Journal Publications and Book Chapters
[66] Randal
W. Beard, Timothy W. McLain ÒImplementing Dubins
Airplane Paths on Fixed-wing UAVs,Ó Handbook of Unmanned Aerial
Vehicles, ed. Kimon P. Valavanis,
George J. Vachtsevanos, Springer, (to appear in 2014).
Preprint
[65] Liang Sun,
John D. Hedengren, Randal W. Beard, ÒOptimal Trajecotry Generation using Model Predictive Control for
Aerially Towed Cable Sysetms,Ó AIAA
Journal of Guidance, Control, and Dynamics, (in review). Preprint
[64] Robert Leishman,
John Macdonald, Randal W. Beard, Timothy W. McLain, ÒQuadrotors
and Accelerometers: State Estimation with an Improved Dynamic
Model,Ó IEEE Control Systems Magazine, (in review).Preprint
[63] Joseph W.
Nichols, Liang Sun, Randal W. Beard, Timothy McLain, ÒAerial Rendezvous of
Small Unmanned Aircraft Using a Passive Towed Cable System,Ó AIAA
Journal of Guidance, Control, and Dynamics, (in review). Preprint
[62] Randal W. Beard, Jeff Ferrin, Jeff Humpherys, ÒFixed
Wing UAV Path Following in Wind with Input Constraints,Ó IEEE
Transactions on Control Systems Technology, (in review). Preprint
[61] Peter Niedfeldt,
Brandon Carroll, Joel Howard, Randal W. Beard, Bryan Morse, Stephen Pledgie, , ÒEnhanced UAS Surveillance Using a Video Utility
Metric,Ó International Journal for Unmanned Systems, (in
review). Preprint
[60] John Macdonald, Randal W.
Beard, ÒOptimizing Relative Transformations in Graph-Based SLAM,Ó, IEEE
Transactions on Robotics, (in review). Preprint
[59] John Macdonald, Robert Leishman, Randal W. Beard Timothy McLain, ÒAnalysis of an
Improved IMU-Based Observer for Multirotor
Helicopters,Ó, Journal of Intelligent & Robotic Systems, (in
review).Preprint
[58] Huili
Yu, Keven Meier, Matt Argyle, Randal W Beard,
Probabilistic Path Planning for Cooperative Target Tracking Using Aerial and
Ground Vehicles, IEEE/ASME Transactions on Mechatronics, (in
review). Preprint
[57] Huili
Yu, Randal W. Beard, ÒA Vision-based Collision Avoidance Technique for Micro
Air Vehicles Using Local-level Frame Mapping and Path Planning,Ó Autonomous
Robots, vol. 34, no. 1-2, p. 93-109, 2013.Preprint
[56] Huili
Yu, Rajnikant Sharma, Randal W. Beard, Clark N.
Taylor, ÒObservability-based Local Path Planning and
Collision Avoidance using Bearing-only Measurements,Ó Robotics
and Autonomous Systems, (in review).Preprint
[55] Rajnikant
Sharma, Stephen Quebe, Randy Beard, Clark Taylor,
ÒBearing-only Cooperative Localization: Simulation and Experiemental
Results,Ó Journal of Intelligent and Robotic Systems, (to
appear). Preprint
[54] Mangal
Kothari, Rajnikant Sharma, Ian Postlethwaite,
Randal W. Beard, ÒCooperative Target-capturing with Incomplete Target
Information,Ó Journal of Intelligent and Robotic Systems,
(to appear). Preprint
[53] Huili
Yu, Randal W. Beard, ÒVision-based Local-level Frame Mapping and Planning in
Spherical Coordinates for Micro Air Vehicles using Bearing-only
Camera,Ó IEEE Transactions on Control Systems Technology, (to
appear). Preprint
[52] Rajnikant Sharma, Randal W. Beard,
Clark N. Taylor, Stephen Quebe, ÒGraph-based Observability Analysis of Bearing-only Cooperative
Localization,Ó IEEE Transactions on Robotics, Vol. 28, No. 2,
p. 522-529, April, 2012. Preprint
[51] Jeffery Saunders, Randal W.
Beard, ÒVisual Tracking in Wind with Field of View Constraints,Ó International
Journal of Micro Air Vehicles, vol. 3, no. 3, September, p. 169-182,
2011. Preprint
[50] Rajnikant
Sharma, Jeffery B. Saunders, Randal W. Beard, ÒReactive Path Planning for Micro
Air Vehicles Using Bearing-Only Measurements,Ó Journal of
Intelligent and Robotic Systems,
DOI 10.1007/s10846-011-9617-x, 2011. Preprint
[49] Joel G. Manathara,
P. B. Sujit, Randal W. Beard, ÒMultiple UAV
Coalitions for a Search and Prosecute Mission,Ó Journal of
Intelligent and Robotic Systems, Vol. 62, No. 1, p. 125-158,
2011. Preprint
[48] Mark Colton, Liang Sun, Daniel
Carlson, Randal Beard, ÒMulti-vehicle Dynamics and Control for Aerial Recovery
of Micro Air Vehicles,Ó International Journal of Vehicle
Autonomous Systems, Vol. 9, Nos. 1/2, p. 78-107, 2011. Preprint
[47] Joseph Egbert, Randal W.
Beard, ÒLow-Altitude Road Following Using Strap-down Cameras on Miniature
Air VehiclesÓ Mechatronics (Special Issue on Development of
Autonomous Unmanned Aerial Vehicles), vol 21, no.
5, p. 831-843, August, 2011. Preprint
[46] Huili
Yu, Randal Beard, Jeffry Byrne, ÒVision-based Body Frame Mapping and Path
Planning for Miniature Air Vehicles,Ó Control Engineering
Practice, February, 2010. Preprint
[45] Randal W. Beard, ÒEmbedded UAS
Autopilot and Sensor Systems,Ó in Encyclopedia of Aerospace Engineering, R.
Blockley and W. Shyy (eds). John Wiley & Sons Ltd, Chichester,
UK, p. 4799-4814, 2010. Preprint
[44] Ryan S. Holt, Randal W.
Beard, ÒVision-Based Road-Following Using Proportional
NavigationÓ Journal of Intelligent Robotic Systems, Vol. 57,
No. 1, p.193-216, December, 2009. Preprint
[43] Jeff Saunders,
Randal W. Beard, ÒUAV Flight Simulation
with Hardware-in-the-loop Testing and Vision GenerationÓ Journal
of Intelligent Robotic Systems, Vol. 57, No. 1, p.407-415, December 2009.
[42] P. B. Sujit, Derek B. Kingston, Randal W. Beard, ÒAutonomous Forest Fire Monitoring
System Using Multiple UAVsÓ in Autonomous Robots Research, Nova
Publishers, (to appear).
[41] Derek B.
Kingston, Randal W. Beard, Ryan Holt, ÒDecentralized Perimeter Surveillance
Using a Team of UAVsÓ IEEE Transactions on Robotics, vol. 24,
no. 6, December, 2008, p. 1394-1404.
[40] David L.
Johansen, James K. Hall, Clark N. Taylor, Randal W. Beard, ÒStabilization of
Video from Miniature Air Vehicles for Target Localization,Ó AIAA Journal of
Aerospace Computing, Information, and Communication, vol. 5, no. 8, p.
251-273, August, 2008.
[39] Derek B.
Kingston, Randal W. Beard, ÒUAV Splay State Configuration for Moving Targets in
Wind,Ó in Advances in Cooperative Control and Optimization, edited by
Michael J. Hirsch, Lecture Notes in Computer Science, Springer Verlag, 2008.
[38] Wei Ren, Ji-Sang Sun, Randal Beard, Timothy McLain, ÒExperimental
Validation of an Autonomous Control System on a Mobile Robot Platform,Ó IET
Control Theory & Applications, vol. 1, no. 6, 2007, p. 1621-1629.
[37] Randal W.
Beard, ÒState Estimation for Micro Air Vehicles,Ó in
Innovations in Intelligent Machines I, edited by Jovaan
S. Chahl, Lakhmi C. Jain, Akiki Mizutani, Mika Sato-Ilic, Studies
in Computational Intelligence (SCI), vol. 70, Springer Verlag,
Berlin Heidelberg, 2007, p. 173-199.
[36] Derek Nelson,
Timothy W. McLain, Randal W. Beard, ÒExperiments in Cooperative Timing for
Miniature Air Vehicles,Ó AIAA Journal of Aerospace Computing, Information,
and Communication, vol. 4, no. 8, 2007, p. 956-967.
[35] Derek R. Nelson, Blake
Barber, Timothy W. McLain, Randal W. Beard, ÒVector Field Path Following for
Miniature Air Vehicles,Ó IEEE Transactions on Robotics, vol. 23, no. 3,
June, 2007, p 519-529.
[34] Stephen
Griffiths, Jeff Saunders, Andrew Curtis, Blake Barber, Tim McLain, Randy Beard,
ÒObstacle and Terrain Avoidance for Miniature Aerial Vehicles,Ó Chapter 7 in Advances in Unmanned Aerial Vehicles: State of the art and the road to
autonomy, edited by Kimon P. Valavanis,
Springer Verlag, 2007.
[33] D. Blake
Barber, Stephen Griffiths, Timothy W. McLain, Randal W. Beard, ÒAutonomous
Landing of Miniature Aerial Vehicles,Ó
AIAA Journal of Aerospace
Computing, Information, and Communication, vol. 4, no. 5 May,
2007, p. 770-784.
[32] Wei Ren, Randal W.
Beard, Ella Atkins, ÒInformation Consensus and its Applications in
Multi-vehicle Cooperative Control,Ó IEEE Control Systems Magazine, vol.
27, no. 2, April, 2007, p.71-82.
[31] D. Blake Barber, Joshua D. Redding, Timothy
W. McLain, Randal W. Beard, Clark N. Taylor, ÒVision-based Target Geo-location
using a Fixed-wing Miniature Air Vehicle,Ó Journal of Intelligent and
Robotic Systems, vol. 47, no. 4, December, 2006, p. 361-382.
[30] Randal Beard, Timothy
McLain, Derek Nelson, Derek Kingston, ÒDecentralized Cooperative Aerial
Surveillance using Fixed-Wing Miniature UAVs,Ó IEEE Proceedings: Special
Issue on Multi-Robot Systems, vol. 94, no. 7, July, 2006, p. 1306-1324.
[29] Stephen Griffths, Jeff Saunders, Andrew Curtis, D. Blake Barber,
Timothy W. McLain, Randal W. Beard, ÒMaximizing miniature aerial vehicles,Ó IEEE
Robotics and Automation Magazine, vol. 13, no. 3, 2006 p. 34-43.
[28] David W. Casbeer, Derek B. Kingston, Randal W. Beard, Timothy W.
McLain, Sai-Ming Li, Raman Mehra,
ÒCooperative Forest Fire Surveillance Using a Team of Small Unmanned Air
Vehicles,Ó International Journal of Systems Science, vol. 37, no. 6,
May, 2006, p. 351-360.
[27] Randal W.
Beard, D.J. Lee, Morgan Quigley, Sarita Thakoor, Steve Zornetzer, ÒA New
Approach to Observation of Descent and Landing of Future Mars Mission Using Bioinspired Technology Innovations,Ó AIAA Journal of
Aerospace Computing, Information, and Communication, vol. 2, no. 1,
January, 2005, p. 65-91.
[26] Randal Beard,
Derek Kingston, Morgan Quigley, Deryl Snyder, Reed
Christiansen, Walt Johnson, Timothy McLain, Mike Goodrich, ÒAutonomous Vehicle
Technologies for Small Fixed Wing UAVs,Ó AIAA Journal of Aerospace
Computing, Information, and Communication, vol. 2, no. 1, January, 2005, p.
92-108.
[25] Wei Ren, Randal W. Beard, ÒConsensus Seeking in Multi-agent
Systems Using Dynamically Changing Interaction Topologies,Ó IEEE
Transactions on Automatic Control, vol. 50, no. 5, May, 2005, p. 655-661.
[24] Erik P.
Anderson, Randal W. Beard, Timothy W. McLain, ÒReal Time Dynamic Trajectory
Smoothing for Uninhabited Aerial Vehicles,Ó IEEE Transactions on Control
Systems Technology, vol. 13, no. 3, May, 2005, p. 471-477.
[23] Timothy W.
McLain, Randal W. Beard, ÒCoordination Variables, Coordination Functions, and
Cooperative Timing Missions,Ó AIAA Journal of Guidance, Control, &
Dynamics, vol. 28, no. 1., January, 2005, p. 150-161.
[22] J. Willard
Curtis, Randal W. Beard, ÒA Complete Parameterization of CLF-Based Input-to-State
Stabilizing Control Laws,Ó International Journal of Robust and Nonlinear
Control, vol 14, 2004, p. 1393-1420.
[21] Wei Ren, Randal W. Beard, ÒTrajectory Tracking for Unmanned Air
Vehicles with Velocity and Heading Rate Constraints,Ó IEEE Transactions on
Control Systems Technology, vol. 12, no. 5, September, 2004, p. 706-716.
[20] J. Willard
Curtis, Randal W. Beard, ÒSatisficing: A New Approach to Constructive Nonlinear
Control,Ó IEEE Transactions on Automatic Control, vol. 49, no. 7, July,
2004, p. 1090-1102.
[19] Wei Ren, Randal W. Beard, ÒFormation Feedback Control for
Multiple Spacecraft via Virtual Structures,Ó IEE Proceedings-Control Theory
and Applications, vol. 151, no. 3, May, 2004, p. 357-368.
[18] James K.
Archibald, Randal W. Beard, ÒRobot Soccer for Undergraduate Students,Ó IEEE
Robotics and Automation Magazine, vol. 11, no. 1, March, 2004, p. 70-75.
[17] Wei Ren, Randal W. Beard, ÒA Decentralized Scheme for
Spacecraft Formation Flying via the Virtual Structure Approach,Ó AIAA Journal
of Guidance, Control, and Dynamics, vol. 27, no. 1, January, 2004, p.
73-82.
[16] Wei Ren, Randal W. Beard, Timothy W. McLain, ÒCoordination
Variables and Consensus Building in Multiple Vehicle Systems,Ó Block Island
Workshop on Cooperative Control, Editors Vijay Kumar, Naomi Leonard, A.
Stephen Morse, Lecture Notes in Control and Information Systems, vol. 309,
Springer-Verlag, p. 171-188, 2004.
[15] Jonathan
Lawton, Randal Beard, Brett Young, ÒA Decentralized Approach To Formation
Maneuvers,Ó IEEE Transactions on Robotics and Automation, vol. 19, no.
6, December, 2003, p. 933-941.
[14] Jonathan
Lawton, Randal W. Beard, ÒAttitude Regulation About a Fixed Rotation Axis,Ó AIAA
Journal of Guidance, Control, and Dynamics, vol. 26, no. 2, March, 2003, p.
253-258.
[13] Randal W.
Beard, Timothy W. McLain, Michael Goodrich, Erik P. Anderson, ÒCoordinated
Target Assignment and Intercept for Unmanned Air Vehicles,Ó IEEE
Transactions on Robotics and Automation, vol. 18, no. 6, December, 2002, p.
911-922.
[12] Jonathan
Lawton, Randal W. Beard, ÒSynchronized Multiple Spacecraft Rotations,Ó Automatica, vol. 38, no. 8, August 2002, p.
1359-1364.
[11] Randal W.
Beard, ÒLinear Operators with Application in Control and Signal Processing,Ó IEEE
Control Systems Magazine, vol. 22, no. 2, April 2002, p. 69-79.
[10] Randal W.
Beard, Jonathan Lawton, Fred Y. Hadaegh, ÒA
Coordination Architecture for Spacecraft Formation Control,Ó IEEE
Transactions on Control Systems Technology, vol. 9, no. 6, November 2001,
p. 777-790.
[9] Christopher A.
Bailey, Timothy W. McLain, Randal W. Beard, ÒFuel Saving Strategies for Dual
Spacecraft Interferometry Missions,Ó Journal of the Astronautical
Sciences, vol. 49, no. 3, July-September, 2001, p. 469-488.
[8]
Richard D. Abbott, Timothy W. McLain, Randal W. Beard, ÒValidation of a
Synthesis Technique for the Optimal Control of an Electro-hydraulic Positioning
System,Ó ASME Journal of Dynamic Systems, Measurement, and Control, vol.
123, September2001, p. 377-384.
[7] Randal W.
Beard, Fred Y. Hadaegh, ÒFuel Optimization for
Unconstrained Rotation of Spacecraft Formations,Ó Journal of the Astronautical Sciences, vol. 47, no. 3, p. 259-273,
July-December, 1999.
[6] Randal W.
Beard, Timothy W. McLain, Fred Y. Hadaegh, ÒFuel
Optimization for Constrained Rotation of Spacecraft Formations,Ó AIAA
Journal of Guidance, Control, and Dynamics, vol. 23, no. 2, p. 339-0346,
March-April, 2000.
[5] Randal Beard,
Jacob Gunther, Jonathan Lawton, Wynn Stirling,
ÒNonlinear Projection Filter based on Galerkin
Approximation,Ó AIAA Journal of Guidance, Control and Dynamics, vol. 22,
no. 2, March-April, p. 258-266, 1999.
[4] Randal W.
Beard, Timothy W. McLain, ÒSuccessive Galerkin
Approximation Algorithms for Nonlinear Optimal and Robust Control,Ó, International
Journal of Control: Special Issue on Breakthroughs in the Control of Nonlinear
Systems, vol. 71, no. 5, p. 717-743, 1998.
[3] Randal Beard,
George Saridis, John Wen, ÒApproximate Solutions to
the Time-Invariant Hamilton-Jacobi-Bellman Equation,Ó Journal of
Optimization Theory and Applications, vol. 96, no. 3, March, p. 589-626,
1998.
[2] Randal Beard,
George Saridis, John Wen, ÒSuffcient
Conditions for the Convergence of Galerkin
Approximations to the Hamilton-Jacobi Equation,Ó Automatica,
vol. 33, no. 12, p. 2159-2177, December, 1997.
[1] Randal Beard,
George Saridis, John Wen, ÒImproving the Performance
of Stabilizing Controls for Nonlinear Systems,Ó IEEE Control Systems
Magazine, vol. 16, no. 5, p. 27-35, October 1996.
[140] Peter Neidfeldt, Randal W. Beard, ÒRecursive RANSAC: Multiple
Signal Estimation with Outliers,Ó 9th IFAC Symposium on Nonlinear
Control Systems (NOLCOS), Toulouse,
France, 2013 (to appear). Preprint
[139] Robert Leishman, Timothy W. McLain, Randal W. Beard, ÒRelative
Navigation Approach for Vision-Based Aerial GPS-Denied Navigation,Ó International
Conference on Unmanned Aircraft Systems,
2013 (in review). Preprint
[138] Kevin M. B.
Cook, Everett Bryan, Huili Yu, He Bai,
Kevin Seppi, Randal W Beard, ÒIntelligent Cooperative
Control for Urban Tracking with Unmanned Air Vehicles,Ó International
Conference on Unmanned Aircraft Systems,
2013 (in review). Preprint
[137] Kevin C.
Meier, Randal W. Beard, ÒA Guidance Law for a Small Controllable Projectile
Using Backstepping and Adaptive Control,Ó AIAA
Guidance, Navigation, and Control Conference, 2013 (in review).
[136] Robert Leishman, Daniel Koch, Tim McLain, Randal W. Beard, ÒRobust
Motion Estimation with RGB-D Cameras,Ó
AIAA Infotech@Aerospace, 2013 (in review). Preprint
[135] Eric B. Quist,
Randal W. Beard, ÒRadar Odometry on Small
Unmanned,Ó AIAA Guidance, Navigation, and Control Conference, 2013 (in review). Preprint
[134] Laith
R. Sahawneh, Randal W. Beard, ÒChain-based Collision
Avoidance for UAS Sense and Avoid Systems,Ó AIAA
Guidance, Navigation, and Control Conference, 2013 (in review). Preprint
[133] Matthew Argile, Randal W. Beard, ÒThe Vertical Bat Tail-sitter:
Dynamic Model and Control Architecture,Ó
American Control Conference, 2013 (to appear).
[132] Peter C. Niedfeldt, Brandon T. Carroll, Randal W. Beard, Stephen Pledgie, ÒA Staged Path Planner for an Unmanned Air System
Performing Surveillance and Tracking,Ó
AIAA Guidance, Navigation, and
Control Conference and Exhibit, Minneapolis, Minnesota, AIAA-2012-4786,
August 2012.
[131] Rajnikant
Sharma, Randy Beard, Clark N. Taylor, ÒBearing-only Cooperative Geo-Location
using Miniature Air Vehicles,Ó American Control Conference, Montreal,
Canada, p. 3883-3888, June 2012.
[130] John C.
Macdonald, Randal W. Beard, ÒEfficient Estimation for Indoor Navigation,Ó JSDE/ION
Joint Navigation Conference, Colorado Springs, CO, June, 2012.
[129] Robert Leishman, John Macdonald, Timothy W. McLain, Randal W.
Beard, ÒA Relative Navigation and Mapping Framework for Indoor Aerial
Flight,Ó IEEE Conference on Robotics and Automation, Saint Paul, Minnesota,
p. 4937-4942, May 2012.
[128] Huili
Yu, Randal W. Beard, ÒVision-based Local-level Frame Mapping and Planning in Spherical
Coordinates for Miniature Air Vehicles,Ó
IEEE Conference on Decision and
Control, Orlando, FL, p. 558-563,
December, 2011.
[127] Matthew
Argyle, Caleb Chamberlain, Randal W. Beard, ÒChain Based Path Planning for
Multiple UAVs,Ó IEEE Conference on Decision and Control, Orlando, FL, p. 2738-2743, December,
2011.
[126] Robert Leishman, John Macdonald, Jeffrey Ferrin,
Stephen Quebe, Randy Beard, Tim McLain, ÒUtilizing an
Improved Rotorcraft Dynamic Model in Estimation,Ó IEEE/RSJ
International Conference on Intelligent Robots and Systems, San Francisco, CA, September, p.
5173-5178, September, 2011.
[125] Jeffrey Ferrin, Robert Leishman, Randy
Beard, Tim McLain, ÒPath Planning and Control Utilizing Differential Flatness
of Rotorcraft,Ó IEEE/RSJ International Conference on
Intelligent Robots and Systems, San
Francisco, CA, September,p. 2688-2693, September,
2011.
[124] Clark N.
Taylor, Jeffrey Humpherys, Randal W. Beard, ÒDynamic
Input Consensus using Integrators,Ó
American Control Conference, San Francisco, CA, p. 3357-3362, June,
2011.
[123] Liang Sun,
Randal W. Beard, ÒTowed-body Trajectory Tracking in Aerial Recovery of Micro
Air Vehicles in the Presence of Wind,Ó
American Control Conference, San Francisco, CA, p. 3209-3214, June, 2011.
[122] Peter C. Niedfeldt, Derek B. Kingston, Randal W. Beard, ÒVehicle
State Estimation Within a Road Network Using a Bayesian Filter,Ó American
Control Conference, San
Francisco, CA, p. 4910-4915, June, 2011.
[121] Matthew
Argyle, David W. Casbeer, Randal W. Beard, ÒA
Multi-Team Extension of the Consensus-Based Bundle Algorithm,Ó American
Control Conference, San
Francisco, CA, p. 5376-5381, June, 2011.
[120] Randal W.
Beard, Jeffrey Humpherys, ÒFollowing Straight Line
and Orbital Paths with Input Constraints,Ó
American Control Conference, San Francisco, CA, p. 1587-1592,
June, 2011.
[119] Huili
Yu, Rajnikant Sharma, Randal W. Beard, Clark N.
Taylor, ÒObservability-based Local Path Planning and
Collision Avoidance for Micro Air Vehicles using Bearing-Only
Measurements,Ó American Control Conference, San
Francisco, CA, p. 4649-4654, June, 2011.
[118] Huili
Yu, Randal W. Beard, Matthew Argyle, Caleb Chamberlain, ÒProbabilistic Path
Planning for Cooperative Target Tracking Using Aerial and Ground Vehicles,Ó American
Control Conference, San
Francisco, CA, p. 4673-4678, June, 2011.
[117] Huili
Yu, Randal W. Beard, ÒVision-based Three Dimensional Navigation Frame Mapping
and Planning for Collision Avoidance for Micro Air Vehicles,Ó AIAA
Guidance, Navigation, and Control Conference and Exhibit, Toronto, Canada, paper no. AIAA-2010-8208, 2010.
[116] Mark J.
Cutler, Timothy W. McLain, Randal W. Beard, Brian Capozzi, ÒEnergy Harvesting and Mission
Effectiveness for Small Unmanned Aircraft,Ó AIAA
Guidance, Navigation, and Control Conference and Exhibit, Toronto, Canada, paper no. AIAA-2010-8037, 2010.
[115] Liang Sun,
Randal W. Beard, ÒTowed Body Altitude Stabilization and State Estimation in
Aerial Recovery of Micro Air Vehicles,Ó
AIAA Guidance, Navigation, and
Control Conference and Exhibit, Toronto,
Canada, paper no. AIAA-2010-84144, 2010.
[114] Rajnikant
Sharma, Clark Taylor, David Casbeer, Randal W. Beard,
ÒDistributed Cooperation SLAM Using an Information Consensus Filter,Ó AIAA
Guidance, Navigation, and Control Conference and Exhibit, Toronto, Canada, paper no. AIAA-2010-8334, 2010.
[113] Liang Sun,
Randal W. Beard, Mark B. Colton, ÒMotion Planning and Control for Mothership-Cable-Drogue System in Aerial Recovery of Micro
Air Vehicles,Ó Proceedings of the American Control Conference, Baltimore MA, p. 2101-2106, 2010.
[112] Peter Niedfeldt, Randy Beard, Bryan Morse, Stephen Pledgie, ÒIntegrated Sensor Guidance using Probability of
Object Identification,Ó Proceedings of the American Control
Conference, Baltimore MA, p.
788-793, 2010.
[111] Huili
Yu, Randal W. Beard, Jeffrey Byrne ÒVision-based Local Multi-resolution Path
Planning and Obstacle Avoidance for Micro Air Vehicles,Ó AIAA
Guidance, Navigation, and Control Conference and Exhibit, 2009.
[110] Rajnikant
Sharma, Jeff Saunders, Clark Taylor, Randal W. Beard, ÒReactive Collision
Avoidance for Fixed-wing MAVs Flying in Urban Terrain,Ó AIAA
Guidance, Navigation, and Control Conference and Exhibit, 2009.
[109] Jeffery
Saunders, Randal W. Beard, ÒUAV Flight Simulation with Hardware-in-the-loop
Testing and Vision Generation,Ó Proceedings of the International Symposium
on Unmanned Aerial Vehicles,
Reno, NV, June, 2009.
[108] Ryan S. Holt,
Randal W. Beard, ÒVision-Based Road-Following Using Proportional
Navigation,Ó Proceedings of the International Symposium on Unmanned Aerial Vehicles, Reno, NV, June, 2009.
[107] Randal W.
Beard, Clark Taylor, Jeff Saunders, Ryan Holt, Timothy W. McLain, ÒPayload
Directed Flight of Micro Air Vehicles,Ó
Infotech@Aerospace, 2009.
[106] P. B. Sujit, Randal W. Beard, ÒMultiple UAV Path Planning using
Anytime Algorithms,Ó Proceedings of the American Control Conference, St.
Louis, MO, June 2009, 2978-2983.
[105] Liang Sun,
Randal W. Beard, Mark Colton, Timothy W. McLain, ÒDynamics and Control of a
Cable-Drogue System in Aerial Recovery of Micro Air Vehicles Based on GaussÕs
Principle,Ó Proceedings of the American Control Conference, St. Louis,
MO, June 2009, 4729-4734.
[104] David W. Casbeer,
Randal W. Beard, A. Lee Swindlehurst ÒDistributed
Information Filtering using Consensus Filters,Ó Proceedings of the American
Control Conference, St. Louis, MO, June 2009, p. 1882-1887.
[103] Jeffrey Saunders, Randal W.
Beard, ÒVision-based Reactive Multiple Obstacle Avoidance for Micro Air
Vehicles,Ó Proceedings of the American Control Conference, St. Louis,
MO, June 2009, 5252-5258.
[102] Huili
Yu, Randal W. Beard, ÒVision-based Local Multi-Resolution Mapping and Path
Planning for Miniature Air Vehicles,Ó Proceedings of the American Control
Conference, St. Louis, MO, June 2009, 5247--5252.
[101] David W. Casbeer,
Randal W. Beard, A. Lee Swindlehurst, ÒDiscrete
Double Integrator Consensus with
Perturbations,Ó IEEE Conference on Decision and Control, Cancun,
Mexico, December 2008.
[100] Jeffrey
Saunders, Randal W. Beard, ÒReactive Vision Based Obstacle Avoidance with
Camera Field of View Constraints,Ó AIAA
Guidance, Navigation, and Control Conference and Exhibit, Honolulu, Hawaii, August 2008.
[99] Sujit P. Baliyarasimhuni,
George, J. M., Randal W. Beard, ÒMultiple UAV Task Allocation using Particle
Swarm Optimization,Ó AIAA Guidance, Navigation, and Control
Conference and Exhibit,
Honolulu, Hawaii, August 2008.
[98] Jeffrey
Saunders, Randal W. Beard, ÒMicro Air Vehicle Moving Target Tracking in Wind
Using Strap-down Camera,Ó American Control Conference, Seattle, WA, June
2008, p. 3863-3868.
[97] Sujit P. Baliyarasimhuni,
Randal W. Beard, ÒMultiple UAV Coalition Formation,Ó American Control
Conference, Seattle, WA, June 2008, p. 2010-2015.
[96] P.
B. Sujit, Derek Kingston, Randal W. Beard,
ÒCooperative Forest Fire Monitoring using Multiple UAVs,Ó IEEE Conference on Decision and Control, New Orleans, LA, December
2007.
[95] P.
B. Sujit, Randal W. Beard, ÒMultiple MAV Task
Allocation using Distributed Auctions,Ó AIAA
Guidance, Navigation, and Control Conference and Exhibit, Hilton Head,
South Carolina, August 2007.
[94] Jeffrey
Saunders, Randal W. Beard, Timothy W. McLain, ÒObstacle Avoidance Using
Circular Paths,Ó AIAA Guidance,
Navigation, and Control Conference and Exhibit, Hilton Head, South
Carolina, August 2007.
[93] Randal
W. Beard, J. Will Curtis, Martin Eilders, Johnny
Evers, James R. Cloutier, ÒVision Aided Proportional
Navigation for Micro Air Vehicles,Ó AIAA
Guidance, Navigation, and Control Conference and Exhibit, Hilton Head,
South Carolina, August 2007.
[92] Sujit P. Baliyarasimhuni,
Randal W. Beard, ÒDistributed Sequential Actions for Multiple UAV Task
Allocation,Ó American Control Conference, New York, New York, July 2007,
p. 3955-3960.
[91] Sujit P. Baliyarasimhuni,
Randal W. Beard, ÒCooperative Path Planning for Multiple UAVs Exploring an
Unknown Region,Ó American Control Conference, New York, New York, July
2007, p. 347-352.
[90] Joseph
Egbert, Randal W. Beard, ÒRoad Following Control Constraints for Low Altitude
Miniature Air Vehicles,Ó American Control Conference, New York, New
York, July 2007, p. 353-358.
[89] Randal
W. Beard, ÒA Class of Flight Trajectories for Tracking Ground Targets with
Micro Air Vehicles,Ó The 15th Mediterranean Conference
on Control and Automation, Athens, Greece, June, 2007.
[88] Timothy
W. McLain, Randal W. Beard, D. Blake Barber, Nathan B. Knoebel,
ÒAn Overview of MAV Research at Brigham Young University,Ó NATO Research and Technology Organization AVT-146 Symposium on Platform
Innovations and System Integration for Unmanned Air, Land, and Sea Vehicles, Florence,
Italy, paper number 27, May, 2007.
[87] D.
Blake Barber, Timothy W. McLain, Randal W. Beard, ÒVision Based Precision
Landing of Fixed-wing MAVs,Ó Infotech@Aerospace, Rohnert Park, CA, May, 2007.
[86] Derek
Kingston, Randal W. Beard, ÒUAV Splay State Configuration for Moving Targets,Ó Conference on Cooperative Control and
Optimization, Gainesville, Florida, February, 2007.
[85] Sujit P. Baliyarasimhuni,
Randal W. Beard, ÒDistributed Auctions for Multiple UAV Task Allocation,Ó Advances
in Control and Optimization of Dynamical Systems, Bangalore, India, February, 2007.
[84] Nathan
B. Knoebel, Stephen R. Osborne, Deryl
O. Snyder, Timothy W. McLain, Randal W. Beard, Andrew M. Eldredge
ÒPreliminary Modeling, Control, and Trajectory Design for Miniature Autonomous Tailsitters,Ó AIAA Conference on Guidance,Navigation,
and Control, Keystone CO, 2006, paper no. AIAA-2006-6713.
[83] David
W. Casbeer, A. Lee Swindlehurst,
Randal W. Beard, ÒConnectivity in a UAV Multi-Static Radar Network,Ó AIAA
Conference on Guidance, Navigation, and Control, Keystone CO, 2006, paper
no. AIAA-2006-6209.
[82] Randal
W. Beard, Chengyu Cao, Naira Hovakimyan,
ÒAn L1 Adaptive Pitch Controller for Miniature Air Vehicles,Ó AIAA
Conference on Guidance, Navigation, and Control, Keystone CO, 2006, paper
no. AIAA-2006-6777.
[81] Brandon
Call, Randal W. Beard, Clark Taylor, ÒObstacle Avoidance for Unmanned Air
Vehicles Using Image Feature Tracking,Ó AIAA Conference on Guidance,
Navigation, and Control, Keystone CO, 2006, paper no. AIAA-2006-6541.
[80] Nathan
B. Knoebel, Stephen R. Osborne, Joshua S. Matthews ,
Randal W. Beard, ÒComputationally Simple Model Reference Adaptive Control for
Miniature Air Vehicles,Ó American Control Conference, Minneapolis,
Minnesota, June 2006, p. 5978-5983.
[79] Joshua
S. Matthews, Nathan B. Knoebel, Stephen R. Osborne,
Randal W. Beard, ÒAdaptive Backstepping Control for
Miniature Air Vehicles,Ó American Control Conference, Minneapolis,
Minnesota, June 2006, p. 5972-5977.
[78] Derek
R. Nelson, D. Blake Barber, Timothy W. McLain, Randal W. Beard, ÒVector Field
Path Following for Small Unmanned Air Vehicles,Ó American Control Conference,
Minneapolis, Minnesota, June 2006, p. 5788-5794.
[77] Joshua
Redding, Timothy W. McLain, Randal W. Beard, Clark Taylor, ÒVision-based Target
Localization from a Fixed-wing Miniature Air Vehicle,Ó American Control
Conference, Minneapolis, Minnesota, June 2006, p. 2862-2867.
[76] Derek
Kingston, Randal Beard, ÒDiscrete-Time Average-Consensus under Switching
Network Topologies,Ó American Control Conference, Minneapolis,
Minnesota, June, 2006, p. 3551-3556.
[75] Bryce
B. Ready, Clark N. Taylor, Randal W. Beard, ÒA Kalman
filter Based Method for Creation of Super-resolved MosaicksÓ,
International Conference on Robotics and Automation, Orlando, FL, May,
2006, p. 3417-3422.
[74] Ryan
S. Holt, Joseph W. Egbert, Justin M. Bradley, Randal W. Beard, Clark N. Taylor,
Timothy W. McLain, ÒForest Fire Monitoring Using Multiple Unmanned Air
Vehicles,Ó Eleventh Biennial USDA Forest Service Remote Sensing Applications
Conference, Salt Lake City, April, 2006.
[73] J.
Saunders, B. Call, A. Curtis, R. Beard, T. McLain, ÒStatic and Dynamic Obstacle
Avoidance in Miniature Air Vehicles,Ó Proceedings
of Infotech@Aerospace, Arlington, VA, September,
2005, paper no. AIAA-2005-6950.
[72] Derek
Kingston, Ryan Holt, Randal Beard, Timothy McLain, David Casbeer,
ÒDecentralized Perimeter Surveillance Using a Team of UAVs,Ó Proceedings
of the AIAA Guidance, Navigation, and Control Conference and Exhibit, San Francisco, CA, August, 2005, paper
no. AIAA-2005-5853.
[71] Wei
Ren, Randal W. Beard, Derek B. Kingston, ÒMulti-agent
Kalman Consensus with Relative Uncertainty,Ó American
Control Conference, Portland, OR, MA, June, 2005, p. 1865-1870.
[70] Wei
Ren, Randal W. Beard, ÒSatisficing Approach to
Human-in-the-Loop Safeguarded Control,Ó American Control Conference,
Portland, OR, MA, June, 2005, p. 4985-4990.
[69] Wei
Ren, Ji-Sang Sun, Randal W.
Beard, Timothy W. McLain, ÒNonlinear Tracking Control for Nonholonomic
Mobile Robots with Input Constraints: An Experimental Study,Ó American
Control Conference, Portland, OR, MA, June, 2005, p. 4923-4928.
[68] Derek
B. Kingston, Wei Ren, Randal W. Beard, ÒConsensus
Algorithms are Input-to-State Stable,Ó American Control Conference, Portland,
OR, MA, June, 2005, p. 1686-1690.
[67] David
W. Casbeer, Randal W. Beard, Timothy W. McLain, Sai-Ming Li, Raman K. Mehra,
ÒForest Fire Monitoring Using Multiple Small Unmanned Air Vehicles,Ó American
Control Conference, Portland, OR, MA, June, 2005, p. 3530-3535.
[66] Wei
Ren, Randal W. Beard, ÒA Survey of Consensus Problems
in Multi-agent Coordination,Ó American Control Conference, Portland, OR,
MA, June, 2005, p. 1859-1864.
[65] Morgan Quigley, Michael A.
Goodrich, Steve Griffths, Andrew Eldredge,
Randal W. Beard, ÒTarget Acquisition, Localization, and Surveillance Using a
Fixed-Wing Mini-UAV and Gimbaled Camera,Ó IEEE International Conference on
Robotics and Automation, 2005.
[64] D.J.
Lee, R.W. Beard, P.C. Merrell, and P. Zhan ÒSee and Avoidance Behaviors for
Autonomous Navigation,Ó SPIE Optics East, Robotics Technologies and
Architectures, Mobile Robot XVII, vol. 5609-05, Philadelphia, PA USA,
October 25-28, 2004.
[63] P.
Zhan, D.J. Lee, and R.W. Beard, ÒSolving Correspondence Problem Using 1-D
Signal Matching,Ó SPIE OpticsEast, Robotics
Technologies and Architectures, Intelligent Robots and Computer Vision
XXII, vol. 5608-24, Philadelphia, PA USA, October 25-28, 2004.
[62] P.C.
Merrell, D.J. Lee, and R.W. Beard, ÒStatistical Analysis of Multiple Optical
Flow Values for Estimation of Unmanned Air Vehicles Height Above GroundÓ, SPIE
OpticsEast, Robotics Technologies and Architectures,
Mobile Robot XVII, vol. 5608-28, Philadelphia, October 25-28, 2004.
[61] Derek
R. Nelson, Timothy W. McLain, Reed S. Christiansen, Randal W. Beard, David
Johansen, ÒInitial Experiements in Cooperative
Control of Unmanned Air Vehicles,Ó AIAA 3rd Unmanned Unlimited Systems
Conference and Workshop, Chicago, Il, September, 2004, Paper no.
AIAA-2004-6533.
[60] Derek
B. Kingston, Randal W. Beard, ÒReal-Time Attitude and Position Estimation for
Small UAVs Using Low-Cost Sensors,Ó AIAA 3rd Unmanned Unlimited Systems
Conference and Workshop, Chicago, Il, September, 2004, Paper no.
AIAA-2004-6488.
[59] Tim
McLain, Randal W. Beard, ÒUnmanned Air Vehicle Testbed
for Cooperative Control Experiments,Ó American Control Conference,
Boston, MA, June, 2004, p. 5327-5331.
[58] Josiel A. Gouvea, Fernando
Lizarralde, Randal W. Beard, ÒControl of Passive
Systems using the Satisficing Paradigm,Ó American Control Conference,
Boston, MA, June, 2004, p. 1067-1072.
[57] Wei
Ren, Randal W. Beard, ÒConstrained Nonlinear Tracking
Control For Small Fixed-wing Unmanned Air Vehicles,Ó American Control
Conference, Boston, MA, June, 2004, p. 4663-4668.
[56] Wei
Ren, Randal W. Beard, ÒConsensus of Information Under
Dynamically Changing Interaction Topologies,Ó American Control Conference,
Boston, MA, June, 2004, p. 4939-4944.
[55] Matthew
A. Blake, Gerrit A. Sorensen, James K. Archibald,
Randal W. Beard, ÒHuman Assisted Capture-the-Flag in an Urban Environment,Ó IEEE
International Conference on Robotics and Automation, New Orleans, LA,
April, 2004, p. 1167-1172.
[54] Randal
W. Beard, Timothy W. McLain, ÒMultiple UAV Cooperative Search under Collision
Avoidance and Limited Range Communication Constraints,Ó IEEE Conference on
Decision and Control, Maui, HA, December 2003, p. 25-30.
[53] Randal
W. Beard, Vahram Stepanyan,
ÒSynchronization of Information in Distributed Multiple Vehicle Coordinated
Control,Ó IEEE Conference on Decision and Control, Maui, HA, December
2003, p. 2029-2034.
[52] Wei
Ren, Randal W. Beard, ÒCLF-based Tracking Control for
UAV Kinematic Models with Saturation Constraints,Ó IEEE Conference on
Decision and Control, Maui, HA, December 2003, p. 3924-3929.
[51] Timothy
W. McLain, Randal W. Beard, ÒCoordination Variables, Coordination Functions,
and Cooperative Timing Missions,Ó American Control Conference, Denver,
CO, 2003, p. 296-301.
[50] Derek
Kingston, Randal Beard, Timothy McLain, Michael Larsen, Wei Ren,
ÒAutonomous Vehicle Technologies for Small Fixed Wing UAVs,Ó AIAA 2nd
Unmanned Unlimited Systems, Technologies, and Operations-Aerospace, Land, and
Sea Conference and Workshop & Exhibit, San Diego, CA, September, 2003,
Paper no. AIAA-2003-6559.
[49] Wei
Ren, Randal W. Beard, ÒA Decentralized Scheme for
Spacecraft Formation Flying via the Virtual Structure Approach,Ó American
Control Conference, Denver, CO, 2003, p. 1746-1751.
[48] J.
Willard Curtis, Randal W. Beard, ÒA Graphical Understanding of Lyapunov-based Nonlinear Control,Ó IEEE Conference on
Decision and Control, Las Vegas, NV, 2002, p. 2278-2283.
[47] Wei
Ren, Randal W. Beard, J. Willard Curtis, ÒSatisficing
Control for Multi-agent Formation Maneuvers,Ó IEEE Conference on Decision
and Control, Las Vegas, NV, 2002, p. 2433-2438.
[46] J.
Willard Curtis, Randal W. Beard, ÒEnsuring Stability of State-Dependent Riccati Equation Controllers via Satisficing,Ó IEEE
Conference on Decision and Control, Las Vegas, NV, 2002, p. 2645-2650.
[45] Walter
H. Johnson, Rob Franklin, Randal W. Beard, James K. Archibald, ÒEffective Ball
Handling and Control in Robot Soccer,Ó International Telemetering
Conference, San Diego, CA, October, 2002, p. 461-469, Best undergraduate
student paper award.
[44] Steven
A. R. Olson, Chad S. Dawson, Jared Jacobson, James K. Archibald, Randal W.
Beard, ÒDesign and Development of an Autonomous Soccer-Playing Robot,Ó International
Telemetering Conference, San Diego, CA, October, 2002, p. 684-691, Best
graduate student paper award.
[43] Erik
P. Anderson, Randal W. Beard, ÒAn Algorithmic Implementation of Constrained Extremal Control for UAVs,Ó AIAA Guidance and Control
Conference, Monterey, CA, August 2002, AIAA Paper no. 2002-4470.
[42] Timothy
W. McLain, Randal W. Beard, Jed M. Kelsey, ÒExperimental Demonstration of
Multiple Robot Cooperative Target Intercept,Ó AIAA Guidance and Control
Conference, Monterey, CA, August 2002, AIAA Paper no. 2002-4678.
[41] Wei
Ren, Randal W. Beard, ÒVirtual Structure based
Spacecraft Formation Control with Formation Feedback,Ó AIAA Guidance and
Control Conference, Monterey, CA, August 2002, AIAA Paper no. 2002-4963.
[40] Sai-Ming Li and Jovan D. Boskovic
and Sanjeev Seereeram and
Ravi Prasanth and Jayesh
Amin and Raman K. Mehra and Randal Beard, ÒAutonomous
Hierarchical Control of Multiple Unmanned Combat Air Vehicles (UCAVs),Ó American
Control Conference, Anchorage, Alaska, May, 2002, p. 274-279.
[39] Randal
W. Beard and James K. Archibald and Steven A. Olson, ÒRobot Soccer as a
Culminating Design Project for Undergraduates,Ó American Control Conference,
Anchorage, Alaska, May, 2002, p. 1086-1091.
[38] Randal
W. Beard, Timothy W. McLain, Michael Goodrich, ÒCoordinated Target Assignment
and Intercept for Unmanned Air Vehicles,Ó IEEE International Conference on
Robotics and Automation, Washington DC, May, 2002, p. 2581-2586.
[37] Brett
Young, J. Willard Curtis, Randal W. Beard, ÒNonlinear Robust Regulation Using
the Satisficing Paradigm,Ó IEEE Conference on Decision and Control,
Orlando, FL, December 2001, p. 2791-2796.
[36] J.
Willard Curtis, Randal W. Beard, ÒA Model-Predictive Satisficing Approach to a
Nonlinear Tracking Problem,Ó IEEE Conference on Decision and Control,
Orlando, FL, December 2001, p. 491-495.
[35] J.
Willard Curtis, Randal W. Beard, ÒSuccessive Collocation: An Approximation to
Optimal Nonlinear Control,Ó American Control Conference, Arlington, VA,
June, 2001, p. 3481-3485.
[34] Jonathan
Lawton, Randal W. Beard, ÒModel Independent Eigenaxis
Maneuvers using Quaternion Feedback,Ó American Control Conference,
Arlington, VA, June 2001, p. 2339-2344.
[33] Brett
J. Young, Randal W. Beard, Jed M. Kelsey ÒA Control Scheme for Improving
Multi-Vehicle Formation Maneuvers,Ó American Control Conference, ,
Arlington, VA, June 2001, p. 704-709.
Finalist in the
Best Student Paper Competition.
[32] Randal
W. Beard, Brett J. Young, Wynn Stirling, ÒNonlinear
Regulation Using the Satisficing Paradigm,Ó American Control Conference,
Arlington, VA, June 2001, p. 4258-4263.
[31] Jonathan
Lawton, Randal Beard, ÒElementary Attitude Formation Maneuvers via
Behavior-Based Control,Ó AIAA Guidance, Navigation and Control Conference,
Denver, CO, Paper no. AIAA-2000-4442:AAO-37144, August
2000.
[30] Chris
Bailey, Timothy McLain, Randal Beard, ÒFuel Saving Strategies for Separated
Spacecraft Interferometry,Ó AIAA Guidance, Navigation, and Control
Conference, Denver, CO, Paper no. AIAA-2000-4441:AA0-37143,
August 2000.
[29] Timothy
McLain, Randal Beard, ÒCooperative Rendezvous of Multiple Unmanned Air
Vehicles,Ó AIAA Guidance, Navigation and Control Conference, Denver, CO,
Paper no. AIAA-2000-4369:AAO-37126, August 2000.
[28] Randal
W. Beard, ÒRobot Soccer: An Ideal Senior Design Experience,Ó American
Control Conference, Chicago, IL, June, 2000, p. 3975-3979.
[27] Randal
W. Beard, Jonathan Lawton, Fred Y. Hadaegh, ÒA
Feedback Architecture for Formation Control,Ó American Control Conference,
Chicago, IL, June, 2000, p. 4087-4091.
[26] Brett
Young, Jonathan Lawton, Randal Beard, ÒTwo Hybrid Control Schemes for Nonholonomic Robots,Ó IEEE International Conference on
Robotics and Automation, San Fransico, CA, April,
2000.
[25] Jonathan
Lawton, Brett Young, Randal Beard, ÒA Decentralized Approach To Elementary
Formation Maneuvers,Ó IEEE International Conference on Robotics and
Automation, San Fransico, CA, April, 2000.
[24] Jonathan
Lawton, Randal Beard, ÒA Projection Approach to Spacecraft Formation Attitude
Control,Ó 23rd Annual AAS Guidance and Control Conference, AAS 00-011,
Breckenridge, Colorado, February, 2000.
[23] S.
Seereeram, E. Li, B. Ravichandran,
R. Mehra, R. Smith, R. Beard, ÒMultispacecraft
Formation Initialization using Genetic Algorithm Techniques,Ó 23rd Annual AAS
Guidance and Control Conference, AAS 00-033, Breckenridge, Colorado, February,
2000.
[22] Timothy
W. McLain, Randal W. Beard, ÒNonlinear Robust Missile Autopilot Design Using
Successive Galerkin Approximation,Ó AIAA Guidance,
Navigation and Control Conference, Paper no. AIAA-99-3997,
Portland, OR, p. 384-391, 1999.
[21] Randal
W. Beard, Timothy W. McLain, John T. Wen, ÒSuccessive Galerkin
Approximation of the Isaacs Equation,Ó IFAC World Congress, Beijing,
China, 1999.
[20] Jonathan
Lawton, Randal W. Beard, Tim McLain, ÒSuccessive Galerkin
Approximation of Nonlinear Optimal Attitude Control," American Control
Conference, San Diego, CA, June, 1999, p. 4373-4377.
[19] Jonathan
Lawton, Randal W. Beard, Fred Y. Hadaegh, ÒAn
Adaptive Control Approach to Satellite Formation Flying with Relative Distance
Constraints,Ó American Control Conference, San Diego, CA, June, 1999, p.
1545-1549.
[18] Timothy
W. McLain, Christopher A. Bailey, Randal W. Beard, ÒSynthesis and Experimental
Testing of a Nonlinear Optimal Tracking Controller,Ó American Control
Conference, San Diego, CA, June, 1999, p. 2847-2851.
[17] Randal W. Beard, Fred Y. Hadaegh, ÒFinite Thrust Control for Satellite Formation
Flying with State Constraints,Ó American Control Conference, San Diego,
CA, June, 1999, p. 4383-4387.
[16] Randal
W. Beard, Fred Y. Hadaegh, ÒFuel Optimized Rotation forSatellite Formations in Free Space,Ó American Control
Conference, San Diego, CA, June, 1999, p. 2975-2979.
[15] Randal
Beard, Wynn Stirling and Rick Frost, ÒA Hierarchical
Coordination Scheme for Satellite Formation Initialization,Ó AIAA Guidance,
Navigation and Control Conference, AIAA paper #98-4225, p. 677-685, Boston,
MA, 1998.
[14] Timothy
W. McLain, Randal W. Beard, ÒNonlinear Optimal Control Design of a Missile
Autopilot,Ó AIAA Guidance, Navigation and Control Conference, AIAA paper
#98-4321, p. 1209-1216, Boston, MA, 1998.
[13] Randal
W. Beard, Timothy W. McLain, ÒA Practical Algorithm for Designing Nonlinear
H-infinity Control Laws,Ó American Control Conference, Philadelphia, PA,
3742-3743, June, 1998.
[12] John D.
Kenney, Wynn Sterling, Randy Beard, ÒSet-Valued Nonlinear Estimation Using the Galerkin Approximation,Ó American Control Conference,
Philadelphia, PA, p. 3580-3584, June, 1998.
[11] Jonathan
Lawton, Randal W. Beard, ÒNumerically Efficient Approximations to the
Hamilton-Jacobi-Bellman Equation,Ó American Control Conference,
Philadelphia, PA, p. 195-199, June, 1998.
[10] Randal
W. Beard, Timothy W. McLain, Fred Y. Hadaegh, ÒFuel
Equalized Retargeting for Separated Spacecraft Interferometry,Ó American
Control Conference, Philadelphia, PA, p. 1580-1584, June, 1998.
[9]
Timothy W. McLain, Randal W. Beard, ÒNonlinear Optimal Control of
an Underwater Robotic Vehicle,Ó IEEE International Conference on Robotics
and Automation, Leuven, Belgium, p. 762-767, May 1998.
[8]
Timothy W. McLain, Randal W. Beard, ÒNonlinear Robust Control of
an Electrohydraulic Positioning System,Ó International Mechanical
Engineering Congress & Exposition, The Fluid Power and Systems
Technology Division FPST v. 5, Anaheim, CA, 1998.
[7]
Randal W. Beard and Fred Y. Hadaegh,
ÒConstellation Templates: An Approach to Autonomous Formation Flying,Ó World
Automation Congress, Anchorage, Alaska, ISIAC p. 177.1-177.6, 1998.d
[6]
Timothy W. McLain and Randal W. Beard, ÒNonlinear Optimal Control
of a Hydraulically Actuated Positioning System,Ó International Mechanical
Engineering Congress & Exposition, The Fluid Power and Systems
Technology Division FPST v. 4, p. 163-168, Dallas, TX, 1997.
[5]
Jacob Gunther, Randal Beard, Jay Wilson, Travis Oliphant, Wynn Stirling, ÒFast Nonlinear Filtering via Galerkin's
Method,Ó American Control Conference, Albuquerque, NM, 1997.
[4]
Randal Beard, George Saridis, John Wen,
ÒSufficient Conditions for the Convergence of Galerkin
Approximations to the Hamilton-Jacobi Equation,Ó IFAC World Congress,
Volume E, pp 347-352, San Francisco, 1996.
[3]
Randal Beard, George Saridis, John Wen,
ÒComputing Nonlinear Optimal Controls from Existing Stabilizing Controls,Ó Proceedings
of the 4th IEEE Conference on Control Applications, p. 1160-1161, Albany,
NY, September, 1995.
[2]
Randal Beard, George Saridis, John Wen,
ÒAn Iterative Solution to the Finite-Time Linear Quadratic Optimal Feedback
Control Problem,Ó Proceedings of the American Control Conference, p.
3921-3922, Seattle, WA, June 1995.
[1]
Randal Beard, George N. Saridis, ÒA
Cost Measure for Efficient Scheduling in Intelligent Machines,Ó Proceedings
of the IEEE 8th International Symposium on Intelligent Control, Chicago,
Illinois, p. 52-57, August, 1993.
[1] Randal
W. Beard, Timothy W. McLain ÒMotion Planning using Potential Fields,Ó Technical
Report, 2003. Preprint