K. L. Wolkowicz, J. L. Pentzer, C. X. Miller, J. Z. Moore, S. N. Brennan, “An On-Line ICR EKF Kinematic Approach to Estimating Wheelchair Tire Slip,” ASME Journal of Dynamic Systems, Measurement and Control. Manuscript under review.
K. Wolkowicz, J. Pentzer, C. Miller, J. Moore, S. Brennan, “On-Line Estimation of Wheelchair Tire Slip Utilizing an Instantaneous Center of Rotation Extended Kalman Filter,” in Proceedings of ASME 2016 Dynamic Systems and Control Conference (Minneapolis, MN).
C. Miller, K. Wolkowicz, J. Safi, S. Brennan, “State of Charge Estimation for an Electric Wheelchair Using a Fuel Gauge Model,” in Proceedings of ASME 2016 Dynamic Systems and Control Conference (Minneapolis, MN).
M. Wahba, R. Leary, N. Ochoa, J. Safi, and S. Brennan, “A ROS-Simulink Real-time Communication Bridge using UDP with a Driver-in-the-loop Application,” in Proceedings of ASME 2016 Dynamic Systems and Control Conference. 2016.
A. Whalen, S. Brennan, T. Sauer, and S. Schiff "Effects of symmetry on the structural controllability of neural networks: A perspective", American Control Conference, 6-8 July, Boston, MA, p.5785-5790, 2016. [PDF]
K. Wolkowicz, J. Pentzer, C. Miller, J. Moore, S. Brennan, “On-Line Estimation of Wheelchair Tire Slip Utilizing an Instantaneous Center of Rotation Extended Kalman Filter,” in Proceedings of ASME 2016 Dynamic Systems and Control Conference. 2016.
C. Miller, K. Wolkowicz, J. Safi, S. Brennan, “State of Charge Estimation for an Electric Wheelchair Using a Fuel Gauge Model,” in Proceedings of ASME 2016 Dynamic Systems and Control Conference. 2016.
Leary, R., and Brennan, S. 2016, Region of Attraction for a Vehicle Pose Estimator Utilizing Monocular Vision and Lane Marker Maps, Proceedings of the 2016 ASME Dynamic Systems and Control Conference. 2016.
A. Whalen, S. Brennan, T. Sauer, and S. Schiff "Observability and Controllability of Nonlinear Networks: The Role of Symmetry", Physical Review X, 5, 23 January, p. 011005, 2015. [PDF]
A. Trezza, N. Virani, K. Wolkowicz, J. Moore, and S. Brennan, "Indoor Mapping and Localization for a Smart Wheelchair Using Measurements of Ambient Magnetic Fields," Proceedings of the 2015 ASME Dynamic Systems and Control Conference, pp. DSCC2015-9915 - 10 pages. 2015.
N. Ochoa-Lleras, M. Dennis, and S. Brennan, "Experimental Determination of Operator Perception of Tractor Instability," Proceedings of the 3rd International Conference on Safety, Health and Welfare in Agriculture, Agro-food and Forestry Systems (Regusa), pp. 294 - 301. 2015.
K. Jerath and S. Brennan, "Identification of Locally Influential Agents in Self-Organizing Mutli-Agent Systems," Proceedings of the 2015 American Control Conference, pp. 335 - 340. 2015.
B. Morales and S. Brennan, "Precision Calibration Between LIDAR system and Camera," submitted to The Pennsylvania State University 2015 SROP & McNair Research Symposium. 2015.
P. Stankiewicz, N. Ochoa Lleras, R. Leary, and S. Brennan, “Vehicle Rollover Prevention using the Zero-Moment Point in an LQR Output Regulator,” submitted to ASME 2015 Dynamic Systems and Control Conference. 2015.
M. Wahba and S. Brennan, “MPC-Based Energy Management of a Parallel Hybrid Electric Vehicle Using Terrain Information,” submitted to ASME 2015 Dynamic Systems and Control Conference. 2015.
A. Brown and S. Brennan, "Temporal Preview Estimation for Design of a Low Cost Lane-Following System Using a Forward-Facing Monocular Camera," Proceedings of the 2014 IEEE Intelligent Vehicle Symposium, pp. 1457 - 1462. 2014.
D. Torbic, E. Donnell, S. Brennan, A. Brown, M. O'Laughlin, and K. Bauer, "Superelevation Design for Sharp Horizontal Curves on Steep Grades," in Transportation Research Board: Journal of the Transportation Research Board. 2014 [PDF] .
J. Safi, J. Anstrom, S. Brennan, and H. Fathy, “Differential Diagnostics For Lithium Ion Battery Cells Connected In Series,” Proceedings of the ASME 2014 Dynamic Systems and Control Conference. 2014 [PDF] .
J. Pentzer, S. Brennan, and K. Reichard “The Use of Unicycle Robot Control Strategies for Skid-Steer Robots Through the ICR Kinematic Mapping,” Proceedings of the International Conference on Intelligent Robots and Systems, Chicago, IL, 2014.
J. Pentzer, S. Brennan, and K. Reichard “On-Line Estimation of Vehicle Motion and Power Model Parameters for Skid-Steer Robot Energy Use Prediction,” Proceedings of the American Control Conference. Portland, OR, 2014.
J. Pentzer, S. Brennan, and K. Reichard “Model-Based Prediction of Skid-Steer Robot Kinematics Using On-Line Estimation of Track Instantaneous Centers of Rotation,” Journal of Field Robotics. Vol. 31, No. 3, p. 455-476, 2014.
K. Jerath, S. Brennan, and C. Lagoa “Sensor noise modeling, characterization and simulation: An Allan variance tutorial” submitted to the IEEE Sensors journal.
K. Jerath, A. Ray, S. Brennan, and V. V. Gayah “Dynamic Prediction of Vehicle Cluster Distribution in Mixed Traffic: A Statistical Mechanics-inspired Method”, Submitted to IEEE Transactions on Intelligent Transportation Systems.
K. Jerath, and S. Brennan “Identification of influential agents in self-organizing multi-agent systems”, Submitted to American Control Conference 2015.
K. Jerath, V. V. Gayah, and S. Brennan; “Event Horizons and Influential Subspaces of Connected Vehicles”, submitted to IEEE Transactions on Intelligent Transportation Systems.
A. Brown and S. Brennan. "On the Required Complexity of Vehicle Dynamic Models for use in Simulation-Based Highway Design," International Journal of Safety Research, 2014, [PDF] .
K. Jerath, V. V. Gayah, and S. Brennan; “Influential Subspaces of Connected Vehicles in Highway Traffic”, accepted for publication at the TRB Committee on Traffic Flow Theory and Characteristics Symposium, Aug 11-13, 2014, Portland, OR, USA.
J. Safi, M. Beeney, M. Kehs, J. Anstrom, S. Brennan, and H. Fathy “Improving SOC Accuracy Using Collective Estimation for Lithium Ion Battery Cells in Series” accepted for publication at 2014 American Control Conference, June 04-06, 2014 in Portland, OR, USA.
A. Brown and S. Brennan. "Simulating Vehicle Dynamics on both Design Plans and LIDAR-scanned Road Geometry to Guide Highway Design Policy," under review for publication by invitation for Transportation Research: Part C.
K. Jerath, A. Ray, S. N. Brennan, and V. V. Gayah. “Statistical Mechanics-inspired Framework for Studying the Effects of Mixed Traffic Flows on Highway Congestion”, accepted for publication at 2014 American Control Conference, June 04-06, 2014 in Portland, OR, USA.
N. Ochoa Lleras, A. Brown, S. Brennan, P. Garvey, H.J. Sommer, D. Murphy. “Development of an Open-Source Immersive Tractor Driving Simulator,” accepted for publication at 2014 ASABE Annual International Meeting, July 13-16, 2014 in Montreal, Quebec, Canada.
P. Stankiewicz, A. Brown, and S. Brennan. "Open-Loop Collision Avoidance and Rollover Prevention using Previewed Zero-Moment Point," 2014 American Control Conference, pp. 3207-3212. June 04-06, 2014 in Portland, OR, USA.
P. Stankiewicz, A. Brown, and S. Brennan. "Preview Horizon Analysis for Vehicle Rollover Prevention using the Zero-Moment Point," accepted for publication in ASME Journal of Dynamic Systems, Measurement, and Control.
E. Laftchiev, C. Lagoa, and S. Brennan. "Robust Map Design using Chance Constraint Optimization", Proceedings of the American Control Conference, pp. 2822-2827, June 4-6,Portland Oregon, 2014 [PDF] .
E. Laftchiev, C. Lagoa, and S. Brennan. “Multi-Attribute Data Dynamics Discontinuity Identification: a Probabilistic Approach using Linear Modeling”, IEEE Conference on Decision on Control, December 15-17, 2014, Los Angeles, CA.
E. Laftchiev, C. Lagoa, and S. Brennan. “Multi-Attribute Data Dynamics Discontinuity Identification: An Over-Bounding approach using One-Dimensional Probabilistic Constraints”, College of Engineering Research Symposium, April 1, 2014, State College, PA.
E. Laftchiev, C. Lagoa, and S. Brennan. “Data Representation and Indexing by Dynamics Discontinuity Identification”, IEEE Transactions on Knowledge and Data Engineering, In-Review.
E. Laftchiev, C. Lagoa, and S. Brennan. “Vehicle Localization using in-Vehicle Pitch Data and Dynamical Models”, IEEE Transactions on Intelligent Transportation Systems, In-Press. July 2014 [PDF] .
A. Brown and S. Brennan. “Global and Local Frameworks for Vehicle State Estimation Using Temporally Previewed Mapped Lane Features”, IEEE IV2013 Environment Perception and Navigation for Intelligent Vehicles, June 23rd 2013, Gold Cost, Australia.
A. Brown and S. Brennan. “Comparison of Field Measurements of Vehicle Dynamics to Simulations Using Both Design Plans and LIDAR-Scanned Road Geometry”, Road Safety and Simulation International Conference, October 22-25, 2013, Rome, Italy.
A. Brown and S. Brennan. “Analysis of Simulation Model Complexity for Predicting Vehicle Skidding for 3D Geometric Design of Roadways”, Road Safety and Simulation International Conference, October 22-25, 2013, Rome, Italy.
E. Laftchiev, C. Lagoa, and S. Brennan. “Robust Map Design for Terrain-Based Vehicle Localization” College of Engineering Research Symposium, State College, PA. April 2013 [PDF] .
E. Laftchiev, C. Lagoa, and S. Brennan. “Robust Map Design by Outlier Point Selection for Terrain-Based Vehicle Localization” Conference on Decision and Control, Florence, Italy. pp. 3366-3371. December 2013 [PDF] .
K. Swanson, A. Brown, S. Brennan, C. LaJambe. "Extending Driving Simulator Capabilities Toward Hardware-In-The-Loop Testbeds and Remote Vehicle Interfaces", IEEE IV2013 Environment Perception and Navigation for Intelligent Vehicles, June 23rd 2013, Gold Cost, Australia.
P. Stankiewicz, A. Brown, and S. Brennan. "Determination of Minimum State Preview Time to Prevent Vehicle Rollover", Proceedings of the ASME Dynamic Systems and Control Conference. October 21-23, 2013, Palo Alto, CA.
A. Brown and S. Brennan. "An Introduction to Lateral Vehicle State and Environment Estimation Using Temporally Previewed Mapped Lane Features," under review for the IEEE Transactions on Intelligent Transportation Systems.
D. Torbic, E. Donnell, S. Brennan, A. Brown, M. O’Laughlin, K. Bauer. "Superelevation Design For Sharp Horizontal Curves on Steep Grades," under review by invitation for the Journal of the Transportation Research Board.
M. Keske, A. Brown, and S. Brennan. “Dynamics of Vehicle Impacts With Boulders Embedded in Cohesionless Soil,” under review for the Journal of Impact Engineering, Elsevier.
P. Vemulapalli, V. Monga, and S. Brennan. "Robust Extrema Features for Time-Series Data Analysis.", Accepted and to appear in IEEE Transactions on Pattern Analysis and Machine Intelligence.
L. Reese, T. Qiu, D. Linzell, Z. Rado, and S. Brennan, "Development of Landscape Vehicular Anti-Ram Systems through Computational and Experimental Methods," 93rd Shock and Vibration Symposium, pp. 18 pages. 2012.
E. O'Hare, D. Linzell, Z. Rado, and S. Brennan, "Development of Shallow Foundation Streetscape Vehicular Anti-Ram (SVAR) Systems Through Modeling and Testing," 83rd Shock and Vibration Symposium, pp. 11. 2012.
S. Lapapong, A. Brown, K. Swanson and S. Brennan "Zero-Moment Point Determination of Worst Case Maneuvers Leading to Vehicle Wheel Lift," International Journal of Vehicle System Dynamics. Vol. 50, p. 191-214. 2012. [PDF]
K. Jerath and S. Brennan "Analytical Prediction of Self-Organized Traffic Jams as a Function of Increasing ACC Penetration." IEEE Transactions on Intelligent Transportation Systems, Vol. 13, No. 4, p. 1782-1791, Dec. 2012. http://dx.doi.org/10.1109/TITS.2012.2217742 [PDF]
D. Logan, J. Pentzer, S. Brennan, and K. Reichard "Comparing Batteries to Generators as Power Sources for Use with Mobile Robotics", Journal of Power Sources, Volume 212, p. 130-138, 15 Aug 2012. http://dx.doi.org/10.1016/j.jpowsour.2012.03.041 . [PDF]
T. Varunjikar, P. Vemulapalli, and S. Brennan. "Multi-body Vehicle Dynamics Simulation Based on Measured 3D Terrain Data." Transportation Research - Part C. 17 pages. Accepted...in final submission.
K. Jerath and S. Brennan "GPS-Free Terrain-based Vehicle Tracking on Road Networks", Proceedings of the American Control Conference, June 27-29, Montreal, Canada. p. 307-311. 2012. [PDF]
M. Montenbruck and S. Brennan "Monitoring Delayed Systems Using the Smith Predictor", Proceedings of the American Control Conference, June 27-29, Montreal, Canada. p. 6235 - 6239. 2012. [PDF]
J. Pentzer and S. Brennan "Investigation of the Effect of Continuously Variable Transmissions on Ground Robot Powertrain Efficiency", Proceedings of the American Control Conference, June 27-29, Montreal, Canada. p. 4245 - 4250. 2012. [PDF]
P. Vemulapalli, V. Monga, and S. Brennan "Optimally Robust Extrema Filters for Time Series Data", Proceedings of the American Control Conference, June 27-29, Montreal, Canada. p. 2189 - 2195. 2012. [PDF]
E. Laftchiev, C. Lagoa, and S. Brennan "Terrain-Based Vehicle Localization from Real-Time Data Using Dynamical Models", Proceedings of the College of Engineering Research Symposium, April, State College, PA, USA, 2012 [PDF] .
E. Laftchiev, C. Lagoa, and S. Brennan "Terrain-Based Vehicle Localization from Real-Time Data Using Dynamical Models", Proceedings of the IEEE Conference on Decision and Control, December 10-13, Maui, HI, USA, p. 3366-3371, 2012. http://dx.doi.org/10.1109/CDC.2012.6426351 . [PDF]
A. Whalen, S. Brennan, T. Sauer, and S. Schiff "Observability of Neuronal Network Motifs", IEEE Conference on Information Science and Systems, 21-23 March, Princeton, NJ, p. 1-5, 2012. [PDF]
P. Vemulapalli, G. Ledva, S. Brennan and K. Reichard "Pattern Matching of In-vehicle Acceleration Time-series Data", Proceedings of the Dynamic Systems and Control Conference, Paper 8758. October 17-19, Ft. Lauderdale, FL, USA. 2012. [PDF]
M. Barnes and S. Brennan "Simulation, Design, and Verification of an Electrified Bicycle Energy Model", Proceedings of the Dynamic Systems and Control Conference, Paper 8766. October 17-19, Ft. Lauderdale, FL, USA. 2012. [PDF]
A. Brown and S. Brennan "Model-based Vehicle State Estimation Using Previewed Road Geometry and Noisy Sensors", Proceedings of the Dynamic Systems and Control Conference, Paper 8762, October 17-19, 2012, Ft. Lauderdale, FL, USA. 2012. [PDF]
T. Simpson, A. Bobuk, L. Slingerland, S. Brennan, D. Logan, and K. Reichard. "From user requirements to commonality specifi�cations: an integrated approach to product family design." Res. Eng Design. Vol 23. P. 141-153. 2012. [PDF]
T. Simpson, K. Reichard, and S. Brennan, "An Integrated Approach to Platform-based Engineering with Application to a Family of Unmanned Ground Vehicles," Proceedings of the Systems 2020 Conference. 2011.
A. Dean, R. Martini and S. Brennan "Terrain-based Road Vehicle Localization using Particle Filters", Vehicle System Dynamics, vol. 49, no. 8, 2011, pp. 1209-1223. http://dx.doi.org/10.1080/00423114.2010.493218 [PDF]
S. Lapapong and S. Brennan "A Novel Comparative Approach to Evaluate Vehicle Rollover Propensity", 22nd International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD 2011), Manchester, UK, August, 2011 [PDF]
P. Vemulapalli, A. Dean, and S. Brennan. "Pitch-based Vehicle Localization using Time Series Subsequence Matching with Multi-scale Extrema Features", Proceedings of the 2011 American Control Conference, June 29-July 01, San Francisco. [PDF]
A. Brown and S. Brennan "Measuring Vehicle Roll, Tire Camber, and Camber Coefficient Using LIDAR", 22nd International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD 2011), Manchester, UK, August, 2011 [PDF]
A. Brown, S. Lapapong, K. Swanson and S. Brennan "Modeling of Planar Vehicle Dynamics During Gradual Tire Deflation", 22nd International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD 2011), Manchester, UK, August, 2011 [PDF]
T. Varunjikar, P. Vemulapalli, and S. Brennan. "Multi-body Vehicle Dynamics Simulation Based on Measured 3D Terrain Data", 3rd International Conference on Road Safety and Simulation, September 14-16, 2011, Indianapolis, USA [PDF]
S. Lapapong, A. Brown and S. Brennan "Frequency Characteristics and Explanation of Notches Seen in Frequency Responses of Vehicles ", 2nd TSME International Conference on Mechanical Engineering, Krabi, Thailand, October 19-21, 2011 [PDF]
S. Kadetotad, P. Vemulapalli and S. Brennan "Terrain-aided Localization using Feature-based Particle Filtering ", Dynamic Systems and Control Conference, October 31- November 03, 2011, Arlington, VA, USA [PDF]
K. Jerath and S. Brennan "GPS-Free Terrain-based Vehicle Tracking Performance as a Function of Inertial Sensor Characteristics", Dynamic Systems and Control Conference, October 31- November 03, 2011, Arlington, VA, USA [PDF]
T.W. Simpson, S. Brennan, L.A. Slingerland, A. Bobuk, D. Logan and K. Reichard. "From User Requirements to Commonality Specifications: An Integrated Approach to Product Family Design", Proceedings of the 13th AIAA/ISSMO Multidisciplinary Analysis and Optimization Conference, Fort Worth, TX, AIAA, AIAA 2010-9173, 2010. [PDF]
A. Dean, J. Langelaan and S. Brennan. "Improvements in Terrain-Based Road Vehicle Localization By Initializing an Unscented Kalman Filter Using Particle Filters", Proceedings of the American Control Conference 2010, Baltimore, MD, June 30-July 02, 2010. [PDF]
J. Yutko, K. Jerath, and S. Brennan. "A Failure Rate Analysis of Complex Vehicles", International Journal of Heavy Vehicle Systems, vol. 17, no. 1, pp. 76-98, 2010. [PDF]
S. Lapapong, A. Brown and S. Brennan. "Experimental Validation of Terrain-Aware Rollover Prediction for Ground Vehicles Using the Zero-Moment Point Method", Proceedings of the 10th International Symposium on Advanced Vehicle Control, Loughborough, UK, August 22-26, 2010. [PDF]
K. Jerath and S. Brennan. "Adaptive Cruise Control: Towards Higher Traffic Flows, at the Cost of Increased Susceptibility to Congestion", Proceedings of the 10th International Symposium on Advanced Vehicle Control, Loughborough, UK, August 22-26, 2010. [PDF]
S. Lapapong, and S. Brennan. "Terrain-aware Rollover Prediction for Ground Vehicles Using the Zero-Moment Point Method", Proceedings of the American Control Conference 2010, Baltimore, MD, June 30-July 02, 2010. [PDF]
J. Stine, B. Hamblin, S. Brennan, and E. Donnell. "Analyzing the influence of median cross-section design on highway safety using vehicle dynamics simulations ", Accident Analysis and Prevention Volume 42, Issue 6, pp. 1769-1777, 2010. [PDF]
M. Petersheim and S. Brennan. "Scaling of hybrid-electric vehicle powertrain components for Hardware-in-the-loop simulation", Mechatronics, vol. 19, no. 7, pp. 1078-1090, 2009. [PDF]
C. Rogan, J. Anstrom, S. Brennan. "Power and Energy Management for Heavy Tactical Vehicles." 2009 Joint Service Power Expo. May 2009, New Orleans.
P. Vemulapalli and S. Brennan, "Design and Testing of a Terrain Mapping System for Median Slope Measurement", Proceedings of the Transportation Research Board of the National Academy of Science, January 2009. [PDF]
A. Dean and S. Brennan. "Terrain-Based Road Vehicle Localization on Multi-Lane Highways." Proceedings of the 2009 American Control Conference, St. Louis, MO, USA, June 10-12, 2009. Pg 707-712. [PDF]
S. Lapapong, V. Gupta, E. Callejas, and S. Brennan. “Fidelity of using scaled vehicles for chassis dynamic studies.” Vehicle System Dynamics, vol. 47, no. 11, pp. 1401-1437, November 2009. [PDF]
M. Peterscheim, S. Brennan, C. LaJambe, and F. Brown, "Important visual cues for driver speed perception in virtual driving environments," Proceedings of the 4th International Conference on Traffic & Transport Psychology (ICTTP). 2008.
K. Reichard, T. Simpson, C. Rogan, J. Merenich, and S. Brennan, "Design and Development of a Family of Explosive Ordinance Disposal (EOD) Robots, Proceeings of the 2008 SPIE European Defense and Security Conference. 2008.
A. Dean, R. Martini, and S. Brennan. "Terrain-Based Road Vehicle Localization Using Particle Filters." Proceedings of the 2008 American Control Conference, Seattle, WA, Jun. 11-13, 2008, pg 236-241. [PDF]
A. Dean, P. Vemulapalli, and S. Brennan. "Highway Evaluation of Terrain-Aided Localization Using Particle Filters." Proceedings of the 2008 ASME Dynamic Systems and Control Conference, Ann Arbor, MI, Oct. 20-22, 2008. [PDF]
H. Hailu and S. Brennan. "Reduction in the number of Gain-Scheduling Parameters Using Dimensional Transformations", ASME Transactions on Dynamic Systems, Measurement, and Control, vol. 130, no. 3, May 2008. [PDF]
A. Dean and S. Brennan, "A Low-order Dynamic Model of a Tracked Robot Inclusive of Nonlinear Slip." International Journal of Heavy Vehicle Systems vol. 15, no. 2/3/4, pg. 327-355, 2008. [PDF]
V. Mehta, F. Gandhi, and S. Brennan. "Experimentally Verified Optimal Serpentine Gait and Hyper-Redundancy of a Rigid-Link Snake Robot." IEEE Transactions on Robotics and Automation, vol. 24, no. 2, pg. 348-360, 2008. [PDF]
V. Gupta and S. Brennan. "Terrain-based vehicle orientation estimation combining vision and inertial measurements." Journal of Field Robotics vol. 25, no. 3, pg. 181-202, 2008. [PDF]
V. Gupta and S. Brennan, "Vehicle State Estimation Using Vision and Inertial Measurements," Journal of Field Robotics, Vol 3, 31 pages. 2008. (First author supervised by candidate) (peer reviewed) [PDF]
V. Gupta and S. Brennan, "Vehicle State Estimation using Vision and Inertial Measurements," Fifth IFAC Symposium on Advances in Automotive Control. Aug. 19-22. Monterey Coast, CA. [PDF]
S. Brennan, J. Buckland, U. Christen, K. Fischbach, I. Haskara,and I. Kolmanovsky. "Editorial: Special Issue on Control Applications in Automotive Engineering." IEEE Transactions on Control Systems Technology,vol. 13, no. 3, pg. 403-405, 2007. [PDF]
S. Brennan. "Mechatronics and Systems Instruction Across Graduate, Undergraduate, and Research Applications Using Rapidly Reconfigurable Hardware." 2007 ASEE Annual Conference and Exhibition. Oahu Hawaii, 2007. [PDF]
B. Hamblin and S. Brennan. "Lessons Learned from Matching Experimental Data to Low-Order Models of Vehicle Behavior." 2007 ASME IMECE, New York, NY. Paper Number IMECE2007-42202. [PDF]
B. Hamblin and S. Brennan. "Utilization of Vehicle Dynamic Simulations as Predictors of Highway Safety." 2007 ASME IMECE, New York, NY. Paper Number IMECE2007-42195. [PDF]
M. D. Petersheim, S. P. Clewell, S. N. Brennan, C. M. LaJambe, M. El-Gindy, and F. M. Brown, 2006, "Development of a Driving Simulator for Human-Vehicle Interaction Studies," Proceedings of the 9th International Symposium on Heavy Vehicles, Weights, & Dimensions University Park, PA, June 18th-22nd, 2006, pg 121-130. [PDF]
H. Hailu and S. Brennan. "The Vehicle Autopilot: Simultaneous Robust Control Through Parametric Adaptation," ASME IMECE Chicago, IL, 2006. [PDF]
B. Hamblin, R. Martini, J. Cameron, S. Brennan, "Low-Order Modeling of Vehicle Roll Dynamics." Proceedings of the 2006 American Control Conference, pg 4008-4015. [PDF]
J. Cameron, S. Brennan, "A Comparative, Experimental Study of Model Suitability to Describe Vehicle Rollover Dynamics for Control Design." Proceedings of the 2005 ASME IMECE, Dynamic Systems and Control Division, 2005, pg 405-414. [PDF]
H. Hailu, S. Brennan, "Simplifying Robust Control Designs of Parametric Uncertain Systems Using Dimensional Transformations." Proceedings of the 2005 ASME IMECE, Dynamic Systems and Control Division, 2005, pg 77-83. [PDF]
A. Nirakh, S. Brennan, and F. Gandhi, "An Implicit Model for Snake Robot Locomotion and Gait Optimization," Proceedings of the 2005 ASME IMECE, Orlando, FL, November, 2005. [PDF]
H. Hailu, S. Brennan, "Use of Dimensional Analysis to Reduce the Parametric Space for Gain-Scheduling." Proceedings of the 2005 American Control Conference, pg 589-603. [PDF]
S. Brennan, and A. Alleyne, "Dimensionless Robust Control With Application to Vehicles," IEEE Transactions on Control Systems Technology vol. 13, no. 4, pg. 624-630, April, 2005. [PDF]
J. Cameron and S. Brennan, "Low Cost Vehicle Guidance and Automation Strategies for Crash Testing; A Vehicle Dynamics Analysis," 7th Annual PTI Transportation Conference. 2004.
S. Brennan and A. Alleyne. "Real-time identification of vehicle chassis dynamics using a novel reparameterization based on sensitivity invariance." International Journal of Adaptive Control and Signal Processing, vol. 18, no. 2, pg. 103-123, March, 2004. [PDF]
C. Robinson, D. Block, S. Brennan, F. Bullo, and J. Cortes. "Nonsmooth analysis and sonar-based implementation of distributed coordination algorithms." Proceedings of the 2004 IEEE Conference on Robotics and Automation, New Orleans, April, 2004. [PDF]
E. Ozatay, B. Zile, J. Anstrom, and S. Brennan. "Power Distribution Control Coordinating Ultracapacitors and Batteries for Electric Vehicles." Proceedings of the 2004 American Control Conference, Boston, MA, June 30 - July 2, 2004. [PDF]
S. Brennan, "Similarity Conditions for Comparing Closed-Loop Vehicle Roll and Pitch Dynamics." Proceedings of the 2004 American Control Conference, Boston, MA, June 30 - July 2, 2004. [PDF]
S. Brennan and A. Alleyne. "Generalized H-infinity Vehicle Control Utilizing Dimensional Analysis." Proceedings of the 2003 American Control Conference, Denver, Colorado, pg. 3774--3780, June 4--6, 2003. [PDF]
S. Brennan. "Dimensionless Sensitivity Methods for the Identification of Vehicle Chassis Dynamics." Proceedings of the 2003 ASME IMECE, November, 2003. [PDF]
A. Alleyne, S. Brennan, B. Rasmussen, R. Zhang, and Y. Zhang. "Controls and experiments: lessons learned." IEEE Control Systems Magazine, vol. 23, no. 5, pg. 20--34, October, 2003. [PDF]
S. Brennan and A. Alleyne. "H-infinity vehicle control using non dimensional perturbation measures." Proceedings of the 2002 American Control Conference, Anchorage, Alaska, pg. 2534--2539, May, 2002. [PDF]
S. Brennan and A. Alleyne. "Integrated Vehicle Control via Coordinated Steering and Wheel Torque Inputs" Proceedings of the American Control Conference, Arlington, VA, pg. 7-12, June 25-27, 2001. [PDF]
S. Brennan and A. Alleyne. "Robust Scalable Vehicle Control Via Non-dimensional Vehicle Dynamics." Vehicle System Dynamics, vol. 36, no. 4-5, pg. 255-278, Nov., 2001. [PDF]
S. Brennan and A. Alleyne. "Using a Scale Testbed: Controller Design and Evaluation." IEEE Control Systems Magazine, vol. 21, no. 3, pg. 15-26, June, 2001. [PDF]
S. Brennan and A. Alleyne. "The Illinois Roadway Simulator: A Mechatronic Testbed for Vehicle Dynamics and Control." IEEE/ASME Transactions on Mechatronic Systems, vol. 5, no. 4, 2000. [PDF]
S. Brennan and A. Alleyne. "Robust stabilization of a generalized vehicle, a nondimensional approach." Proceedings of the 5th International Symposium on Advanced Vehicle Control (AVEC), Ann-Arbor, Michigan, August 22-24, 2000. [PDF]
S. Brennan and A. Alleyne. "Driver assisted yaw rate control." Proceedings of the 1999 American Controls Conference, San Diego, CA, pg. 1679-1704, June 2--4, 1999. [PDF]
S. Brennan and A. Alleyne. "A scaled testbed for vehicle control: the IRS." IEEE International Conference on Control Applications, Kohala Coast, Hawaii, pg. 327-332, August 22-27, 1999. [PDF]
M. DePoorter, S. Brennan, and A. Alleyne. "Driver Assisted Control Strategies: Theory and Experiment." Proceedings of the 1998 ASME International Mechanical Engineering Congress and Exposition, Anaheim, CA, 1998. [PDF]
S. Brennan, M. DePoorter, and A. Alleyne. "The Illinois roadway simulator - a hardware-in-the-loop testbed for vehicle dynamics and control." Proceedings of the 1998 American Control Conference, Philadelphia, PA, pg. 493-497, June, 1998. [PDF]
M. Lieberman, C. Bragg, and S. Brennan. "Determining Gravimetric Bark Content in Cotton with Machine Vision." Textile Research Journal, vol. 68, no. 2, Feb., 1998. [PDF]
N. Aukland, H. Hardee, A. Wehr, S. Brennan, and P. Lees. "An Examination of the Metallic Bonding of a Clad Material and Two Gold Plating Systems under Constant Force Fretting Conditions." Proceedings of the IEEE-HCEC, Seattle, 1997. [PDF]
Stankiewicz, Paul; "Vehicle Control for Collision Avoidance and Rollover Prevention using the Zero-Moment Point", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, May 2015. [PDF]
Laftchiev, Emil; "Robust Dynamical Model-based Data Representations and Structuring of Time Series Data for In-Sequence Localization", Ph.D. Thesis, Mechanical Engineering, The Pennsylvania State University, December 2014. [PDF]
Pentzer, Jesse; "Utilization of ICR Kinematics in Estimation, Control, and Energy-Aware Mission Planning for Skid-Steer Vehicles", Ph.D. Thesis, Mechanical Engineering, The Pennsylvania State University, December 2014. [PDF]
Jerath, Kshitij; "Influential Subspaces in Self-Organizing Multi-agent Systems", Ph.D. Thesis, Mechanical Engineering, The Pennsylvania State University, December 2014. [PDF]
Jerath, Kshitij; "Sensor Noise Modeling, Characterization and Simulation: An Allan Variance Tutorial", M.S. Thesis, Electrical Engineering, The Pennsylvania State University, December 2014.
Hoskins, Sam; "Small-Scale Evaluation of Engineered Anti-ram Rock Barrier Systems in Cohensionless Soil", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, December 2014. [PDF]
Dorris, James "Ted"; "Automated Docking of a Small-Scale Tractor-Trailer Using an Infrastructure-Based System", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2014.
Corbin, David; "Road-side Obstacle Detection and Threat Assessment", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2014. [PDF]
Briggs, Katie; "A Coupled Mobile Base Manipulation System for Robotic Refueling", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2014. [PDF]
Fernando, Raveen; "Motorized Testbed for Automated RC Vehicle Control", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2014. [PDF]
Crimboli, Adam; "Development of Ground Robot Validation Methods and Studies in Operator and Terrain Variability For NIST Test Methods", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2014. [PDF]
Mangus, Anthony; “Robust Vehicle Localization Using GPS, In-Vehicle Camera, Magnetic Guidance and Kalman Filtering", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, December 2013. [PDF]
Barnes, Matt; “Autonomous Wheelchair Control", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2013. [PDF]
Brown, Alex; “Model-based Inclusion of Previewed Information for Lateral Vehicle State and Environment Estimation”, Ph.D. Thesis, Mechanical Engineering, The Pennsylvania State University, Aug 2013. [PDF]
Leary, Robert; “Occlusion Detection in a Driving Scene By Registering Forward-looking Camera Images to a Rendered Map”, B.S. Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2013. [PDF]
Liang, Xiaoming; “Active Suspension for V2V and V2I Learning of Road Comfort”, Honors Thesis, Earth and Mineral Sciences, The Pennsylvania State University, May 2013. [PDF]
Pangborn, Herschel; “Development and Applications of a Robot Tracking System for NIST Test Methods”, Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2013. [PDF]
Reigh, Kyle; “Simulation of a Vehicle Docking and Collision Avoidance System Using LIDAR-Based Object Tracking”, Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2013. [PDF]
Shipley, Jenny; “Semi-Autonomous Line Following for Domino Dispenser”, Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2013. [PDF]
Stankiewicz, Paul; “Vehicle Path Following and Rollover Prevention Using Previewed State Information”, Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2013. [PDF]
Swanson, Kevin; “Identification of Stability Thresholds in Time-Delayed Vehicle Teleoperation”; M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2013. [PDF]
Trevitz, Daniel; “Mechanical Design, Modeling, and Control of a Three Degree-of-Freedom Parallel Mechanism Implemented on a Quadruped Robot”, Honors Thesis, Earth and Mineral Science, The Pennsylvania State University, May 2013. [PDF]
Guo, Mengran; "LIDAR-Based Multi-Object Tracking System With Dynamic Modeling", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, December 2012 [PDF]
Moll, Miguel, "Control and Design of Power Systems and Embedded Control of DC Motors", M.S. Thesis, Institut Quimic de Sarria (thesis work at Penn State). August 2012. [PDF]
Sirera, Nick; “Preparation of LIDAR Point Cloud Data for use in a ROS/Gazebo Simulation Environment”, Honor's Thesis, Mechanical Engineering, The Pennsylvania State University, May 2012 [PDF]
Vemulapalli, Pramod; “Extrema Features for Global-Localization and Pattern Matching of Time-Series Data ", Ph.D. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2012 [PDF]
Keske, Mark; “Dynamics and Dimensional Similitude of Vehicle Impacts Upon Soil-Fixed Boulders in Cohesionless Soil”, M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2012 [PDF]
Yao, Wenqing; “LIDAR-Based Vehicle Tracking for Stopping Distance Measurement at Intersections”; M.S. Thesis, Ag & Bio Eng, The Pennsylvania State University, May 2012. [PDF]
Amin, Sanket; "Determining the Uncertainty of a GPS-based Vehicle Collision Detection System", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2011 [PDF]
Kadetotad, Sneha; "Terrain-aided Localization using Feature-based Particle Filtering", M.S. Thesis, Electrical Engineering, The Pennsylvania State University, May 2011 [PDF]
Varunjikar, Tejas; "Design of Horizontal Curves with Downgrades using Low-order Vehicle Dynamics Models", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, May 2011 [PDF]
Chen, Dave; "The Application of Delay Compensation to Hardware-in-the-Loop Battery Systems", Honor's Thesis, Mechanical Engineering, The Pennsylvania State University, May 2011 [PDF]
Cheng, Jenny; "Map-guided Power Chair Automation and Driver Assistance ", Honor's Thesis, Mechanical Engineering, The Pennsylvania State University, May 2011 [PDF]
Swanson, Kevin; "Development of Mechatronics Education System for Mechanical Engineers at Penn State University", Honor's Thesis, Mechanical Engineering, The Pennsylvania State University, May 2011 [PDF]
Montenbruck, Maximilian; "Monitoring Delayed Systems with Spatial Distribution in Presence of Real-time Requirements", Bachelor's Thesis, Mechanical Engineering, The Pennsylvania State University, January 2011 [PDF]
Troupe, Nathan; “Optimization of Steering Geometry For Ultra-High-Mileage Vehicles”, MS Paper, Mechanical Engineering, The Pennsylvania State University, August 2011. [PDF]
Filko, Brian; "Terrain Visualization and Human-Terrain Interaction Using an Immersive Driving Simulator", Honor's Thesis, Mechanical Engineering, The Pennsylvania State University, May 2011 [PDF]
Logan, Drew; "Optimization of Hybrid Power Sources for Mobile Robotics through the use of Allometric Design Principles and Dynamic Programming", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, December 2010 [PDF]
Lapapong, Sittikorn; "Vehicle Rollover Prediction for Banked Surfaces", Ph.D. Thesis, Mechanical Engineering, The Pennsylvania State University, November 2010 [PDF]
Sulewski, Tara; "Gate Retraining using "Smart Shoe" Device", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2010 [PDF]
Jerath, Kshitij; "Impact of Adaptive Cruise Control on the Formation of Self-organized Traffic Jams on Highways", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, May 2010 [PDF]
Chaves, Steve; "Using Kalman Filtering to Improve a Low-cost GPS-based Collision Warning System for Vehicle Convoys", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, May 2010 [PDF]
Stine, Jason; "Analyzing Highway Median Safety through Vehicle Dynamics Simulations", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2009 [PDF]
Singla, Joan; " Software Design for IGVC Competition", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2009 [PDF]
Gupta, Vishisht; "Vehicle Localization Using Low-accuracy GPS, IMU and Map-aided Vision", Ph.D. Thesis, Mechanical and Nuclear Engineering, The Pennsylvania State University, May 2009 [PDF]
Correll, Zachary; "Using Monte Carlo Methods for Robot Localization", Honors Thesis, Electrical Engineering and Mechanical Engineering, The Pennsylvania State University, May 2009 [PDF]
Mattes, Richard; "Intelligent Farming Using Modular Mobile Robots", Honors Thesis, Engineering Science and Mechanics, The Pennsylvania State University, May 2009 [PDF]
Owen, Trevor; "Design and Prototyping of a Robotic Research Vehicle to Investigate and Verify the Calculated Effect of Combined Locomotion and Serpentine Gait", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2009 [PDF]
Vemulapalli, Pramod; "Design and Testing of a Terrain Mapping System for Median Slope Measurement", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, December 2008 [PDF]
Dean, Adam; "Terrain-based Road Vehicle Localization using Attitude Measurements", Ph.D. Thesis, Mechanical Engineering, The Pennsylvania State University, October 2008 [PDF]
Petersheim, Michael; "Scaling of Hybrid-Electric Vehicle Powertrain Components for Hardware-in-the-Loop Simulation." M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, May 2008. [PDF]
Yutko, Joseph; "An Analysis of Complex Vehicle Reliability: A Systematic Failure Rate Approach." M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, May 2008. [PDF]
Chaves, Stephen; "Development of an Off-Road Ground Vehicle Platform for Teleoperation." Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2008. [PDF]
Yu, Nan; "Yaw-Control Enhancement for Buses by Active Front-Wheel Steering." Ph.D. Thesis, Mechanical Engineering, The Pennsylvania State University, May 2007. [PDF]
Hamblin, Bridget; "Vehicle Rollover Prediction from Low Order Dynamic Models or Varying Terrain Encountered During Median Traversal." M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2007. [PDF]
Lapapong, Sittikorn; "Vehicle Similitude Modeling and Validation of the Pennsylvania State University Rolling Roadway Simulator." M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, May 2007. [PDF]
Kaiserian, Dan; "Tractor-Trailer Instability Due to Liquid Slosh in a Partially Filled Tank." Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2007. [PDF]
Plank, Dennis; "Vehicle to Vehicle Comparison of Tire and Chassis Dynamics." Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2007. [PDF]
Weidner, Jon; "Tractor-Trailer Instability of Variably Loaded Container Trucks." Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2007. [PDF]
Cohen, Kevin M.; "A Comparative Analysis of Static and Dynamic Transit Bus Rollover Testing Using Computer Simulation.", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2006. [PDF]
Glumac, Andrew T.; "Scale Tire Modeling and Experimentation on a Rolling Roadway Simulator.", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2006. [PDF]
Hailu, Haftay; "Dimensional Transformation: A Novel Method for Gain-Scheduling and Robust Control.", Ph.D. Thesis, Mechanical and Nuclear Engineering, The Pennsylvania State University, May 2006. [PDF]
Kowalczyk, Janine M. "Scaled Vehicle Testing of Control Algorithms to Prevent Vehicle Rollover.", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, December 2006. [PDF]
Martini, Ryan D., "GPS/INS Sensing Coordination for Vehicle State Identification and Road Grade Positioning.", M.S. Thesis, Mechanical and Nuclear Engineering, The Pennsylvania State University, Aug 2006. [PDF]
Cameron, John T. "Vehicle Dynamic Modeling for the Prediction and Prevention of Vehicle Rollover.", M.S. Thesis, Mechanical and Nuclear Engineering, The Pennsylvania State University, Dec 2005. [PDF]
Nirakh, Appa Rao. "Computational and Experimental Dynamics of a Snake Using Discrete and Continuum Models." M.S. Thesis, Aeronautical Engineering, The Pennsylvania State University, May 2005. [PDF]
Glumac, Andrew. "Scale Tire Modeling and Experimentation on a Rolling Roadway Simulator." Honor's Thesis, Mechanical Engineering, The Pennsylvania State University, May 2005. [PDF]
Bourne, Keith A., "Design, Construction, and Testing of an Instrumented Multi-Jointed Arm and Computer Software for Measurement and Visualization of 3D Coordinates on Large Objects.", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May, 2004. [PDF]
Brennan, Sean N. "On Size and Control: The Use of Dimensional Analysis in Controller Design." , Ph.D. Thesis, University of Illinois at Urbana-Champaign, Mechanical and Industrial Engineering, Dec. 2002. [PDF]
Brennan, Sean N.. "Modeling and Control Issues Associated with Scaled Vehicles." M.S. Thesis, Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, August, 1999. [PDF]
D. Torbic, M. O'Laughlin, D. Harwood, K Bauer, C. Bokenkroger, L. Lucas, J. Ronchetto, S. Brennan, E. Donnell, A. Brown, T. Varunjikar, "Superelevation Criteria for Sharp Horizontal Curves on Steep Grades," National Cooperative Highway Research Program (NCHRP), Report 774, 2014. [PDF]
