## People

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

Nick Boffi (boffi@g.harvard.edu)

Brett Lopez (btlopez@mit.edu)

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)

Collective Computation and the Grammar of Evolvability (IHES 2018 Plenary)

Contraction Analysis in Optimization and Learning (Control meets Learning, 2020)

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

^{134}Boffi, N.M., and Slotine, J.J.E., "Implicit Regularization and Higher Order Algorithms for Nonlinearly Parameterized Adaptive Control," Neural Computation, 2020.

^{133}Wensing, P.M. and Slotine, J.J.E., "Beyond Convexity -- Contraction and Global Convergence of Gradient Descent," PLoS 1, 15(8), 2020.

^{132}Tsukamoto, H., Chung S. J., and Slotine, J.J E., "Neural Stochastic Contraction Metrics for Learning-Based Control and Estimation," I.E.E.E. Control Systems Letters, 2020.

^{131}Lopez, B.T., Slotine, J.J.E., and How, J.P., "Robust Adaptive Control Barrier Functions: An Adaptive and Data-Driven Approach to Safety," I.E.E.E. Control Systems Letters, 5(3), 2020.

^{130}Singh, S., Richards, S.M., Sindhwani, V., Slotine, J.J.E., and Pavone, M., "Learning Stabilizable Nonlinear Dynamics with Contraction-Based Regularization," International Journal of Robotics Research, 2020.

^{129}Shnitzer, T., Talmon, R., and Slotine, J.J.E., "Diffusion Maps Kalman Filter for a Class of Systems with Gradient Flows," I.E.E.E. Transactions on Signal Processing 68, 2020.

^{128}Lopez, B.T., and Slotine, J.J.E., "Adaptive Nonlinear Control with Contraction Metrics," I.E.E.E. Control Systems Letters, 5(1), 2020.

^{127}Boffi, N.M., and Slotine, J.J.E., "A Continuous-Time Analysis of Distributed Stochastic Gradient," Neural Computation, 32(1), 2020.

^{126}Nguyen, H.D., Vu, T.L., Slotine, J.J.E., and Turitsyn, K., "Contraction Analysis of Nonlinear DAE Systems," I.E.E.E. Transactions on Automatic Control, 2020.

^{125}Kozachkov, L., Lundqvist, M., Slotine, J.J.E, and Miller, E.K., "How Neural Circuits Achieve and Use Stable Dynamics," NEURON, D, 2019.

^{124}Huber, L., Billard, A., and Slotine, J.J.E., "Avoidance of Convex and Concave Obstacles with Convergence Ensured Through Contraction," Robotics and Automation Letters, 4(2), 2019.

^{123}Haji Hosseinloo, A., Slotine, J.J.E., and Turitsyn, K., "Robust Adaptive Control of Coexisting Attractors in Nonlinear Vibratory Energy Harvesters," Journal of Vibration and Control, 24(12), 2018.

^{122}Nguyen, H.D., Vu, T.L., Turitsyn, K., and Slotine, J.J.E, "Contraction and Robustness of Continuous Time Primal-Dual Dynamics," I.E.E.E. Control Systems Letters, 2(4), 2018.

^{121}Manchester, I.R., and Slotine, J.J.E., "Robust Control Contraction Metrics: A Convex Approach to Nonlinear State-Feedback Control," I.E.E.E. Control Systems Letters. 2(3), 2018.

^{120}Bousquet, G.D., Triantafyllou, M.S., and Slotine, J.J.E., "Optimal Dynamic Soaring Consists of Successive Shallow Arcs," Journal of The Royal Society Interface, 14(135), 2017.

^{119}Rutishauser, U., Slotine, J.J.E., and Douglas, R., "Solving Large Constraint-Satisfaction Problems with Distributed Neocortical-Like Networks," Neural Computation, 2017.

^{118}Wensing, P., and Slotine, J.J.E., "Linear Matrix Inequalities for Physically Consistent System Identification," I.E.E.E. Robotics and Automation Letters, 3(1), 2017.

^{117}Tan, F., Lohmiller, W., and Slotine, J.J.E., "Analytical SLAM Without Linearization," International Journal of Robotics Research, 2017.

^{116}Manchester, I.R., and Slotine, J.J.E., "Control Contraction Metrics: Convex and Intrinsic Criteria for Nonlinear Feedback Design," I.E.E.E. Transactions on Automatic Control, 62(6), 2017.

^{115}Dewolf, T., Stewart, T., Slotine, J.J.E., and Eliasmith, C., "A Spiking Neural Model of Adaptive Arm Control," Proceedings of the Royal Society B, 283, 2016.

^{114}Shnitzer, T., Talmon, R., and Slotine, J.J.E., "Manifold Learning with Contracting Observers for Data-Driven Time Series," I.E.E.E. Transactions on Signal Processing, 23, 2016.

^{113}Angulo, M.T., and Slotine, J.J.E., "Qualitative Stability of Nonlinear Networked Systems," I.E.E.E. Transactions on Automatic Control, 61(12), 2016.

^{112}Angulo, M.T., Liu, Y.Y., and Slotine, J.J.E., "Network Motifs Emerge from Interconnections that Favor Stability," Nature Physics, 11(10), 2015.

^{111}Rutishauser, U., Slotine, J.J.E., and Douglas, R., "Computation in Dynamically Bounded Asymmetric Systems," PLoS Computational Biology, 11(1), 2015.

^{110}Yan, G., Tsekenis, G., Barzel, B., Slotine, J.J.E., Liu, Y.Y., and Barabasi, A.L., "Spectrum of Controlling and Observing Complex Networks," Nature Physics, 11(9), 2015.

^{109}Bonnabel, S., and Slotine, J.J.E., "A Contraction Theory-Based Analysis of the Stability of the Deterministic Extended Kalman Filter," I.E.E.E. Transactions on Automatic Control, 60(2), 2015.

^{108}Zhao, C., Wang, W.X., Liu, Y.Y., and Slotine, J.J.E., "Intrinsic Dynamics Induce Global Symmetry in Network Controllability," Scientific Reports, 5, 2015.

^{107}Manchester, I.R., and Slotine, J.J.E., "Transverse Contraction Criteria for Existence, Stability, and Robustness of a Limit Cycle," Systems & Control Letters, 63, 2014.

^{106}Dydek, Z.T., Annaswamy, A., Slotine, J.J.E., Lavretsky, E., "Composite Adaptive Posicast Control," Automatica, 49(6), 2014.

^{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 }Mukovskiy, A., Slotine, J.J.E., and Giese, M.A., "Dynamically Stable Control of Articulated Crowds," Journal of Computational Science, 4(4), 2013.

^{103}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.

^{102}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.

^{101}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.

^{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}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.

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

^{96}Slotine, J.J.E., and Liu, Y.Y., "Complex networks: The Missing Link," Nature Physics, 8(7), 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, SwitzerlandYu, 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

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