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Manuscripts in the Pipeline

  • Oishi, Jang, and Klavins, "Specification and simulation of multicelled behaviors in gro".
  • Havens, Pierre-Jerome, Jang, Guseman, Bolten, Klavins, and Nemhauser, "A synthetic approach reveals tunability of auxin perception".
  • Havens, Bolton, Nemhauser, and Klavins, Construction of reliable, high efficiency yeast integrating vectors".
  • Bishop and Klavins, Characterization of a Biomolecular Fuel Delivery Device.
  • (Drafts available to close collaborators on request).

2011

  • 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, 2011 IEEE Conf. on Robotics and Automation, pages 254 - 260, 2011. url.
  • 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, 2010 Conference on Decision and Control (CDC), Dec. 2010, pages 2547-2553. url.
  • 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 IEEE Conf. on Robotics and Automation, pages 2459 - 2466, 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

  • 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