People

The Nonlinear Systems Laboratory is headed by Professor Jean-Jacques Slotine. Members and affiliates are

* Gabriel Bousquet (g_b@mit.edu)
* Soon-Jo Chung (sjchung@mit.edu)
* Joanna Cohen (joannac@mit.edu)
* Khalid El-Rifai (elrifai@mit.edu)
* Winfried Lohmiller (wslohmil@mit.edu)
* Quang-Cuong Pham (cuong@mit.edu)
* Jonathan Soto (j_soto@mit.edu)
* Nicolas Tabareau (tabareau@mit.edu)
* Feng Tan (fengtan@mit.edu)
* Wei Wang (wangwei@mit.edu)

Related Links

* Slotine Lectures on Nonlinear Systems
* Synchronization in Networks (ICASSP 2014 Plenary)
* MIT Department of Mechanical Engineering
* MIT Department of Brain and Cognitive Sciences

Videos of Some of Our Research

* Robotic Catching of a Plastic Ball
* Robotic Catching of a Paper Airplane
* Collective Behavior of Humanoid Robots
* Network Controllability and Observability

Books

* Slotine, J.J.E., and Li, W., Applied Nonlinear Control, Prentice-Hall, 1991.

* Asada, H., and Slotine, J.J.E., Robot Analysis and Control, John Wiley & Sons, New York, 1986.

Journal Articles

* 105 Liu, Y.Y., Slotine, J.J.E., and Barabasi, A.L., "Observability of Complex Systems," Proceedings of the National Academy of Sciences, 110(2460), 2013. (Cover article)

* 104 Jia, T., Liu, Y.Y., Csoka, E., Posfai, M., Slotine, J.J.E., and Barabasi, A.L., "Emergence of Bimodality in Controlling Complex Networks," Nature Communications 4:2002, 1-6, 2013.

* 103 Perie, L, Aru, J., Kourilsky, P., and Slotine, J.J.E., "Does a Quorum Sensing Mechanism Direct the Behavior of Immune Cells," C.R. Biologies, 2013.

* 102 Del Vecchio, D., and Slotine, J.J.E., "A Contraction Theory Approach to Singularly Perturbed Systems," I.E.E.E. Transactions on Automatic Control, 58(3), 2013.

* 101 Landsman, A.S., and Slotine, J.J.E., "Control of Traveling-Wave Oscillations and Bifurcation Behavior in Central Pattern Generators," Physical Review E 86(4), 2012.

* 100 Liu, Y.Y., Slotine, J.J.E., and Barabasi, A.L., "Control Centrality and Hierarchical Structure in Complex Networks," PLoS One 7(10), 2012.

* 99 Mukovskiy, A., Slotine, J.J.E., and Giese, M.A., "Dynamically Stable Control of Articulated Crowds," Journal of Computational Neuroscience, 33(12), 2012.

* 98 Laflamme, S. , Slotine, J.J.E., and Connor, J.J., "Self-Organizing Input Space for Control of Structures," Smart Materials and Structures, 11, 2012.

* 97 Slotine, J.J.E., and Liu, Y.Y., "Complex networks: The Missing Link," Nature Physics, 8(7), 2012.

* 96 Rutishauser, U., Slotine, J.J.E., and Douglas, R.J., "Competition through Selective Inhibitory Synchrony," Neural Computation, 24(8), 2012.

* 95 Liu, Y.Y., Slotine, J.J.E., and Barabasi, A.L., "Controllability of Complex Networks," Nature, 473(7346), 2011. (Cover article)

* 94 Bouvrie, J., and Slotine, J.J.E., "Synchronization and Redundancy: Implications for Robustness of Neural Learning and Decision Making," Neural Computation, 23(10), 2011.

* 93 Russo, G., and Slotine, J.J.E., "Symmetries, Stability, and Control in Nonlinear Systems and Networks," Physical Review E 84(4), 2011.

* 92 Laflamme, S. , Slotine, J.J.E., and Connor, J.J., "Wavelet Network for Semi-Active Control," A.S.C.E. Journal of Mechanics, 137(7), 2011.

* 91 Russo, G., and Slotine J.J.E., "Global Convergence of Quorum Sensing Networks," Physical Review E 82(4), 2010.

* 90 Cheah, C.C., Hou, S.P., Zhao, Y., and Slotine, J.J.E., "Adaptive Vision and Force Tracking Control for Robots with Constraint Uncertainty," I.E.E.E. Transactions on Mechatronics, 15(3), 2010.

* 89 Rutishauser, U., Douglas, R.J., and Slotine, J.J.E., "Collective Stability of Networks of Winner-take-all Circuits," Neural Computation, 22(12), 2010.

* 88 Schwager, M., Rus, D., and Slotine, J.J.E., "Unifying Geometric, Probabilistic, and Potential Field Approaches to Multi-Robot Deployment," International Journal of Robotics Research, 29(11), 2010.

* 87 Russo, G., di Bernardo, M., and Slotine, J.J.E., "A Graphical Approach to Prove Contraction of Nonlinear Circuits and Systems," I.E.E.E. Transactions on Circuits and Systems II, 57(11), 2010.

* 86 Tabareau, N., Slotine, J.J.E., and Pham, Q.C., "How Synchronization Protects from Noise," PLoS Computational Biology 6(1), 2010.

* 85 Seo, K., Chung, S.J., and Slotine, J.J.E., "CPG-Based Control of a Turtle-like Underwater Vehicle," Autonomous Robots, 28(3), 2010.

* 84 Yu, G., and Slotine, J.J.E., "Visual Grouping by Oscillator Networks," I.E.E.E. Transactions on Neural Networks, 20(12), 2009.

* 83 Pham, Q.C., Tabareau, N., and Slotine, J.J.E., "A Contraction Theory Approach to Stochastic Incremental Stability," I.E.E.E. Transactions on Automatic Control, 54(4), 2009.

* 82 Cheah, C.C., Hou, S.P., and Slotine, J.J.E., "Region-based Shape Control of Robotic Swarms," Automatica, 45(9), 2009.

* 81 Chung, S.J., and Slotine, J.J.E., "Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems," I.E.E.E. Transactions on Robotics, 25(3), 2009.

* 80 Schwager, M., Rus, D., and Slotine, J.J.E., "Adaptation and Consensus Learning for Decentralized Coverage Control of Networked Robots," International Journal of Robotics Research, 28(2), 2009.

* 79 Chung, S.J., Ahsun, U., and Slotine, J.J.E., "Synchronization of Formation Flying Spacecraft," A.I.A.A. Journal of Guidance, Control and Dynamics, 32(2), 2009.

* 78 Faugeras, O., Grimbert, F., and Slotine, J.J.E., "Stability and Synchronization in a Class of Neural Fields Models," S.I.A.M. Journal on Applied Mathematics, 69(1), 2008.

* 77 Chung, S.J., Slotine, J.J.E., and Miller, D.W., "Propellant-Free Tethered Formation Flight: Nonlinear Underactuated Control", A.I.A.A. Journal of Guidance, Control, and Dynamics, 31(5), 2008.

* 76 Aylward, E., Parrilo,P., and Slotine, J.J.E., "Robustness Analysis of Nonlinear Systems via Contraction Metrics and SOS Programming," Automatica, 44(8), 2008.

* 75 Girard, B., Tabareau, N., Pham, Q.C., Berthoz, A., and Slotine, J.J.E., "A Contracting Basal Ganglia Model for Action Selection," Neural Networks, 21(5), 2008.

* 74 Liu, C., Cheah, C.C., and Slotine, J.J.E., "Adaptive Task-Space Regulation of Flexible-Joint Robots with Uncertain Kinematics," Automatica, 43, 2007.

* 73 Tabareau, N., Bennequin, D., Berthoz A., Slotine J.J.E., and Girard, B., "Geometry of the Superior Colliculus Mapping and Efficient Oculomotor Computation," Biological Cybernetics, 97(4), 2007.

* 72 McIntyre, J.A., and Slotine, J.J.E., "Does the Brain Use Wave Variables to Improve Stability?" Brain Research Bulletin, 68, 2007.

* 71 Pham, Q.C., and Slotine, J.J.E., "Stable Concurrent Synchronization in Dynamic System Networks," Neural Networks, 20(1), 2007.

* 70 Chung, S.J., Slotine, J.J.E., and Miller, D.W., "Nonlinear Model Reduction and Decentralized Control of Tethered Formation Flight," A.I.A.A. Journal of Guidance, Control and Dynamics, 30(2), 2007.

* 69 El Rifai, K., and Slotine, J.J.E., "Compositional Contraction Analysis of Hybrid Nonlinear Systems," I.E.E.E. Transactions on Automatic Control, 51(9), 2006.

* 68 Wang, W., and Slotine, J.J.E., "A Theoretical Study of Different Leader Roles in Networks," I.E.E.E. Transactions on Automatic Control, 51(7), 2006.

* 67 Cheah, C.C., Liu, C., and Slotine, J.J.E., "Adaptive Tracking Control for Robots with Uncertainties in Kinematic, Dynamic and Actuator Models," I.E.E.E. Transactions on Automatic Control, 51(6), 2006.

* 66 Wang, W., and Slotine, J.J.E., "Contraction Analysis of Time-Delayed Communications and Group Cooperation," I.E.E.E. Transactions on Automatic Control, 51(4), 2006.

* 65 Cheah, C.C., Liu, C., and Slotine, J.J.E., "Adaptive Tracking Control for Robots with Unknown Kinematic and Dynamic Properties," International Journal of Robotics Research, 25(3), 2006.

* 64 Lohmiller, W., and Slotine, J.J.E., "Contraction Analysis of Nonlinear Distributed Systems," International Journal of Control, 78(9), 2005.

* 63 Zhao, Y., and Slotine, J.J.E., "Discrete Nonlinear Observers for Inertial Navigation," Systems and Control Letters, 54(6), 2005.

* 62 Wang, W., and Slotine, J.J.E., "Fast Computation with Neural Oscillators," Neurocomputing, 63, 2005.

* 61 Richardson, A., Slotine, J.J.E., Bizzi, E., and Tresch, M., "Intrinsic Musculoskeletal Properties Stabilize Wiping Movements in the Spinalized Frog," Journal of Neuroscience, 25(12), 2005.

* 60 Zuo, L., Slotine, J.J.E., and Nayfeh, S., "Model Reaching Adaptive Control for Vibration Isolation," I.E.E.E. Transactions on Control Systems Technology, 2005.

* 59 Wang, W., and Slotine, J.J.E., "On Partial Contraction Analysis for Coupled Nonlinear Oscillators," Biological Cybernetics, 92(1), 2005.

* 58 Niemeyer, G., and Slotine J.J.E., "Telemanipulation with Time Delays," International Journal of Robotics Research, 23(9), 2004.

* 57 Lloyd, S., Landahl, A., and Slotine J.J.E., "Universal Quantum Interfaces," Physical Review A, 69, 2004.

* 56 Zuo, L., and Slotine, J.J.E., "Robust Vibration Isolation via Frequency-Shaped Sliding Control and Modal Decomposition," Journal of Sound and Vibration, 2004.

* 55 Slotine, J.J.E., "Modular Stability Tools for Distributed Computation and Control," Int. J. Adaptive Control and Signal Processing, 17(6), 2003.

* 54 Hahnloser, R.H., Seung, H.S., and Slotine, J.J.E., "Permitted and Forbidden Sets in Symmetric Threshold-Linear Networks," Neural Computation, 15, 2003.

* 53 Slotine, J.J.E., "La Robotique à l'Heure des Neurosciences," La Recherche, 350, February 2002.

* 52 Slotine, J.J.E., and Lohmiller, W., "Modularity, Evolution, and the Binding Problem: A View from Stability Theory," Neural Networks, 14(2), February 2001.

* 51 Lloyd, S., and Slotine, J.J.E., "Feedback Control of Quantum Systems Using Ensemble Measurements," Physical Review A, July 2000.

* 50 Lohmiller, W., and Slotine, J.J.E., "Nonlinear Process Control Using Contraction Theory," A.I.Ch.E. Journal, March 2000.

* 49 Lohmiller, W., and Slotine, J.J.E., "Control System Design for Mechanical Systems Using Contraction Theory," I.E.E.E. Transactions on Automatic Control, 45(5), 2000.

* 48 Lloyd, S., and Slotine, J.J.E., "Analog Quantum Error Correction," Physical Review Letters, 80(18), 1998.

* 47 Lohmiller, W., and Slotine, J.J.E., "On Contraction Analysis for Nonlinear Systems," Automatica, 34(6), 1998.

* 46 Hanneton, S., Berthoz, A., Droulez, D., and Slotine J.J.E., "Does the brain use sliding variables for the control of movements," Biological Cybernetics, 77(6), 1998.

* 45 Massaquoi, S., and Slotine, J.J.E., "The Intermediate Cerebellum may function as a Wave Variable Processor," Neuroscience Letters, 215, 1996.

* 44 Lloyd, S., and Slotine, J.J.E., "Information Theoretic Tools for Stable Adaptation and Learning," Int. J. Adaptive Systems, 5(5), Oct. 1996.

* 43 Cannon, M., and Slotine, J.J.E., "Space-Frequency Localized Basis Function Networks for Nonlinear Estimation and Control," Neurocomputing, 9(3), 1995 (best paper award).

* 42 Sanner, R., and Slotine, J.J.E., "Stable Robotic Learning using 'Neural' Networks," Neural Computation, 7(4), 1995.

* 41 Yang, H.S., and Slotine, J.J.E., "Fast Algorithms for Near-Minimum-Time Robot Motion," Int. J. Robotics Research, 13(6), 1994.

* 40 Slotine, J.J.E., and Hedrick, J.K., "Robust Input-Output Feedback Linearization," Int. J. Control, 57(5), 1993.

* 39 Sanner, R., and Slotine, J.J.E., "Gaussian Networks for Direct Adaptive Control," I.E.E.E. Transactions on Neural Networks, 3(6), 1992 (best paper award).

* 38 Niemeyer, G., and Slotine, J.J.E., "Stable Adaptive Teleoperation,," I.E.E.E. J. of Oceanic Engineering, 16(1), 1991.

* 37 Canudas, C., and Slotine, J.J.E., "Nonlinear Observers for Robot Manipulators," Automatica, 27(5), 1991.

* 36 Niemeyer, G., and Slotine, J.J.E., "Performance in Adaptive Manipulator Control," Int. J. Robotics Research, 10(2), 1991.

* 35 Yoerger, D.R., Cooke, J.G., and Slotine, J.J.E., "The Influence of Nonlinear Thruster Dynamics on Underwater Vehicle Behavior," I.E.E.E. J. of Oceanic Engineering, 15(3), 1990.

* 34 Slotine, J.J.E., and di Benedetto, M.D., "Hamiltonian Adaptive Control of Spacecraft," I.E.E.E. Transactions on Automatic Control, 35(7), 1990.

* 33 Slotine, J.J.E., and Li, W., "Composite Adaptive Control of Robot Manipulators," Automatica, 25(4), 1989.

* 32 Slotine, J.J.E., and Yang, H.S., "Improving the Efficiency of Time-Optimal Path-Following Algorithms," I.E.E.E. J. Robotics and Automation, 5(1), 1989.

* 31 Li, W., and J.J.E. Slotine, "An Indirect Adaptive Robot Controller," Systems and Control Letters, 12(3),1989.

* 30 Slotine, J.J.E., and Li, W., "Adaptive Manipulator Control: A Case Study," I.E.E.E. Transactions on Automatic Control, 11(3), 1988.

* 29 Slotine, J.J.E., "Putting Physics in Control," I.E.E.E. Control Systems Magazine, 8(6), 1988.

* 28 Slotine, J.J.E., and Khatib, O., "Robust Control in Operational Space for Goal-Positioned Manipulator Tasks," Int. J. Robotics and Automation, 3(1), 1988.

* 27 Yoerger, D.R., and Slotine, J.J.E., "Task-Resolved Motion Control of Vehicle-Manipulator Systems," Int. J. Robotics and Automation, 2(3), 1987.

* 26 Slotine, J.J.E., Hedrick, J.K., and Misawa, E., "On Sliding Observers for Nonlinear Systems," A.S.M.E. J. Dynamic Systems, Measurement, and Control, 109(3), 1987.

* 25 Slotine, J.J.E., and Li, W., "On The Adaptive Control of Robot Manipulators," Int. J. Robotics Research, 6(3), 1987.

* 24 Slotine, J.J.E., and Yoerger, D.R., "A General Inverse Kinematics Algorithm for Redundant Manipulators," Int. J. Robotics and Automation, 2(2), 1987.

* 23 Yoerger, D.R., Newman, J.B., and Slotine, J.J.E., "Supervisory Control System for the Jason ROV," I.E.E.E. J. Oceanic Eng., 11(6), 1986.

* 22 Slotine, J.J.E., and Coetsee, J.A., "Adaptive Sliding Controller Synthesis for Nonlinear Systems," Int. J. Control, 43(4), 1986.

* 21 Slotine, J.J.E., and Spong, M.S., "Robust Feedback Control of Robot Manipulators with Bounded Input Torques," Int. J. Robotics Systems, 2(3), 1985.

* 20 Yoerger, D.R., and Slotine, J.J.E., "Robust Trajectory Control of Underwater Vehicles," I.E.E.E. J. Oceanic Eng., 10(4), 1985.

* 19 Slotine, J.J.E., "The Robust Control of Robot Manipulators," Int. J. Robotics Res., 4(2), 1985.

* 18 Slotine, J.J.E., "Sliding Controller Design for Nonlinear Systems," Int. J. Control, 40(2), 1984.

* 17 Slotine, J.J.E., and Sastry, S.S., "Tracking Control of Nonlinear Systems using Sliding Surfaces with Application to Robot Manipulators," Int. J. Control, 38(2), 1983.

Other Publications of Interest

* 16 Slotine, J.J.E., Wang, W., and El Rifai, K., "Synchronization in Networks of Nonlinearly Coupled Continuous and Hybrid Oscillators," Sixteenth International Symposium on Mathematical Theory of Networks and Systems (MTNS 2004), July 2004.

* 15 Slotine, J.J.E., and Wang, W., "A Study of Synchronization and Group Cooperation using Partial Contraction Theory," Cooperative Control: The 2003 Block Island Workshop, Kumar et al., eds., Springer, 2004.

* 14 Bernard Ch., Mallat S., Slotine, J.J.E., "Wavelet Interpolation Networks for Hierarchical Approximation," SPIE's 44th Annual Meeting, Denver, CO, 1999.

* 13 Lohmiller, W., and Slotine, J.J.E., "Contraction Analysis of Nonlinear Reaction-Diffusion Processes," Europeean Control Conference, Karlsruhe, Germany, 1999.

* 12 Niemeyer, G., and Slotine, J.J.E., "Stable Force-Reflecting Teleoperation on the Internet," I.E.E.E. Int. Conf. Robotics and Automation, Leuwen, Belgium, 1998.

* 11 Bernard, C., Mallat, S., and Slotine, J.J.E., "Wavelet Interpolation Networks," I.E.E.E. E.S.A.N.N., Bruges, 1998.

* 10 Lohmiller, W., and Slotine, J.J.E., "Applications of Contraction Analysis," I.E.E.E. Conf. Decision and Control, San Diego, CA, 1997.

* 9 Bernard, C. and Slotine, J.J.E., "Adaptive Control Using Multiresolution Bases," I.E.E.E. Conf. Decision and Control, San Diego, CA, 1997.

* 8 Niemeyer, G., and Slotine, J.-J. E., 1997, "A Simple Strategy for Opening an Unknown Door," I.E.E.E. Conf. on Robotics and Automation, Albuquerque, NM, 1997.

* 7 Feder, H.J., and Slotine, J.J.E., "Real-time path planning using harmonic potentials in dynamic environments," I.E.E.E. Int. Conf. Robotics and Automation, Albuquerque, NM, 1997.

* 6 Lohmiller, W., and Slotine, J.J.E., "On Metric Observers for Nonlinear Systems," IEEE Int. Conf. on Control Applications, Dearborn, MI, 1996.

* 5 Hong, W., and Slotine, J.J.E., "Experiments in Hand-Eye Coordination Using Active Vision," Fourth International Symposium on Experimental Robotics, ISER'95, Stanford, California, June 30-July 2, 1995.

* 4 Slotine, J.J.E., and Sanner, R.M., "Neural Networks fo Adaptive Control and Recursive Identification: A Theoretical Framework," Essays on Control, Trentelman H. L. and Willems, J.C. Eds, Birkhauser, 1993.

* 3 Kimura, H., and Slotine, J.J.E., "Adaptive Visual Tracking and Gaussian Network Algorithms for Robotic Catching," DSC-Vol. 43, Advances in Robust and Nonlinear Control Systems, Winter Annual Meeting of the ASME, Anaheim, CA, pp. 67-74, November 1992.

* 2 Siciliano B., and Slotine J.J.E., "A General Framework for Managing Multiple Tasks in Highly Redundant Robotic Systems," Fifth International Conference of Advanced Robotics, ICAR'91, Pisa, Italy, June 1991.

* 1 Hove, B.M., and Slotine, J.J.E., "Experiments in Robotic Catching," 1991 American Control Conference, Vol. 1, Boston, MA, pp. 380-385, June 1991.

Recent Results

* Schwager, M., Slotine J.J.E., and Rus, D., "Unifying Geometric, Probabilistic, and Potential Field Approaches to Multi-Robot Coverage Control," ISRR 2009, Lucerne, Switzerland

* Yu, G., and Slotine, J.J.E., "Audio Classification from Time-Frequency Texture," IEEE ICASSP 2009, Taipei, Taiwan.

* Yu, G., and Slotine, J.J.E., "Visual Grouping by Neural Oscillators," IEEE ICASSP 2009, Taipei, Taiwan.

* Omlor, L., and Slotine, J.J.E., "Continuous Non-Negative Matrix Factorization for Time-Dependent Data," EUSIPCO 2009, Glasgow, Scotland.

* Yu, G., and Slotine, J.J.E., "Fast Wavelet-Based Visual Classification," IEEE ICPR 2008, Tampa, Florida.

* Neftci, E., Chicca, E., Indiveri, G., Slotine, J.J.E., and Douglas, R. J., "Contraction Properties of VLSI Cooperative Competitive Neural Networks of Spiking Neurons," NIPS 2008, Vancouver, Canada.

Patents

* "Telerobotic System," U.S. Patent 5266875, Nov. 30, 1993, G. Niemeyer and J.J.E. Slotine

* "Stable Adaptive Neural Network Controller and Recursive Identifier," U.S. Patent 5268834, Dec. 7, 1993, R. Sanner and J.J.E. Slotine

* "Haptic Teleoperation on the Internet," U.S. Patent 6144884, Nov. 7, 2000, G. Niemeyer and J.J.E. Slotine

* "Controllers for Nonlinear Chemical Processes," German Patent, 2002, W. Lohmiller and J.J.E. Slotine

* "Observers for Nonlinear Chemical Processes," German Patent, 2002, W. Lohmiller and J.J.E. Slotine

* "Static and Dynamic Foveating Vision System," U.S. Patent 7173662, Feb. 6, 2007, G. Barbasthatis and J.J.E. Slotine

* "Active Control Vibration Isolation Using Dynamic Manifold," U.S. Patent 7216018, May 8, 2007, J.J.E. Slotine and L. Zuo

* "Fast Wavelet-Based Visual Classification," Pending, J.J.E. Slotine and G. Yu


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