PUBLICATIONS

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YEAR

2006

C. Belta and L.C.G.J.M. Habets, Controlling a class of nonlinear systems on rectangles, IEEE Transactions on Automatic Control, vol. 51, no. 11, pp. 1749-1759, 2006 (pdf)

@ARTICLE{4012314,
author={Belta, Calin and Habets, Luc C. G. J. M.},
journal={IEEE Transactions on Automatic Control},
title={Controlling a Class of Nonlinear Systems on Rectangles},
year={2006},
volume={51},
number={11},
pages={1749-1759},
doi={10.1109/TAC.2006.884957}}

M. Imielinski, C. Belta, A. Halasz, and H. Rubin, Systematic analysis of conservation relations in E.coli genome scale metabolic network reveals novel growth media, Biophysical Journal, vol. 90, pp. 2659 – 2672, 2006 (pdf)

@article{cite-key,
annote = {doi: 10.1529/biophysj.105.069278},
author = {Imieli{\’n}ski, Marcin and Belta, Calin and Rubin, Harvey and Hal{\’a}sz, {\’A}dam},
date = {2006/04/15},
date-added = {2023-12-28 07:09:33 -0500},
date-modified = {2023-12-28 07:09:33 -0500},
doi = {10.1529/biophysj.105.069278},
isbn = {0006-3495},
journal = {Biophysical Journal},
journal1 = {Biophysical Journal},
month = {2023/12/28},
number = {8},
pages = {2659–2672},
publisher = {Elsevier},
title = {Systematic Analysis of Conservation Relations in Escherichia coli Genome-Scale Metabolic Network Reveals Novel Growth Media},
type = {doi: 10.1529/biophysj.105.069278},
url = {https://doi.org/10.1529/biophysj.105.069278},
volume = {90},
year = {2006},
year1 = {2006},
bdsk-url-1 = {https://doi.org/10.1529/biophysj.105.069278}}

M. Kloetzer and C. Belta, Reachability analysis of multi-affine systems, 9th International Workshop on Hybrid Systems: Computation and Control, Santa Barbara, CA, Lecture Notes in Computer Science, Springer Berlin / Heidelberg, vol. 3927, pp. 348 – 362, 2006 (pdf)

@inproceedings{10.1007/11730637_27,
abstract = {We present a technique for reachability analysis of continuous multi-affine systems based on rectangular partitions. The method is iterative. At each step, finer partitions and larger discrete quotients are produced. We exploit some interesting convexity properties of multi-affine functions on rectangles to show that the construction of the discrete quotient at each step requires only the evaluation of the vector field at the set of all vertices of all rectangles in the partition and finding the roots of a finite set of scalar affine functions. The methodology promises to be easily extendable to rectangular hybrid automata with multi-affine vector fields and is expected to find important applications in analysis of biological networks and robot control.},
address = {Berlin, Heidelberg},
author = {Kloetzer, Marius and Belta, Calin},
booktitle = {Hybrid Systems: Computation and Control},
editor = {Hespanha, Jo{\~a}o P. and Tiwari, Ashish},
isbn = {978-3-540-33171-1},
pages = {348–362},
publisher = {Springer Berlin Heidelberg},
title = {Reachability Analysis of Multi-affine Systems},
year = {2006}}

M. Kloetzer and C. Belta, A fully automated framework for control of linear systems from LTL specifications, 9th International Workshop on Hybrid Systems: Computation and Control, Santa Barbara, CA, Lecture Notes in Computer Science, Springer Berlin / Heidelberg, vol. 3927, pp. 333-347, 2006 (pdf)

@inproceedings{10.1007/11730637_26,
abstract = {We consider the following problem: given a linear system and an LTL{\thinspace}−{\thinspace}−{\thinspace}X formula over a set of linear predicates in its state variables, find a feedback control law with polyhedral bounds and a set of initial states so that all trajectories of the closed loop system satisfy the formula. Our solution to this problem consists of three main steps. First, we partition the state space in accordance with the predicates in the formula and construct a transition system over the partition quotient, which captures our capability of designing controllers. Second, using model checking, we determine runs of the transition system satisfying the formula. Third, we generate the control strategy. Illustrative examples are included.},
address = {Berlin, Heidelberg},
author = {Kloetzer, Marius and Belta, Calin},
booktitle = {Hybrid Systems: Computation and Control},
editor = {Hespanha, Jo{\~a}o P. and Tiwari, Ashish},
isbn = {978-3-540-33171-1},
pages = {333–347},
publisher = {Springer Berlin Heidelberg},
title = {A Fully Automated Framework for Control of Linear Systems from LTL Specifications},
year = {2006}}

M. Kloetzer, L.C.G.J.M. Habets, and C. Belta, Control of rectangular multi-affine hybrid systems, 45th IEEE Conference on Decision and Control, San Diego, CA, 2006 (pdf)

@INPROCEEDINGS{4177695,
author={Habets, L.C.G.J.M. and Kloetzer, M. and Belta, C.},
booktitle={Proceedings of the 45th IEEE Conference on Decision and Control},
title={Control of Rectangular Multi-Affine Hybrid Systems},
year={2006},
volume={},
number={},
pages={2619-2624},
doi={10.1109/CDC.2006.377081}}

G. Batt, B. Yordanov, R. Weiss, and C. Belta, Robustness analysis and tuning of synthetic gene networks with parameter uncertainties, Engineering Principles in Biology, Cold Spring Harbor, New York, 2006

content coming soon…

M. Kloetzer and C. Belta, A framework for automatic deployment of robots in 2D and 3D environments, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Beijing, China, 2006 (pdf)

@INPROCEEDINGS{4058485,
author={Kloetzer, Marius and Belta, Calin},
booktitle={2006 IEEE/RSJ International Conference on Intelligent Robots and Systems},
title={A Framework for Automatic Deployment of Robots in 2D and 3D Environments},
year={2006},
volume={},
number={},
pages={953-958},
doi={10.1109/IROS.2006.281773}}

N. Michael, C. Belta, and V. Kumar, Controlling three dimensional swarms of robots, IEEE International Conference on Robotics and Automation (ICRA), Orlando, FL, 2006 (pdf)

@INPROCEEDINGS{1641834,
author={Michael, N. and Belta, C. and Kumar, V.},
booktitle={Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.},
title={Controlling three dimensional swarms of robots},
year={2006},
volume={},
number={},
pages={964-969},
doi={10.1109/ROBOT.2006.1641834}}

M. Kloetzer and C. Belta, Hierarchical abstractions for robotic swarms, IEEE International Conference on Robotics and Automation (ICRA), Orlando, FL, 2006 (pdf)

@INPROCEEDINGS{1641832,
author={Kloetzer, M. and Belta, C.},
booktitle={Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.},
title={Hierarchical abstractions for robotic swarms},
year={2006},
volume={},
number={},
pages={952-957},
doi={10.1109/ROBOT.2006.1641832}}

M. Kloetzer and C. Belta, LTL planning for groups of robots, IEEE International Conference on Networking, Sensing, and Control, Ft. Lauderdale, 2006 (pdf)

@INPROCEEDINGS{1673210,
author={Kloetzer, M. and Belta, C.},
booktitle={2006 IEEE International Conference on Networking, Sensing and Control},
title={LTL Planning for Groups of Robots},
year={2006},
volume={},
number={},
pages={578-583},
doi={10.1109/ICNSC.2006.1673210}}

2005

M. Imielinski, C. Belta, A. Halasz, and H. Rubin, Characterizing the essential metabolome through genome scale analysis of E.Coli production capabilities, Bioinformatics, vol. 21 no. 9, pp. 2008-2016, 2005 (pdf)

@article{10.1093/bioinformatics/bti245,
author = {Imieliński, Marcin and Belta, Călin and Halász, Ádám and Rubin, Harvey},
title = “{Investigating metabolite essentiality through genome-scale analysis of Escherichia coli production capabilities}”,
journal = {Bioinformatics},
volume = {21},
number = {9},
pages = {2008-2016},
year = {2005},
month = {01},
abstract = “{Motivation: A phenotype mechanism is classically derived through the study of a set of mutants and comparison of their biochemical capabilities. One method of comparing mutant capabilities is to characterize producible and knocked out metabolites. However such an effect is difficult to manually assess, especially for a large biochemical network and a complex media. Current algorithmic approaches towards analyzing metabolic networks either do not address this specific property or are computationally infeasible on the genome-scale.Results: We have developed a novel genome-scale computational approach that identifies the full set of biochemical species that are knocked out from the metabolome following a gene deletion. Results from this approach are combined with data from in vivo mutant screens to examine the essentiality of metabolite production for a phenotype. This approach can also be a useful tool for metabolic network annotation validation and refinement in newly sequenced organisms. Combining an in silico genome-scale model of Escherichia coli metabolism with in vivo survival data, we uncover possible essential roles for several cell membranes, cell walls, and quinone species. We also identify specific biomass components whose production appears to be non-essential for survival, contrary to the assumptions of previous models.Availability: Programs are available upon request from the authors in the form of Matlab script files.Contact:  imielns@mail.med.upenn.eduSupplementary information:  http://www.cis.upenn.edu/biocomp/manuscripts/bioinformatics\_bti245/supp-info.html}”,
issn = {1367-4803},
doi = {10.1093/bioinformatics/bti245},
url = {https://doi.org/10.1093/bioinformatics/bti245},
eprint = {https://academic.oup.com/bioinformatics/article-pdf/21/9/2008/48972758/bioinformatics\_21\_9\_2008.pdf},
}

C. Belta, V. Isler, and G. J. Pappas, Discrete abstractions for robot planning and control in polygonal environments, IEEE Transactions on Robotics, vol.21, no.5, pp. 864-874, 2005 (pdf)

@ARTICLE{1512345,
author={Belta, C. and Isler, V. and Pappas, G.J.},
journal={IEEE Transactions on Robotics},
title={Discrete abstractions for robot motion planning and control in polygonal environments},
year={2005},
volume={21},
number={5},
pages={864-874},
doi={10.1109/TRO.2005.851359}}

C. Belta, J. Esposito, J. Kim, and V. Kumar, Computational techniques for analysis of genetic network dynamics, The International Journal of Robotics Research, vol. 24, no. 2-3, pp. 219-235, 2005 (pdf)

@article{doi:10.1177/0278364905050359,
abstract = { In this paper we propose modeling and analysis techniques for genetic networks that provide biologists with insight into the dynamics of such systems. Central to our modeling approach is the framework of hybrid systems and our analysis tools are derived from formal analysis of such systems. Given a set of states characterizing a property of biological interest P, we present the Multi-Affine Rectangular Partition (MARP) algorithm for the construction of a set of infeasible states I that will never reach P and the Rapidly Exploring Random Forest of Trees (RRFT) algorithm for the construction of a set of feasible states F that will reach P. These techniques are scalable to high dimensions and can incorporate uncertainty (partial knowledge of kinetic parameters and state uncertainty).We apply these methods to understand the genetic interactions involved in the phenomenon of luminescence production in the marine bacterium V. fischeri. },
author = {Calin Belta and Joel M. Esposito and Jongwoo Kim and Vijay Kumar},
doi = {10.1177/0278364905050359},
eprint = {https://doi.org/10.1177/0278364905050359},
journal = {The International Journal of Robotics Research},
number = {2-3},
pages = {219-235},
title = {Computational Techniques for Analysis of Genetic Network Dynamics},
url = {https://doi.org/10.1177/0278364905050359},
volume = {24},
year = {2005},
bdsk-url-1 = {https://doi.org/10.1177/0278364905050359}}

C. Belta, G. Pereira, and V. Kumar, Abstraction and control for swarms of robots, Springer Tracts in Advanced Robotics, eds. B. Siciliano, O. Khatib, and F. Groen, Springer-Verlag, Berlin, pp.224-233, 2005 (pdf)

@inproceedings{10.1007/11008941_24,
abstract = {This paper addresses the design of simple robot behaviors that realize emergent group behaviors. We present a method to coordinate a large number of under-actuated robots by designing control laws on a small dimensional abstraction manifold, independent of the number and ordering of the robots. The abstraction manifold has a product structure consisting of elements of a Lie group that capture the position and orientation of the ensemble in the world frame, and elements of a shape manifold that provide an intrinsic description of the distribution of team members relative to one another. We design decoupled controls for regulating the group and the shape variables. The realization of the controller on each robot requires the feedback of the robot state, and the state on the abstraction manifold.We present experimental results with a team of five car-like robots equipped with omnidirectional cameras and IEEE 802.11b networking.},
address = {Berlin, Heidelberg},
author = {Belta, Calin and Pereira, Guilherme A. S. and Kumar, Vijay},
booktitle = {Robotics Research. The Eleventh International Symposium},
editor = {Dario, Paolo and Chatila, Raja},
isbn = {978-3-540-31508-7},
pages = {224–233},
publisher = {Springer Berlin Heidelberg},
title = {Abstraction and Control for Swarms of Robots},
year = {2005}}

M. Imielinski, C. Belta, A. Halasz, and H. Rubin, Systematic analysis of conservation relations in E.coli genome scale metabolic network reveals novel growth media, International Conference on Systems Biology, Boston, MA, 2005

content coming soon…

M. Imielinski, C. Belta, A. Halasz, and H. Rubin, Characterizing elementary combinations of producible species in metabolic networks, Foundations of Systems Biology and Engineering, University of California Santa Barbara, August 2005

content coming soon…

2004

Calin Belta and Vijay Kumar, Abstraction and control for groups of robots, IEEE Transactions on Robotics, vol.20, no.5, pp.865-875, 2004 (pdf)

@ARTICLE{1339386,
author={Belta, C. and Kumar, V.},
journal={IEEE Transactions on Robotics},
title={Abstraction and control for Groups of robots},
year={2004},
volume={20},
number={5},
pages={865-875},
doi={10.1109/TRO.2004.829498}}

Calin Belta and Vijay Kumar, Optimal motion generation for groups of robots: a geometric approach, ASME Journal of Mechanical Design, Vol. 126, pp. 63-70, 2004 (pdf)

@article{10.1115/1.1641190,
author = {Belta, Calin and Kumar, Vijay },
title = “{Optimal Motion Generation for Groups of Robots: A Geometric Approach }”,
journal = {Journal of Mechanical Design},
volume = {126},
number = {1},
pages = {63-70},
year = {2004},
month = {03},
abstract = “{In this paper we generate optimal smooth trajectories for a set of fully-actuated mobile robots. Given two end configurations, by tuning one parameter, the user can choose an interpolating trajectory from a continuum of curves varying from that corresponding to maintaining a rigid formation to motion of the robots toward each other. The idea behind our method is to change the original constant kinetic energy metric in the configuration space and can be summarized into three steps. First, the energy of the motion as a rigid structure is decoupled from the energy of motion along directions that violate the rigid constraints. Second, the metric is “shaped” by assigning different weights to each term. Third, geodesic flow is constructed for the modified metric. The optimal motions generated on the manifolds of rigid body displacements in 3-D space SE3 or in plane SE2 and the uniform rectilinear motion of each robot corresponding to a totally uncorrelated approach are particular cases of our general treatment. }”,
issn = {1050-0472},
doi = {10.1115/1.1641190},
url = {https://doi.org/10.1115/1.1641190},
eprint = {https://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/126/1/63/5603537/63\_1.pdf},
}

C. Belta, P. Finin, L.C.G.J.M. Habets, A. Halasz, M. Imielinski, V.Kumar, and H. Rubin, Understanding the bacterial stringent response using reachability analysis of hybrid systems, 7th International Workshop on Hybrid Systems: Computation and Control, Philadelphia, PA, Lecture Notes in Computer Science, vol. 2993, pp. 111-126, 2004 (pdf)

@inproceedings{10.1007/978-3-540-24743-2_8,
abstract = {In this paper we model coupled genetic and metabolic networks as hybrid systems. The vector fields are multi — affine, i.e., have only product — type nonlinearities to accommodate chemical reactions, and are defined in rectangular invariants, whose facets correspond to changes in the behavior of a gene or enzyme. For such systems, we showed that reachability and safety verification problems can be formulated and solved (conservatively) in an elegant and computationally inexpensive way, based on the fact that multi-affine functions on rectangular regions of the space are determined at the vertices. Using these techniques, we study the stringent response system, which is the transition of bacterial organisms from growth phase to a metabolically suppressed phase when subjected to an environment with limited nutrients.},
address = {Berlin, Heidelberg},
author = {Belta, C{\u{a}}lin and Finin, Peter and Habets, Luc C. G. J. M. and Hal{\’a}sz, {\’A}d{\’a}m M. and Imieli{\'{n}}ski, Marcin and Kumar, R. Vijay and Rubin, Harvey},
booktitle = {Hybrid Systems: Computation and Control},
editor = {Alur, Rajeev and Pappas, George J.},
isbn = {978-3-540-24743-2},
pages = {111–125},
publisher = {Springer Berlin Heidelberg},
title = {Understanding the Bacterial Stringent Response Using Reachability Analysis of Hybrid Systems},
year = {2004}}

Calin Belta and Vijay Kumar, Geometric methods for multirobot motion planning, Handbook of Computational Geometry for Pattern Recognition, Computer Vision, Neurocomputing and Robotics, ed. Eduardo Bayro-Corrochano, Springer-Verlag, pp. 536-563, 2004 (pdf)

@inbook{Belta2005,
address = {Berlin, Heidelberg},
author = {Belta, Calin and Kumar, Vijay},
booktitle = {Handbook of Geometric Computing: Applications in Pattern Recognition, Computer Vision, Neuralcomputing, and Robotics},
doi = {10.1007/3-540-28247-5_21},
isbn = {978-3-540-28247-1},
pages = {679–706},
publisher = {Springer Berlin Heidelberg},
title = {Geometric Methods for Multirobot Optimal Motion Planning},
url = {https://doi.org/10.1007/3-540-28247-5_21},
year = {2005},
bdsk-url-1 = {https://doi.org/10.1007/3-540-28247-5_21}}

M. Imielinski, C. Belta, A. Halasz, and H. Rubin, Probing metabolite essentiality through in silico genome scale analysis of E.Coli production capabilities, 5th International Conference on Systems Biology, Heidelberg, Germany, Oct. 2004 (Best Poster Award)

content coming soon…

C. Belta, On controlling aircraft and underwater vehicles, IEEE International Conference on Robotics and Automation, New Orleans, LA, April 2004 (pdf)

@INPROCEEDINGS{1302495,
author={Belta, C.},
booktitle={IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA ’04. 2004},
title={On controlling aircraft and underwater vehicles},
year={2004},
volume={5},
number={},
pages={4905-4910 Vol.5},
doi={10.1109/ROBOT.2004.1302495}}

C. Belta and L.C.G.J.M. Habets, Constructing decidable hybrid systems with velocity bounds, 43rd IEEE Conference on Decision and Control, 2004 (pdf)

@INPROCEEDINGS{1428674,
author={Belta, C. and Habets, L.C.G.J.M.},
booktitle={2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)},
title={Constructing decidable hybrid systems with velocity bounds},
year={2004},
volume={1},
number={},
pages={467-472 Vol.1},
doi={10.1109/CDC.2004.1428674}}

V. Isler, C. Belta, K. Daniilidis, and G. J. Pappas, Hybrid Control for Visibility-Based Pursuit-Evasion Games, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004 (pdf)

@INPROCEEDINGS{1389597,
author={Isler, V. and Belta, C. and Daniilidis, K. and Pappas, G.J.},
booktitle={2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)},
title={Hybrid control for visibility-based pursuit-evasion games},
year={2004},
volume={2},
number={},
pages={1432-1437 vol.2},
doi={10.1109/IROS.2004.1389597}}

2003

C. Belta. G. Pereira, and V. Kumar, Abstraction and control for swarms of robots, 11th International Symposium of Robotics Research, Siena, Italy, Oct. 2003 (pdf)

@inproceedings{10.1007/11008941_24,
abstract = {This paper addresses the design of simple robot behaviors that realize emergent group behaviors. We present a method to coordinate a large number of under-actuated robots by designing control laws on a small dimensional abstraction manifold, independent of the number and ordering of the robots. The abstraction manifold has a product structure consisting of elements of a Lie group that capture the position and orientation of the ensemble in the world frame, and elements of a shape manifold that provide an intrinsic description of the distribution of team members relative to one another. We design decoupled controls for regulating the group and the shape variables. The realization of the controller on each robot requires the feedback of the robot state, and the state on the abstraction manifold.We present experimental results with a team of five car-like robots equipped with omnidirectional cameras and IEEE 802.11b networking.},
address = {Berlin, Heidelberg},
author = {Belta, Calin and Pereira, Guilherme A. S. and Kumar, Vijay},
booktitle = {Robotics Research. The Eleventh International Symposium},
editor = {Dario, Paolo and Chatila, Raja},
isbn = {978-3-540-31508-7},
pages = {224–233},
publisher = {Springer Berlin Heidelberg},
title = {Abstraction and Control for Swarms of Robots},
year = {2005}}

C. Belta, G. Pereira, and V. Kumar, Control of a team of car-like robots using abstractions, 42nd IEEE Conference on Decision and Control, CDC, Maui, Hawaii, Dec. 2003 (pdf)

@INPROCEEDINGS{1272827,
author={Belta, C. and Pereira, G.A.S. and Kumar, V.},
booktitle={42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)},
title={Control of a team of car-like robots using abstractions},
year={2003},
volume={2},
number={},
pages={1520-1525 Vol.2},
doi={10.1109/CDC.2003.1272827}}

C. Belta and V. Kumar, Abstraction and control for groups of fully-actuated planar robots, IEEE International Conference on Robotics and Automation, Taipei, Taiwan, Sept. 2003 (pdf)

@INPROCEEDINGS{1241968,
author={Belta, C. and Kumar, V.},
booktitle={2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)},
title={Abstraction and control for groups of fully-actuated planar robots},
year={2003},
volume={2},
number={},
pages={2498-2503 vol.2},
doi={10.1109/ROBOT.2003.1241968}}

C. Belta, Geometric methods for multi-robot planning and control, PhD Thesis, University of Pennsylvania, 2003 (pdf)

content coming soon…

2002

Calin Belta and Vijay Kumar, An SVD-based projection method for interpolation on SE(3), IEEE Transactions on Robotics and Automation, vol. 18, no. 3, pp. 334-345, June 2002 (pdf)

@ARTICLE{1019463,
author={Belta, C. and Kumar, V.},
journal={IEEE Transactions on Robotics and Automation},
title={An SVD-based projection method for interpolation on SE(3)},
year={2002},
volume={18},
number={3},
pages={334-345},
doi={10.1109/TRA.2002.1019463}}

Calin Belta and Vijay Kumar, Euclidean metrics for motion generation on SE(3), Journal of Mechanical Engineering Science Part C, vol. 216, no. C1, pp. 47-60, 2002 (pdf)

@article{doi:10.1243/0954406021524909,
abstract = { AbstractPrevious approaches to trajectory generation for rigid bodies have been either based on the so-called invariant screw motions or on ad hoc decompositions into rotations and translations. This paper formulates the trajectory generation problem in the framework of Lie groups and Riemannian geometry. The goal is to determine optimal curves joining given points with appropriate boundary conditions on the Euclidean group. Since this results in a two-point boundary value problem that has to be solved iteratively, a computationally efficient, analytical method that generates near-optimal trajectories is derived. The method consists of two steps. The first step involves generating the optimal trajectory in an ambient space, while the second step is used to project this trajectory onto the Euclidean group. The paper describes the method, its applications and its performance in terms of optimality and efficiency. },
author = {C Belta and V Kumar},
doi = {10.1243/0954406021524909},
eprint = {https://doi.org/10.1243/0954406021524909},
journal = {Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science},
number = {1},
pages = {47-60},
title = {Euclidean metrics for motion generation on SE(3)},
url = {https://doi.org/10.1243/0954406021524909},
volume = {216},
year = {2002},
bdsk-url-1 = {https://doi.org/10.1243/0954406021524909}}

Calin Belta and Vijay Kumar, On the computation of rigid body motion, Electronic Journal of Computational Kinematics, vol 1, no. 1, 2002 (pdf)

@inproceedings{Belta2009OnTC, title={On the Computation of Rigid Body Motion}, author={Calin A. Belta}, year={2009}, url={https://api.semanticscholar.org/CorpusID:9281725} }

R. Alur, C. Belta, V. Kumar, M. Mintz, G. J. Pappas, H. Rubin, and J. Schug, Modeling and analyzing biomolecular networks, Computing in Science and Engineering, Jan/Feb 2002, pp. 20-30 (pdf)

@ARTICLE{976434,
author={Alur, R. and Belta, C. and Kumar, V. and Mintz, M. and Pappas, G.J. and Rubin, H. and Schug, J.},
journal={Computing in Science & Engineering},
title={Modeling and analyzing biomolecular networks},
year={2002},
volume={4},
number={1},
pages={20-31},
doi={10.1109/5992.976434}}

R. Alur, C. Belta, F. Ivancic, V. Kumar, H. Rubin, J. Schug, O. Sokolsky and J. Webb, Visual programming for modeling and simulation of bioregulatory networks, International Conference on High Performance Computing, Bangalore, India, Lecture Notes in Computer Science, vol 2552, pp. 702-713, 2002 (pdf)

content coming soon…

Calin Belta and Vijay Kumar, Towards abstraction and control for large groups of robots, Control Problems in Robotics, Springer Tracts in Advanced Robotics, Springer-Verlag, Berlin, 2002, pp. 169-182 (pdf)

@inbook{Belta2003,
abstract = {This paper addresses the problem of controlling a large number of robots required to accomplish a task as a group. We propose an abstraction based on the definition of a map from the configuration space of the robots to a lower dimensional manifold, whose dimension does not scale with the number of robots. The task to be accomplished by the team suggests a natural feedback control system on the group manifold. We show that, if mean and covariance matrix are chosen as group variables for fully actuated robots, it is possible to design decoupling control laws, i.e., the feedback control for a robot is only dependent on the state of the robot and the state of the group, therefore the communication necessary to accomplish the task is kept to a minimum.},
address = {Berlin, Heidelberg},
author = {Belta, Calin and Kumar, Vijay},
booktitle = {Control Problems in Robotics},
doi = {10.1007/3-540-36224-X_11},
editor = {Bicchi, Antonio and Prattichizzo, Domenico and Christensen, Henrik Iskov},
isbn = {978-3-540-36224-1},
pages = {169–182},
publisher = {Springer Berlin Heidelberg},
title = {Towards Abstraction and Control for Large Groups of Robots},
url = {https://doi.org/10.1007/3-540-36224-X_11},
year = {2003},
bdsk-url-1 = {https://doi.org/10.1007/3-540-36224-X_11}}

Calin Belta, Luc Habets, and Vijay Kumar, Control of multi-affine systems on rectangles with applications to hybrid biomolecular networks, 41st IEEE Conference on Decision and Control, Las Vegas, NV, Dec. 2002 (pdf)

@INPROCEEDINGS{1184551,
author={Belta, C. and Habets, L.C.G.J.M. and Kumar, V.},
booktitle={Proceedings of the 41st IEEE Conference on Decision and Control, 2002.},
title={Control of multi-affine systems on rectangles with applications to hybrid biomolecular networks},
year={2002},
volume={1},
number={},
pages={534-539 vol.1},
doi={10.1109/CDC.2002.1184551}}

C. Belta and V. Kumar, Motion generation for groups of robots: a centralized, geometric approach, ASME DETC, Montreal, Canada, Oct. 2002 (pdf)

@proceedings{10.1115/DETC2002/MECH-34359,
author = {Belta, Calin and Kumar, Vijay},
title = “{Motion Generation for Groups of Robots: A Centralized Geometric Approach}”,
volume = {Volume 5: 27th Biennial Mechanisms and Robotics Conference},
series = {International Design Engineering Technical Conferences and Computers and Information in Engineering Conference},
pages = {1307-1315},
year = {2002},
month = {09},
abstract = “{We develop a method for generating smooth trajectories for a set of mobile robots satisfying constraints on relative positions. We show that, given two end configurations of the set of robots, by tuning one parameter, the user can choose an interpolating trajectory from a continuum of curves varying from the trajectory corresponding to maintaining a rigid formation to trajectories that allow the formation to change and the robots to reconfigure while moving.}”,
doi = {10.1115/DETC2002/MECH-34359},
url = {https://doi.org/10.1115/DETC2002/MECH-34359},
eprint = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings-pdf/IDETC-CIE2002/36533/1307/6620670/1307\_1.pdf},
}

C. Belta and V. Kumar, Trajectory design for formations of robots by kinetic energy shaping, IEEE International Conference on Robotics and Automation, Washington, DC, May 2002 (pdf)

@INPROCEEDINGS{1013622,
author={Belta, C. and Kumar, V.},
booktitle={Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)},
title={Trajectory design for formations of robots by kinetic energy shaping},
year={2002},
volume={3},
number={},
pages={2593-2598 vol.3},
doi={10.1109/ROBOT.2002.1013622}}

2001

Calin Belta, Guouxiang Gu, A. Sparks, and Siva Banda, Rotating stall control for axial flow compressors, Automatica, vol. 37, pp. 921-931, 2001 (pdf)

@article{BELTA2001921,
abstract = {Rotating stall is a primary constraint for the performance of axial flow compressors. This paper establishes a necessary and sufficient condition for a feedback controller to locally stabilize the critical equilibrium of the uniform flow at the inception of rotating stall. The explicit condition obtained in this paper provides an effective synthesis tool for rotating stall control.},
author = {Calin Belta and Guoxiang Gu and Andrew Sparks and Siva Banda},
doi = {https://doi.org/10.1016/S0005-1098(01)00035-8},
issn = {0005-1098},
journal = {Automatica},
keywords = {Compressors, Rotating stall, Hopf bifurcation, Hysteresis loops},
number = {6},
pages = {921-931},
title = {Rotating stall control for axial flow compressors},
url = {https://www.sciencedirect.com/science/article/pii/S0005109801000358},
volume = {37},
year = {2001},
bdsk-url-1 = {https://www.sciencedirect.com/science/article/pii/S0005109801000358},
bdsk-url-2 = {https://doi.org/10.1016/S0005-1098(01)00035-8}}

R. Alur, C. Belta, F. Ivancic, V. Kumar, M. Mintz, G. Pappas, J. Schug, Hybrid modelling and simulation of biomolecular networks, 4th International Workshop on Hybrid Systems: Computation and Control, Rome, Italy, Lecture Notes in Computer Science, vol. 2034, pp. 19-32 (pdf)

@inproceedings{10.1007/3-540-45351-2_6,
abstract = {In a biological cell, cellular functions and the genetic regula- tory apparatus are implemented and controlled by a network of chemical reactions in which regulatory proteins can control genes that produce other regulators, which in turn control other genes. Further, the feed- back pathways appear to incorporate switches that result in changes in the dynamic behavior of the cell. This paper describes a hybrid systems approach to modeling the intra-cellular network using continuous differ- ential equations to model the feedback mechanisms and mode-switching to describe the changes in the underlying dynamics. We use two case studies to illustrate a modular approach to modeling such networks and describe the architectural and behavioral hierarchy in the underlying models. We describe these models using Charon [2], a language that allows formal description of hybrid systems. We provide preliminary sim- ulation results that demonstrate how our approach can help biologists in their analysis of noisy genetic circuits. Finally we describe our agenda for future work that includes the development of models and simulation for stochastic hybrid systems.1},
address = {Berlin, Heidelberg},
author = {Alur, Rajeev and Belta, Calin and Ivan{\v{c}}i{\'{c}}, Franjo and Kumar, Vijay and Mintz, Max and Pappas, George J. and Rubin, Harvey and Schug, Jonathan},
booktitle = {Hybrid Systems: Computation and Control},
editor = {Di Benedetto, Maria Domenica and Sangiovanni-Vincentelli, Alberto},
isbn = {978-3-540-45351-2},
pages = {19–32},
publisher = {Springer Berlin Heidelberg},
title = {Hybrid Modeling and Simulation of Biomolecular Networks},
year = {2001}}

C. Belta, J. Schug, T. Dang, V. Kumar, G. J. Pappas, H. Rubin, P. V. Dunlap, Stability and reachability analysis of a hybrid model of luminescence in the marine bacterium Vibrio fischeri, 40th IEEE CDC, Orlando, Florida, 2001 (pdf)

@INPROCEEDINGS{980216,
author={Belta, C. and Schug, J. and Thao Dang and Kumar, V. and Pappas, G.J. and Rubin, H. and Dunlap, P.},
booktitle={Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)},
title={Stability and reachability analysis of a hybrid model of luminescence in the marine bacterium Vibrio fischeri},
year={2001},
volume={1},
number={},
pages={869-874 vol.1},
doi={10.1109/CDC.2001.980216}}

R. Fierro, C. Belta, J. Desai, V. Kumar, On controlling aircraft formations, 40th IEEE CDC, Orlando, Florida, 2001 (pdf)

@INPROCEEDINGS{981026,
author={Fierro, R. and Belta, C. and Desai, J.P. and Kumar, V.},
booktitle={Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)},
title={On controlling aircraft formations},
year={2001},
volume={2},
number={},
pages={1065-1070 vol.2},
doi={10.1109/CDC.2001.981026}}

C. Belta and V. Kumar, Designing trajectories for formations of fully actuated robots, 5th SIAM Conference on Control and its Applications, San Diego, CA, July 2001

content coming soon…

Calin Belta and Vijay Kumar, On the computation of rigid body motion, 2nd Workshop on Computational Kinematics, Seoul, Korea, May 2001

content coming soon…

Calin Belta and Vijay Kumar, Motion generation for formations of robots: a geometric approach, IEEE International Conference on Robotics and Automation, Seoul, Korea, 2001 (pdf)

@INPROCEEDINGS{932781,
author={Belta, C. and Kumar, V.},
booktitle={Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)},
title={Motion generation for formations of robots: A geometric approach},
year={2001},
volume={2},
number={},
pages={1245-1250 vol.2},
doi={10.1109/ROBOT.2001.932781}}

Before 2001

Calin Belta and Vijay Kumar, An efficient, geometric approach to rigid body motion interpolation, ASME 2000 International Design Engineering Technical Conferences and the Computers and Information in Engineering Conference, Baltimore, Maryland, September, 2000

Calin Belta and Vijay Kumar, New metrics for rigid body motion interpolation, Ball 2000 Symposium Commemorating the Legacy, Works, and Life of Sir Robert Stawell Ball, University of Cambridge, UK, July, 2000

content coming soon…

Guoxiang Gu, Andrew Sparks, and Calin Belta, Stability analysis for rotating stall dynamics in axial flow compressors, Circuits, Systems and Signal Processing, vol.18, no.4, pp.331-350, 1999 (pdf)

content coming soon…

Calin Belta, Guoxiang Gu, Andrew Sparks, Siva Banda, Rotating Stall Control for Axial Flow Compressors, 37th IEEE Conference on Decision and Contol, Tampa, Florida, December, 1998 (pdf)

content coming soon…

Corneliu Botan and Calin Belta, Some aspects concerning the controller implementation for the discrete LQ problem, Bulletin of the Polytechnic Institute of Iasi, vol.XLIII(1-4), pp.11-16, 1997.

content coming soon…

Calin Belta, Guoxiang Gu, Andrew Sparks, Siva Banda, Stall Control for Axial Compressors, 14th World Congress of IFAC, Beijing, China, July, 1999

content coming soon…

Botan C., Belta C., Some Aspects Concerning the Controller Implementation for the Discrete LQ-Problem, 5th Symposium on Automatic Control and Computer Science, Iasi, 1995, Vol. 1, pp.275-278

content coming soon…

Botan C., Postolache M., Onea A., Belta C., An Implementation of the Controller for LQ Optimal Problem, 10th International Conference on Control Systems and Computer Science, Bucharest, 1995, Vol.1, pp.83-86.

content coming soon…

Botan C., Belta C., Weight Selection in the LQ Problem with Finite Final Time, 10th IFAC Workshop on Control Applications on Optimization, Haifa, 1995

content coming soon…

Botan C., Belta C., On the Optimal Controller for Singular Systems, 11th International Conf. on Control Systems and Computer Science, Bucharest, 1997, Vol. 1, pp. 36-41

content coming soon…
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