Publications

Learning stable models for prediction and control
G. Mamakoukas, I. Abraham, and T. D. Murphey
Transactions on Robotics (TRO), Under Review, 2021. PDF

Automatic tuning for data-driven model predictive control
E. Williams, G. Tang, G. Mamakoukas, T. D. Murphey, and K. Hauser
International Conference on Robotics and Automation (ICRA), 2021.

Derivative-based Koopman operators for real-time control of robotic systems
G. Mamakoukas, M. Castano, X. Tan, and T. D. Murphey
Transactions on Robotics (TRO), 2021. PDF

Memory-efficient learning of stable linear dynamical systems for prediction and control
G. Mamakoukas, O. Xherija, and T. D. Murphey
Conference on Neural Information Processing Systems (NeurIPS), 2020. PDF Code

Control-oriented modeling of soft robotic swimmer with Koopman Operators
M. Castano, A. Hess, G. Mamakoukas, T. Gao, T. D. Muprhey, and X. Tan
International Conference on Advanced Intelligent Mechatronics (AIM), 2020.

Local Koopman operators for data-driven control of robotic systems
G. Mamakoukas, M. Castano, X. Tan, and T. D. Murphey
Robotics: Science and Systems Proceedings (RSS), 2019. PDF

Feedback synthesis for underactuated systems using sequential second-order needle variations
G. Mamakoukas, M. Maciver, and T. D. Murphey
International Journal of Robotics Research, 2019. PDF
RSS conference paper invited for full journal publication

Adaptive single action control policies for linearly parameterized systems
O. Ennasr, G. Mamakoukas, M. Castano, D. Coleman, T. D. Murphey, and X. Tan
Dynamic Systems and Control Conference (DSCC), 2019.

Superlinear convergence using controls based on second-order needle variations
G. Mamakoukas, M. MacIver, and T. D. Murphey
International Conference on Decision and Control (CDC), 2018. PDF

Ergodic exploration for adaptive sampling of water columns using gliding robotic fish
O. Ennasr, G. Mamakoukas, T. D. Murphey, and X. Tan
ASME Dynamic Systems and Control Conference (DSCC), 2018. PDF

Feedback synthesis for controllable underactuated systems using sequential second order actions
G. Mamakoukas, M. MacIver, and T. D. Murphey
Robotics: Science and Systems Proceedings (RSS), 2017. PDF

Controlling simulated underactuated underwater vehicles with added mass and velocity drift using sequential action control
G. Mamakoukas, M. MacIver, and T. D. Murphey
American Controls Conference (ACC), 2016. PDF