Journal Publications and Book Chapters

[66] Randal W. Beard, Timothy W. McLain “Implementing Dubins Airplane Paths on Fixed-wing UAVs,  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, “Optimal Trajecotry Generation using Model Predictive Control for Aerially Towed Cable Sysetms,”  AIAA Journal of Guidance, Control, and Dynamics, (in review). Preprint

[64]  Robert Leishman, John Macdonald, Randal W. Beard, Timothy W. McLain, “Quadrotors and Accelerometers: State Estimation with an Improved Dynamic Model,”  IEEE Control Systems Magazine, (in review).Preprint

[63]  Joseph W. Nichols, Liang Sun, Randal W. Beard, Timothy McLain, “Aerial Rendezvous of Small Unmanned Aircraft Using a Passive Towed Cable System,”  AIAA Journal of Guidance, Control, and Dynamics, (in review). Preprint

[62]  Randal W. Beard, Jeff Ferrin, Jeff Humpherys, “Fixed Wing UAV Path Following in Wind with Input Constraints,”  IEEE Transactions on Control Systems Technology, (in review). Preprint

[61]  Peter Niedfeldt, Brandon Carroll, Joel Howard, Randal W. Beard, Bryan Morse, Stephen Pledgie, , “Enhanced UAS Surveillance Using a Video Utility Metric,”  International Journal for Unmanned Systems, (in review). Preprint

[60]  John Macdonald, Randal W. Beard, “Optimizing Relative Transformations in Graph-Based SLAM,”, IEEE Transactions on Robotics, (in review).  Preprint

[59]  John Macdonald, Robert Leishman, Randal W. Beard Timothy McLain, “Analysis of an Improved IMU-Based Observer for Multirotor Helicopters,”, Journal of Intelligent & Robotic Systems, (in review).Preprint

[58Huili 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

[57Huili Yu, Randal W. Beard, “A Vision-based Collision Avoidance Technique for Micro Air Vehicles Using Local-level Frame Mapping and Path Planning,”  Autonomous Robots, vol. 34, no. 1-2, p. 93-109, 2013.Preprint

[56Huili Yu, Rajnikant Sharma, Randal W. Beard, Clark N. Taylor, “Observability-based Local Path Planning and Collision Avoidance using Bearing-only Measurements,”  Robotics and Autonomous Systems, (in review).Preprint

[55]  Rajnikant Sharma, Stephen Quebe, Randy Beard, Clark Taylor, “Bearing-only Cooperative Localization: Simulation and Experiemental Results,”  Journal of Intelligent and Robotic Systems, (to appear). Preprint

[54Mangal Kothari, Rajnikant Sharma, Ian Postlethwaite, Randal W. Beard, “Cooperative Target-capturing with Incomplete Target Information,”  Journal of Intelligent and Robotic Systems,  (to appear).  Preprint

[53Huili Yu, Randal W. Beard, “Vision-based Local-level Frame Mapping and Planning in Spherical Coordinates for Micro Air Vehicles using Bearing-only Camera,”  IEEE Transactions on Control Systems Technology, (to appear). Preprint

[52] Rajnikant Sharma, Randal W. Beard, Clark N. Taylor, Stephen Quebe, “Graph-based Observability Analysis of Bearing-only Cooperative Localization,” IEEE Transactions on Robotics,  Vol. 28, No. 2, p. 522-529, April, 2012. Preprint

[51]  Jeffery Saunders, Randal W. Beard, “Visual Tracking in Wind with Field of View Constraints,” International Journal of Micro Air Vehicles, vol. 3, no. 3, September, p. 169-182, 2011. Preprint

[50Rajnikant Sharma, Jeffery B. Saunders, Randal W. Beard, “Reactive Path Planning for Micro Air Vehicles Using Bearing-Only Measurements,”  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, “Multiple UAV Coalitions for a Search and Prosecute Mission,”  Journal of Intelligent and Robotic Systems, Vol. 62, No. 1, p. 125-158, 2011. Preprint

[48]  Mark Colton, Liang Sun, Daniel Carlson, Randal Beard, “Multi-vehicle Dynamics and Control for Aerial Recovery of Micro Air Vehicles,”  International Journal of Vehicle Autonomous Systems, Vol. 9, Nos. 1/2, p. 78-107, 2011. Preprint

[47]  Joseph Egbert, Randal W. Beard,  “Low-Altitude Road Following Using Strap-down Cameras on Miniature Air Vehicles”  Mechatronics (Special Issue on Development of Autonomous Unmanned Aerial Vehicles), vol 21, no. 5, p. 831-843, August, 2011. Preprint

[46Huili Yu, Randal Beard, Jeffry Byrne, “Vision-based Body Frame Mapping and Path Planning for Miniature Air Vehicles,”  Control Engineering Practice, February, 2010. Preprint

[45]  Randal W. Beard, “Embedded UAS Autopilot and Sensor Systems,”  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,  “Vision-Based Road-Following Using Proportional Navigation”  Journal of Intelligent Robotic Systems, Vol. 57, No. 1, p.193-216, December, 2009. Preprint

[43]  Jeff Saunders, Randal W. Beard,  “UAV Flight Simulation with Hardware-in-the-loop Testing and Vision Generation”  Journal of Intelligent Robotic Systems, Vol. 57, No. 1, p.407-415, December 2009.

[42]  P. B. Sujit, Derek B. Kingston, Randal W. Beard,  “Autonomous Forest Fire Monitoring System Using Multiple UAVs”  in Autonomous Robots Research, Nova Publishers, (to appear).

[41]  Derek B. Kingston, Randal W. Beard, Ryan Holt, “Decentralized Perimeter Surveillance Using a Team of UAVs”  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, “Stabilization of Video from Miniature Air Vehicles for Target Localization,” AIAA Journal of Aerospace Computing, Information, and Communication, vol. 5, no. 8, p. 251-273, August, 2008.

[39]  Derek B. Kingston, Randal W. Beard, “UAV Splay State Configuration for Moving Targets in Wind,”  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, “Experimental Validation of an Autonomous Control System on a Mobile Robot Platform,”  IET Control Theory & Applications, vol. 1, no. 6, 2007, p. 1621-1629.

[37]  Randal W. Beard, “State Estimation for Micro Air Vehicles,”  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, “Experiments in Cooperative Timing for Miniature Air Vehicles,” 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, “Vector Field Path Following for Miniature Air Vehicles,” 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, “Obstacle and Terrain Avoidance for Miniature Aerial Vehicles,”  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, “Autonomous Landing of Miniature Aerial Vehicles,”  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, “Information Consensus and its Applications in Multi-vehicle Cooperative Control,” 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, “Vision-based Target Geo-location using a Fixed-wing Miniature Air Vehicle,” Journal of Intelligent and Robotic Systems, vol. 47, no. 4, December, 2006, p. 361-382.

[30]  Randal Beard, Timothy McLain, Derek Nelson, Derek Kingston, “Decentralized Cooperative Aerial Surveillance using Fixed-Wing Miniature UAVs,” 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, “Maximizing miniature aerial vehicles,” 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, “Cooperative Forest Fire Surveillance Using a Team of Small Unmanned Air Vehicles,” 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, “A New Approach to Observation of Descent and Landing of Future Mars Mission Using Bioinspired Technology Innovations,” 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, “Autonomous Vehicle Technologies for Small Fixed Wing UAVs,” AIAA Journal of Aerospace Computing, Information, and Communication, vol. 2, no. 1, January, 2005, p. 92-108.

[25]  Wei Ren, Randal W. Beard, “Consensus Seeking in Multi-agent Systems Using Dynamically Changing Interaction Topologies,” IEEE Transactions on Automatic Control, vol. 50, no. 5, May, 2005, p. 655-661.

[24]  Erik P. Anderson, Randal W. Beard, Timothy W. McLain, “Real Time Dynamic Trajectory Smoothing for Uninhabited Aerial Vehicles,” IEEE Transactions on Control Systems Technology, vol. 13, no. 3, May, 2005, p. 471-477.

[23]  Timothy W. McLain, Randal W. Beard, “Coordination Variables, Coordination Functions, and Cooperative Timing Missions,” AIAA Journal of Guidance, Control, & Dynamics, vol. 28, no. 1., January, 2005, p. 150-161.

[22]  J. Willard Curtis, Randal W. Beard, “A Complete Parameterization of CLF-Based Input-to-State Stabilizing Control Laws,” International Journal of Robust and Nonlinear Control, vol 14, 2004, p. 1393-1420.

[21]  Wei Ren, Randal W. Beard, “Trajectory Tracking for Unmanned Air Vehicles with Velocity and Heading Rate Constraints,” IEEE Transactions on Control Systems Technology, vol. 12, no. 5, September, 2004, p. 706-716.

[20]  J. Willard Curtis, Randal W. Beard, “Satisficing: A New Approach to Constructive Nonlinear Control,” IEEE Transactions on Automatic Control, vol. 49, no. 7, July, 2004, p. 1090-1102.

[19]  Wei Ren, Randal W. Beard, “Formation Feedback Control for Multiple Spacecraft via Virtual Structures,” IEE Proceedings-Control Theory and Applications, vol. 151, no. 3, May, 2004, p. 357-368.

[18]  James K. Archibald, Randal W. Beard, “Robot Soccer for Undergraduate Students,” IEEE Robotics and Automation Magazine, vol. 11, no. 1, March, 2004, p. 70-75.

[17]  Wei Ren, Randal W. Beard, “A Decentralized Scheme for Spacecraft Formation Flying via the Virtual Structure Approach,” 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, “Coordination Variables and Consensus Building in Multiple Vehicle Systems,” 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, “A Decentralized Approach To Formation Maneuvers,” IEEE Transactions on Robotics and Automation, vol. 19, no. 6, December, 2003, p. 933-941.

[14]  Jonathan Lawton, Randal W. Beard, “Attitude Regulation About a Fixed Rotation Axis,” 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, “Coordinated Target Assignment and Intercept for Unmanned Air Vehicles,” IEEE Transactions on Robotics and Automation, vol. 18, no. 6, December, 2002, p. 911-922.

[12]  Jonathan Lawton, Randal W. Beard, “Synchronized Multiple Spacecraft Rotations,” Automatica, vol. 38, no. 8, August 2002, p. 1359-1364.

[11]  Randal W. Beard, “Linear Operators with Application in Control and Signal Processing,” IEEE Control Systems Magazine, vol. 22, no. 2, April 2002, p. 69-79.

[10]  Randal W. Beard, Jonathan Lawton, Fred Y. Hadaegh, “A Coordination Architecture for Spacecraft Formation Control,” 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, “Fuel Saving Strategies for Dual Spacecraft Interferometry Missions,” 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, “Validation of a Synthesis Technique for the Optimal Control of an Electro-hydraulic Positioning System,” ASME Journal of Dynamic Systems, Measurement, and Control, vol. 123, September2001, p. 377-384.

[7]  Randal W. Beard, Fred Y. Hadaegh, “Fuel Optimization for Unconstrained Rotation of Spacecraft Formations,” 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, “Fuel Optimization for Constrained Rotation of Spacecraft Formations,” 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, “Nonlinear Projection Filter based on Galerkin Approximation,” AIAA Journal of Guidance, Control and Dynamics, vol. 22, no. 2, March-April, p. 258-266, 1999.

[4]  Randal W. Beard, Timothy W. McLain, “Successive Galerkin Approximation Algorithms for Nonlinear Optimal and Robust Control,”, 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, “Approximate Solutions to the Time-Invariant Hamilton-Jacobi-Bellman Equation,” Journal of Optimization Theory and Applications, vol. 96, no. 3, March, p. 589-626, 1998.

[2]  Randal Beard, George Saridis, John Wen, “Suffcient Conditions for the Convergence of Galerkin Approximations to the Hamilton-Jacobi Equation,” Automatica, vol. 33, no. 12, p. 2159-2177, December, 1997.

[1]  Randal Beard, George Saridis, John Wen, “Improving the Performance of Stabilizing Controls for Nonlinear Systems,” IEEE Control Systems Magazine, vol. 16, no. 5, p. 27-35, October 1996.

Conference Articles

[140]  Peter Neidfeldt, Randal W. Beard, “Recursive RANSAC: Multiple Signal Estimation with Outliers,”  9th IFAC Symposium on Nonlinear Control Systems (NOLCOS),  Toulouse, France, 2013 (to appear). Preprint

[139]  Robert Leishman, Timothy W. McLain, Randal W. Beard, “Relative Navigation Approach for Vision-Based Aerial GPS-Denied Navigation,”  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, “Intelligent Cooperative Control for Urban Tracking with Unmanned Air Vehicles,”  International Conference on Unmanned Aircraft Systems, 2013 (in review). Preprint

[137]  Kevin C. Meier, Randal W. Beard, “A Guidance Law for a Small Controllable Projectile Using Backstepping and Adaptive Control,”  AIAA Guidance, Navigation, and Control Conference, 2013 (in review).

[136]  Robert Leishman, Daniel Koch, Tim McLain, Randal W. Beard, “Robust Motion Estimation with RGB-D Cameras,”  AIAA Infotech@Aerospace, 2013 (in review). Preprint

[135]  Eric B. Quist, Randal W. Beard, “Radar Odometry on Small Unmanned,”  AIAA Guidance, Navigation, and Control Conference, 2013 (in review). Preprint

[134]  Laith R. Sahawneh, Randal W. Beard, “Chain-based Collision Avoidance for UAS Sense and Avoid Systems,”  AIAA Guidance, Navigation, and Control Conference, 2013 (in review). Preprint

[133]  Matthew Argile, Randal W. Beard, “The Vertical Bat Tail-sitter: Dynamic Model and Control Architecture,”  American Control Conference, 2013 (to appear).

[132]  Peter C. Niedfeldt, Brandon T. Carroll, Randal W. Beard, Stephen Pledgie, “A Staged Path Planner for an Unmanned Air System Performing Surveillance and Tracking,”  AIAA Guidance, Navigation, and Control Conference and Exhibit, Minneapolis, Minnesota, AIAA-2012-4786, August 2012.

[131]  Rajnikant Sharma, Randy Beard, Clark N. Taylor, “Bearing-only Cooperative Geo-Location using Miniature Air Vehicles,”  American Control Conference, Montreal, Canada, p. 3883-3888, June 2012.

[130]  John C. Macdonald, Randal W. Beard, “Efficient Estimation for Indoor Navigation,”  JSDE/ION Joint Navigation Conference, Colorado Springs, CO, June, 2012.

[129]  Robert Leishman, John Macdonald, Timothy W. McLain, Randal W. Beard, “A Relative Navigation and Mapping Framework for Indoor Aerial Flight,”  IEEE Conference on Robotics and Automation, Saint Paul, Minnesota, p. 4937-4942, May 2012.

[128]  Huili Yu, Randal W. Beard, “Vision-based Local-level Frame Mapping and Planning in Spherical Coordinates for Miniature Air Vehicles,”  IEEE Conference on Decision and Control, Orlando, FL, p. 558-563, December, 2011.

[127]  Matthew Argyle, Caleb Chamberlain, Randal W. Beard, “Chain Based Path Planning for Multiple UAVs,”  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, “Utilizing an Improved Rotorcraft Dynamic Model in Estimation,”  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, “Path Planning and Control Utilizing Differential Flatness of Rotorcraft,”  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, “Dynamic Input Consensus using Integrators,”  American Control Conference, San Francisco, CA, p. 3357-3362, June, 2011.

[123]  Liang Sun, Randal W. Beard, “Towed-body Trajectory Tracking in Aerial Recovery of Micro Air Vehicles in the Presence of Wind,”  American Control Conference, San Francisco, CA, p. 3209-3214,  June, 2011.

[122]  Peter C. Niedfeldt, Derek B. Kingston, Randal W. Beard, “Vehicle State Estimation Within a Road Network Using a Bayesian Filter,”  American Control Conference, San Francisco, CA, p. 4910-4915, June, 2011.

[121]  Matthew Argyle, David W. Casbeer, Randal W. Beard, “A Multi-Team Extension of the Consensus-Based Bundle Algorithm,”  American Control Conference, San Francisco, CA, p. 5376-5381, June, 2011.

[120]  Randal W. Beard, Jeffrey Humpherys, “Following Straight Line and Orbital Paths with Input Constraints,”  American Control Conference, San Francisco, CA, p. 1587-1592, June, 2011.

[119]  Huili Yu, Rajnikant Sharma, Randal W. Beard, Clark N. Taylor, “Observability-based Local Path Planning and Collision Avoidance for Micro Air Vehicles using Bearing-Only Measurements,”  American Control Conference, San Francisco, CA, p. 4649-4654, June, 2011.

[118]  Huili Yu, Randal W. Beard, Matthew Argyle, Caleb Chamberlain, “Probabilistic Path Planning for Cooperative Target Tracking Using Aerial and Ground Vehicles,”  American Control Conference, San Francisco, CA, p. 4673-4678, June, 2011.

[117]  Huili Yu, Randal W. Beard, “Vision-based Three Dimensional Navigation Frame Mapping and Planning for Collision Avoidance for Micro Air Vehicles,”  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,  “Energy Harvesting and Mission Effectiveness for Small Unmanned Aircraft,”  AIAA Guidance, Navigation, and Control Conference and Exhibit, Toronto, Canada, paper no. AIAA-2010-8037, 2010.

[115]  Liang Sun, Randal W. Beard, “Towed Body Altitude Stabilization and State Estimation in Aerial Recovery of Micro Air Vehicles,”  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, “Distributed Cooperation SLAM Using an Information Consensus Filter,”  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, “Motion Planning and Control for Mothership-Cable-Drogue System in Aerial Recovery of Micro Air Vehicles,”  Proceedings of the American Control Conference, Baltimore MA, p. 2101-2106, 2010.

[112]  Peter Niedfeldt, Randy Beard, Bryan Morse, Stephen Pledgie, “Integrated Sensor Guidance using Probability of Object Identification,”  Proceedings of the American Control Conference, Baltimore MA, p. 788-793, 2010.

[111]  Huili Yu, Randal W. Beard, Jeffrey Byrne “Vision-based Local Multi-resolution Path Planning and Obstacle Avoidance for Micro Air Vehicles,”  AIAA Guidance, Navigation, and Control Conference and Exhibit, 2009.

[110]  Rajnikant Sharma, Jeff Saunders, Clark Taylor, Randal W. Beard, “Reactive Collision Avoidance for Fixed-wing MAVs Flying in Urban Terrain,”  AIAA Guidance, Navigation, and Control Conference and Exhibit, 2009.

[109]  Jeffery Saunders, Randal W. Beard, “UAV Flight Simulation with Hardware-in-the-loop Testing and Vision Generation,”  Proceedings of the International Symposium on Unmanned Aerial Vehicles,  Reno, NV, June, 2009. 

[108]  Ryan S. Holt, Randal W. Beard, “Vision-Based Road-Following Using Proportional Navigation,”  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, “Payload Directed Flight of Micro Air Vehicles,”  Infotech@Aerospace, 2009.

[106]  P. B. Sujit, Randal W. Beard, “Multiple UAV Path Planning using Anytime Algorithms,” Proceedings of the American Control Conference, St. Louis, MO, June 2009, 2978-2983.

[105]  Liang Sun, Randal W. Beard, Mark Colton, Timothy W. McLain, “Dynamics and Control of a Cable-Drogue System in Aerial Recovery of Micro Air Vehicles Based on Gauss’s Principle,” Proceedings of the American Control Conference, St. Louis, MO, June 2009, 4729-4734.

 [104]  David W. Casbeer, Randal W. Beard, A. Lee Swindlehurst “Distributed Information Filtering using Consensus Filters,” Proceedings of the American Control Conference, St. Louis, MO, June 2009, p. 1882-1887.

 [103]  Jeffrey Saunders, Randal W. Beard, “Vision-based Reactive Multiple Obstacle Avoidance for Micro Air Vehicles,” Proceedings of the American Control Conference, St. Louis, MO, June 2009, 5252-5258.

 [102]  Huili Yu, Randal W. Beard, “Vision-based Local Multi-Resolution Mapping and Path Planning for Miniature Air Vehicles,” Proceedings of the American Control Conference, St. Louis, MO, June 2009, 5247--5252.

 [101]  David W. Casbeer, Randal W. Beard, A. Lee Swindlehurst, “Discrete Double Integrator Consensus with   Perturbations,” IEEE Conference on Decision and Control, Cancun, Mexico, December 2008.

[100]  Jeffrey Saunders, Randal W. Beard, “Reactive Vision Based Obstacle Avoidance with Camera Field of View Constraints,” AIAA Guidance, Navigation, and Control Conference and Exhibit,  Honolulu, Hawaii, August 2008.

[99]    Sujit P. Baliyarasimhuni, George, J. M., Randal W. Beard, “Multiple UAV Task Allocation using Particle Swarm Optimization,”  AIAA Guidance, Navigation, and Control Conference and Exhibit,  Honolulu, Hawaii, August 2008.

[98]    Jeffrey Saunders, Randal W. Beard, “Micro Air Vehicle Moving Target Tracking in Wind Using Strap-down Camera,” American Control Conference, Seattle, WA, June 2008, p. 3863-3868.

[97]    Sujit P. Baliyarasimhuni, Randal W. Beard, “Multiple UAV Coalition Formation,” American Control Conference, Seattle, WA, June 2008, p. 2010-2015.

[96]    P. B. Sujit, Derek Kingston, Randal W. Beard, “Cooperative Forest Fire Monitoring using Multiple UAVs,” IEEE Conference on Decision and Control, New Orleans, LA, December 2007.

[95]    P. B. Sujit, Randal W. Beard, “Multiple MAV Task Allocation using Distributed Auctions,” AIAA Guidance, Navigation, and Control Conference and Exhibit, Hilton Head, South Carolina, August 2007.

[94]    Jeffrey Saunders, Randal W. Beard, Timothy W. McLain, “Obstacle Avoidance Using Circular Paths,” 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, “Vision Aided Proportional Navigation for Micro Air Vehicles,” AIAA Guidance, Navigation, and Control Conference and Exhibit, Hilton Head, South Carolina, August 2007.

[92]    Sujit P. Baliyarasimhuni, Randal W. Beard, “Distributed Sequential Actions for Multiple UAV Task Allocation,” American Control Conference, New York, New York, July 2007, p. 3955-3960.

[91]    Sujit P. Baliyarasimhuni, Randal W. Beard, “Cooperative Path Planning for Multiple UAVs Exploring an Unknown Region,” American Control Conference, New York, New York, July 2007, p. 347-352.

[90]    Joseph Egbert, Randal W. Beard, “Road Following Control Constraints for Low Altitude Miniature Air Vehicles,” American Control Conference, New York, New York, July 2007, p. 353-358.

[89]    Randal W. Beard, “A Class of Flight Trajectories for Tracking Ground Targets with Micro Air Vehicles,”  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, “An Overview of MAV Research at Brigham Young University,” 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, “Vision Based Precision Landing of Fixed-wing MAVs,”  Infotech@Aerospace, Rohnert Park, CA, May, 2007.

[86]    Derek Kingston, Randal W. Beard, “UAV Splay State Configuration for Moving Targets,” Conference on Cooperative Control and Optimization, Gainesville, Florida, February, 2007.

[85]    Sujit P. Baliyarasimhuni, Randal W. Beard, “Distributed Auctions for Multiple UAV Task Allocation,”  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 “Preliminary Modeling, Control, and Trajectory Design for Miniature Autonomous Tailsitters,” 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, “Connectivity in a UAV Multi-Static Radar Network,” AIAA Conference on Guidance, Navigation, and Control, Keystone CO, 2006, paper no. AIAA-2006-6209.

[82]    Randal W. Beard, Chengyu Cao, Naira Hovakimyan, “An L1 Adaptive Pitch Controller for Miniature Air Vehicles,” AIAA Conference on Guidance, Navigation, and Control, Keystone CO, 2006, paper no. AIAA-2006-6777.

[81]    Brandon Call, Randal W. Beard, Clark Taylor, “Obstacle Avoidance for Unmanned Air Vehicles Using Image Feature Tracking,” 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, “Computationally Simple Model Reference Adaptive Control for Miniature Air Vehicles,” American Control Conference, Minneapolis, Minnesota, June 2006, p. 5978-5983.

[79]    Joshua S. Matthews, Nathan B. Knoebel, Stephen R. Osborne, Randal W. Beard, “Adaptive Backstepping Control for Miniature Air Vehicles,” American Control Conference, Minneapolis, Minnesota, June 2006, p. 5972-5977.

[78]    Derek R. Nelson, D. Blake Barber, Timothy W. McLain, Randal W. Beard, “Vector Field Path Following for Small Unmanned Air Vehicles,” American Control Conference, Minneapolis, Minnesota, June 2006, p. 5788-5794.

[77]    Joshua Redding, Timothy W. McLain, Randal W. Beard, Clark Taylor, “Vision-based Target Localization from a Fixed-wing Miniature Air Vehicle,” American Control Conference, Minneapolis, Minnesota, June 2006, p. 2862-2867.

[76]    Derek Kingston, Randal Beard, “Discrete-Time Average-Consensus under Switching Network Topologies,” American Control Conference, Minneapolis, Minnesota, June, 2006, p. 3551-3556.

[75]    Bryce B. Ready, Clark N. Taylor, Randal W. Beard, “A Kalman filter Based Method for Creation of Super-resolved Mosaicks”, 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, “Forest Fire Monitoring Using Multiple Unmanned Air Vehicles,” 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, “Static and Dynamic Obstacle Avoidance in Miniature Air Vehicles,” Proceedings of Infotech@Aerospace, Arlington, VA, September, 2005, paper no. AIAA-2005-6950.

[72]    Derek Kingston, Ryan Holt, Randal Beard, Timothy McLain, David Casbeer, “Decentralized Perimeter Surveillance Using a Team of UAVs,”  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, “Multi-agent Kalman Consensus with Relative Uncertainty,” American Control Conference, Portland, OR, MA, June, 2005, p. 1865-1870.

[70]    Wei Ren, Randal W. Beard, “Satisficing Approach to Human-in-the-Loop Safeguarded Control,” American Control Conference, Portland, OR, MA, June, 2005, p. 4985-4990.

[69]    Wei Ren, Ji-Sang Sun, Randal W. Beard, Timothy W. McLain, “Nonlinear Tracking Control for Nonholonomic Mobile Robots with Input Constraints: An Experimental Study,” American Control Conference, Portland, OR, MA, June, 2005, p. 4923-4928.

[68]    Derek B. Kingston, Wei Ren, Randal W. Beard, “Consensus Algorithms are Input-to-State Stable,” 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, “Forest Fire Monitoring Using Multiple Small Unmanned Air Vehicles,” American Control Conference, Portland, OR, MA, June, 2005, p. 3530-3535.

[66]    Wei Ren, Randal W. Beard, “A Survey of Consensus Problems in Multi-agent Coordination,” American Control Conference, Portland, OR, MA, June, 2005, p. 1859-1864.

[65]    Morgan Quigley, Michael A. Goodrich, Steve Griffths, Andrew Eldredge, Randal W. Beard, “Target Acquisition, Localization, and Surveillance Using a Fixed-Wing Mini-UAV and Gimbaled Camera,” IEEE International Conference on Robotics and Automation, 2005.

[64]    D.J. Lee, R.W. Beard, P.C. Merrell, and P. Zhan “See and Avoidance Behaviors for Autonomous Navigation,” 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, “Solving Correspondence Problem Using 1-D Signal Matching,” 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, “Statistical Analysis of Multiple Optical Flow Values for Estimation of Unmanned Air Vehicles Height Above Ground”, 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, “Initial Experiements in Cooperative Control of Unmanned Air Vehicles,” AIAA 3rd Unmanned Unlimited Systems Conference and Workshop, Chicago, Il, September, 2004, Paper no. AIAA-2004-6533.

[60]    Derek B. Kingston, Randal W. Beard, “Real-Time Attitude and Position Estimation for Small UAVs Using Low-Cost Sensors,” AIAA 3rd Unmanned Unlimited Systems Conference and Workshop, Chicago, Il, September, 2004, Paper no. AIAA-2004-6488.

[59]    Tim McLain, Randal W. Beard, “Unmanned Air Vehicle Testbed for Cooperative Control Experiments,” American Control Conference, Boston, MA, June, 2004, p. 5327-5331.

[58]    Josiel A. Gouvea, Fernando Lizarralde, Randal W. Beard, “Control of Passive Systems using the Satisficing Paradigm,” American Control Conference, Boston, MA, June, 2004, p. 1067-1072.

[57]    Wei Ren, Randal W. Beard, “Constrained Nonlinear Tracking Control For Small Fixed-wing Unmanned Air Vehicles,” American Control Conference, Boston, MA, June, 2004, p. 4663-4668.

[56]    Wei Ren, Randal W. Beard, “Consensus of Information Under Dynamically Changing Interaction Topologies,” American Control Conference, Boston, MA, June, 2004, p. 4939-4944.

[55]    Matthew A. Blake, Gerrit A. Sorensen, James K. Archibald, Randal W. Beard, “Human Assisted Capture-the-Flag in an Urban Environment,” IEEE International Conference on Robotics and Automation, New Orleans, LA, April, 2004, p. 1167-1172.

[54]    Randal W. Beard, Timothy W. McLain, “Multiple UAV Cooperative Search under Collision Avoidance and Limited Range Communication Constraints,” IEEE Conference on Decision and Control, Maui, HA, December 2003, p. 25-30.

[53]    Randal W. Beard, Vahram Stepanyan, “Synchronization of Information in Distributed Multiple Vehicle Coordinated Control,” IEEE Conference on Decision and Control, Maui, HA, December 2003, p. 2029-2034.

[52]    Wei Ren, Randal W. Beard, “CLF-based Tracking Control for UAV Kinematic Models with Saturation Constraints,” IEEE Conference on Decision and Control, Maui, HA, December 2003, p. 3924-3929.

[51]    Timothy W. McLain, Randal W. Beard, “Coordination Variables, Coordination Functions, and Cooperative Timing Missions,” American Control Conference, Denver, CO, 2003, p. 296-301.

[50]    Derek Kingston, Randal Beard, Timothy McLain, Michael Larsen, Wei Ren, “Autonomous Vehicle Technologies for Small Fixed Wing UAVs,” 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, “A Decentralized Scheme for Spacecraft Formation Flying via the Virtual Structure Approach,” American Control Conference, Denver, CO, 2003, p. 1746-1751.

[48]    J. Willard Curtis, Randal W. Beard, “A Graphical Understanding of Lyapunov-based Nonlinear Control,” IEEE Conference on Decision and Control, Las Vegas, NV, 2002, p. 2278-2283.

[47]    Wei Ren, Randal W. Beard, J. Willard Curtis, “Satisficing Control for Multi-agent Formation Maneuvers,” IEEE Conference on Decision and Control, Las Vegas, NV, 2002, p. 2433-2438.

[46]    J. Willard Curtis, Randal W. Beard, “Ensuring Stability of State-Dependent Riccati Equation Controllers via Satisficing,” 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, “Effective Ball Handling and Control in Robot Soccer,” 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, “Design and Development of an Autonomous Soccer-Playing Robot,” International Telemetering Conference, San Diego, CA, October, 2002, p. 684-691, Best graduate student paper award.

[43]    Erik P. Anderson, Randal W. Beard, “An Algorithmic Implementation of Constrained Extremal Control for UAVs,” AIAA Guidance and Control Conference, Monterey, CA, August 2002, AIAA Paper no. 2002-4470.

[42]    Timothy W. McLain, Randal W. Beard, Jed M. Kelsey, “Experimental Demonstration of Multiple Robot Cooperative Target Intercept,” AIAA Guidance and Control Conference, Monterey, CA, August 2002, AIAA Paper no. 2002-4678.

[41]    Wei Ren, Randal W. Beard, “Virtual Structure based Spacecraft Formation Control with Formation Feedback,” 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, “Autonomous Hierarchical Control of Multiple Unmanned Combat Air Vehicles (UCAVs),” American Control Conference, Anchorage, Alaska, May, 2002, p. 274-279.

[39]    Randal W. Beard and James K. Archibald and Steven A. Olson, “Robot Soccer as a Culminating Design Project for Undergraduates,” American Control Conference, Anchorage, Alaska, May, 2002, p. 1086-1091.

[38]    Randal W. Beard, Timothy W. McLain, Michael Goodrich, “Coordinated Target Assignment and Intercept for Unmanned Air Vehicles,” IEEE International Conference on Robotics and Automation, Washington DC, May, 2002, p. 2581-2586.

[37]    Brett Young, J. Willard Curtis, Randal W. Beard, “Nonlinear Robust Regulation Using the Satisficing Paradigm,” IEEE Conference on Decision and Control, Orlando, FL, December 2001, p. 2791-2796.

[36]    J. Willard Curtis, Randal W. Beard, “A Model-Predictive Satisficing Approach to a Nonlinear Tracking Problem,” IEEE Conference on Decision and Control, Orlando, FL, December 2001, p. 491-495.

[35]    J. Willard Curtis, Randal W. Beard, “Successive Collocation: An Approximation to Optimal Nonlinear Control,” American Control Conference, Arlington, VA, June, 2001, p. 3481-3485.

[34]    Jonathan Lawton, Randal W. Beard, “Model Independent Eigenaxis Maneuvers using Quaternion Feedback,” American Control Conference, Arlington, VA, June 2001, p. 2339-2344.

[33]    Brett J. Young, Randal W. Beard, Jed M. Kelsey “A Control Scheme for Improving Multi-Vehicle Formation Maneuvers,” 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, “Nonlinear Regulation Using the Satisficing Paradigm,” American Control Conference, Arlington, VA, June 2001, p. 4258-4263.

[31]    Jonathan Lawton, Randal Beard, “Elementary Attitude Formation Maneuvers via Behavior-Based Control,” AIAA Guidance, Navigation and Control Conference, Denver, CO, Paper no. AIAA-2000-4442:AAO-37144, August 2000.

[30]    Chris Bailey, Timothy McLain, Randal Beard, “Fuel Saving Strategies for Separated Spacecraft Interferometry,” AIAA Guidance, Navigation, and Control Conference, Denver, CO, Paper no. AIAA-2000-4441:AA0-37143, August 2000.

[29]    Timothy McLain, Randal Beard, “Cooperative Rendezvous of Multiple Unmanned Air Vehicles,” AIAA Guidance, Navigation and Control Conference, Denver, CO, Paper no. AIAA-2000-4369:AAO-37126, August 2000.

[28]    Randal W. Beard, “Robot Soccer: An Ideal Senior Design Experience,” American Control Conference, Chicago, IL, June, 2000, p. 3975-3979.

[27]    Randal W. Beard, Jonathan Lawton, Fred Y. Hadaegh, “A Feedback Architecture for Formation Control,” American Control Conference, Chicago, IL, June, 2000, p. 4087-4091.

[26]    Brett Young, Jonathan Lawton, Randal Beard, “Two Hybrid Control Schemes for Nonholonomic Robots,” IEEE International Conference on Robotics and Automation, San Fransico, CA, April, 2000.

[25]    Jonathan Lawton, Brett Young, Randal Beard, “A Decentralized Approach To Elementary Formation Maneuvers,” IEEE International Conference on Robotics and Automation, San Fransico, CA, April, 2000.

[24]    Jonathan Lawton, Randal Beard, “A Projection Approach to Spacecraft Formation Attitude Control,” 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, “Multispacecraft Formation Initialization using Genetic Algorithm Techniques,” 23rd Annual AAS Guidance and Control Conference, AAS 00-033, Breckenridge, Colorado, February, 2000.

[22]    Timothy W. McLain, Randal W. Beard, “Nonlinear Robust Missile Autopilot Design Using Successive Galerkin Approximation,” 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, “Successive Galerkin Approximation of the Isaacs Equation,” IFAC World Congress, Beijing, China, 1999.

[20]    Jonathan Lawton, Randal W. Beard, Tim McLain, “Successive 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, “An Adaptive Control Approach to Satellite Formation Flying with Relative Distance Constraints,” American Control Conference, San Diego, CA, June, 1999, p. 1545-1549.

[18]    Timothy W. McLain, Christopher A. Bailey, Randal W. Beard, “Synthesis and Experimental Testing of a Nonlinear Optimal Tracking Controller,” American Control Conference, San Diego, CA, June, 1999, p. 2847-2851.

[17]    Randal W. Beard, Fred Y. Hadaegh, “Finite Thrust Control for Satellite Formation Flying with State Constraints,” American Control Conference, San Diego, CA, June, 1999, p. 4383-4387.

[16]    Randal W. Beard, Fred Y. Hadaegh, “Fuel Optimized Rotation forSatellite Formations in Free Space,” American Control Conference, San Diego, CA, June, 1999, p. 2975-2979.

[15]    Randal Beard, Wynn Stirling and Rick Frost, “A Hierarchical Coordination Scheme for Satellite Formation Initialization,” AIAA Guidance, Navigation and Control Conference, AIAA paper #98-4225, p. 677-685, Boston, MA, 1998.

[14]    Timothy W. McLain, Randal W. Beard, “Nonlinear Optimal Control Design of a Missile Autopilot,” AIAA Guidance, Navigation and Control Conference, AIAA paper #98-4321, p. 1209-1216, Boston, MA, 1998.

[13]    Randal W. Beard, Timothy W. McLain, “A Practical Algorithm for Designing Nonlinear H-infinity Control Laws,” American Control Conference, Philadelphia, PA, 3742-3743, June, 1998.

[12]   John D. Kenney, Wynn Sterling, Randy Beard, “Set-Valued Nonlinear Estimation Using the Galerkin Approximation,” American Control Conference, Philadelphia, PA, p. 3580-3584, June, 1998.

[11]    Jonathan Lawton, Randal W. Beard, “Numerically Efficient Approximations to the Hamilton-Jacobi-Bellman Equation,” American Control Conference, Philadelphia, PA, p. 195-199, June, 1998.

[10]    Randal W. Beard, Timothy W. McLain, Fred Y. Hadaegh, “Fuel Equalized Retargeting for Separated Spacecraft Interferometry,” American Control Conference, Philadelphia, PA, p. 1580-1584, June, 1998.

[9]      Timothy W. McLain, Randal W. Beard, “Nonlinear Optimal Control of an Underwater Robotic Vehicle,” IEEE International Conference on Robotics and Automation, Leuven, Belgium, p. 762-767, May 1998.

[8]      Timothy W. McLain, Randal W. Beard, “Nonlinear Robust Control of an Electrohydraulic Positioning System,” 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, “Constellation Templates: An Approach to Autonomous Formation Flying,” World Automation Congress, Anchorage, Alaska, ISIAC p. 177.1-177.6, 1998.d

[6]      Timothy W. McLain and Randal W. Beard, “Nonlinear Optimal Control of a Hydraulically Actuated Positioning System,” 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, “Fast Nonlinear Filtering via Galerkin's Method,” American Control Conference, Albuquerque, NM, 1997.

[4]      Randal Beard, George Saridis, John Wen, “Sufficient Conditions for the Convergence of Galerkin Approximations to the Hamilton-Jacobi Equation,” IFAC World Congress, Volume E, pp 347-352, San Francisco, 1996.

[3]      Randal Beard, George Saridis, John Wen, “Computing Nonlinear Optimal Controls from Existing Stabilizing Controls,” Proceedings of the 4th IEEE Conference on Control Applications, p. 1160-1161, Albany, NY, September, 1995.

[2]      Randal Beard, George Saridis, John Wen, “An Iterative Solution to the Finite-Time Linear Quadratic Optimal Feedback Control Problem,” Proceedings of the American Control Conference, p. 3921-3922, Seattle, WA, June 1995.

[1]      Randal Beard, George N. Saridis, “A Cost Measure for Efficient Scheduling in Intelligent Machines,” Proceedings of the IEEE 8th International Symposium on Intelligent Control, Chicago, Illinois, p. 52-57, August, 1993.

Others

[1] Randal W. Beard, Timothy W. McLain “Motion Planning using Potential Fields,  Technical Report, 2003. Preprint