## Publications

Here is a complete list of my papers. By clicking on the title of the paper your can download the .pdf file of the paper. Please note that there may be some minor differences between these files and the printed versions.### Books and Book Chapters

- Bernstein D. S. and Tsiotras, P.,
*A Course in Classical Optimal Control*, (in preparation). - Tsiotras, P., "Invariant Manifold Techniques for Control of
Underactuated Mechanical Systems,'' in
*Modelling and Control of Mechanical Systems*, Eds: A. Astolfi, D. Limebeer, C. Melchiorri, A. Tornambe, and R. Vinter, World Scientific, London, 1997, pp. 277-292. - Tsiotras, P., "Attitude Controls,'' in
*Encyclopedia of Electrical and Electronics Engineering*, John Wiley & Sons, New Jersey, 1999; revised and updated in 2014, ISBN: 9780471346081 - Canudas de Wit, C., R. Horowitz, and P. Tsiotras, "Model-Based
Observer for Tire/Road Contact Friction Prediction," in
*New Directions in Nonlinear Observer Design*, Eds: Nijmeijer, H. and T.L. Fossen,*Lecture Notes in Control and Information Science*, Vol. 244, Springer-Verlag, London, May 1999, pp. 23-42, doi: 10.1007/BFb0109919 - C. Canudas-de-Wit, P. Tsiotras, X. Claeys, J. Yi, and R. Horowitz,
"Friction Tire/Road Modeling, Estimation and Optimal Braking Control,''
in
*Nonlinear and Hybrid Systems in Automotive Control*, Eds: Rolf Johansson and Anders Rantzer,*Lecture Notes in Control and Information Science*, Springer-Verlag, London, October 2002, pp. 165-229. - Tsiotras, P. and Reyes Castro L. I., "A
Note on the Consensus Protocol with Some Applications to Agent Orbit
Pattern Generation,'' in
*Distributed Autonomous Robotic Systems*, Eds: A. Martinoli, F. Mondada, N. Correll, G. Mermoud, M. Egerstedt, M. Ani Hsieh, L. E. Parker, and K. Stoy,*Springer Tracts in Advanced Robotics*, Vol. 83, Springer-Verlag, Berlin, 2013, pp. 345-358, doi: 10.1007/978-3-642-32723-0_25 - Tsiotras, P. and Reyes Castro L. I., "The
Artistic Geometry of Consensus Protocols,'' in
*Controls and Art*, Eds: M. Egerstedt and A. LaViers,*Springer Lectures Notes on Computer Science*, 2014, pp. 129-153, doi: 10.1007/978-3-319-03904-6_6 - Tsiotras, P. and Sanz-Diaz R. "Real-Time
Near-Optimal Feedback Control of Aggressive Vehicle Maneuvers,'' in
*Optimization and Optimal Control in Automotive Systems*, Eds: H. Waschl, I. Kolmanovky, M. Steinbuch and L. del Re,*Springer Lecture Notes in Control and Information Sciences*, Vol. 455, March 2014, pp. 109-129, doi: 10.1007/978-3-319-05371-4_7 - Delahaye, D., Puechmorel, S., Feron, E., and Tsiotras, P., "Mathematic
Models for Aircraft Trajectory Design : A Survey,'' in
*Air Traffic Management and Systems*}, Eds: Electronic Navigation Research Institute,*Lecture Notes in Electrical Engineering*, February 2014, Vol. 290, pp. 205-247, Springer, Japan, doi: 10.1007/978-4-431-54475-3_12 - Filipe, N., Kontitsis, M., and Tsiotras, P.,
"From Attitude to Pose Estimation Using Dual Quaternions,''

in*Recent Advances on Multisensor Attitude Estimation: Fundamental Concepts and Applications*, Ed: Hassen Fourati,*Devices, Circuits and Systems Series*, CRC Press, June 2016, ISBN 9781498745710

### Journal Publications

- Tsiotras, P. and Kelley, H.J, "Drag-Law Effects in the Goddard Problem,"
*Automatica*, Vol. 27, pp. 481-490, May 1991. - Tsiotras, P., and Kelley, H. J., "The Goddard Problem with Constrained Time-of-Flight",
*AIAA Journal of Guidance, Control, and Dynamics*, Vol. 15, No. 2, pp. 289-296, March-April 1992. - Tsiotras, P., and Longuski, J. M., "A Complex Analytic Solution for the Attitude Motion of a Near-Symmetric Rigid Body Under Body-Fixed Torques,"
*Celestial Mechanics and Dynamical Astronomy*, Vol. 51, pp. 281-301, 1991. - Longuski, J. M., and Tsiotras P., "Analytic Solutions for a Spinning Rigid Body Subject to Time-Varying Body-Fixed Torques. Part I: Constant Axial Torque,"
*ASME Journal of Applied Mechanics*, Vol. 60, pp. 970-975, 1993. DOI: 10.1115/1.2901010 - Tsiotras, P., and Longuski, J. M., "Analytic Solutions for a Spinning Rigid Body Subject to Time-Varying Body-Fixed Torques. Part II: Time-Varying Axial Torque,"
*ASME Journal of Applied Mechanics*, Vol. 60, pp. 976-981, 1993. DOI: http://dx.doi.org/10.1115/1.2901011. - Tsiotras, P., and Longuski, J. M., "New Kinematic Relations for the Large Angle Problem in Rigid Body Attitude Dynamics,"
*Acta Astronautica*, Vol. 32, No. 3, pp. 181-190, 1994. - Tsiotras, P., and Longuski, J.M., "Spin-Axis Stabilization of Symmetric Spacecraft with Two Control Torques,"
*Systems & Control Letters*, Vol. 23, pp. 395-402, 1994. - Tsiotras, P., Corless M., and Longuski, J. M., "A Novel Approach for the Attitude Control of an Axisymmetric Spacecraft Subject to Two Control Torques,"
*Automatica*, Vol. 31, No. 8, pp. 1099-1112, 1995. - Longuski, J.M., Puig-Suari, J., Tsiotras, P., and Tragesser, S.,
"Optimal Mass for Aerobraking Tethers,"
*Acta Astronautica*, Vol. 35, No. 8, pp. 489-500, 1995. - Longuski, J. M., and Tsiotras, P., "Analytic Solution of the Large Angle Problem in Rigid Body Attitude Dynamics,"
*Journal of the Astronautical Sciences*, Vol. 43, No. 1, pp. 25-46, 1995. - Schaub, H., Tsiotras, P., and Junkins, J.L., "Principal Rotation Representations of Proper N X N Orthogonal Matrices,"
*International Journal of Engineering Science*, Vol. 33, No. 15, pp. 2277-2295, 1995. - Tsiotras, P., and Longuski, J.M., "A New Parameterization of the Attitude Kinematics,"
*Journal of the Astronautical Sciences*, Vol. 43, No. 3, pp. 243-262, 1995. - Tsiotras, P., and Longuski, J.M., "Analytic Solution of Euler's Equations of Motion for an Asymmetric Rigid Body,"
*ASME Journal of Applied Mechanics*, Vol. 63, No. 1, pp. 149-155, 1996. - Tsiotras, P., Rotea, M., and Corless, M., "Counter-example to a Recent Result on the Stability of Nonlinear Systems,"
*IMA Journal of Mathematics, Control & Information*, Vol. 13, No. 2, pp. 129-130, 1996. - Tsiotras, P., "Stabilization and Optimality Results for the Attitude Control Problem,"
*AIAA Journal of Guidance, Control, and Dynamics*, Vol. 19, No. 4, pp. 772-779, 1996. - Wan, C.J., Tsiotras, P., Bernstein, D.S., and Coppola, V.T., "Global Asymptotic Stabilization of a Spinning Top with Torque Actuators using Stereographic Projection,"
*Dynamics and Control*, Vo. 7, No. 3, pp. 215-233, 1997. - Tsiotras, P., "Optimal Regulation and Passivity Results for Axisymmetric Rigid Bodies Using Two Control,"
*AIAA Journal of Guidance, Control, and Dynamics*, Vol. 20, No. 3, pp. 457-463, 1997. - Tsiotras, P., Junkins, J. L., and Schaub, H., "Higher Order Cayley Transforms with Applications to Attitude Representations,"
*AIAA Journal of Guidance, Control, and Dynamics*, Vol. 20, No. 3, pp. 528-534, 1997. - Tsiotras, P., and Luo, J., "Reduced-Effort Control Laws for Underactuated Rigid Spacecraft,"
*AIAA Journal of Guidance, Control, and Dynamics,*Vol. 20, No. 6, pp. 1089--1095, 1997. - Rotea, M., Tsiotras, P., and Corless, M., "Suboptimal Control of Rigid Body Motion with Quadratic Cost,"
*Dynamics and Control*, Vol. 8, No. 1, pp. 55-81, 1998. - Tsiotras, P., Corless, M., and Rotea, M., "Optimal Control of Rigid Body Angular Velocity with Quadratic Cost,"
*Journal of Optimization Theory and Applications*, Vol. 96, No. 3, pp. 507-532, 1998. - Tsiotras, P., Corless, M., and Rotea, M., "An L_2 Disturbance Attenuation Solution to the Nonlinear Benchmark Problem,"
*International Journal of Robust and Nonlinear Control,*special issue on the Nonlinear Benchmark Problem, Vol. 8, pp. 311-330, 1998. - Tsiotras, P., "Further Passivity Results for the Attitude Control Problem,"
*IEEE Transactions on Automatic Control,*Vol. 43, No. 11, pp. 1597-1600, 1998. - Yang, C., Knospe, C., and Tsiotras, P., "Optimal Control of a Magnetic Bearing without Bias and Saturating Voltages,"
*Optimal Control Theory and Applications,*Vol. 19, p. 227-246, 1998. - Luo, J., and Tsiotras, P., "Exponentially Convergent Control Laws for Nonholonomic Systems in Power Form
"
*Systems & Control Letters,*Vol. 35, pp. 87-95, 1998. - Krstic, M., and Tsiotras, P., "Inverse Optimal Stabilization for a Rigid Spacecraft
"
*IEEE Transactions on Automatic Control,*Vol. 44. No. 5, pp. 1042-1049, 1999. - Shen, H., and Tsiotras, P., "Time-Optimal Control of Axi-Symmetric Rigid Spacecraft with Two Controls "
*AIAA**Journal of Guidance, Control, and Dynamics,*Vol. 22, No.5, pp. 682-694, 1999. - Luo, J., and Tsiotras, P., "Control Design for Chained-Form Systems with Bounded Inputs,"
*Systems and Control Letters,*Vol. 29, pp. 123--131, 2000. - Tsiotras, P. and Luo, J., "Control of Underactuated Spacecraft with Bounded Inputs,"
*Automatica,*Vol. 36, No. 8, pp. 1153-1169, 2000. - Tsiotras, P., Shen, H. and Hall, C., "Satellite Attitude Control and Power Tracking with Momentum Wheels,"
*AIAA Journal of Guidance, Control, and Dynamics,*Vol. 24, No. 1, pp. 23-34, 2001. - Tsiotras, P. and Doumtchenko, V., "Control of Spacecraft Subject to Actuator Failures: State-of-the-Art and Open Problems,''
*Journal of the Astronautical Sciences*, Vol. 48, Nos. 2 and 3, pp. 337-358, 2000. - Tsiotras, P., Shen, H. and Hall, C., "Satellite Attitude Control and Power Tracking with Momentum Wheels,"
*AIAA Journal of Guidance, Control, and Dynamics,*Vo. 24, No. 1, 23-34, 2001. - Zhang, J., Knospe C., and Tsiotras, P., "Stability of Time-Delay Systems: Equivalence between Lyapunov and Scaled Small-Gain Conditions,"
*IEEE Transactions on Automatic Control*, Vol. 46, No. 3, pp. 482-486, 2001. - Zhang X., Tsiotras, P., and Knospe, C., "Stability Analysis for LPV Time-Delayed Systems,"
*International Journal of Control*, Vol. 75, No. 7, pp. 538-558, 2002. - Kim, B., and Tsiotras, P., "Controllers for Unicycle-Type Wheeled Robots: New Theoretical Results and Experimental Validation,"
*IEEE Transactions on Robotics and Automation*, Vol. 18, No. 3, pp. 294-307, 2002. - Yoon, H. and Tsiotras, P. "Spacecraft Adaptive Attitude Control And Power Tracking With Single-Gimballed Variable Speed Control Moment Gyroscopes,
*AIAA**Journal of Guidance, Control, and Dynamics*, Vol. 25, No. 6, pp. 1081-1090, 2002. - Canudas de Wit, C., Tsiotras, P., Velenis, E., Basset, M. and Gissinger, G., "Dynamic Friction Models for Road/Tire Longitudinal Interaction,''
*Vehicle System Dynamics*, Vol. 39, No. 3, pp. 189-226, 2003. - Shen, H. and Tsiotras, P., "Optimal Two-Impulse Rendezvous Between Two Circular Orbits Using Multiple-Revolution Lambert's Solutions,
*AIAA**Journal of Guidance, Control, and Dynamics*, Vol. 26, No. 1, pp. 50-61, 2003. - Hall, C., Tsiotras, P. and Shen, H., "Tracking Rigid Body Motion Using Thrusters and Momentum Wheels,
*Journal of the Astronautical Sciences*, Vol. 50, No. 3, 2003. - Kim, B., Velenis, E., Kriengsiri, P. and Tsiotras, P., "A Low-Cost Spacecraft Simulator for Research and Education,"
*IEEE Control Systems Magazine,*Vol. 23, No. 4, pp. 26-37, 2003. - Zhang, J., Knospe C., and Tsiotras, P., "New Results for the Analysis of Linear Systems with Time-Invariant Delays'',
*International Journal on Robust and Nonlinear Control*, Vol. 13, No. 12, pp. 1149-1175, 2003. - Tsiotras, P. and Wilson, B.C., "Zero- and Low-Bias Control Designs for Active Magnetic Bearings'',
*IEEE Transactions on Control Systems Technology,*Vol. 11, No. 6, pp. 889-904, 2003. - Yoon, H. and Tsiotras, P., "Singularity Analysis of Variable Speed Control Moment Gyros,''
*AIAA**Journal of Guidance, Control, and Dynamics*, Vol. 27, No. 3, pp. 374-386, 2004. - Tsiotras, P., Velenis E. and Sorine, M., "A LuGre Tire Friction Model with Exact Aggregate Dynamics,''
*Vehicle System Dynamics,*Vol. 42, No. 3, pp. 195-210, 2004. - Tsiotras, P. and Arcak, M., "Low-Bias Control of AMB Subject to Voltage Saturation: State-Feedback and Observer Designs,''
*IEEE Transactions on Control Systems Technology*, Vol. 13, No. 2, pp. 262 -273, 2005. - Velenis, E., Tsiotras, P., Canudas de Wit, C. and Sorine, M.,
"Dynamic Tire Friction Models for Combined Longitudinal and Lateral Vehicle Motion,''
*Vehicle System Dynamics*, Vol. 43, No. 1, pp. 3-29, 2005. - Tsiotras, P., "The Relation Between the 3-D Bode Plot and the Root Locus,''
*IEEE Control Systems Magazine*, Vol. 25, No. 1, pp. 88-96, 2005. - Lanzon, A. and Tsiotras, P., "A
Combined Application of H-infinity Loop-Shaping And mu-Synthesis to Control High Speed Flywheels,''
*IEEE Transactions of Control Systems Technology*, Vol. 13, No. 5, pp. 766-777, 2005, doi: 10.1109/TCST.2005.847344. - Shen H. and Tsiotras, P., "Peer-to-Peer Refueling for Circular Satellite Constellations,''
*AIAA Journal of Guidance, Control, and Dynamics*, Vol. 28, No. 6, pp. 1220-1230, 2005. - Tsiotras, P. and P.-A. Bliman, "An Exact Stability Analysis Test for Single-Parameter Polynomially-Dependent Linear Systems,''
*IEEE Transactions on Automatic Control,*Vol. 51, No. 7, pp. 1161-1164, 2006, doi: 10.1109/TAC.2006.878773. - Dutta, A., and Tsiotras, P., "Asynchronous Optimal Mixed P2P Satellite Refueling Strategies,''
*Journal of the Astronautical Sciences,*Vol. 54, No. 3-4, pp. 543-565, 2006. - Zhang, X., Lanzon, A. and Tsiotras, P., "An Approach to Compute the Complete Stability Domain for a Class of LTI Parameter Dependent Systems,''
*International Journal of Control*, Vol. 79, No. 9 pp. 1046-1061, 2006. - Yoon, H., and Tsiotras, P., "Spacecraft Line-of-Sight Control Using A Single-Gimbal Variable-Speed Control Moment Gyro,''
*AIAA Journal of Guidance, Control, and Dynamics*, Vol. 29, No. 6, pp. 1295-1308, 2006 - Chaplais, F., Tsiotras, P. and Jung, D., "Redundant Wavelet Processing on the Half-Axis with Applications to Signal Denoising with Small Delays: Theory and Experiments,''
*International Journal on Adaptive Control and Signal Processing,*Vol. 20, No. 9, pp. 447-474, 2006. - Velenis, E., and Tsiotras P., "Minimum-Time Travel for a Vehicle with Acceleration Limits: Theoretical Analysis and Receding Horizon Implementation,''
*Journal of Optimization Theory and Applications*, Vol. 138, No.2, pp. 275-296, 2008, DOI10.1007/s10957-008-9381-7 - Dutta, A., and Tsiotras, P., "An Egalitarian
Peer-to-Peer Satellite Refueling Strategy,''
*AIAA Journal of Spacecraft and Rockets*, Vol. 45, No. 3, pp. 608-618, 2008. - Jain, S. and Tsiotras, P., "Multiresolution-Based Direct Trajectory Optimization,''
*AIAA Journal of Guidance Control, and Dynamics,*Vol. 31, No. 5, pp. 1424-1436, 2008. - Yoon, H. and Tsiotras, P., "Adaptive Spacecraft
Attitude Tracking Control with Actuator Uncertainties,''
*Journal of the Astronautical Sciences*, Vol. 56, No. 2, pp. 251-268, 2008. - Velenis, E., Tsiotras, P., and Lu, J., "Optimality Properties and Driver Input Parameterization for Trail-Braking
Cornering,''
*European Journal of Control*, Vol. 14, No. 4, pp. 308-320, 2008, DOI: 10.3166/EJC.14.308-320. - Jung, D., Ratti, J., and Tsiotras, P., "Real-time Implementation and Validation of a New Hierarchical Path Planning
Scheme for UAVs via Hardware-in-the-Loop Simulation,''
*Journal of Intelligent and Robotic Systems*, Vol. 54, No. 1, pp. 163-181, 2009. - Jain, S., Tsiotras, P., and Zhou, H.-M., "A
Hierarchical Multiresolution Adaptive Mesh Refinement for the Solution of Evolution PDEs,''
*SIAM Journal of Scientific Computing*, Vol. 31, No. 2, pp. 1221-1248, 2009. - Jain, S., and
Tsiotras, P., "Sequential Multiresolution
Trajectory Optimization Schemes for Problems with Moving Targets,''
*AIAA Journal of Guidance, Control, and Dynamics*, Vol. 32, No. 2, pp. 488-499, 2009. - Dimarogonas, D. V., Tsiotras, P., and Kyriakopoulos, K. K.,
"Leader-Follower Cooperative Attitude Control of
Multiple Rigid Bodies,''
*Systems and Control Letters*, Vol. 58, No. 6, pp. 429-435, 2009. - Dutta, A., and Tsiotras, P., "Hohmann-Hohmann and Hohmann-Phasing
Cooperative Rendezvous Maneuvers,''
*Journal of the Astronautical Sciences*, Vol. 57, Nos. 1--2, pp. 393--417, January–June 2009, - Dutta,
A. and Tsiotras, P., "A Network Flow Formulation for Cooperative
Peer-to-Peer Refueling Strategies,''
*AIAA Journal of Guidance, Control, and Dynamics*, Vol. 33, No. 5, pp. 1539- 1549, 2010, doi:10.2514/1.45570. - Velenis, E., Frazzoli, E., and Tsiotras P., "Steady-State Cornering Equilibria and Stabilization for a Vehicle During Extreme Operating
Conditions,''
*International Journal of Vehicle Autonomous Systems*,__Special Issue on Autonomous and Semi-Autonomous Control for Safe Driving of Ground Vehicles,__Vol.8, Nos. 2-4, pp. 217-241, 2010. - Tsiotras, P., Zhang, X., and Iwasaki, T., "Lyapunov-Based
Exact Stability Analysis and Synthesis for Single-Parameter Dependent
Systems,''
*International Journal of Control*, Vol. 83, No. 9, pp. 1823–1838, 2010. doi:10.1080/00207179.2010.497544 . - Bakolas, E. and Tsiotras, P., "The
Zermelo-Voronoi Diagram: a Dynamic Partition Problem,''
*Automatica*, Vol. 46, No. 12, pp. 2059-2067, 2010, doi:10.1016/j.automatica.2010.09.003. - Zhao, Y. and Tsiotras, P., "Mesh
Refinement for Solving Optimal Control Problems Using Grid Density
Functions,"
*AIAA Journal of Guidance, Control, and Dynamics*, Vol. 34, No. 1, pp. 271-277, 2010, doi: 10.2514/1.45852. - Bakolas, E., and Tsiotras, P., "Optimal Synthesis of the Asymmetric Sinistral/Dextral Markov-Dubins Problem,'' Journal of Optimization Theory and Applications, Vol. 150, No. 2, pp. 233-250, Aug. 2011, doi: 10.1007/s10957-011-9841-3
- Lu, Y., Huo, X., Arslan, O., and Tsiotras, P., "An Incremental,
Multi-Scale Search Algorithm
for Dynamic Path Planning with Low Worst Case Complexity,''
*IEEE Transactions on Man, Systems and Cybernetics, Part B: Cybernetics*, Vol. 41, No. 6, pp. 1556--1570, Dec. 2011, doi: 10.1109/TSMCB.2011.2157493 - Velenis, E., Katzourakis, D., Frazolli, E., Tsiotras, P. and Happee,
R., "Steady-State Drifting Stabilization of RWD Vehicles,''
*Control Engineering Practic*e, Vol. 19, No. 11, Nov. 2011, pp. 1363-1376,

doi:10.1016/j.conengprac.2011.07.010. - Tsiotras, P., Jung, D., and Bakolas, E., "Multiresolution
Hierarchical Path-Planning for Small UAVs Using Wavelet Decompositions,''
*Journal of Intelligent and Robotic Systems*, 2011, doi: 10.1007/s10846-011-9631-z - Bakolas, E. and Tsiotras, P., "Feedback Navigation in an Uncertain
Flow-Field and Connections with Pursuit Strategies,''
*AIAA Journal of Guidance, Control, and Dynamics*, Vol. 35, No. 4, pp. 1268-1279, July-August 2012, doi: 10.2514/1.54950 - Cowlagi, R. and Tsiotras, P., "Hierarchical Motion Planning with Kinodynamic Feasibility Guarantees,''
*IEEE Transactions on Robotics*, Vol. 28, No. 2, pp. 379-395, April 2012, doi:10.1109/TRO.2011.2171613 - Lu, Y., Huo, Y., and Tsiotras, P., "A Beamlet-Based Graph Structure
for Path Planning Using Multiscale Information,''
*IEEE Transactions on Automatic Control*, Vol. 57 , No. 5, pp. 1166- 1178, May 2012, doi: 10.1109/TAC.2012.2191836 - Coene, S., Dutta, A., Spiekma, F. and Tsiotras, P., "On the
Computational Complexity of Peer-to-Peer Satellite Refueling
Strategies,''
*Information Systems and Operational Research*, Vol. 50, No. 2, pp. 88-94, May 2012,

doi:10.3138/infor.50.2.088. - Cowlagi, R., and Tsiotras, P., "Multiresolution Path- and Motion
Planning for Autonomous Agents via Wavelet-Based Cell Decompositions,''
*IEEE Transactions on Systems Man and Cybernetics, Part B: Cybernetics*, Vol. 42, No. 5, pp. 1455-1469, October 2012, doi:10.1109/TSMCB.2012.2192268 - Bakolas, E., and Tsiotras, P., "Relay Pursuit of a Maneuvering Target
Using Dynamic Voronoi Diagrams,''
*Automatica*, Vol. 48, pp. 2213-2220, Aug. 2012, doi:10.1016/j.automatica.2012.06.003 - Watts, R., Johnson, E., Feigh, K., and Tsiotras, P., "Development and
Evaluation of an Automated Path Planning Aid,''
*AIAA Journal of Aircraft*, Vol. 49, No. 6, pp. 1774-1785, Nov.-Dec. 2012, doi:10.2514/1.C031513 - Zhao, Y., and Tsiotras, P., "Time-Optimal Path Following for
Fixed-Wing Aircraft,"
*AIAA Journal of Guidance, Control, and Dynamics*, Vol. 36, No. 1, pp. 83-95, Jan.-Feb. 2013, doi: 10.2514/1.57471 - Bakolas, E. and Tsiotras, P., "Optimal Synthesis of the Zermelo-Markov-Dubins
Problem in a Constant Drift Field,''
*Journal of Optimization Theory and Applications*, Vol. 155, No. 2, Nov. 2012, doi: 10.1007/s10957-012-0128-0 - Zhao, Y., and Tsiotras, P., "Analysis of Energy-Optimal Aircraft
Landing Operation Trajectories,"
*AIAA Journal of Guidance, Control, and Dynamics*, Vol. 36, No. 3, pp. 833-845, May-June 2013, doi: 10.2514/1.57779 - Anderson, R., Bakolas, E., Milutinovic, D., and Tsiotras, P.,
"Optimal Feedback Guidance of a Small Aerial Vehicle with Markov-Dubins
Kinematics in the Presence of Stochastic Wind,''
*AIAA Journal of Guidance, Control, and Dynamics*, Vol. 36, No. 4, pp. 975-985, Jul.-Aug. 2013, doi: 10.2514/1.59512 - Jung, D., and Tsiotras, P., "On-line Path Generation for Unmanned
Aerial Vehicles Using B-Spline Path Templates,''
*AIAA Journal of Guidance, Control, and Dynamics*, Vol. 36, No. 6 pp. 1642-1653, Oct. 2013, doi: 10.2514/1.60780 - Bakolas, E. and Tsiotras, P., "Optimal Partitioning for
Spatiotemporal Coverage in a Drift Field,''
*Automatica*, Vol. 49, No. 7, pp. 2064-2073, July 2013, doi: 10.1016/j.automatica.2013.04.013 - Filipe, N., and Tsiotras, P., "Adaptive
Position and Attitude Tracking Controller for Satellite Proximity
Operations using Dual Quaternions,''
*AIAA Journal of Guidance, Control, and Dynamics*, doi: 10.2514/1.G000054. - Cowlagi, R., and Tsiotras, P., "Curvature-Bounded Traversability Analysis for Motion Planning of Mobile
Robots,''
*IEEE Transactions on Robotics*, Vol. 30, No. 4, pp. 1011-1019, August 2014, doi: 10.1109/TRO.2014.2315711 - Kim, B., and Tsiotras, P., and Hong, J.-M., and Song, O.-Y., "Interpolation
and Parallel Adjustment of Center-Sampled Trees With New Balancing
Constraints,''
*The Visual Computer*, doi: 10.1007/s00371-014-1018-2 - Exarchos, I., and Tsiotras, P., and Pachter, M., "On
the Suicidal Pedestrian Differential Game,''
*Dynamic Games and Applications*, Vol. 5, No. 3, pp 297-317, September 2015, doi: 10.1007/s13235-014-0130-2 - Zhang, G., Kontitsis, M., Filipe, N., Tsiotras, P., and Vela, P., "Cooperative
Relative Navigation for Space Rendezvous and Proximity Operations Using
Controlled Active Vision,''
*Journal of Field Robotics*, Vol. 33, No. 2, pp. 205-228, March 2016, doi:10.1002/rob.21575. - Filipe, N., Kontitsis, M., and Tsiotras, P., "Extended Kalman Filter for Spacecraft Pose
Estimation Using Dual Quaternions,''
*AIAA Journal of Guidance, Control, and Dynamics*, Vol. 38, No. 9, pp. 1625-1641, October 2015, doi: 10.2514/1.G000977. - Filipe, N., Valverde, A., and Tsiotras, P., "Pose-Tracking
Without Linear and Angular Velocity Feedback Using Dual Quaternions,''
*IEEE Transactions on Aerospace and Electronic Systems*, Vol. 52, No. 1, pp. 411-422, February 2016, doi: 10.1109/TAES.2015.150046 - Tsiotras, P., and Mesbahi, M., "Toward
an Algorithmic Control Theory,"
*AIAA Journal of Guidance, Control, and Dynamics*, Vol. 40, No. 2, pp. 194-196, February 2017, doi: 10.2514/1.G002754 - Sun, W., Tsiotras, P., Lolla, T., Subramani, D., and
Lermusiaux, P., "Multiple-Pursuer-One-Evader
Pursuit Evasion Game in Dynamic Flow Fields,''
*AIAA Journal of Guidance, Control, and Dynamics*, (accepted January 2017), doi: 10.2514/1.G002125 - Sun, W., and Tsiotras, P., "Sequential
Pursuit of Multiple Targets Under External Disturbances via
Zermelo-Voronoi Diagrams ,''
*Automatica*, Vol. 81, pp. 253-260, July 2017, doi: 10.1016/j.automatica.2017.03.015 - You, C., Lu, J., and Tsiotras, P., "Nonlinear
Driver Parameter Estimation and Driver Steering Behavior Analysis for
ADAS using Field Test Data,''
*IEEE Transactions on Human-Machine Systems*, Vol. 47, No. 5, pp. 686-699, October 2017, doi: 10.1109/THMS.2017.2727547 - Zhao, Y., Dutta, A., Tsiotras, P., and Costello, M., "Optimal
Aircraft Trajectories for Wind Energy Extraction,''
*AIAA Journal of Guidance, Control, and Dynamics*, Vol. 41, No. 2, pp. 488-496, 2018, doi: 10.2514/1.G003048 - Makkapati, V, R., Sun, W., and Tsiotras, P., "Optimal Evading
Strategies for Two-Pursuers One-Evader Problems,''
*AIAA Journal of Guidance, Control, and Dynamics*, Vol. 41, No. 4, pp.851-862, 2018, doi: 10.2514/1.G003070 - Okamoto, K., Goldshtein, M., and Tsiotras, P., "Optimal Covariance Control for Stochastic Systems Under Chance Constraints,"
*IEEE Control Systems Letters*, doi: 10.1109/LCSYS.2018.2826038 - Goldfain, B., Drews, P., You, C. Barulic, M., Velev, O. Tsiotras, P., Rehg, J. M., "AutoRally: An Open Platform for Aggressive Autonomous Driving,"
*IEEE Control Systems Magazine,*Vol. 39, No. 1, pp. 26–55, 2019, doi:10.1109/MCS.2018.2876958. - Exarchos, I., Theodorou, E., and Tsiotras, P., "Stochastic Differential Games - A Sampling Approach via FBSDEs,"
*Dynamic Games and Applications*, doi:10.1007/s13235-018-0268-4 - Exarchos, I., Theodorou, and Tsiotras, P., "L1-Optimal Control via Forward and Backward Stochastic Differential Equations,"
*Systems and Control Letters*, Vol. 118, pp. 101-108, 2018. doi:10.1016/j.sysconle.2018.06.005 - Brewer, J. M., and Tsiotras, P., "Partial Attitude Synchronization for Networks of Underactuated Spacecraft,"
*Automatica*, Vol.97, pp.26–37, 2018. doi:10.1016/j.automatica.2018.07.025 - Antonello, A., Valverde, A., and Tsiotras, P., "Dynamics, Control, and Trajectory Tracking of Spacecraft Manipulators with Thrusters and Momentum Exchange Devices,"
*AIAA Journal of Guidance, Control, and Dynamics*, Vol. 42, No.1, pp. 15-29, 2019, doi: 10.2514/1.G003601 - Sun, W., Pan, Y., Theodorou, E., and Tsiotras, P., "Min-Max Differential Dynamic Programming: Continuous and Discrete Time Formulations,"
*AIAA Journal of Guidance, Control, and Dynamics*, (accepted July 2018). - Exarchos, I., Theodorou, E., and Tsiotras, P., “Optimal Thrust Profile for Planetary Soft Landing under Stochastic Disturbances,”
*AIAA Journal of Guidance, Control, and Dynamics*, Vol. 42, No.1, pp. 209--216, 2019, doi:10.2514/1.G003598 - Valverde, A., and Tsiotras, P., "Spacecraft Robot Kinematics Using Dual Quaternions,” Robotics, Vol. 7, 64, 2018, doi:10.3390/robotics7040064109
- Valverde, A., and Tsiotras, P., “Dual Quaternion Framework for Spacecraft-Mounted Multi-body Robotic Systems,” Frontiers in Robotics and AI: Space Robotics, (accepted October 2018). doi:10.3389/frobt.2018.00128
- You, C., Lu, J., Filev, D., and Tsiotras, P., “Advanced Planning for Autonomous Vehicles Using Reinforcement Learning and Deep Inverse Reinforcement Learning,” Robotics and Autonomous Systems, (accepted January 2019). doi:10.1016/j.robot.2019.01.003
- Okamoto, K., Itti, L., and Tsiotras, P., “Towards Human-like Self-Driving: New Autonomous Vehicle Control Framework Incorporating Driver Visual Control Models,” IEEE Transactions on Intelligent Vehicles, (accepted January 2019).
- Okamoto, K. and Tsiotras, P., “Optimal Stochastic Vehicle Path Planning Using Covariance Steering,” IEEE Robotics and Automation Letters, (accepted January 2019).

### Conference Publications

- Tsiotras, P., and Kelley,
H. J., "The Goddard Problem with Constrained Time-of-Flight,''
*Proceedings, American Control Conference*, Atlanta, Georgia, June 15-17, 1412-1421, 1988. - Tsiotras, P., and Kelley,
H. J., "Drag-Law Effects in the Goddard Problem,''
*IFAC Optimization Workshop*, Tbilisi, USSR, June 21-25, 1988. - Tsiotras, P., and Longuski,
J. M., "Analytic Solutions for the Attitude Motion of Spinning Rigid Bodies
Subject to Periodic Torques,'' AAS Paper 91-404, AAS/AIAA Astrodynamics Conference,
Durango, Colorado, August 19-22, 1991, also in
*Advances in the Astronautical Sciences*, Vol. 76, 661-678, 1991. - Longuski, J. M., and
Tsiotras, P., "Attitude Motion of a Rigid Body Subject to Polynomial Torques,''
AAS Paper 91-405, AAS/AIAA Astrodynamics Conference, Durango, Colorado, August
19-22, 1991, also in
*Advances in the Astronautical Sciences*, Vol. 76, 679-690, 1991. - Tsiotras, P. and Longuski, J. M., "A Complex Analytic Solution for the Attitude Motion of a Near-Symmetric Rigid Body Under Body-Fixed Torques,'' IAF Paper 91-359, 42nd Congress, International Astronautical Federation, Montreal Canada, October 5-11, 1991.
- Tsiotras, P., and Longuski, J. M., "On the Large Angle Problem in Rigid Body Attitude Dynamics,'' IAF Paper 92-0034, 43rd Congress, International Astronautical Federation, Washington, D.C., August 28-September 6, 1992.
- Tsiotras, P., and Longuski,
J. M., "On Attitude Stabilization of Symmetric Spacecraft
with Two Control Torques,''
*Proceedings, American Control Conference*, San Francisco, California, June 2-4, 46-50, 1993. - Tsiotras, P., and Longuski, J.M., "Analytic Solution of Euler's Equations of Motion for an Asymmetric Rigid Body,'' AAS Paper 93-580, AAS/AIAA Astrodynamics Conference, Victoria, B.C., Canada, August 16-19, 1993.
- Tsiotras, P., Corless
M., and Longuski, J. M., "Invariant Manifold Techniques for Attitude Control
of a Symmetric Spacecraft,''
*32nd IEEE Conference on Decision and Control*, San Antonio, Texas, Dec. 15-17, 1470-1475, 1993. - Longuski, J.M., Puig-Suari, J., Tsiotras, P., and Tragesser, S., "Optimal Mass for Aerobraking Tethers,'' 44th Congress, International Astronautical Federation, Graz, Austria, Oct. 16-22, 1993.
- Wan, C.J., Tsiotras,
P., Coppola, V.T, and Bernstein, D.S., "Global Asymptotic Stabilization of
a Spinning Top with Torque Actuators using Stereographic Projection,''
*American Control Conference*, Baltimore, Maryland, June 29-July 1, 536-540, 1994. - Tsiotras, P.,
New Control Laws for the Attitude Stabilization
of Rigid Bodies, "
*13th IFAC Symposium on Automatic Control in Aerospace*, Palo Alto, California, Sept. 12-16, 316-321, 1994. - Junkins, J.L., Shaub,
H., and Tsiotras, P. "Orthogonal Projections Revisited: Concepts from Classical
Mechanics and Modern Dynamical Systems Analysis,''
*31st Annual Meeting, Society of Engineering Science*, Texas A&M University, College Station, Texas, October 10-12, 1994. - Rotea, M., Tsiotras,
P., and Corless, M., "Suboptimal Control of Rigid
Body Motion with a Quadratic Cost,"
*3rd IFAC Symposium on Nonlinear Control Systems Design*, Tahoe City, California, June 26-28, 1995. - Tsiotras, P., Corless,
M., and Rotea, M., "An L2 Disturbance Attenuation
Approach to the Nonlinear Benchmark Problem,"
*American Control Conference*, Seattle, Washington, June 21-23, pp. 4352-4356, 1995. - Tsiotras, P.,
"A Passivity Approach to Attitude Stabilization Using
Nonredundant Kinematic Parameterizations,"
*34th IEEE Conference on Decision and Control*, New Orleans, Louisiana, December 13-15, pp. 515-520, 1995. - Tsiotras, P., "On
the Choice of Coordinates for Control Problems on SO(3),"
*30th Annual Conference on Information Sciences and Systems*, Princeton University, March 20-22, pp. 1238-1243, 1996. - Tsiotras, P., "On
the Optimal Regulation of an Axi-symmetric Rigid Body with Two Controls,"
*AIAA Guidance, Navigation, and Control Conference*, AIAA Paper 96-3791, San Diego, CA, July 29-31, 1996. This paper was in the list of 10 BEST PAPERS of the Conference. - Tsiotras, P., Junkins,
J. L., and Schaub, H., "Higher Order Cayley
Transforms with Applications to Attitude Representations,"
*Astrodynamics Specialists Conference*, AAS Paper 96-3628, San Diego, CA, July 29-31, 1996. - Tsiotras, P., and Longuski,
J. M., "Comments on a New Parameterization
of the Attitude Kinematics,"
*Astrodynamics Specialists Conference*, AAS Paper 96-3627, San Diego, CA, July 29-31, 1996. - Tsiotras, P., "The Effect
of Coordinates on SO(3) for Attitude Analysis, Stabilization, and Control Problems,''
*2nd World Congress of Nonlinear Analysis*, Athens, Greece, July 10-17, 1996. - Tsiotras, P., and Mason,
S., "Self-Scheduled H_infinity Controllers
for Magnetic Bearings," Nonlinear Dynamics and Controls Symposium, Eds.
A.K. Bajaj, N.S. Namachchivya, and M.A. Franchek,
*ASME International Mechanical Engineering Congress and Exposition*, Atlanta, GA, November 17-22, 1996, pp. 151-158. - Tsiotras, P., and Luo,
J., "A Reduced-Effort Control Law for Underactuated
Rigid Bodies,"
*35th IEEE Conference on Decision and Control*, Kobe, Japan, December 11-13, 1996, pp. 495-496. - Tsiotras, P., Corless,
M., and Rotea, M., "Optimal Control of Rigid Body
Angular Velocity with Quadratic Cost ,
*35th IEEE Conference on Decision and Control*, Kobe, Japan, December 11-13, 1996, pp. 1630-1635. - Tsiotras, P., and Luo,
J., "Reduced-Effort Control Laws for Underactuated
Rigid Spacecraft,"
*35th Aerospace Sciences Conference*, AIAA Paper 97-0113, Reno, NV, January 6-9, 1997. - Krstic, M., Tsiotras,
P., "Inverse Optimality Results for the Attitude
Motion of a Rigid Spacecraft,"
*American Control Conference*, Albuquerque, NM, June 4-6, pp. 1884-1888, 1997. - Luo, J., and Tsiotras,
P., "Exponentially Convergent Controllers
for n-Dimensional Nonholonomic Systems in Power Form,"
*American Control Conference*, Albuquerque, NM, June 4-6, pp. 398-402, 1997. This paper was in the 5 finalists for the BEST STUDENT PAPER AWARD of the 1997 ACC. - Tsiotras, P., and Knospe,
C., "Reducing Conservatism for Gain-Scheduled
H_infinity Controllers for AMB's,"
*MAG'97 Magnetic Bearings Industrial Conference and Exhibition*, Alexandria, VA, Aug. 19-22, 1997. - Luo, J., and Tsiotras,
P., "Control Design for Systems in Chained
Form with Bounded Inputs,"
*American Control Conference*, Philadelphia, PA, June 24-26, 1998. This paper was in the 5 finalist for the BEST STUDENT PAPER AWARD of the 1998 ACC. - Tsiotras, P. and Luo,
J., "Stabilization and Tracking of Underactuated
Axisymmetric Spacecraft with Bounded Control,"
*IFAC Symposium on Nonlinear Control Systems Design (NOLCOS'98)*, Enschede, The Netherlands, July 1-3, 1998. - Shen, H., and Tsiotras,
P., Time-Optimal Control of Axi-Symmetric Rigid
Spacecraft,"
*AIAA Guidance, Navigation, and Control Conference*AIAA Paper 98-4328, Boston, MA, Aug. 10-12, 1998. - Tsiotras, P., "Asymptotic
Properties of Higher Order Cayley Transforms,"
*Astrodynamics Specialists Conference*AIAA Paper 98-4387, Boston, MA, Aug. 10-12, 1998. - C. Hall, Tsiotras, P.,
and H. Shen, "Tracking Rigid Body Motion Using
Thrusters and Momentum Wheels,"
*Astrodynamics Specialists Conference*AIAA Paper 98-4471, Boston, MA, Aug. 10-12, 1998. - Canudas de Wit, C.,
and Tsiotras, P., "Dynamic Tire Friction Models
for Vehicle Traction Control,"
*38th IEEE Conference on Decision and Control*, Phoenix, AZ, Dec. 7-11, pp. 3746--3751, 1999. - Zhang, J., Knospe, C.,
and Tsiotras, P., "Toward Less Conservative
Stability Analysis of Time-Delay Systems,"
*38th IEEE Conference on Decision and Control*, Phoenix, AZ, Dec. 7-11, pp. 2017-2022, 1999. - Zhang, J., Knospe C., and Tsiotras, P., "A Unified Approach to Time-Delay System Stability via Scaled Small-Gain," American Control Conference, San Diego, CA, June 2-4, 1999, pp. 307-308.
- Tsiotras, P.,
"Feasible Trajectory Generation for Underactuated
Spacecraft Using Differential Flatness,"
*AAS/AIAA Astrodynamics Conference,*AAS Paper 99-323, Girdwood, Alaska from August 16-18, 1999. - Shen, H., and Tsiotras,
P., "Satellite Attitude Control and Power
Tracking with Momentum Wheels,"
*AAS/AIAA Astrodynamics Conference,*AAS Paper 99-317, Girdwood, Alaska from August 16-18, 1999. - Tsiotras, P., Djouadi,
S., Allaire, P., Bartlett, R., "Robust Control Design for an Active Magnetic
Bearing/Flywheel System,''
*Aerospace Flywheel Workshop*, Glenn Research Center, Cleveland, OH, Oct. 18-20, 1999. - Tsiotras, P. and Canudas
de Wit, C., "On the Optimal Braking of Wheeled Vehicles,"
*American Control Conference*, Chicago, IL, June 28-30, 2000. - Zhang, J., Knospe, C.,
and Tsiotras, P., "Stability of Linear Time-Delay
Systems: A Delay-Dependent Criterion with a Tight Conservatism Bound,"
*American Control Conference,*Chicago, IL, June 28-30, 2000. - Tsiotras, P. and Doumtchenko,
V., "Control of Spacecraft Subject to Actuator
Failures: State-of-the-Art and Open Problems,"
*R. H. Battin Astrodynamics Symposium*, Texas A&M, College Station, TX, March 20-21, 2000. AAS paper 00-264. - Tsiotras, P., and Velenis,
E., "Low-Bias Control of AMB's Subject to
Saturation Constraints,"
*IEEE Conference on Control Applications,*Ancorage, AL, Sept. 25-27, pp. 138-143, 2000. - Kim, B., and Tsiotras,
P., "Time-Invariant Stabilization of a Unicycle-Type
Mobile Robot: Theory and Experiments,"
*IEEE Conference on Control Applications,*Ancorage, AL, Sept. 25-27, pp. 443-448, 2000. - Tsiotras, P., and Schleicher,
A. "Partial Attitude Stabilization of a Rigid Spacecraft
under Actuator Failure,''
*AIAA Guidance, Navigation and Control Conference*, Denver, Colorado, Aug. 14-17, 2000. - Zhang, X., Tsiotras,
P. and Knospe, C.,"Stability Criteria for LPV
Time-Delayed Systems: Delay-Independent Case,'' I
*FAC Workshop on Linear Time Delay Systems*, Ancona, Italy, September 11-13, pp. 111-116, 2000. - Zhang, J., Knospe, C.
and Tsiotras, P., "Asymptotic Stability of Linear
Systems with Multiple Time-Invariant State-Delays,''
*IFAC Workshop on Linear Time Delay Systems*, Ancona, Italy, September 11-13, pp. 123-128, 2000. - Tsiotras, P. and Luo,
J. "Robust Control of High-Speed Flywheels on Active Magnetic Bearings for Spacecraft
Applications,''
*Space Power Workshop*, Torrance, CA, April 10-13, 2000. - Luo, J., Tsiotras, P.,
Djouadi, S., Bartlett, R., Allaire, P., Hilton, E., Schoenhoff, U., "Flywheel
Battery Magnetic Bearing Controller Design and Verification,''
*Space Power Workshop*, Torrance, CA, April 10-13, 2000. - Tsiotras, P., Wilson,
B., and Bartlett, R., "Control of a Zero-Bias Magnetic
Bearing Using Control Lyapunov Functions,"
*Proceedings, 39th IEEE Conference on Decision and Control,*Sydney, Australia, Dec. 12-15, pp. 4048-4053, 2000. - Kim, B., and Tsiotras,
P., " Experimental Comparison of Control Laws for
Mobile Robots,"
*8th IEEE Mediterranean Conference on Control and Automation*, Patras, Greece, July 17-19, 2000. - Yoon, H., and Tsiotras,
P., "Spacecraft Adaptive Attitude Control And
Power Tracking with Single-Gimballed VSCMGs and Wheel Speed Equalization,"
*AAS/AIAA Astrodynamics Conference*, Quebec City, Canada, July 30-August 2, 2001. - Richie, D., Tsiotras,
P. and Fausz, J., "Simultaneous Attitude Control
and Energy Storage Using VSCMGs: Theory and Simulation,"
*American Control Conference*, Arlington, VA, June 25-27, pp.~3973--3979, 2001. - Canudas de Wit, C.,
Tsiotras, P., Claeys, X. and Horowitz, R., "Friction Road/Tire Modeling, Estimation
and Optimal Braking Control,''
*Proceedings of the Workshop on Automotive Control*, "Nonlinear and Adaptive Control Network (NACO2)'', Lund, Sweden, May 18-19, 2001. - Kim, B., Velenis, E.,
Kriengsiri, P. and Tsiotras, P., "A Spacecraft
Simulator for Research and Education,"
*AAS/AIAA Astrodynamics Conference*, Quebec City, Canada, July 30-August 2, 2001. - Zhang, J., Knospe C.,
and Tsiotras, P., "Hinf Performance and Robust
Stability of Linear Time-Delayed Systems: A Pade Comparison System Approach,''
*3rd IFAC Workshop on Time Delay Systems*, Santa Fe, New Mexico, December 8--10, 2001. - Richie, D., Tsiotras,
P. and Fausz, J., "Variable Speed Control Moment
Gyroscope Workbench: A New Simulation Tool for Tomorrow's Spacecraft,''
*20th Digital Avionics Systems Conference*, Daytona Beach, Florida, October 14-18, 2001, pp. (8.A.3)1-12. - Canudas-de-Wit, C.,
Tsiotras, P. and Velenis, E., "Dynamic Friction
Models for Longitudinal Road/Tire Interaction: Theoretical Advances,''
*21st**IASTED Conference on Modelling, Identification and Control,*Innsbruck, Austria, February 18-21, 2002, pp. 48-53. - Canudas-de-Wit, C.,
Tsiotras, P., Velenis, E., Basset, M. and Gissinger, G. "Dynamic
Friction Models for Longitudinal Road/Tire Interaction: Experimental Results,''
*21st IASTED Conference on Modelling, Identification and Control,*Innsbruck, Austria, February 18-21, 2002. - Velenis, E., Tsiotras,
P. and C. Canudas de Wit "Extension of the LuGre
Dynamic Tire Friction Model to 2D Motion,''
*Proceedings, 10th Mediterranean Conference on Control and Automation (MED2002)*, Lisbon, Portugal, July 9-12, 2002. - Zhang, X., Lanzon, A.
and Tsiotras, P., "On Robust Stability of LTI
Parameter Dependent Systems ,''
*Proceedings, 10th Mediterranean Conference on Control and Automation (MED2002),*Lisbon, Portugal, July 9-12, 2002. - Lanzon, A. and Tsiotras,
P., "Robust Control of Energy Momentum Wheels Supported
on Active Magnetic Bearings using H-infinity Loop-Shaping and mu-Synthesis,''
*Proceedings, 15th IFAC World Congress*, Barcelona, Spain, July 21-26, 2002. - Luo, J. and Tsiotras,
P., "LFT Representations for Nonlinear Mechanical
Systems,''
*Proceedings, 15th IFAC World Congress*, Barcelona, Spain, July 21-26, 2002. - Shen, H. and Tsiotras,
P. "Optimal Two-Impulse Rendezvous Between Two Circular
Orbits Using Multiple Revolution Lambert's Solutions'', AIAA Paper 02-4844
,
*AIAA Guidance, Navigation, and Control Conference,*Monterey, California, August 5-8, 2002. - Shen, H. and Tsiotras,
P. "Optimal Scheduling for Servicing Multiple Satellites
in a Circular Constellations'', AIAA Paper 02-4907, A
*IAA/AAS Astrodynamics Specialists Conference*, Monterey, California, August 5-8, 2002. - Tsiotras, P. and Arcak, M., "Low-Bias Control of AMB Subject to Voltage Saturation: State-Feedback and Observer Designs,'' Proceedings, 41st IEEE Conference on Decision and Control, Las Vegas, Nevada, December 10-13, pp. 2474-2479, 2002.
- Tsiotras, P., and Wilson,
B. "Zero and Low-Bias AMB Flywheel Control: Theory and Experimental Setup,''
*Aerospace Flywheel Workshop*, Glenn Research Center, Cleveland, OH, March 14-15, 2002. - Park, C. and Tsiotras,
P., "Suboptimal Feedback Control Using a Successive
Wavelet-Galerkin Algorithm'',
*American Control Conference*, Denver, Colorado, June 4-6, pp. 1926-1931, 2003. - Park, C. and Tsiotras,
P., "Approximations to Optimal Feedback Control
Using a Successive Wavelet-Collocation Algorithm'',
*American Control Conference*, Denver, Colorado, June 4-6, pp. 1950-1955, 2003. - Marshall, A. and Tsiotras
P., "Spacecraft Angular Velocity Stabilization
Using A Single-Gimbal Variable Speed Control Moment Gyro,'' AIAA Paper 03-5654,
*AIAA Guidance, Navigation and Control Conference*, Austin, TX, 2003. - Jung, D. and Tsiotras,
P., "A 3-DoF Experimental Test-Bed for Integrated
Attitude Dynamics and Control Research,'' AIAA Paper 03-5331,
*AIAA Guidance, Navigation and Control Conference*, Austin, TX, 2003. - Shen, H. and Tsiotras,
P., "Extension of Battin's Method for the Multiple-Revolution
Lambert's Problem'',
*AAS/AIAA Astrodynamics Specialists Conference*, Big Sky, MO, August 3-7, 2003. - Zhang, X., Tsiotras,
P. and Iwasaki, T., "Parameter-Dependent Lyapunov
Functions for Exact Stability Analysis of Single-Parameter LTI Systems,''
*42nd IEEE Conference on Decision and Control*, Maui, HW, December 9-12, 2003, pp. 5168-5173. - Shen, H. and Tsiotras,
P., "Peer-to-Peer Refuelling within a Satellite
Constellation Part I: Zero-Cost Rendezvous Case,''
*42nd IEEE Conference on Decision and Control*, Maui, HW, December 9-12, 2003, pp. 4345-4350. - Shen, H. and Tsiotras,
P., "Peer-to-Peer Refuelling within a Satellite
Constellation Part II: Nonzero-Cost Rendezvous Case,''
*42nd IEEE Conference on Decision and Control*, Maui, HW, December 9-12, 2003, pp. 4363-4368. - Wilson, B., Tsiotras,
P., and Fausz, J.,"An Experimental Test-Bed for Low-Loss Control Design of AMBs,''
*Aerospace Flywheel Workshop*, Fort MacArthur, Los Angeles AFB, CA, August 6-8, 2003. - Tsiotras, P., Velenis, E. and Sorine, M., "A LuGre Tire Friction Model with Exact Aggregate Dynamics,'' Proceedings, American Control Conference, Boston, MA, June 30-July 2, 2004, pp. 1457--1462.
- Tsiotras, P. and Bliman, P.-A., "An Exact Stability Analysis Test for One-Parameter Polynomially-Dependent Linear Systems,'' 43rd IEEE Conference on Decision and Control, Paradise Island, Bahamas, Dec. 14-17, 2004, pp. 1337-1340.
- Chaplais, F., Tsiotras, P. and Jung, D., "Redundant Wavelet Filter Banks on the Half-Axis with Applications to Signal Denoising with Small Delays,'' 43rd IEEE Conference on Decision and Control, Paradise Island, Bahamas, Dec. 14-17, 2004, pp. 3102-3108.
- Jain, S. and Tsiotras, P.,"Solution of the Time-Optimal Hamilton-Jacobi-Bellman Equation using Wavelets,'' 43rd IEEE Conference on Decision and Control, Paradise Island, Bahamas, Dec. 14-17, 2004, pp. 2728-2733.
- Chaplais, F., Tsiotras, P., and Jung, D., "On-Line Wavelet Denoising with Application to the Control of a Reaction Wheel System,'' AIAA Guidance, Navigation, and Control Conference, AIAA Paper 04-5345, Providence, RI, August 16--19, 2004.
- Yoon, H. and Tsiotras, P., "Singularity Analysis and Avoidance for VSCMGs -- Part I: No Power Constraint Case,'' AIAA/AAS Astrodynamics Specialist Conference and Exhibit, AIAA Paper 04-5207, Providence, RI, August 16-19, 2004.
- Yoon, H. and Tsiotras, P., "Singularity Analysis and Avoidance for VSCMGs -- Part II: Power Constraint Case,'' AIAA/AAS Astrodynamics Specialist Conference and Exhibit, AIAA Paper 04-5208, Providence, RI, August 16-19, 2004.
- Jung, D. and Tsiotras, P., "Experimental Comparison of CMG Steering Controls,'' AIAA/AAS Astrodynamics Specialist Conference and Exhibit, AIAA Paper 04-5294, Providence, RI, August 16--19, 2004.
- Velenis, E. and Tsiotras, P., "Optimal Velocity Profile Generation for Given Acceleration Limits: Theoretical Analysis,'' American Control Conference, Portland, OR, June 8-10, 2005, pp. 1478-1483.
- Velenis, E. and Tsiotras, P., "Optimal Velocity Profile Generation for Given Acceleration Limits: Receding Horizon Implementation,'' American Control Conference, Portland, OR, June 8-10, 2005, pp. 2147-2152.
- Dienmusch, K. and Tsiotras, P. , "Use of Describing Functions for Predicting Low-Loss AMB Performance,'' American Control Conference, Portland, OR, June 8-10, 2005, pp. 3048-3053.
- Iwasaki, T. and Tsiotras, P., "State-Feedback Controller Synthesis for Parameter-Dependent LTI Systems,'' American Control Conference, Portland, OR, June 8-10, 2005, pp. 593-597.
- Jain, S. and Tsiotras, P., "The Method Of Reflection For Solving The Time-Optimal Hamilton-Jacobi-Bellman Equation On The Interval,'' 13th IEEE Mediterranean Conference on Control and Automation, Limassol, Cyprus, June 27-29, 2005, pp. 1062-1067.
- Zhang, X., Tsiotras, P. and Bliman, P.-A., "Multi-Parameter Dependent Lyapunov Functions for the Stability Analysis of LTI Parameter-Dependent Systems,'' 13th IEEE Mediterranean Conference on Control and Automation, Limassol, Cyprus, June 27-29, 2005, pp. 1263-1268.
- Wilson, C. B., Tsiotras, P. and Heck-Ferri, B., "Control Designs for Low-Loss Active Magnetic Bearings,'' IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Monterey, CA, July 24-28, 2005
- Wilson B. C., Tsiotras, P., and Heck-Ferri, B., "Implementation of the Generalized Complementary Flux Condition for Low-Loss Active Magnetic Bearings,'' AIAA Guidance, Navigation, and Control Conference, San Francisco, CA, August 15-18, 2005, AIAA Paper 05-5952
- Wilson, B. C., Tsiotras, P., and Heck-Ferri, B., "Experimental Validation of Control Designs for Low-Loss Active Magnetic Bearings,'' AIAA Guidance, Navigation, and Control Conference, San Francisco, CA, August 15--18, 2005, AIAA Paper 05-5953
- Yoon, H. and Tsiotras, P., "Adaptive Spacecraft Attitude Tracking Control with Actuator Uncertainties,'' AIAA Guidance, Navigation, and Control Conference, San Francisco, CA, August 15-18, 2005, AIAA Paper 05-6392.
- Yoon, H. and Tsiotras, P., "Spacecraft Angular Velocity and Line-of-Sight Control Using A Single-Gimbal Variable-Speed Control Moment Gyro,'' AIAA Guidance, Navigation, and Control Conference, San Francisco, CA, August 15-18, 2005, AIAA Paper 05-6393.
- Velenis, E., and Tsiotras, P., "Optimal Velocity Profile Generation for Given Acceleration Limits: The Half-Car Model Case,'' IEEE International Symposium on Industrial Electronics (ISIE05), Dubrovnik, Croatia, June 20-23, 2005.
- Velenis, E., and Tsiotras, P., "Minimum Time vs. Maximum Exit Velocity Path Optimization During Cornering,'' IEEE International Symposium on Industrial Electronics (ISIE05), Dubrovnik, Croatia, June 20-23, 2005.
- Dutta, A. and Tsiotras, P., "Asynchronous Optimal Mixed P2P Satellite Refueling Strategies,'' Malcom D. Shuster Astronautics Symposium, Buffalo, NY, June 13-15, 2005, AAS Paper 2005-474
- Tsiotras, P., and de Nailly, A., "Comparison Between Peer-to-Peer and Single-Spacecraft Refueling Strategies for Spacecraft in Circular Orbits'' Infotech at Aerospace Conference, Crystal City, DC, September 26-29, 2005, AIAA Paper 2005-7115.
- Salazar A. and Tsiotras, P., "An Auction Algorithm for Optimal Satellite Refueling,'' Georgia Tech Space Systems Engineering Conference, Atlanta, GA, November 8-10, 2005, Paper No. GT-SSEC.F.5.
- D. Jung, E. J. Levy, D. Zhou, R. Fink, J. Moshe, A. Earl, and P. Tsiotras, P., "Design and Development of a Low-Cost Test-Bed for Undergraduate Education in UAVs'' 44th IEEE Conference on Decision and Control/European Control Conference ECC 2005, Seville, Spain, Dec. 12-15, 2005.
- Salazar A. and Tsiotras,
P., "An Auction Algorithm for Allocating Fuel in
a Satellite Constellation Using Peer-to-Peer Refueling,''
*American Control Conference*, Minneapolis, MN, June 14-16, 2006, pp. 4214-4219, (invited). - Dimarogonas, D., Tsiotras,
P. and Kyriakopoulos, K., "Laplacian Cooperative
Attitude Control of Multiple Rigid Bodies,''
*2006 CCA/CACSD/ISIC*, Munich, Germany, October 4-6, 2006. - Jung, D., and Tsiotras,
P., "An Experimental Validation of Spacecraft Attitude
and Power Tracking with Variable Speed Control Moment Gyroscopes,''
*AAS Spaceflight Mechanics Meeting*, Sedona, AZ, Jan. 28-Feb. 1, 2007, AAS Paper 07-130. - Dutta, A., and Tsiotras,
P., "A Greedy Random Adaptive Search Procedure for
Optimal Scheduling of P2P Satellite Refueling,''
*AAS Spaceflight Mechanics Meeting*, Sedona, AZ, Jan. 28-Feb. 1, 2007, AAS Paper 07-150. - Dutta, A., and Tsiotras,
P., "A Network Flow Formulation for an Egalitarian
P2P Satellite Refueling Strategy, ''
*AAS Spaceflight Mechanics Meeting*, Sedona, AZ, Jan. 28-Feb. 1, 2007, AAS Paper 07-151. - Jung, D., and Tsiotras,
P., "Inertial Attitude and Position Reference
System Development for a Small UAV,''
*AIAA Infotech at Aerospace*, Rohnert Park, CA, May 7-10, 2007, AIAA Paper 07-2763 - Jung, D., and Tsiotras,
P., "Modelling and Hardware-in-the-Loop Simulation
for a Small Unmanned Aerial Vehicle,''
*AIAA Infotech at Aerospace*, Rohnert Park, CA, May 7-10, 2007, AIAA Paper 07-2768. - Velenis, E., Tsiotras,
P., and Lu, J., "Aggressive Maneuvers on Loose Surfaces:
Data Analysis and Input Parameterization,''
*15th IEEE Mediterranean Control Conference*, June 26-29, Athens, Greece. - Tsiotras, P., and Bakolas,
E.,"A Hierarchical On-Line Path-Planning Scheme
Using Wavelets,''
*European Control Conference*, Kos, Greece, July 2-5, 2007. - Velenis, E., Tsiotras,
P., and Lu, J., "Modeling Aggressive Maneuvers on
Loose Surfaces: The Cases of Trail-Braking and Pendulum-Turn,''
*European Control Conference,*Kos, Greece, July 2-5, 2007. - Tsiotras, P.,
"Multiresolution Hierarchical Path-Planning for
Small UAVs,''
*European Control Conference*, Kos, Greece, July~2-5, 2007 (invited) - Jain, S.
and Tsiotras, P., "Multiresolution-Based Direct Trajectory Optimization,''
*46th IEEE Conference on Decision and Control*, New Orleans, LA, Dec.12-14, 2007, pp. 5991-5996. - Jain, S. and Tsiotras, P.,
"Adaptive Multiresolution Mesh Refinement for the Solution of Evolution PDEs,"
*46th IEEE Conference on Decision and Control*, New Orleans, LA, Dec. 12-14, 2007, pp.3525-3530. - Cowlagi, R. and Tsiotras,
P. "Beyond Quadtrees: Cell Decomposition for Path Planning using the Wavelet
Transform,"
*46th IEEE Conference on Decision and Control*, New Orleans, LA, Dec. 12-14, 2007, pp. 1392-1397. - Jung, D., and Tsiotras, P., "Bank-to-Turn Control for a Small UAV using Backstepping
and Parameter Adaptation,''
*17th IFAC World Congress, Seoul*, South Korea, July 6-11, 2008, pp. 4406-4411. - Jung, D., and
Tsiotras, P., "Multiresolution On-Line Path Planning for Small
Unmanned Aerial Vehicles,''
*American Control Conference*, Seattle, WA, June11-13, 2008, pp. 2744-2749. - Cowlagi, R., and Tsiotras, P., "Multiresolution Path Planning with Wavelets:
A Local
Replanning Approach,''
*American Control Conference*, Seattle, WA, June 1-13, 2008, pp. 1220-1225. - Dimarogonas, D. V., Tsiotras, P. and Kyriakopoulos, K. J.,
"Leader-Follower
Cooperative Attitude Control of Multiple Rigid Bodies,''
*American Control Conference*, Seattle, WA, June 11-13, 2008, pp. 801-806. - Jain, S., Tsiotras, P., and Velenis, E.,
"Optimal Feedback Velocity Profile
Generation for a Vehicle with Given Acceleration Limits: A Level Set Implementation,''
*16th IEEE Mediterranean Conference on Control and Automation*, Ajaccio, Corsica, France, June 25-26, 2008, pp. 451-456. - Dutta, A., and Tsiotras. P., "Hohmann-Phasing Cooperative Rendezvous Maneuvers,''
*F. Landis Markley Astronautics Symposium*, Chesapeake Bay, June 28-July 2, 2008, Paper AAS 08-297. - Jung, D., Ratti, J., and Tsiotras, P., "Real-time Implementation and Validation
of a
New Hierarchical Path Planning Scheme for UAVs via Hardware-in-the-Loop Simulation,''
*International Symposium of Unmanned Aerial Vehicles (UAV'08)*, Orlando, FL, June 23-24, 2008. - Jung, D., and Tsiotras, P., "On-line Path Generation for Small Unmanned Aerial
Vehicles using B-Spline Path Templates,''
*AIAA Guidance, Navigation, and Control Conference*, Honolulu, HI, Aug. 18-21, 2008, AIAA Paper 2008-7135. - Jain, S., and Tsiotras, P., "Sequential Multiresolution Trajectory Optimization
for Moving Targets,''
*AIAA Guidance, Navigation, and Control Conference*, Honolulu, HI, Aug. 18-21, 2008, AIAA Paper 2008-6980. - Bakolas, E., and Tsiotras, P., "Multiresolution Path Planning Via Sector
Decompositions Compatible to On-Board Sensor Data,''
*AIAA Guidance, Navigation, and Control Conference*, Honolulu, HI, Aug. 18-21, 2008, AIAA Paper 2008-7238. - Dutta, A., and Tsiotras, P., "A Cooperative P2P Refueling Strategy for Circular
Satellite Constellations,''
*AIAA Space Conference and Exhibit,*San Diego, Sept. 9-11, 2008, AIAA Paper 2008-7643. - Bakolas, E. and Tsiotras, P., "On-Line, Kinodynamic Trajectory Generation Through
Rectangular Channels Using Path and Motion Primitives,''
*47th IEEE Conference on Decision and Control*, Cancun, Mexico, Dec. 9-11, 2008, pp. 3725-3730. - Chakrabortty, A., Arcak, M. and Tsiotras, P.,
"Robust Design of a Spacecraft
Attitude Tracking Control System with Actuator Uncertainties,''
*47th IEEE Conference on Decision and Control*, Cancun, Mexico, Dec. 9-11, 2008, pp. 1587-1592. - Velenis, E., Tsiotras, P. and Lu J., "Trail-Braking Driver Input Parameterization
for General Corner Geometry,''
*SAE Motorsports Engineering Conference*, Concord, NC, Dec. 2-4, 2008, SAE Paper 2008-01-2986. - Kim, B. and Tsiotras, P., "Image Segmentation on Cell-Center Sampled Quadtree
and Octree Grids,''
*Wavelet Applications in Industrial Processing VI*, San Jose, CA, Jan. 18-22, 2009, IS&T/SPIE Paper 7248-22. - Dutta, A. and Tsiotras, P., "A Cooperative Egalitarian Peer-to-Peer Strategy
for Refueling Satellites in Circular Constellations,''
*AAS/AIAA Space Flight Mechanics Meeting*, Savannah, GA, Feb. 8-12, 2009, AAS Paper 2009-109. - Zhao, Y. and Tsiotras, P., "A Density-Function Based Mesh Refinement Algorithm
for Solving Optimal Control Problems,''
*Infotech at Aerospace Conference*, Seattle, WA, April 6-9, 2009, AIAA Paper 2009-2019 (invited). - Cho, D., Jung, D. and Tsiotras, P., "A 5-dof Experimental Platform for Spacecraft
Rendezvous and Docking,''
*Infotech at Aerospace Conference*, Seattle, WA, April 6-9, 2009, AIAA Paper 2009-1869. - Cowlagi, R. and Tsiotras, P., "Shortest Distance Problems in
Graphs Using History-Dependent Transition Costs with Application
to Kinodynamic Path Planning,''
*American Control Conference*, St. Louis, MO, June 10-12, 2009, BEST STUDENT PAPER AWARD, pp. 414-419. - Bakolas, E. and Tsiotras, P., "On the Generation of Nearly Optimal, Planar
Paths of Bounded Curvature and Curvature Gradient,''
*American Control Conference*, St. Louis, MO, June 10-12, 2009, pp. 385-390. - Scacchioli, A., Tsiotras, P., and Lu, J.,
"Nonlinear-Feedback Vehicle Traction
Force Control with Load Transfer for Accident Avoidance,''
*ASME Dynamic Systems and Control Conference (DSCC'09)*, Hollywood, CA, Oct. 12-14, 2009. - Watts, R., Tsiotras, P. and Johnson, E., "Pilot Feedback for an Automated Planning
Aid System in the Cockpit,''
*28th Digital Avionics Systems Conference*, Orlando, FL, Oct. 25-29, 2009. - Bakolas, E., and Tsiotras, P., "The Asymmetric Sinistral/Dextral Markov-Dubins
Problem,''
*48th IEEE Conference on Decision and Control*, Shanghai, China, Dec. 16-18, 2009, pp. 5649-5654. - Velenis, E., Frazzoli, E. and Tsiotras, P., "On Steady-State Cornering Equilibria
for Wheeled Vehicles with Drift,''
*48th IEEE Conference on Decision and Control*, Shanghai, China, Dec. 16-18, 2009, pp. 3545-3550. - Zhao, Y. and
Tsiotras, P., "Time-Optimal Parameterization of Geometric Path for
Fixed-Wing Aircraft,''
*Infotech at Aerospace*, Atlanta, GA, April 20-22, 2010. - Bakolas, E. and
Tsiotras, P., "Minimum-Time Paths for a Light Aircraft in the Presence of
Regionally-Varying Strong Winds,''
*Infotech at Aerospace*, Atlanta, GA, April 20-22, 2010. - Bakolas, E. and
Tsiotras, P., "Time-Optimal Synthesis for the Zermelo-Markov-Dubins Problem:
the Constant Wind Case,''
*American Control Conference*, Baltimore, MD, June 30-July 2, 2010. - Bakolas, E. and
Tsiotras, P., "The Zermelo-Voronoi Diagram: a Dynamic Partition Problem,''
*American Control Conference,*Baltimore, MD, June 30-July 2, 2010. - Cowlagi, R. and
Tsiotras, P., "On the Existence and Synthesis of Curvature-Bounded Paths
Inside Nonuniform Rectangular Channels,''
*American Control Conference*, Baltimore, MD, June 30-July 2, 2010. - Cowlagi, R. and
Tsiotras, P., "Kinematic Feasibility Guarantees in Geometric Path Planning
using History-based Transition Costs over Cell Decompositions,''
*American Control Conference*, Baltimore, MD, June 30-July 2, 2010. - Velenis, E., Katzourakis, D., Frazolli, E., Tsiotras, P. and Happee,
R., "Stabilization of Steady-State Drifting
for a RWD Vehicle,''
*10th International Symposium on Advanced Vehicle Control (AVEC)*, Loughborough, UK, August 22- 26, 2010. - Steinfeldt, B, and Tsiotras, P., "A
State-Dependent Riccati Equation Approach to Atmospheric Entry Guidance,"
*AIAA Guidance, Navigation, and Control Conference*, Toronto, Canada, Aug. 2-4, 2010, AIAA Paper AIAA-2010-8310. - Lu, Y., Huo, Y., and Tsiotras, P., "Beamlet-like
Data Processing for Accelerated Path-Planning Using Multiscale
Information of the Environment,''
*49th IEEE Conference on Decision and Control*, Atlanta, GA, Dec. 15-17, 2010, pp. 3808-3813. - Cowlagi, R., and Tsiotras, P., "Multi-resolution
Path Planning: Theoretical Analysis, Efficient Implementation, and
Extensions to Dynamic Environments,''
*49th IEEE Conference on Decision and Control*, Atlanta, GA, Dec. 15-17, 2010, pp. 1384-1390. - Bakolas, E. and Tsiotras, P., "Optimal
Pursuit of Moving Targets using Dynamic Voronoi Diagrams,''
*49th IEEE Conference on Decision and Control*, Atlanta, GA, Dec. 15-17, 2010, pp. 7431-7436. - Tsiotras, P. and Reyes Castro L. I., "A
Note on the Consensus Protocol with Some Applications to Agent Orbit
Pattern Generation,''
*10th Symposium on Distributed Autonomous Robotic Systems (DARS),*Lausanne, Switzerland, November 1-3, 2010. - Bakolas, E. and Tsiotras, P., "Optimal Pursuer and Moving Target
Assignment using Dynamic Voronoi Diagrams,''
*American Control Conference*, San Francisco, CA, June 29-July 1, 2011, pp. 5444-5449. - Zhao, Y. and Tsiotras, P., "A Quadratic Programming Approach to Path
Smoothing,''
*American Control Conference*, San Francisco, CA, June 29-July 1, 2011, pp.5324-5329. - Tsiotras, P. and Reyes Castro L. I., "Extended Multi-agent Consensus
Protocols for the Generation of Geometric Patterns in the Plane,''
*American Control Conference*, San Francisco, CA, June 29-July 1, 2011, pp. 3850-3855. - Bakolas, E., Zhao, Y. and Tsiotras, P., "Initial Guess Generation
for Aircraft Landing Trajectory Optimization,''
*AIAA Guidance, Navigation, and Control Conference*, Portland, OR, Aug. 8-11, 2011, AIAA Paper 2011-6689. - Cowlagi, R. and Tsiotras, P., "Multiresolution H-Cost Motion
Planning: A New Framework for Hierarchical Motion Planning for
Autonomous Mobile Vehicles,'' I
*EEE/RSJ International Conference on Intelligent Robots and Systems*, San Francisco, CA, Sept. 25-30, 2011, pp. 3501-3506, doi:10.1109/IROS.2011.6048243. - Lu, Y., Huo, X., Arslan, O. and Tsiotras, P., "Multi-Scale LPA* with
Low Worst-Case Complexity Guarantees,''
*IEEE/RSJ**International Conference on Intelligent Robots and Systems*, San Francisco, CA, Sept. 25-30, 2011, pp. 3507-3512, doi:10.1109/IROS.2011.6048262. - Arslan, O., Tsiotras, P., and Huo, X., "Solving Shortest Path
Problems with Curvature Constraints Using Beamlets,''
*IEEE/RSJ International Conference on Intelligent Robots and Systems*, San Francisco, CA, Sept. 25-30, 2011, pp. 3533-3538, doi:10.1109/IROS.2011.6048546. - Bakolas, E. and Tsiotras. P., "On the Relay Pursuit of a Maneuvering
Target,''
*50th IEEE Conference on Decision and Control and European Control Conference*, Orlando, FL, Dec.12-15, 2011, pp. 4270-4275, doi:10.1109/CDC.2011.6160323. - Chakraborty, I., Tsiotras, P. and J. Lu, "Mitigation of Unavoidable
T-bone Collisions at Intersections Through

Aggressive Maneuvering,''*50th IEEE Conference on Decision and Control and European Control Conference*, Orlando, FL, Dec. 12-15, 2011, pp. 3264-3269, doi:10.1109/CDC.2011.6161241. - Cowlagi, R. and Tsiotras, P., "Hierarchical Motion Planning with Kinodynamic Feasibility Guarantees: Local Trajectory Planning via Model
Predictive Control,''
*IEEE International Conference on Robotics and Automatio*n, St. Paul, MN, May 14-18, 2012, pp. 4003-4008, doi:10.1109/ICRA.2012.6224895. - Anderson, R., Bakolas, E., Milutinovic, and Tsiotras, P., "The Markov-Dubins Problem in the Presence of a Stochastic Drift Field,'' 51th IEEE Conference on Decision and Control Conference, Maui, HI, Dec. 10-13, 2012, pp. 130-135, doi:10.1109/CDC.2012.6426674.
- Delahaye, D., Feron, E., and Tsiotras, P., "Mathematic Models for
Aircraft Trajectory Design : A Survey,''
*The 3rd ENRI International Workshop on ATM/CNS*, Tokyo, Japan, Feb. 19-22, 2013. - Arslan, O. and Tsiotras, P., "Use of Relaxation Methods in
Sampling-Based Algorithms for Optimal Motion Planning,"
*IEEE International Conference on Robotics and Automation*, Karlsruhe, Germany, May 6-10, 2013, pp. 2413-2420, doi: 10.1109/ICRA.2013.6630906. - Jeon, J.-H., Cowlagi, R., Peters, S., Karaman, S.,
Frazzoli, E., Tsiotras, P., and Karl Iagnemma, K., "Optimal Motion
Planning with the Half-Car Dynamical Model
for Autonomous High-Speed Driving,''
*American Control Conference*, Washington, DC, June 17-19, 2013. - Filipe. N, and Tsiotras, P., "Simultaneous Position and Attitude
Control Without Linear and Angular Velocity Feedback Using Dual Quaternions,''
*American Control Conference*, Washington, DC, June 17-19, 2013. - Zhao, Y., and Tsiotras, P., "Speed Profile Optimization for
Optimal Path Tracking''
*American Control Conference*, Washington, DC, June 17-19, 2013. - Chakraborty, I., Sanz-Diaz, R., and Tsiotras, P. "Time-Optimal
Vehicle Posture Control to Mitigate Unavoidable Collisions Using
Conventional Control Inputs,''
*American Control Conference*, Washington, DC, June 17-19, 2013. - Filipe, N., and Tsiotras, P., "Rigid Body Motion Tracking Without
Linear and Angular Velocity Feedback Using Dual Quaternions,''
*European Control Conference*, Zurich, Switzerland, July 17-19, 2013. - Filipe, N., and Tsiotras, P., "Adaptive Model-Independent Tracking
of Rigid Body Position and Attitude Motion with Mass and Inertia Matrix
Identification using Dual Quaternions,''
*AIAA Guidance, Navigation, and Control Conference*, Boston, MA, August 19-22, 2013. - Cho, D.-M., Tsiotras, P., and Holzinger, M., "Robust
Feature Detection, Acquisition and Tracking for Relative Navigation in
Space with a Known Target,''
*AIAA Guidance, Navigation, and Control Conference*, Boston, MA, August 19-22, 2013. - Zhao, Y., and Tsiotras, P., "Fuel-Efficient Flight Optimization for
ATC Operations During Descent and Approach Phases,''
*AIAA Guidance, Navigation, and Control Conference*, Boston, MA, August 19-22, 2013. - Filipe, N., and Tsiotras, P., "Adaptive Position and Attitude
Tracking Controller for Satellite Proximity Operations using Dual Quaternions,''
*Astrodynamics Specialist Conference*, Hilton Head, SC, August 11-15, 2013. - Sun, W., and Tsiotras, P., "A Sequential Pursuer-Target Assignment
Problem Under External Disturbances,''
*52nd IEEE Conference on Decision and Control Conference*, Florence, Italy, Dec. 10-13, 2013. - Tsiotras, P., "A 5dof Experimental Platform for Research in
Spacecraft Proximity Operations,''
*AAS Guidance and Control Conference*, Breckenridge, CO, Jan. 31-Feb. 5, 2014, AAS Paper 2014-114. - Zafeiropoulos, S., and Tsiotras, P., "Design
and Evaluation of a Lane-Tracking Driver Steering Assist System with a
Two-Point Visual Driver Model,''
*American Control Conference*, Portland, OR, June 4-6, 2014, pp.3911-3917, doi:10.1109/ACC.2014.6858867 - Zhang, G., Vela, P., Tsiotras, P., and Cho, D.-M., "Efficient
Closed-Loop Detection and Pose Estimation for Vision-Only Relative
Localization in Space with a Cooperative Target,''
*AIAA Space and Astronautics Forum and Exposition*, San Diego, CA, August 4-7, 2014, AIAA Paper 2014-4262, doi:10.2514/6.2014-4262 - Filipe, N., Holzinger, M. J., and Tsiotras, P., "Pose-Tracking
Controller for Satellites with Time-Varying Inertia,''
*AIAA Space and Astronautics Forum and Exposition*, San Diego, CA, August 4-7, 2014, AIAA Paper 2014-4455, doi:10.2514/6.2014-4455 - Exarchos, I., and Tsiotras, P., "An
Asymmetric Version of the Two Car Pursuit-Evasion Game,''
*53rd IEEE Conference on Decision and Control*, Los Angeles, CA, Dec. 15-17, 2014, pp. 4272-4277. - Sun, W. and Tsiotras, P., "An Optimal
Evader Strategy in a Two-Pursuer One-Evader Problem,''
*53rd IEEE Conference on Decision and Control*, Los Angeles, CA, Dec. 15-17, 2014, pp. 4266-4271. - van de Hoef, A., Dimarogonas, D. V., and Tsiotras, P., "Spectral
Analysis of Extended Consensus Algorithms for Multiagent Systems,''
*53rd IEEE Conference on Decision and Control*, Los Angeles, CA, Dec. 15-17, 2014, pp. 2204-2209. - Arslan, O., Theodorou E., and Tsiotras, P. "Information-Theoretic
Stochastic Optimal Control via Incremental Sampling-based Algorithms"
*IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning*, Orlando, FL, Dec. 9-12, 2014, pp. 71-78. - Sun, W., Theodorou, E., and Tsiotras, P., "Continuous-Time
Differential Dynamic Programming with Terminal Constraints,''
*IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning*, Orlando, FL, Dec. 9-12, 2014, pp. 289-294. - Valverde, A., Filipe, N., Kontitsis, M. and Tsiotras, P.,
"Experimental Validation of an Inertia-Free Controller and a
Multiplicative EKF for Pose Tracking and Estimation Based on Dual
Quaternions,''
*38th AAS Guidance and Control Conference*, Breckenridge, CO, Jan. 30-Feb. 4, 2014, AAS Paper 2015-017. - Hauer, F., Kundu, A., Rehg, J., and Tsiotras, P., "Multi-scale
Perception and Path Planning on Probabilistic Obstacle Maps,''
I
*EEE International Conference on Robotics and Automation*, Seattle, WA, May 26-30, 2015, pp. 4210--4215, doi:10.1109/ICRA.2015.7139779 - Arslan O., and Tsiotras, P., "Dynamic
Programming Guided Exploration for Sampling-based Motion Planning
Algorithms,''
*IEEE International Conference on Robotics and Automation*, Seattle, WA, May 26-30, 2015, pp. 4819--4826, doi:10.1109/ICRA.2015.713986 - Filipe, N., Kontitsis, M. and Tsiotras, P., "An Extended Kalman
Filter for Spacecraft Pose Estimation Using Dual Quaternions,''
*American Control Conference*, Chicago, IL, July 1-3, 2015, pp. 3187-3192, doi: 10.1109/ACC.2015.7171823 - Sun, W., and Tsiotras, P., "Pursuit Evasion Game of Two Players
under an External Flow Field,"
*American Control Conference*, Chicago, IL, July 1-3, 2015, pp. 5617-5622, doi:10.1109/ACC.2015.7172219 - Sun, W., Theodorou, E. and Tsiotras, P., "Game Theoretic Continuous
Time Differential Dynamic Programming,''
*American Control Conference*, Chicago, IL, July 1-3, 2015, pp. 5593-5598,

doi:10.1109/ACC.2015.7172215 - Arslan, O., and Tsiotras, P., "Machine
Learning Guided Exploration for Sampling-based Motion Planning
Algorithms,''
*IEEE/RJS International Conference on Intelligent Robots and Systems*, Hamburg, Germany, September 28-October 3, 2015, pp. 2646-2652, doi: 10.1109/IROS.2015.7353738 - Exarchos, I., Tsiotras, P., and Pachter, M., "UAV
Collision Avoidance based on the Solution of the Suicidal Pedestrian
Differential Game,''
*AIAA Guidance, Navigation, and Control Conference*, San Diego, CA, January 4-8, 2016. - Kontitis, M., Tsiotras, P. and Theodorou, E., "An
Information-Theoretic Active Localization Approach during Relative
Circumnavigation in Orbit,''
*AIAA Guidance, Navigation, and Control Conference*, San Diego, CA, January 4-8, 2016. - Hauer, F., Tsiotras, P., "Reduced
Complexity Multi-Scale Path-Planning on Probabilistic Maps,''
*IEEE International Conference on Robotics and Automation*, Stockholm, Sweden, May 16-21, 2016, pp. 83-88, doi: 10.1109/ICRA.2016.7487119 - You, C., and Tsiotras, P., "Optimal
Two-Point Visual Driver Model and Controller Development for
Driver-Assist Systems for Semi-Autonomous Vehicles,''
*American Control Conference*, Boston, MA, July 6-8, 2016, pp. 5976-5981, doi: 10.1109/ACC.2016.7526607 - Antonello, A., Carron, A., Carli, R., and Tsiotras, P., and Carron,
A., "Performance Analysis of Three Cost
Policies for the Control of a Camera in Relative Circumnavigation
Scenarios,''
*International Astronautical Congress*, Guadalajara, Mexico, Sept. 26-30, 2016. - Antonello, A., and Tsiotras, P., "Vision
Based Attitude Determination Using a Simultaneous Localization and
Mapping Algorithm During Relative Circumnavigation of Non-Cooperative
Objects,''
*International Astronautical Congress*, Guadalajara, Mexico, Sept. 26-30, 2016. - You, C., Lu, J., and Tsiotras, P., "Driver
Parameter Estimation Using Joint E-/UKF and Dual E-/UKF Under Nonlinear
State Inequality Constraints,''
*IEEE Conference on Systems, Man and Cybernetics*, Budapest, Hungary, Oct. 9-12, 2016. - Okamoto, K., and Tsiotras, P., "A New
Hybrid Sensorimotor Driver Model with Model Predictive Control,''
*IEEE Conference on Systems, Man and Cybernetics*, Budapest, Hungary, Oct. 9-12, 2016, (**best student paper finalist**). - Brewer, M. J., and Tsiotras, P., "Partial Attitude Consensus for
Underactuated Satellites Clusters,''
*55th IEEE Conference on Decision and Control*, Las Vegas, NV, Dec. 12-14, 2016, pp. 3524-3529,

doi: 10.1109/CDC.2016.7798798 - Exarchos, I., Theodorou, E., and Tsiotras, P.,"Game-Theoretic
and Risk-Sensitive Stochastic Optimal Control via Forward and Backward
Stochastic Differential Equations,''
*55th IEEE Conference on Decision and Control*, Las Vegas, NV, Dec. 12-14, 2016, pp. 6154-6160, doi: 10.1109/CDC.2016.7799215 - Arslan, O., and Tsiotras, P., "Incremental Sampling-based Motion
Planners using Policy Iteration Methods,''
*55th IEEE Conference on Decision and Control*, Las Vegas, NV, Dec. 12-14, 2016, pp. 5004-5009,

doi: 10.1109/CDC.2016.7799034 - Sun, W., Theodorou, E., and Tsiotras, P., "Stochastic Game Theoretic
Trajectory Optimizationin Continuous Time,''
*55th IEEE Conference on Decision and Control*, Las Vegas, NV, Dec. 12-14, 2016, pp. 6167-6172,

doi: 10.1109/CDC.2016.7799217 - Arslan, O., Berntorp, K., and Tsiotras, P.,"Sampling-based
Algorithms for Optimal Motion Planning Using Closed-loop Prediction,''
*International Conference on Robotics and Automation*, Singapore, May. 12-14, 2017, pp. 4991-4996, doi: 10.1109/ICRA.2017.7989581 - You, C., and Tsiotras, P., "Vehicle
Modeling and Parameter Estimation Using Adaptive Limited Memory
Joint-State UKF,''
*American Control Conference*, Seattle, WA, May 24-26, 2017, pp. 322-327, doi: 10.23919/ACC.2017.7962973 - Sun, W., Tsiotras, P., Lolla, T., Subramani, D. N., and Lermusiaux,
P. F. J., "Pursuit-Evasion Games in Dynamic
Flow Fields via Reachability Set Analysis,''
*American Control Conference*, Seattle, WA, May 24-26, 2017, pp. 4595-4600, doi: 10.23919/ACC.2017.7963664 - Hauer, F., and Tsiotras, P., "Deformable
Rapidly-Exploring Random Trees,''
*Robotics: Science and Systems*, Cambridge, MA, July 12-16, 2017. - Goldshtein, M., and Tsiotras, P., "Finite-Horizon
Covariance Control of Linear Time-Varying Systems,"
*56th IEEE Conference on Decision and Control*, Melbourne, Australia, Dec. 12--15, 2017, pp. 3606--3611, doi: 10.1109/CDC.2017.8264189 - Larsson, D., and Tsiotras, P., "Hierarchical
State Abstractions for Decision-Making Problems with Computational
Constraints,''
*56th IEEE Conference on Decision and Control*, Melbourne, Australia, Dec. 12--15, 2017, pp. 1138--1143, doi: 10.1109/CDC.2017.8263809 - Valverde, A., and Tsiotras, P., "Spacecraft
Trajectory Tracking with Identification of Mass Properties Using Dual
Quaternions,''
*AIAA Guidance, Navigation, and Control Conference*, Kissimmee, FL, Jan. 8--12, 2018, doi: 10.2514/6.2018-1576 - Ridderhof, J., and Tsiotras, P., "Uncertainty
Quantification and Control During Mars Powered Descent and Landing using
Covariance Steering,''
*AIAA Guidance, Navigation, and Control Conference*, Kissimmee, FL, Jan. 8--12, 2018, doi: 10.2514/6.2018-0611 - Makkapati, V. R., Sun, W., and Tsiotras, P., "Pursuit-Evasion
Problems Involving Two Pursuers and One Evader,''
*AIAA Guidance, Navigation, and Control Conference*, Kissimmee, FL, Jan. 8--12, 2018, doi: 10.2514/6.2018-2107 - Dor, M., and Tsiotras, P., "ORB-SLAM Applied to
Spacecraft Non-Cooperative Rendezvous,''
*AAS Spaceflight Mechanics Conference*, Kissimmee, FL, Jan. 8--12, 2018, doi: 10.2514/6.2018-1963 - Valverde, A., and Tsiotras, P., "Relative Pose
Stabilization using Backstepping Control with Dual Quaternions,''
*AAS Spaceflight Mechanics Conference*, Kissimmee, FL, Jan.~8--12, 2018, doi: 10.2514/6.2018-1980 - You, C., and Tsiotras, P., "Real-Time Trail-Braking Maneuver
Generation for Off-Road Vehicle Racing,"
*American Control Conference*, Milwaukee, WI, June 27--29, 2018, pp. 4751– 4756, doi: 10.23919/ACC.2018.8431620 - Okamoto, K., and Tsiotras, P., "A Comparative Study of Data-Driven
Human Driver Lateral Control Models,"
*American Control Conference*, Milwaukee, WI, June 27--29, 2018, pp. 3988–3993, doi: 10.23919/ACC.2018.8431446 - Valverde, A., and Tsiotras, P., "Modeling of Spacecraft-Mounted
Robot Dynamics and Control Using Dual Quaternions,'"
*American Control Conference*, Milwaukee, WI, June 27--29, 2018, pp. 670–675, doi: 10.23919/ACC.2018.8431054 - You, C., Lu, J., Filev, D., and Tsiotras, P., "Autonomous Vehicle Planning in Traffic Us- ing Deep Inverse Reinforcement Learning,"
*29th IEEE Intelligent Vehicles Symposium*, Changshu, China, June 26–30, 2018. - Okamoto,K., Goldshtein, M.,and Tsiotras, P.,"Optimal Covariance Control for Stochastic Systems Under Chance Constraints,"
*57th IEEE Conference on Decision and Control,*Miami, FL, Dec. 17–19, 2018, pp. 266–271, doi: 10.1109/LCSYS.2018.2826038 - Larsson, D., Kotsalis, G., and Tsiotras, P., "Nash and Correlated Equilibria for Pursuit- Evasion Games Under Lack of Common Knowledge,"
*57th IEEE Conference on Decision and Control*, Miami, FL, Dec. 17–19, 2018, pp. 3579–3584. doi: 10.1109/CDC.2018.8619168 - Makkapati, V. R., Dor, M., and Tsiotras, P., "Trajectory Desensitization in Optimal Con- trol Problems,"
*57th IEEE Conference on Decision and Control*, Miami, FL, Dec. 17–19, 2018, pp. 2478–2483. doi: 10.1109/CDC.2018.8619577 - Hawkins, K., and Tsiotras, P., “Anticipating Human Collision Avoidance Behavior for Safe Robot Reaction,"
*57th IEEE Conference on Decision and Control*, Miami, FL, Dec. 17– 19, 2018, pp. 6301–6306. doi: 10.1109/CDC.2018.8619849 - Riderhoff, J., and Tsiotras, P., "Minimum-fuel Powered Descent in the Presence of Random Disturbances,"
*AIAA Guidance, Navigation, and Control Conference*, San Diego, CA, Jan. 7–11, 2019 (best student paper award). doi: 10.2514/6.2019-0646 - Antonello, A., Valverde, A., and Tsiotras, P., "Free-flying Spacecraft-mounted Manipulators: A Tool for Simulating Dynamics and Control,"
*AIAA Guidance, Navigation, and Control Conference*, San Diego, CA, Jan. 7–11, 2019. doi: 10.2514/6.2019-1912 - Okamoto, K. and Tsiotras, P., "Optimal Stochastic Vehicle Path Planning Using Covariance Steering,"
*International Conference on Robotics and Automation*, Montreal, Canada, May. 20–24, 2019. - Joshi, S. and Tsiotras, P., "Non-Parametric Informed Exploration for Sampling-Based Motion Planning,"
*International Conference on Robotics and Automation*, Montreal, Canada, May. 20–24, 2019.