Publications

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2026
Environment-aware learning of smooth GNSS covariance dynamics for autonomous racing
Y. Deemo Chen, Arion Zimermann, Thomas A. Berrueta, Soon-Jo Chung, Fred Y. Hadaegh
IEEE International Conference on Robotics and Automation (ICRA), 2026
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Online adaptive learning for robust LiDAR perception for high-performance autonomous racing
Raphael Blanchard, Haeyoon Han, Thomas A. Berrueta, Soon-Jo Chung
IEEE International Conference on Robotics and Automation (ICRA) Workshop, 2026
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2025
Active learning of tire parameters for high-speed autonomous racing
Thomas A. Berrueta, Nikhil Ranganathan, Soon-Jo Chung
Robotics: Science and Systems Workshop on Resource Constrained Robotics, 2025
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Real-time learning based planning for autonomous rendezvous in space with actuator loss of effectiveness
Satvik G. Kumar, Joshua Ibrahim, Thomas A. Berrueta, Soon-Jo Chung, Fred Y. Hadaegh
AAS Guidance, Navigation & Control (GNC), 2025
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Physical State Exploration for Reinforcement Learning from Scratch
Allison Pinosky, Thomas A. Berrueta, Olivia Li, Todd D. Murphey
IEEE International Conference on Automation Science and Engineering (CASE), 2025
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2024
Maximum diffusion reinforcement learning
Thomas A. Berrueta, Allison Pinosky, Todd D. Murphey
Nature Machine Intelligence, vol. 6, pp. 504–514, 2024
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Safe Coverage for Heterogeneous Systems With Limited Connectivity
Annalisa T. Taylor, Thomas A. Berrueta, Allison Pinosky, Todd D. Murphey
IEEE Robotics and Automation Letters, vol. 9, no. 10, pp. 8866–8873, 2024
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Materializing Autonomy in Soft Robots across Scales
Thomas A. Berrueta, Todd D. Murphey, Ryan L. Truby
Advanced Intelligent Systems, vol. 6, no. 2, 2024
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2022
Emergent mechanism design via robot swarms
Annalisa Taylor, Thomas A. Berrueta, Todd D. Murphey
Robotics: Science and Systems, 2022
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Emergent microrobotic oscillators via asymmetry-induced order
Jing Fan Yang, Thomas A. Berrueta, Allan M. Brooks, Albert T. Liu, Ge Zhang, David Gonzalez-Medrano, Sungyun Yang, Volodymyr B. Koman, Pavel Chvykov, Lexy N. LeMar, Marc Z. Miskin, Todd D. Murphey, Michael S. Strano
Nature Communications, vol. 13, no. 5734, 2022
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Memristor circuits for colloidal robotics: Temporal access to memory, sensing, and actuation
Jing Fan Yang, Albert T. Liu, Thomas A. Berrueta, Ge Zhang, Allan M. Brooks, Volodymyr B. Koman, Sungyun Yang, Xun Gong, Todd D. Murphey, Michael S. Strano
Advanced Intelligent Systems, vol. 4, no. 4, 2022
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Emergent beating in colloidal matter: Stabilization via symmetry breaking
Thomas A. Berrueta, Jing Fan Yang, Allan M. Brooks, Albert T. Liu, Michael S. Strano, Todd D. Murphey
Bulletin of the American Physical Society, 2022
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2021
Low rattling: A predictive principle for self-organization in active collectives
Pavel Chvykov, Thomas A. Berrueta, Akash Vardhan, William Savoie, Alexander Samland, Todd D. Murphey, Kurt Wiesenfeld, Daniel I. Goldman, Jeremy L. England
Science, vol. 371, no. 6524, pp. 90–95, 2021
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Active learning in robotics: A review of control principles
Annalisa T. Taylor, Thomas A. Berrueta, Todd D. Murphey
Mechatronics, vol. 77, 2021
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Optimizing the locomotion of a robotic active matter system of smarticles
Annalisa Taylor, Thomas A. Berrueta, Todd D. Murphey
Bulletin of the American Physical Society, 2021
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2020
Information Requirements of Collision-Based Micromanipulation
Thomas A. Berrueta, Alexandra Q. Nilles, Ana Pervan, Todd D. Murphey, Steven M. LaValle
Workshop on the Algorithmic Foundations of Robotics (WAFR), 2020
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Corralling active Brownian particles with “active billiard” particles
Alexandra Q. Nilles, Ana Pervan, Thomas A. Berrueta, Todd D. Murphey
Bulletin of the American Physical Society, 2020
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2019
A robot made of robots: Emergent transport and control of a smarticle ensemble
William Savoie, Thomas A. Berrueta, Zachary Jackson, Ana Pervan, Ross Warkentin, Shengkai Li, Todd D. Murphey, Kurt Wiesenfeld, Daniel I. Goldman
Science Robotics, vol. 4, no. 34, 2019
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Dynamical System Segmentation for Information Measures in Motion
Thomas A. Berrueta, Ana Pervan, Kathleen Fitzsimons, Todd D. Murphey
IEEE Robotics and Automation Letters, vol. 4, no. 1, pp. 169–176, 2019
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Towards robust motion planning for synthetic cells in a circulatory system
Thomas A. Berrueta, Ana Pervan, Todd D. Murphey
Robotics: Science and Systems, 2019
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Data-driven gait segmentation for walking assistance in a lower-limb assistive device
Aleksandra Kalinowska, Thomas A. Berrueta, Adam Zoss, Todd D. Murphey
IEEE International Conference on Robotics and Automation (ICRA), pp. 1390–1396, 2019
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