Publications

Abdol-Reza Mansouri, "Pattern generation, topology, and non-holonomic systems," Systems and Control Letters (in press).
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Abdol-Reza Mansouri, "On isotropic sub-Riemannian contact manifolds," C. R. Acad. Sci. Paris, Ser. I 339 (2004).
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Dionisis Stefanatos, Navin Khaneja and Steffen J. Glaser, "Optimal control of coupled spins in the presence of longitudinal and transverse relaxation", Phys. Rev. A 69, 022319 (2004).
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Navin Khaneja, Burkhard Luy and Steffen J. Glaser. "Boundary of Quantum Evolution Under Decoherence." Proc. Nat. Acad. Sci., vol. 100, no. 23, pp. 13162-13166, Nov. 2003.
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Roger W. Brockett, "Pattern Generation and the Control of Nonlinear Systems," IEEE Trans. Automat. Contr., vol. 48, pp. 1699-1711, Oct. 2003.
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Navin Khaneja, Timo Reiss, Burkhard Luy and Steffen J. Glaser. "Optimal Control of Spin Dynamics in the Presence of Relaxation." J. Magnetic Resonance, vol. 162, no. 2, pp. 311-319, Jun. 2003.
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Magnus B. Egerstedt and Roger W. Brockett, "Feedback Can Reduce the Specification Complexity of Motor Programs," IEEE Trans. Automat. Control, vol. 48, no. 2, pp. 213-223, 2003.
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Navin Khaneja and Steffen J. Glaser. "Efficient Transfer of Coherence through Ising Spin Chains." Phys. Rev. A 66, 060301, 4 pp., Dec. 2002.
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Navin Khaneja, Steffen J. Glaser and Roger W. Brockett, "Sub-Riemannian Geometry and Time Optimal Control of Three Spin Systems: Quantum Gates and Coherence Transfer," Phys. Rev. A 65, 032301, 11 pp., Jan. 2002.
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Navin Khaneja, Roger W. Brockett and Stefen J. Glaser. "Time Optimal Control in Spin Systems." Phys. Rev. A 63, 032308, 13 pp., Feb. 2001.
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Nicola J. Ferrier and Roger W. Brockett, "Reconstructing the Shape of a Deformable Membrane from Image Data," The International Journal of Robotics Research, vol. 19, no. 9, pp. 795-816, Sept. 2000.
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Roger W. Brockett and Daniel Liberzon, "Quantized Feedback Stabilization of Linear Systems," IEEE Trans. Automat. Contr., vol. 45, pp. 1279- 289, July 2000.
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Daniel Liberzon and Roger W. Brockett, "Nonlinear Feedback Systems Perturbed by Noise: Steady-State Probability Distributions and Optimal Control," IEEE Trans. Automat. Contr., vol. 45, pp. 1116-1130, June 2000.
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Daniel Liberzon and Roger W. Brockett, "Spectral Analysis of Fokker-Planck and Related Operators Arising from Linear Stochastic Differential Equations," SIAM Journal on Control and Optimization, vol. 38, pp. 1453-1467, May 2000.
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Wing Shing Wong and Roger W. Brockett, "Systems with Finite Communication Bandwidth Constraints II: Stabilization with Limited Information Feedback," IEEE Trans. Automat. Contr., vol. 44, pp. 1049-1053, May 1999.
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Wing Shing Wong and Roger W. Brockett, "Systems with Finite Communication Bandwidth Constraints I: State Estimation Problems," IEEE Trans. Automatic Control, vol. 42, pp. 1294-1298, Sep. 1997.
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Roger W. Brockett and Petros Maragos, "Evolution Equations for Continuous-Scale Morphological Filtering," IEEE Trans. Signal Processing, vol. 42, no. 12, pp. 3377-3386, Dec. 1994.
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Roger W. Brockett, "On the Rectification of Vibratory Motion," Sensors and Actuators, vol. 20, pp. 91-96, 1989.
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Roger W. Brockett, "Some geometric questions in the theory of linear systems," IEEE Trans. Automat. Contr., vol. 21, pp. 449-455, Aug. 1976.
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Roger W. Brockett, "Lie Theory and Control Systems Defined on Spheres," Siam J. Applied Math., vol. 25, no. 2, pp. 213-225, Sep. 1973.
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Articles in Books

Roger W. Brockett, "New Issues in the Mathematics of Control," in Mathematics Unlimited---2001 and Beyond (B. Engquist and W. Schmid, eds.), pp. 189-219, Springer, Berlin, 2001.
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Roger W. Brockett, "Dynamical Systems and their Associated Automata," in Systems and Networks: Mathematical Theory and Applications (U. Helmke, R. Mennicken and J. Saurer eds.), vol. 77, pp. 49-69, Akademi-Verlag, Berlin, 1994.
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Roger W. Brockett, "Asymptotic Stability and Feedback Stabilization," in Differential Geometric Control Theory (R. W. Brockett, R. S. Millman and H. J. Sussmann, eds.), pp 181-191, Birkhauser, Boston, 1983.
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Roger W. Brockett, "Control Theory and Singular Riemannian Geometry," in New Directions in Applied Mathematics (P. J. Hilton and G. S. Young, eds.), Springer, New York, pp. 11-27, 1981.
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Conference Papers

Roger W. Brockett, "Minimizing Attention in a Motion Control Context," Proc. 42nd IEEE Conf. Dec. and Control, Maui, HI, pp. 3349-3352, Dec. 2003.
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Roger W. Brockett and Hongyi Li, "A Light Weight Rotary Double Pendulum: Maximizing the Domain of Attraction," Proc. 42nd IEEE Conf. Dec. and Control, Maui, HI, pp. 3299-3304, Dec. 2003.
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Dimitrios Hristu, Nicola Ferrier and Roger W. Brockett, "The Performance of a Deformable-membrane Tactile Sensor: Basic Results on Geometrically-defined Tasks," Proc. IEEE Int. Conf. on Robotics and Automation, 2000.
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Navin Khaneja and Roger W. Brockett, "Dynamic Feedback Stabilization of Nonholonomic Systems," Proc. 38th IEEE Conf. Dec. and Control, Phoenix, AZ, pp. 1640-1645, Dec. 1999.
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Roger W. Brockett, "Explicitly Solvable Control Problems with Nonholonomic Constraints," Proc. 38th IEEE Conf. Dec. and Control, Phoenix, AZ, pp. 13-16, Dec. 1999.
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Roger W. Brockett, Weibo Gong and Yang Guo, "Stochastic Analysis for Fluid Queuing Systems," Proc. 38th IEEE Conf. Dec. and Control, Phoenix, AZ, pp. 3077-3082, Dec. 1999.
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Kristi Morgansen and Roger W. Brockett, "Nonholonomic Control Based on Approximate Inversion," Proc. American Control Conference, San Diego CA, pp. 3515-3519, 1999.
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Roger W. Brockett, "Stationary Covariance Realization with a Specified Distribution of Amplitudes," Proc. 37th IEEE Conf. Dec. and Control, Tampa, FL, pp. 3742-3744, Dec. 1998.
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Roger W. Brockett and Daniel Liberzon, "Quantized Feedback Systems Perturbed by White Noise," Proc. 37th IEEE Conf. Dec. and Control, Tampa, FL, pp. 1327-1328, Dec. 1998.
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Stefano Soatto and Roger W. Brockett, "Optimal Structure from Motion: Local Ambiguities and Global Estimates," Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Santa Barbara, CA, pp. 282-288, 1998.
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Roger W. Brockett and Daniel Liberzon, "On Explicit Steady-state Solutions of Fokker-Planck Equations for a Class of Nonlinear Feedback Systems," Proc. American Control Conference, Philadelphia, PA, pp. 264-268, Jun. 1998.
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Roger W. Brockett, "Minimum Attention Control," Proc. 36th IEEE Conf. on Dec. and Control, San Diego, CA, pp. 2628-2632, 1997.
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Roger W. Brockett, "Singular Values and Least Squares Matching," Proc. 36th IEEE Conf. on Dec. and Control, San Diego, CA, pp. 1121-1124, 1997.
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Roger W. Brockett, "Stabilization of Motor Networks," Proc. 34th IEEE Conf. Dec. and Control, New Orleans, LA, pp. 1484--1488, 1995.
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Roger W. Brockett, "Language Driven Hybrid Systems," Proc. 33rd IEEE Conf. Dec. and Control, Lake Buena Vista, FL, pp. 4210-4214, Dec. 1994.
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Roger W. Brockett and Andrew Blake, "Estimating the Shape of a Moving Contour," Proc. 33rd IEEE Conf. Dec. and Control, Lake Buena Vista, FL, pp. 3247-3252, Dec. 1994.
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Roger W. Brockett, Ann Stokes and Frank Park, "A Geometrical Formulation of the Dynamical Equations Describing Kinematic Chains," Proc. IEEE Conf. on Robotics and Automation, Atlanta, GA, pp. 637-641, 1993.
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Anthony M. Bloch, Roger W. Brockett and Tudor S. Ratiu, "On the Geometry of Saddle Point Algorithms," Proc. 31st IEEE Conf. Dec. and Control, Tuscon, AZ, pp. 1482-1487, Dec. 1992.
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Roger W. Brockett and Ann Stokes, "On the Synthesis of Compliant Mechanisms," Proc. IEEE Conf. on Robotics and Automation, Sacramento, CA, pp. 2168-2173, 1991.
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Frank C. Park and Roger W. Brockett, "Harmonic Maps and the Optimal Design of Mechanisms," Proc. 28th IEEE Conf. Dec. and Control, Tampa, FL, pp. 206-210, Dec. 1989.
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Roger W. Brockett, "On Stochastic Stabilization," Proc. 28th IEEE Conf. Dec. and Control, Tampa, FL, pp. 2243-2246, Dec. 1989.
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Roger W. Brockett, "On the Rectification of Vibratory Motion," Proc. of Micro Electro Mechanical Systems, pp. 49-52, IEEE, Feb. 1989.
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Roger W. Brockett, "Dynamical Systems that Sort Lists, Diagonalize Matrices and Solve Linear Programming Problems," Proc. 27th IEEE Conf. Dec. and Control, Austin, TX, pp. 799-803, Dec. 1988.
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Roger W. Brockett, "On the Computer Control of Movement," Proc. IEEE Conf. on Robotics and Automation, Philadelphia, PA, pp. 534-540, 1988.
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Roger W. Brockett, "Robotic Hands with Rheological Surfaces," Proceedings of the 1985 IEEE Conference on Robotics and Automation, pp. 942-946.
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Ph.D. Theses

Jian Zou, "On Systems with Limited Communication," Ph.D. thesis, Division of Engineering and Applied Sciences, Harvard University, 2004.
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Hongyi Li, "Choreographing Dynamical Systems," Ph.D. thesis, Division of Engineering and Applied Sciences, Harvard University, 2004.
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Manuela Vasconcelos, "On the Radon transform of sampled functions," Ph.D. thesis, Division of Engineering and Applied Sciences, Harvard University, 2003.
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Navin Khaneja, "Geometric Control in Classical and Quantum Systems," Ph.D. thesis, Division of Engineering and Applied Sciences, Harvard University, 2000.
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