Grants per year
Personal profile
Research Interests
Professor Murphey's research focuses on computational methods in data-driven control, information theory in physical systems, and embodied intelligence. Example projects include robotic exploration using electrosense, robotic exploration using mechanical contact, human-in-the-loop control, and shared control for rehabilitation/assistive devices.
Education/Academic qualification
Control and Dynamical Systems, PhD, California Institute of Technology
… → 2002
Mathematics, BS, University of Arizona
Research interests
- Modeling and control of complex mechanisms
- Puppets
- Robotics
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Grants
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Complete Fog of Force Control Using Swarms
Defense Advanced Research Projects Agency (DARPA)
3/31/20 → 9/30/21
Project: Research project
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Formal Foundations of Algorithmic Matter and Emergent Computation
Georgia Institute of Technology, Army Research Office
7/1/19 → 6/30/26
Project: Research project
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CPS: Medium: Information based Control of Cyber-Physical Systems operating in uncertain environments
Argall, B. D. & Murphey, T. D.
9/15/18 → 8/31/21
Project: Research project
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RI: Small: Collaborative Research: Information-driven Autonomous Exploration in Uncertain Underwater Environments
9/1/17 → 8/31/21
Project: Research project
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Stability and Optimality Properties of Sequential Action Control for Nonlinear and Hybrid Systems
8/1/17 → 7/31/21
Project: Research project
Research Output
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Control-oriented modeling of soft robotic swimmer with koopman operators
Castano, M. L., Hess, A., Mamakoukas, G., Gao, T., Murphey, T. & Tan, X., Jul 2020, 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020. Institute of Electrical and Electronics Engineers Inc., p. 1679-1685 7 p. 9159033. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; vol. 2020-July).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
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Cpl-slam: Efficient and certifiably correct planar graph-based slam using the complex number representation
Fan, T., Wang, H., Rubenstein, M. & Murphey, T., Dec 2020, In: IEEE Transactions on Robotics. 36, 6, p. 1719-1737 19 p., 9143200.Research output: Contribution to journal › Article › peer-review
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Data-driven Koopman operators for model-based shared control of human–machine systems
Broad, A., Abraham, I., Murphey, T. & Argall, B., Aug 1 2020, In: International Journal of Robotics Research. 39, 9, p. 1178-1195 18 p.Research output: Contribution to journal › Article › peer-review
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Experimental applications of the koopman operator in active learning for control
Berrueta, T. A., Abraham, I. & Murphey, T., Jan 1 2020, Lecture Notes in Control and Information Sciences. Springer, p. 421-450 30 p. (Lecture Notes in Control and Information Sciences; vol. 484).Research output: Chapter in Book/Report/Conference proceeding › Chapter
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Model-Based Generalization under Parameter Uncertainty Using Path Integral Control
Abraham, I., Handa, A., Ratliff, N., Lowrey, K., Murphey, T. D. & Fox, D., Apr 2020, In: IEEE Robotics and Automation Letters. 5, 2, p. 2864-2871 8 p., 8988215.Research output: Contribution to journal › Article › peer-review
2 Scopus citations