooperative exploration
          Proc. American Control Conference (with F. Zhang)         

          2007

         Journal papers

          Stable Synchronization of Rigid Body Networks
          Networks and Heterogeneous Media (with S. Nair)         

          Oscillator Models and Collective Motion: Spatial patterns in the dynamics of engineered and biological networks
          IEEE Control Systems Magazine (with D. Paley, R. Sepulchre, D. Grunbaum, J. Parrish)         

          Control of Coordinated Patterns for Ocean Sampling
          International Journal of Control (with F. Zhang, D. Fratantoni, D. Paley, J. Lund)         

          Stabilization of Planar Collective Motion: All-to-all Communication
          IEEE Transactions on Automatic Control (with R. Sepulchre and D. Paley)         

          Coordinated Patterns of Unit Speed Particles on a Closed Curve
          Systems and Control Letters (with F. Zhang)         

          Collective Motion, Sensor Networks and Ocean Sampling
          Proceedings of the IEEE (with D. Paley, F. Lekien, R. Sepulchre, D.M. Fratantoni and R. Davis)         

          Heterogeneous Animal Group Models and Their Group-Level Alignment Dynamics: An Equation-free Approach
          Journal of Theoretical Biology (with S.J. Moon, B. Nabet, S.A. Levin, I.G. Kevrekidis)         

          Conference papers

          Alternating Spatial Patterns for Coordinated Group Motion
          Proc. 46th IEEE Conference on Decision and Control (with D. Swain, I.D. Couzin, A. Kao and R. Sepulchre)         

          Stabilization of Collective Motion in Three Dimensions: A Consensus Approach
          Proc. 46th IEEE Conference on Decision and Control (with L. Scardovi and R. Sepulchre)         

          Exploring Scalar Fields Using Multiple Sensor Platforms: Tracking Level Curves
          Proc. 46th IEEE Conference on Decision and Control (with F. Zhang and E. Fiorelli)         

          Spatial Models of Bistability in Biological Collectives
          Proc. 46th IEEE Conference on Decision and Control (with D.A. Paley, R. Sepulchre and I.D. Couzin)         

          Autonomous Rigid Body Attitude Synchronization
          Proc. 46th IEEE Conference on Decision and Control (with A. Sarlette and R. Sepulchre)         

          2006

         Journal papers

          Multi-AUV Control and Adaptive Sampling in Monterey Bay
          IEEE Journal of Oceanic Engineering (with E.Fiorelli, P.Bhatta, D.Paley, R.Bachmayer, D. Fratantoni)

          Symmetry and Reduction for Coordinated Rigid Bodies
          European Journal of Control (with H. Hanssmann and T.R. Smith)         

          Conference papers

          A Collaborative Portal for Ocean Observatories
          MTS/IEEE Oceans '06 (with M.A. Godin, J.G. Bellingham, K. Rajan and Y. Chao)         

          Leadership in Animal Group Motion: A Bifurcation Analysis
          Int. Symp. on Mathematical Theory of Networks and Systems (with B. Nabet, I.D. Couzin and S.A. Levin)         

          Shape Control of a Multi-Agent System Using Tensegrity Structures
          IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (with B. Nabet)         

          Collective Motion of Self-Propelled Particles: Stabilizing Symmetric Formations on Closed Curves
          IEEE Conference on Decision and Control (with D. Paley and R. Sepulchre)         

          Group Coordination and Cooperative Control of Steered Particles in the Plane
          Proc. Workshop on Coordinated and Cooperative Control (with R. Sepulchre and D. A. Paley)         

          Coordinated Patterns on Smooth Curves
          2006 IEEE International Conference on Networking, Sensing and Control (with F. Zhang)         

          2005

          Coordination of an Underwater Glider Fleet for Adaptive Ocean Sampling
          Proc. Int. Workshop on Underwater Robotics (with Bhatta, Fiorelli, Lekien, Paley, Zhang, Bachmayer, Davis, Fratantoni, Sepulchre)         

          Graph Laplacian and Lyapunov Design of Collective Planar Motions
          Proc. NOLTA (with R. Sepulchre and D. Paley)         

          Oscillator Models and Collective Motion: Splay State Stabilization of Self-Propelled Particles
          Proc. 44th IEEE Conference on Decision and Control (with D. Paley and R. Sepulchre)         

          Collective Motion of Ring-Coupled Planar Particles
          Proc. 44th IEEE Conference on Decision and Control (with J. Jeanne and D. Paley)         

          Generating Contour Plots Using Multiple Sensor Platforms
          2005 IEEE Swarm Intelligence Symposium (with F. Zhang)         

          A Convergent Dynamic Window Approach to Obstacle Avoidance
          IEEE Transactions on Robotics (with P. Ogren)         

          2004

          Controlled Lagrangian Systems with Gyroscopic Forcing and Dissipation
          European Journal of Control (with C.A. Woolsey, C.K. Reddy, A.M. Bloch, D.E. Chang and J.E. Marsden)

          Multi-AUV Control and Adaptive Sampling in Monterey Bay
          Proc. IEEE AUV 2004 (with E.Fiorelli, P.Bhatta, D.Paley, R.Bachmayer, D. Fratantoni)

          Cooperative Control of Mobile Sensor Networks:  Adaptive Gradient Climbing in a Distributed Environment
          IEEE Transactions on Automatic Control (with P. Ogren and E. Fiorelli)

        Collective Motion:  Bistability and Trajectory Tracking
          Proc. 43rd IEEE Conference on Decision and Control (with D. Paley and R. Sepulchre)

          Stabilization of a Coordinated Network of Rotating Rigid Bodies
          Proc. 43rd IEEE Conference on Decision and Control (with S. Nair)

          A Lyapunov Function for Vehicles with Lift and Drag: Stability of Gliding
          Proc. 43rd IEEE Conference on Decision and Control (with P. Bhatta)

          Underwater Gliders: Recent Developments and Future Applications
          IEEE International Symposium on Underwater Technology, UT'04
          (with R. Bachmayer, J. Graver, E. Fiorelli, P. Bhatta, D. Paley)
 

        2003

          Collective Motion and Oscillator Synchronization
          Proc.  2003 Block Island Workshop on Cooperative Control
  (with R. Sepulchre and D. Paley)
 
          Coordinated Control Networked Mechanical Systems with Unstable Dynamics
          Proc. 42nd IEEE Conference on Decision and Control (with S. Nair and L. Moreau)

          Adaptive Sampling Using Feedback Control of an Autonomous Underwater Glider Fleet
          Proc. 13th International Symposium on Unmanned Untethered Submersible Technology,
          (with E. Fiorelli, P. Bhatta and I. Shulman).

          Underwater Glider Model Parameter Identification
          Proc. 13th International Symposium on Unmanned Untethered Submersible Technology,
          (with J.G. Graver, R. Bachmayer and D.M. Fratantoni).

        Obstacle Avoidance in Formation
          Proc. of the IEEE Int. Conf. on Robotics and Automation (with P. Ogren)

          Coordinated Gradient Descent: A Case Study of Lagrangian Dynamics with Projected Gradient Information
          Proc. IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control
          (with L. Moreau and R. Bachmayer)

          Singular Trajectories in Multi-Input Time-Optimal Problems:  Application to Controlled Mechanical Systems
          Journal of Dynamical and Control Systems  (with M. Chyba and E.D. Sontag)
 

          2002

        Formations with a Mission:  Stable Coordination of Vehicle Group Maneuvers
          Proc. Symposium on Mathematical Theory of Networks and Systems
          (with P. Ogren and E. Fiorelli).

        Stabilizing Underwater Vehicle Motion Using Internal Rotors
          Automatica, (with C.A. Woolsey).

          The Equivalence of Controlled Lagrangian and Controlled Hamiltonian Systems
          ESAIM: Control, Optimisation, and Calculus of Variations
          (with D.E. Chang,  A.M. Bloch,  J.E. Marsden and C.A. Woolsey)

          Computer Simulations of Global Networks of Stratospheric Satellites
          6th Symposium on Integrated Observing Systems,
          (with Heun, Schlaifer, Aaron, Nock, Pankine, Belburno and Bhatta)

          Moving Mass Control for Underwater Vehicles
          Proc. American Control Conference, (with C.A. Woolsey).

          A Provably Convergent Dynamic Window Approach to Navigation
          Proc. IFAC World Congress (with P. Ogren)

          Vehicle Networks for Gradient Descent in a Sampled Environment
         Proc. 41st IEEE Conference on Decision and Control (with R. Bachmayer)

          Stabilization and Coordination of Underwater Gliders
          Proc. 41st IEEE Conference on Decision and Control (with P. Bhatta)

          A Normal Form for Energy Shaping:  Application to the Furuta Pendulum
         Proc. 41st IEEE Conference on Decision and Control (with S. Nair)

          A Tractable Convergent Dynamic Window Approach to Obstacle Avoidance
          IEEE/RSJ International Conference on Intelligent Robots and Systems (with P. Ogren)
 

          2001

        Controlled Lagrangians and the Stabilization of Euler-Poincare Mechanical Systems
          International Journal on Robust and Nonlinear Control, (with A.M. Bloch and J.E. Marsden).

          Controlled Lagrangians and the Stabilization of Mechanical Systems II:  Potential Shaping
          IEEE Transactions on Automatic Control, (with A.M. Bloch, D.E. Chang and J.E. Marsden).

          Model-Based Feedback Control of Autonomous Underwater Gliders
          IEEE Journal of Oceanic Engineering, (with J. Graver).

          Physical Dissipation and the Method of Controlled Lagrangians
          Proc. of the European Control Conference, (with C.A. Woolsey, A.M. Bloch and J.E. Marsden).

          Optimality for Underwater Vehicles
          Proc. of the 40th IEEE Conference on Decision and Control, (with M. Chyba and E.D. Sontag).

          Virtual Leaders, Artificial Potentials and Coordinated Control of Groups
          Proc. of the 40th IEEE Conference on Decision and Control, (with E. Fiorelli).

          Orientation Control of Multiple Underwater Vehicles with Symmetry-Breaking Potentials
          Proc. of the 40th IEEE Conference on Decision and Control, (with T.R Smith and H. Hanssmann).

          Dissipation and Controlled Euler-Poincare Systems
          Proceedings of the 40th IEEE Conference on Decision and Control, (with C.A. Woolsey, A.M. Bloch and J.E. Marsden).

          Experimental Test-bed for Multi-Vehicle Control, Navigation and Communication
          Proc. 12th International Symposium on Unmanned Untethered Submersible Technology, (with R. Bachmayer).

          Underwater Glider Dynamics and Control
          Proc. 12th International Symposium on Unmanned Untethered Submersible Technology, (with J.Graver).

          2000

        Controlled Lagrangians and the Stabilization of Mechanical Systems I: The First Matching Theorem
          IEEE Transactions on Automatic Control, (with A.M. Bloch and J.E. Marsden).

          Controllability and Motion Algorithms for Underactuated Lagrangian Systems on Lie Groups
          IEEE Transactions on Automatic Control, (with F. Bullo and A.D. Lewis).

          Potential and Kinetic Shaping for Control of Underactuated Mechanical Systems''
          Proc. of the American Control Conference, (with A.M Bloch, D.E. Chang and J.E. Marsden).

          Matching and Stabilization of Low-dimensional Nonholonomic Systems
          Proc. of the 39th IEEE Conference on Decision and Control, (with D.V. Zenkov, A.M. Bloch and J.E. Marsden)

          Asymptotic Stabilization of Euler-Poincare Mechanical Systems
          Proc. of the IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, (with Bloch, Chang, Marsden, Woolsey)

          Time-Optimal Control for Underwater Vehicles
          Proc. of the IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, (with M. Chyba and E.D. Sontag).

          Modification to Hamiltonian Structure to Stabilize an Underwater Vehicle
          Proc. of the IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, (with C.A. Woolsey).

          Matching and Stabilization of the Unicycle with Rider
          Proc. of the IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, (with Zenkov, Bloch and Marsden).

          1999

        Global Asymptotic Stabilization of an Underwater Vehicle Using Internal Rotors
          Proc. of the 38th IEEE Conference on Decision and Control, (with C.A. Woolsey).