Randal W. Beard

149 papers A* 8A 2C 57Journal 57Unranked 22

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	ROScopter: A Multirotor Autopilot based on ROSflight 2.0. CoRR Jacob Moore, Ian Reid, Phil Tokumaru, Randal W. Beard, Tim McLain
2025	—	`conf`	A Geometry-Driven Approach to Detecting and Tracking Multiple Aerial Objects. ISVC (1) Jen Jui Liu, Curtis P. Evans, Randal W. Beard
2025	—	`conf`	Continuous-Time Estimation in the Flat Output Space Using B-Splines. PLANS Jacob C. Johnson, Joshua G. Mangelson, Randal W. Beard
2025	J	`jnl`	How to Adapt Control Barrier Functions? A Learning-Based Approach with Applications to a VTOL Quadplane. CoRR Taekyung Kim, Randal W. Beard, Dimitra Panagou
2025	—	`conf`	How to Adapt Control Barrier Functionsƒ A Learning-Based Approach with Applications to a VTOL Quadplane. CDC Taekyung Kim, Randal W. Beard, Dimitra Panagou
2025	—	`conf`	Low-SWaP GNSS-denied Navigation using LTE Signals of Opportunity. PLANS Tyler Sweat, Willie K. Harrison, Michael Rice, Randal W. Beard
2025	C	`conf`	Non-Uniform B-spline Trajectory Optimization using Control Point Representation Transformations. ACC David L. Christensen, Landon Shumway, Randal W. Beard, Timothy W. McLain
2025	—	`conf`	Real-Time B-Spline Path Planning for Vision-Based Collision Avoidance. PLANS Jen Jui Liu, Curtis P. Evans, Randal W. Beard
2024	C	`conf`	Avoidance of Constant Velocity Targets Using Bearing and Time- to-Collision. ACC James J. Adams, Jen Jui Liu, Randal W. Beard
2024	J	`jnl`	Continuous-time Trajectory Estimation: A Comparative Study Between Gaussian Process and Spline-based Approaches. CoRR Jacob C. Johnson, Joshua G. Mangelson, Timothy D. Barfoot, Randal W. Beard
2024	C	`conf`	Observable GNSS-IMU Sliding Window Filtering Using Differential Flatness. ACC Jacob C. Johnson, Randal W. Beard
2023	J	`jnl`	Continuous-Time Trajectory Estimation for Differentially Flat Systems. IEEE Robotics Autom. Lett. Jacob C. Johnson, Joshua G. Mangelson, Randal W. Beard
2023	J	`jnl`	Offline GNSS/Camera Extrinsic Calibration Using RTK and Fiducials. IEEE Robotics Autom. Lett. Alex D. Jordan, Jacob C. Johnson, Timothy W. McLain, Randal W. Beard
2023	J	`jnl`	The Integrated Probabilistic Data Association Filter Adapted to Lie Groups. IEEE Trans. Aerosp. Electron. Syst. Mark E. Petersen, Randal W. Beard
2023	J	`jnl`	Tracking Multiple Unmanned Aerial Vehicles on SE(3) Using a Monocular Camera. IEEE Trans. Aerosp. Electron. Syst. Mark E. Petersen, Jaron C. Ellingson, Randal W. Beard
2022	J	`jnl`	Globally-Attractive Logarithmic Geometric Control of a Quadrotor for Aggressive Trajectory Tracking. IEEE Control. Syst. Lett. Jacob C. Johnson, Randal W. Beard
2022	J	`jnl`	Pitch and Thrust Allocation for Full-Flight-Regime Control of Winged eVTOL UAVs. IEEE Control. Syst. Lett. Jacob Willis, Randal W. Beard
2021	J	`jnl`	Globally-Attractive Logarithmic Geometric Control of a Quadrotor for Aggressive Trajectory Tracking. CoRR Jacob C. Johnson, Randal W. Beard
2021	—	`conf`	Multiple Target Tracking on SE(2) Using Recursive-RANSAC. CDC Mark E. Petersen, Randal W. Beard
2021	C	`conf`	Nonlinear Trajectory Tracking Control for Winged eVTOL UAVs. ACC Jacob B. Willis, Randal W. Beard
2021	J	`jnl`	The Integrated Probabilistic Data Association Filter Adapted to Lie Groups. CoRR Mark E. Petersen, Randal W. Beard
2021	J	`jnl`	Tracking Multiple Vehicles Constrained to a Road Network From a UAV with Sparse Visual Measurements. Frontiers Robotics AI Jared J. Moore, Craig C. Bidstrup, Cameron K. Peterson, Randal W. Beard
2020	J	`jnl`	An iterative pose estimation algorithm based on epipolar geometry with application to multi-target tracking. IEEE CAA J. Autom. Sinica Jacob H. White, Randal W. Beard
2020	J	`jnl`	Relative multiplicative extended Kalman filter for observable GPS-denied navigation. Int. J. Robotics Res. Daniel P. Koch, David O. Wheeler, Randal W. Beard, Timothy W. McLain, Kevin M. Brink
2020	J	`jnl`	Relative navigation of autonomous GPS-degraded micro air vehicles. Auton. Robots David O. Wheeler, Daniel P. Koch, James S. Jackson, Gary J. Ellingson, Paul W. Nyholm, Timothy W. McLain, Randal W. Beard
2020	—	`conf`	Relative pose estimation from bearing measurements of three unknown source points. CDC Minh-Duc Hua, Simone De Marco, Tarek Hamel, Randal W. Beard
2020	C	`conf`	State-Dependent LQR Control for a Tilt-Rotor UAV. ACC Jacob Willis, Jacob C. Johnson, Randal W. Beard
2019	A*	`conf`	Improving the Robustness of Visual-Inertial Extended Kalman Filtering. ICRA James Jackson, Jerel Nielsen, Timothy W. McLain, Randal W. Beard
2019	J	`jnl`	Relative Heading Estimation and Its Application in Target Handoff in GPS-Denied Environments. IEEE Trans. Control. Syst. Technol. He Bai, Randal W. Beard
2019	C	`conf`	Relative Moving Target Tracking and Circumnavigation. ACC Jerel Nielsen, Randal W. Beard
2019	J	`jnl`	Safe2Ditch: Emergency Landing for Small Unmanned Aircraft Systems. J. Aerosp. Inf. Syst. Parker C. Lusk, Patricia C. Glaab, Louis J. Glaab, Randal W. Beard
2019	C	`conf`	Tracking Multiple Vehicles Constrained to a Road Network from a UAV with Sparse Visual Measurements. ACC Craig C. Bidstrup, Jared J. Moore, Cameron K. Peterson, Randal W. Beard
2018	C	`conf`	Extending Motion Detection to Track Stopped Objects in Visual Multi-Target Tracking. ACC Jacob H. White, Karl T. Salva, Randal W. Beard
2018	C	`conf`	Ground Target Tracking Using a Monocular Camera and IMU in a Nonlinear Observer SLAM Framework. ACC Jerel Nielsen, Randal W. Beard
2018	J	`jnl`	Ground-Based Sense-and-Avoid System for Small Unmanned Aircraft. J. Aerosp. Inf. Syst. Laith R. Sahawneh, Jared K. Wikle, A. Kaleo Roberts, Jonathan C. Spencer, Timothy W. McLain, Karl F. Warnick, Randal W. Beard
2018	C	`conf`	Visual Multiple Target Tracking From a Descending Aerial Platform. ACC Parker C. Lusk, Randal W. Beard
2017	J	`jnl`	Comparison and Analysis of Recursive-RANSAC for Multiple Target Tracking. IEEE Trans. Aerosp. Electron. Syst. Peter C. Niedfeldt, Kyle Ingersoll, Randal W. Beard
2017	J	`jnl`	Minimum Required Detection Range for Detect and Avoid of Unmanned Aircraft Systems. J. Aerosp. Inf. Syst. Jared K. Wikle, Timothy W. McLain, Randal W. Beard, Laith R. Sahawneh
2016	J	`jnl`	Convergence and Complexity Analysis of Recursive-RANSAC: A New Multiple Target Tracking Algorithm. IEEE Trans. Autom. Control. Peter C. Niedfeldt, Randal W. Beard
2016	—	`ch.`	Modeling and Control of Aerial Robots. Springer Handbook of Robotics, 2nd Ed. Robert E. Mahony, Randal W. Beard, Vijay Kumar
2016	C	`conf`	Nonlinear Total Energy Control for the Longitudinal dynamics of an aircraft. ACC Matthew E. Argyle, Randal W. Beard
2016	J	`jnl`	Radar odometry on fixed-wing small unmanned aircraft. IEEE Trans. Aerosp. Electron. Syst. Eric B. Quist, Randal W. Beard
2016	J	`jnl`	Radar odometry with recursive-RANSAC. IEEE Trans. Aerosp. Electron. Syst. Eric B. Quist, Peter C. Niedfeldt, Randal W. Beard
2016	C	`conf`	Relative heading estimation for target handoff in GPS-denied environments. ACC He Bai, Randal W. Beard
2015	J	`jnl`	A Vision-Based Three-Tiered Path Planning and Collision avoidance Scheme for miniature Air Vehicles. Int. J. Robotics Autom. Huili Yu, Randal W. Beard
2015	J	`jnl`	Airborne Radar-Based Collision Detection and Risk Estimation for Small Unmanned Aircraft Systems. J. Aerosp. Inf. Syst. Laith R. Sahawneh, James Mackie, Jonathan C. Spencer, Randal W. Beard, Karl F. Warnick
2015	J	`jnl`	Parameter estimation for towed cable systems using moving horizon estimation. IEEE Trans. Aerosp. Electron. Syst. Liang Sun, Jeremy D. Castagno, John D. Hedengren, Randal W. Beard
2014	—	`conf`	A probabilistic framework for unmanned aircraft systems collision detection and risk estimation. CDC Laith R. Sahawneh, Randal W. Beard
2014	J	`jnl`	Analysis of an Improved IMU-Based Observer for Multirotor Helicopters. J. Intell. Robotic Syst. John Macdonald, Robert C. Leishman, Randal W. Beard, Timothy W. McLain
2014	J	`jnl`	Fixed Wing UAV Path Following in Wind With Input Constraints. IEEE Trans. Control. Syst. Technol. Randal W. Beard, Jeff Ferrin, Jeffrey Humpherys
2014	J	`jnl`	Intelligent Cooperative Control for Urban Tracking. J. Intell. Robotic Syst. Kevin Cook, Everett Bryan, Huili Yu, He Bai, Kevin D. Seppi, Randal W. Beard
2014	C	`conf`	Multiple target tracking using recursive RANSAC. ACC Peter C. Niedfeldt, Randal W. Beard
2014	C	`conf`	Quaternion based attitude error for a tailsitter in hover flight. ACC Matthew E. Argyle, Jason M. Beach, Randal W. Beard, Timothy W. McLain, Stephen Morris
2014	J	`jnl`	Relative Navigation Approach for Vision-Based Aerial GPS-Denied Navigation. J. Intell. Robotic Syst. Robert C. Leishman, Timothy W. McLain, Randal W. Beard
2014	—	`conf`	Robust estimation with faulty measurements using recursive-RANSAC. CDC Peter C. Niedfeldt, Randal W. Beard
2014	C	`conf`	Tailsitter heading estimation using a magnetometer. ACC Jason M. Beach, Matthew E. Argyle, Timothy W. McLain, Randal W. Beard, Stephen Morris
2014	C	`conf`	Trajectory-tracking control law design for unmanned aerial vehicles with an autopilot in the loop. ACC Liang Sun, Randal W. Beard, Daniel J. Pack
2013	J	`jnl`	Bearing-only Cooperative Localization - Simulation and Experimental Results. J. Intell. Robotic Syst. Rajnikant Sharma, Stephen Quebe, Randal W. Beard, Clark N. Taylor
2013	J	`jnl`	Cooperative Target-capturing with Incomplete Target Information. J. Intell. Robotic Syst. Mangal Kothari, Rajnikant Sharma, Ian Postlethwaite, Randal W. Beard, Daniel J. Pack
2013	J	`jnl`	Observability-based local path planning and obstacle avoidance using bearing-only measurements. Robotics Auton. Syst. Huili Yu, Rajnikant Sharma, Randal W. Beard, Clark N. Taylor
2013	C	`conf`	The Vertical Bat tail-sitter: Dynamic model and control architecture. ACC Matthew E. Argyle, Randal W. Beard, Stephen Morris
2013	J	`jnl`	Vision-Based Local-Level Frame Mapping and Planning in Spherical Coordinates for Miniature Air Vehicles. IEEE Trans. Control. Syst. Technol. Huili Yu, Randal W. Beard
2012	C	`conf`	Bearing-only cooperative geo-localization using Unmanned Aerial Vehicles. ACC Rajnikant Sharma, Randal W. Beard, Clark N. Taylor, Daniel J. Pack
2012	—	`conf`	Quaternion Control for Autonomous Path Following Maneuvers. Infotech@Aerospace James K. Hall, Randal W. Beard, Timothy W. McLain
2012	J	`jnl`	Reactive Path Planning for Micro Air Vehicles Using Bearing-only Measurements. J. Intell. Robotic Syst. Rajnikant Sharma, Jeffery Saunders, Randal W. Beard
2011	C	`conf`	A Multi-Team Extension of the Consensus-Based Bundle Algorithm. ACC Matthew E. Argyle, David W. Casbeer, Randal W. Beard
2011	C	`conf`	Dynamic input consensus using integrators. ACC Clark N. Taylor, Randal W. Beard, Jeffrey Humpherys
2011	C	`conf`	Following straight line and orbital paths with input constraints. ACC Randal W. Beard, Jeffrey Humpherys
2011	J	`jnl`	Multiple UAV Coalitions for a Search and Prosecute Mission. J. Intell. Robotic Syst. Joel G. Manathara, P. B. Sujit, Randal W. Beard
2011	C	`conf`	Observability-based local path planning and collision avoidance for micro air vehicles using bearing-only measurements. ACC Huili Yu, Rajnikant Sharma, Randal W. Beard, Clark N. Taylor
2011	C	`conf`	Probabilistic path planning for cooperative target tracking using aerial and ground vehicles. ACC Huili Yu, Randal W. Beard, Matthew E. Argyle, Caleb Chamberlain
2011	C	`conf`	Towed-body trajectory tracking in aerial recovery of micro air vehicle in the presence of wind. ACC Liang Sun, Randal W. Beard
2011	A	`conf`	Utilizing an improved rotorcraft dynamic model in state estimation. IROS Robert C. Leishman, Jeff Ferrin, Timothy W. McLain, John Macdonald, Stephen Quebe, Randal W. Beard
2011	C	`conf`	Vehicle state estimation within a road network using a Bayesian filter. ACC Peter C. Niedfeldt, Derek B. Kingston, Randal W. Beard
2011	—	`conf`	Vision-based local-level frame mapping and planning in spherical coordinates for Miniature Air Vehicles. CDC/ECC Huili Yu, Randal W. Beard
2010	C	`conf`	Motion planning and control for mothership-cable-drogue systems in aerial recovery of micro air vehicles. ACC Liang Sun, Randal W. Beard, Mark B. Colton
2010	J	`jnl`	UAS Flight Simulation with Hardware-in-the-loop Testing and Vision Generation. J. Intell. Robotic Syst. Jeffery Saunders, Randal W. Beard
2010	J	`jnl`	Vision-Based Road-Following Using Proportional Navigation. J. Intell. Robotic Syst. Ryan S. Holt, Randal W. Beard
2009	C	`conf`	Dynamics and control of cable-drogue system in aerial recovery of Micro Air Vehicles based on Gauss's Principle. ACC Liang Sun, Randal W. Beard, Mark B. Colton, Timothy W. McLain
2009	C	`conf`	Vision-based local multi-resolution mapping and path planning for Miniature Air Vehicles. ACC Huili Yu, Randal W. Beard, Jeffrey Byrne
2009	C	`conf`	Vision-based reactive multiple obstacle avoidance for micro air vehicles. ACC Jeffery Saunders, Randal W. Beard, Jeffrey Byrne
2008	—	`conf`	Cooperative control of small and micro air vehicles. AAMAS (1) Randal W. Beard
2008	J	`jnl`	Decentralized Perimeter Surveillance Using a Team of UAVs. IEEE Trans. Robotics Derek B. Kingston, Randal W. Beard, Ryan S. Holt
2008	—	`book`	Distributed Consensus in Multi-vehicle Cooperative Control - Theory and Applications Wei Ren, Randal W. Beard
2008	C	`conf`	Multiple UAV coalition formation. ACC P. B. Sujit, J. M. George, Randal W. Beard
2008	J	`jnl`	Stabilization of Video from Miniature Air Vehicles for Target Localization. J. Aerosp. Comput. Inf. Commun. David L. Johansen, James K. Hall, Randal W. Beard, Clark N. Taylor
2008	C	`conf`	Tracking a target in wind using a micro air vehicle with a fixed angle camera. ACC Jeffery Saunders, Randal W. Beard
2007	J	`jnl`	Autonomous Landing of Miniature Aerial Vehicles. J. Aerosp. Comput. Inf. Commun. D. Blake Barber, Stephen Griffiths, Timothy W. McLain, Randal W. Beard
2007	J	`jnl`	Experiments in Cooperative Timing for Miniature Air Vehicles. J. Aerosp. Comput. Inf. Commun. Derek R. Nelson, Timothy W. McLain, Randal W. Beard
2007	C	`conf`	Low Altitude Road Following Constraints Using Strap-down EO Cameras on Miniature Air Vehicles. ACC Joseph Egbert, Randal W. Beard
2007	—	`ch.`	State Estimation for Micro Air Vehicles. Innovations in Intelligent Machines (1) Randal W. Beard
2007	J	`jnl`	Vector Field Path Following for Miniature Air Vehicles. IEEE Trans. Robotics Derek R. Nelson, D. Blake Barber, Timothy W. McLain, Randal W. Beard
2006	A*	`conf`	A Kalman-filter based Method for Creation of Super-resolved Mosaicks. ICRA Bryce B. Ready, Clark N. Taylor, Randal W. Beard
2006	C	`conf`	Adaptive backstepping control for miniature air vehicles. ACC Joshua S. Matthew, Nathan B. Knoebel, Stephen R. Osborne, Randal W. Beard, Andrew Eldredge
2006	C	`conf`	Computationally simple model reference adaptive control for miniature air vehicles. ACC Nathan B. Knoebel, Stephen R. Osborne, Joshua S. Matthews, Andrew Eldredge, Randal W. Beard
2006	J	`jnl`	Cooperative forest fire surveillance using a team of small unmanned air vehicles. Int. J. Syst. Sci. David W. Casbeer, Derek B. Kingston, Randal W. Beard, Timothy W. McLain
2006	J	`jnl`	Decentralized Cooperative Aerial Surveillance Using Fixed-Wing Miniature UAVs. Proc. IEEE Randal W. Beard, Timothy W. McLain, Derek B. Nelson, Derek B. Kingston, David Johanson
2006	C	`conf`	Discrete-time average-consensus under switching network topologies. ACC Derek B. Kingston, Randal W. Beard
2006	J	`jnl`	Maximizing miniature aerial vehicles. IEEE Robotics Autom. Mag. Stephen Griffiths, Jeffery Saunders, Andrew Curtis, D. Blake Barber, Timothy W. McLain, Randal W. Beard
2006	C	`conf`	Vector field path following for small unmanned air vehicles. ACC Derek R. Nelson, D. Blake Barber, Timothy W. McLain, Randal W. Beard
2006	J	`jnl`	Vision-based Target Geo-location using a Fixed-wing Miniature Air Vehicle. J. Intell. Robotic Syst. D. Blake Barber, Joshua D. Redding, Timothy W. McLain, Randal W. Beard, Clark N. Taylor
2006	C	`conf`	Vision-based target localization from a fixed-wing miniature air vehicle. ACC Joshua D. Redding, Timothy W. McLain, Randal W. Beard, Clark N. Taylor
2005	C	`conf`	A survey of consensus problems in multi-agent coordination. ACC Wei Ren, Randal W. Beard, Ella M. Atkins
2005	J	`jnl`	Autonomous Vehicle Technologies for Small Fixed-Wing UAVs. J. Aerosp. Comput. Inf. Commun. Randal W. Beard, Derek B. Kingston, Morgan Quigley, Deryl Snyder, Reed Christiansen, Walt Johnson, Timothy W. McLain, Michael A. Goodrich
2005	C	`conf`	Consensus algorithms are input-to-state stable. ACC Derek B. Kingston, Wei Ren, Randal W. Beard
2005	J	`jnl`	Consensus seeking in multiagent systems under dynamically changing interaction topologies. IEEE Trans. Autom. Control. Wei Ren, Randal W. Beard
2005	C	`conf`	Forest fire monitoring with multiple small UAVs. ACC David W. Casbeer, Randal W. Beard, Timothy W. McLain, Sai-Ming Li, Raman K. Mehra
2005	C	`conf`	Multi-agent Kalman consensus with relative uncertainty. ACC Wei Ren, Randal W. Beard, Derek B. Kingston
2005	C	`conf`	Nonlinear tracking control for nonholonomic mobile robots with input constraints: an experimental study. ACC Wei Ren, Jisang Sun, Randal W. Beard, Timothy W. McLain
2005	J	`jnl`	Real-time dynamic trajectory smoothing for unmanned air vehicles. IEEE Trans. Control. Syst. Technol. Erik P. Anderson, Randal W. Beard, Timothy W. McLain
2005	C	`conf`	Satisfying approach to human-in-the-loop safeguarded control. ACC Wei Ren, Randal W. Beard
2005	A*	`conf`	Target Acquisition, Localization, and Surveillance Using a Fixed-Wing Mini-UAV and Gimbaled Camera. ICRA Morgan Quigley, Michael A. Goodrich, Stephen Griffiths, Andrew Eldredge, Randal W. Beard
2004	C	`conf`	Consensus of information under dynamically changing interaction topologies. ACC Wei Ren, Randal W. Beard
2004	C	`conf`	Constrained nonlinear tracking control for small fixed-wing unmanned air vehicles. ACC Wei Ren, Randal W. Beard
2004	C	`conf`	Control of passive systems using the satisficing paradigm. ACC Josiel A. Gouvea, Fernando C. Lizarralde, Randal W. Beard
2004	J	`jnl`	Goal! Robot soccer for undergraduate students. IEEE Robotics Autom. Mag. James K. Archibald, Randal W. Beard
2004	A*	`conf`	Human Assisted Capture-the-flag in an Urban Environment. ICRA Matthew A. Blake, Gerrit A. Sorensen, James K. Archibald, Randal W. Beard
2004	J	`jnl`	Satisficing: a new approach to constructive nonlinear control. IEEE Trans. Autom. Control. J. Willard Curtis, Randal W. Beard
2004	A	`conf`	Semi-autonomous human-UAV interfaces for fixed-wing mini-UAVs. IROS Morgan Quigley, Michael A. Goodrich, Randal W. Beard
2004	C	`conf`	Unmanned air vehicle testbed for cooperative control experiments. ACC Timothy W. McLain, Randal W. Beard
2003	J	`jnl`	A decentralized approach to formation maneuvers. IEEE Trans. Robotics Autom. Jonathan R. Lawton, Randal W. Beard, Brett J. Young
2003	C	`conf`	A decentralized scheme for spacecraft formation flying via the virtual structure approach. ACC Wei Ren, Randal W. Beard
2003	—	`conf`	CLF-based tracking control for UAV kinematic models with saturation constraints. CDC Wei Ren, Randal W. Beard
2003	C	`conf`	Cooperative path planning for timing-critical missions. ACC Timothy W. McLain, Randal W. Beard
2003	—	`conf`	Information consensus in distributed multiple vehicle coordinated control. CDC Randal W. Beard, Vahram Stepanyan
2003	—	`conf`	Multiple UAV cooperative search under collision avoidance and limited range communication constraints. CDC Randal W. Beard, Timothy W. McLain
2002	—	`conf`	A graphical understanding of Lyapunov-based nonlinear control. CDC J. Willard Curtis, Randal W. Beard
2002	C	`conf`	Autonomous hierarchical control of multiple unmanned combat air vehicles (UCAVs). ACC Sai-Ming Li, Jovan D. Boskovic, Sanjeev Seereeram, Ravi K. Prasanth, Jayesh Amin, Raman K. Mehra, Randal W. Beard, Timothy W. McLain
2002	A*	`conf`	Coordinated Target Assignment and Intercept for Unmanned Air Vehicles. ICRA Randal W. Beard, Timothy W. McLain, Michael Goodrich
2002	J	`jnl`	Coordinated target assignment and intercept for unmanned air vehicles. IEEE Trans. Robotics Autom. Randal W. Beard, Timothy W. McLain, Michael A. Goodrich, Erik P. Anderson
2002	—	`conf`	Ensuring stability of state-dependent Riccati equation controllers via satisficing. CDC J. Willard Curtis, Randal W. Beard
2002	—	`conf`	Obstacle avoidance for unmanned air vehicles using optical flow probability distributions. Mobile Robots Paul C. Merrell, Dah-Jye Lee, Randal W. Beard
2002	C	`conf`	Robot soccer as a culminating design project for undergraduates. ACC Randal W. Beard, James K. Archibald, Steven A. Olson
2002	—	`conf`	Satisficing control for multi-agent formation maneuvers. CDC Wei Ren, Randal W. Beard, J. Willard Curtis
2002	—	`conf`	See and avoidance behaviors for autonomous navigation. Mobile Robots Dah-Jye Lee, Randal W. Beard, Paul C. Merrell, Pengcheng Zhan
2002	J	`jnl`	Synchronized multiple spacecraft rotations. Autom. Jonathan R. Lawton, Randal W. Beard
2001	C	`conf`	A control scheme for improving multi-vehicle formation maneuvers. ACC Brett J. Young, Randal W. Beard, Jed M. Kelsey
2001	J	`jnl`	A coordination architecture for spacecraft formation control. IEEE Trans. Control. Syst. Technol. Randal W. Beard, Jonathan R. Lawton, Fred Y. Hadaegh
2001	—	`conf`	A model-predictive satisficing approach to a nonlinear tracking problem. CDC J. Willard Curtis, Randal W. Beard
2001	C	`conf`	Model independent eigenaxis maneuvers using quaternion feedback. ACC Jonathan R. Lawton, Randal W. Beard
2001	C	`conf`	Nonlinear regulation using the satisficing paradigm. ACC Randal W. Beard, Brett J. Young, Wynn C. Stirling
2001	—	`conf`	Nonlinear robust regulation using the satisficing paradigm. CDC Brett J. Young, J. Willard Curtis, Randal W. Beard
2001	C	`conf`	Successive collocation: an approximation to optimal nonlinear control. ACC J. Willard Curtis, Randal W. Beard
2000	A*	`conf`	A Decentralized Approach to Elementary Formation Maneuvers. ICRA Jonathan R. Lawton, Brett J. Young, Randal W. Beard
2000	C	`conf`	A feedback architecture for formation control. ACC Randal W. Beard, Jonathan R. Lawton, Fred Y. Hadaegh
2000	C	`conf`	Robot soccer: an ideal senior design experience. ACC Randal W. Beard
2000	A*	`conf`	Two Hybrid Control Schemes for Nonholonomic Robots. ICRA Brett J. Young, Jonathan R. Lawton, Randal W. Beard
1998	A*	`conf`	Successive Galerkin Approximations to the Nonlinear Optimal Control of an Underwater Robotic Vehicle. ICRA Timothy W. McLain, Randal W. Beard
1997	J	`jnl`	Galerkin approximations of the generalized Hamilton-Jacobi-Bellman equation. Autom. Randal W. Beard, George N. Saridis, John T. Wen