### From SOSwiki

## In Publication

## 2011

Biomolecular implementation of linear I/O systems

- K. Oishi and E. Klavins,
**A biomolecular implementation of linear I/O systems**,*IET Systems Biology*, July 2011, vol 5, no. 4, p.252–260. url

- N. Napp and E. Klavins,
**Load balancing for multi-robot construction**,*ICRA 2011*.

- N. Napp and E. Klavins,
**A Compositional Framework for Programming Stochastically Interacting Robots**,*The International Journal of Robotics Research*, May 2011 vol. 30 no. 6 713-729. url

## 2010

- E. Klavins,
**Proportional-Integral Control of Stochastic Gene Regulatory Networks**,*CDC 2010*. draft - N. Napp, S. Burden, and E. Klavins,
**Setpoint Regulation for Stochastically Interacting Robots**,*Autonomous Robotics*, Vol. 30, No. 1. Sep. 2010. pp. 57--71. url - D. Thorsley and E. Klavins,
**Approximating Stochastic Biochemical Processes With Wasserstein Pseudometrics**.*IET Systems Biology*, May 2010, vol. 4, no. 3, pp. 193-211. url - N. Napp and E. Klavins,
**Robust by Composition: Programs for Multi Robot Systems**. 2010. ICRA 2010. - D. Georgiev, M. Fazel, and E. Klavins,
**Model Discrimination of Chemical Reaction Networks by Linearization**, ACC 2010. - D. Thorsley,
**Diagnosability of Stochastic Chemical Kinetic Systems: A Discrete Event Systems Approach**, ACC 2010. pdf

## 2009

- N. Napp, S. Burden and E. Klavins.
**Setpoint Regulation for Stochastically Interacting Robots**,*Robotics: Science and Systems V*. MIT Press. 2009. pdf

- F. W. Shaw and E. Klavins.
**Distributed Estimation and State Assignment For Stochastically Interacting Robots**.*2009 Workshop on Network Estimation and Control.*pdf

- N. Napp, D. Thorsley and E. Klavins,
**Hidden Markov Models for Non-Well-Mixed Reaction Networks**,*Proceedings of the American Control Conference*, 2009. pdf

- D. Thorsley and E. Klavins.
**A Theory of Approximation for Stochastic Biochemical Networks**,*Control Theory and Systems Biology*. Eds. B. Ingalls and P. Iglesias. MIT Press, 2009. preprint

## 2008

- D. Georgiev and E. Klavins.
**Model Discrimination of Polynomial Systems via Stochastic Inputs**.*2008 Conference on Decision and Control*. pdf

- F. Shaw and E. Klavins.
**Distributed Estimation and Control For Stochastically Interacting Robots**.*2008 Conference on Decision and Control*. pdf

- J. M. McNew and E. Klavins.
**Non-deterministic Reconfiguration of Tree Formations**.*American Control Conference*, June 2008, pp. 690-697. pdf

- D. Thorsley and E. Klavins.
**Model Reduction of Stochastic Processes Using Wasserstein Pseudometrics**.*American Control Conference*, June 2008, pp. 1374-1381. pdf

## 2007

- J. Bishop and E. Klavins.
**An Improved Autonomous DNA Nanomotor**.*Nanoletters*, Sep., 2007. Vol. 7, No. 9, pp. 2574-7. pdf (supporting info).

- E. Klavins,
**Programmable Self-Assembly**.*Control Systems Magazine*, Aug. 2007. Vol. 24, No. 4, pp. 43-56. pdf.

- W. B. Dunbar, N. A. Wilson, J. Schaeffer, E. Klavins, J. Bishop and B. Tanner.
**Dynamics and control of biomolecules: Research venues and opportunites**.*46th Conference on Decision and Control*, Dec. 2007. pp 3297--3307. pdf.

- M. Yim, W.M. Shen, B. Salemi, D. Rus, M. Moll, H. Lipson, E. Klavins and G.S. Chirickjian,
**Modular Self-Reconfigurable Robot Systems**,*IEEE Robotics and Automation Magazine*, Mar. 2007. Vol. 14, No. 1, pp. 43-42. pdf.

- C. Belta, A. Bicchi, M. Egerstedt, E. Frazzoli, E. Klavins and G.J. Pappas,
**Symbolic Planning and Control of Robot Motion**,*IEEE Robotics and Automation Magazine*. Mar. 2007. Vol. 14, No. 1, pp. 61-70. pdf

- J. M. McNew, E. Klavins and M. Egerstedt.
**Solving Coverage Problems with Embedded Graph Grammars**.*Hybrid Systems: Computation and Control*. 2007. pdf.

- S. Waydo, J. Hauser and R. Bailey, E. Klavins and R. Murray,
**UAV as a Reliable Wingman: A Flight Demonstration**,*IEEE Transactions on Control Systems Technology*, Jul. 2007, Vol. 15, No. 4, pp. 680--688.

## 2006

- E. Klavins, S. Burden and N. Napp,
**Optimal Rules for Programmed Stochastic Self-Assembly**,*Robotics: Science and Systems II*. MIT Press, 2006. pp. 9-16. pdf.

- J. Bishop and E. Klavins,
**Collective Sensing with Self-Organizing Robots**,*45th IEEE Conference on Decision and Control*. 2006, pp. 4175-81. pdf

- J. M. McNew and E. Klavins,
**Locally Interacting Hybrid Systems with Embedded Graph Grammars**,*45th IEEE Conference on Decision and Control*. 2006, pp. 6080--87. pdf

- E. Klavins,
**Self-Assembly From the Point of View of Its Pieces**,*American Control Conference*. Jun. 2006. pdf

- J. M. McNew and E. Klavins,
**Model-Checking and Control of Self-Assembly**,*American Control Conference*, Jun. 2006. pdf

- S. Burden, N. Napp, E. Klavins,
**The Statistical Dynamics of Programmed Robotic Self-Assembly**,*International Conference on Robotics and Automation*. May 2006. pp. 1469--76. pdf

- E. Klavins, R. Ghrist and D. Lipsky,
**A Grammatical Approach to Self-Organizing Robotic Systems**,*IEEE Transactions on Automatic Control*. Jun. 2006, Vol. 51, No. 5, pp. 949-962. url

- D. Del Vecchio, R. Murray and E. Klavins,
**Discrete State Estimators for Systems on a Lattice**,*Automatica*. 2006, Vol. 42, No. 2, pp. 271-285.

## 2005

- J. M. McNew and E. Klavins,
**A Grammatical Approach to Cooperative Control: The wanderers and Scouts Example**,*Cooperative Control*. 2005. pdf

- J. Bishop, S. Burden, E. Klavins, R. Kreisberg, W. Malone, N. Napp and T. Nguyen,
**Self-Organizing Programmable Parts**,*International Conference on Intelligent Robots and Systems*, 2005. pdf

## 2004

- E. Klavins,
**Universal Self-Replication Using Graph Grammars**, In*2004 International Conference on MEMs, NANO and Smart Systems*. Banff, Canada, 2004. pdf.

- E. Klavins,
**Directed Self-Assembly Using Graph Grammars**,*Foundations of Nanoscience: Self Assembled Architectures and Devices*. Snowbird, UT, 2004. Invited Talk + Extended Abstract. This online version has some corrections. pdf

- E. Klavins, R. Ghrist, and D. Lipsky,
**Graph Grammars for Self-Assembling Robotic Systems**,*Proceedings of the International Conference on Robotics and Automation*. May, 2004, pp. 5293- 5300. pdf

- E. Klavins,
**A Language for Modeling and Programming Cooperative Control Systems**,*Proceedings of the International Conference on Robotics and Automation*. May 2004, pp. 3403- 3410. pdf

- E. Klavins and R. Murray,
**Distributed Algorithms for Cooperative Control**,*IEEE Pervasive Computing*. 2004, Vol. 3, No. 1, pp. 56--65. pdf

## 2003

- E. Klavins,
**A Formal Model of a Multi-Robot Control and Communication Task**,*42nd IEEE Conference on Decision and Control*. Dec. 2003. pdf

- D. Del Vecchio and E. Klavins,
**Observation of Hybrid Guarded Command Programs**,*42nd IEEE Conference on Decision and Control*. Dec. 2003.

- S. Waydo. B. Dunbar and E. Klavins,
**Toward Feedback Stabilization of Faulty Software Systems: {A} Case Study**,*42nd IEEE Conference on Decision and Control*. Dec. 2003. pdf

## 2002

- E. Klavins,
**Automatically Synthesized Controllers for Distributed Assembly: Partial Correctness**,*Cooperative Control: Models, Applications and Algorithms*. Eds. S. Butenko, R. Murphey and P. M. Pardalos. Kluwer, 2002, pp. 111-127. pdf

- E. Klavins,
**Toward the Control of Self-Assembling Systems**,*Control Problems in Robotics*. Eds. A. Bicchi, H. Christensen and D. Prattichizzo. Springer, 2003, Vol. 4, pp. 153-168. pdf

- E. Klavins and U. Saranli,
**Object Oriented State Machines**,*Embedded Systems Magazine*. May 2002. pp. 30-42.

- E. Klavins,
**Automatic Synthesis of Controllers for Distributed Assembly and Formation Forming**, In*Proceedings of the IEEE Conference on Robotics and Automation*. May 2002. pdf

- E. Klavins and D. E. Koditschek,
**Phase Regulation of Decentralized Cyclic Robotic Systems**,*International Journal of Robotics Research*. 2002, Vol. 21, No. 3, pp. 257-276. pdf.

- T. Chung, L. Cremean, B. Dunbar, Z. Jin, E. Klavins, D. Moore, A. Tiwari, D. van Gogh and S. Waydo,
**A Platform for Cooperative and Coordinated Control of Multiple Vehicles: The Caltech Multi-Vehicle Wireless Testbed**,*Proceedings of the Conference on Cooperative Control and Optimization*. Kluwer, 2002. pdf

- E. Klavins,
**Communication Complexity of Multi-Robot Systems**,*Algorithmic Foundations of Robotics V*. Eds. J.-D. Boissonnat, J. Burdick, K. Goldberg, S. Hutchinson. Springer, 2003, Vol. 7, pp. 275-292. pdf

- L. Cremean, B. Dunbar, D. van Gogh, J. Hickey, E. Klavins, J. Meltzer and R. M. Murray,
**The Caltech Multi-Vehicle Wireless Testbed**, In*41st IEEE Conference on Decision and Control*. Dec. 2002.

## 2001

- E. Klavins, H. Komsuoglu, R. J. Full and D. E. Koditschek,
**The Role of Reflexes Versus Central Pattern Generators in Dynamical Legged Locomotion**,*Neurotechnology for Biomimetic Robots*. Eds. J. Ayers, J. Davis and A. Rudolph. MIT Press, 2001.

- E. Klavins and D. E. Koditschek,
**Stability of Hybrid Coupled Oscillators**, In*International Conference on Robotics and Automation*. 2001.pdf

- E. Klavins.
**Decentralized Phase Regulation of Cyclic Robotic Systems**, Ph.D. Thesis, University of Michigan, June 2001. pdf

## 2000

- E. Klavins,
**Automatic Compilation of Concurrent Hybrid Factories from Product Assembly Specifications**,*Hybrid Systems: Computation and Control*. LNCS 1790. Springer-Verlag, 2000, pp. 174-187. pdf

- E. Klavins and D. E. Koditschek,
**A Formalism for the Composition of Concurrent Robot Behaviors**, In*Proceedings of the IEEE Conference on Robotics and Automation*, 2000. pdf

- E. Klavins, D. E. Koditschek and R. Ghrist,
**Toward the Regulation and Composition of Cyclic Behaviors**,*Algorithmic and Computational Robotics: New Directions (2000 WAFR)*. Eds. B. R. Donald, K. M. Lynch and D. Rus. A. K. Peters, 2001, pp. 205-220. ps

- E. Klavins,
**The Construction of Attention Functions for Phase Regulation**, University of Michigan Technical Report No. CSE-TR-422-00, 2000.pdf

## 1999

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

## 1998

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