• 1029 Citations
  • 16 h-Index
19972020

Research output per year

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Research Output

2020

At what cost? How planned collisions with pedestrians may save lives

Robinson, M. D., Beal, C. E. & Brennan, S. N., Jun 2020, In : Accident Analysis and Prevention. 141, 105492.

Research output: Contribution to journalArticle

Energy-Aware Path Planning for Skid-Steer Robots Operating on Hilly Terrain

Gruning, V., Pentzer, J. L., Brennan, S. & Reichard, K., Jul 2020, 2020 American Control Conference, ACC 2020. Institute of Electrical and Electronics Engineers Inc., p. 2094-2099 6 p. 9147470. (Proceedings of the American Control Conference; vol. 2020-July).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Increasing Efficiency of Grid Free Path Planning by Bounding the Search Region

Tau, S., Brennan, S., Reichard, K., Pentzer, J. L. & Gorsich, D., Jul 2020, 2020 American Control Conference, ACC 2020. Institute of Electrical and Electronics Engineers Inc., p. 150-155 6 p. 9147228. (Proceedings of the American Control Conference; vol. 2020-July).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Modeling and friction estimation for automotive steering torque at very low speeds

Beal, C. E. & Brennan, S., Jan 1 2020, (Accepted/In press) In : Vehicle System Dynamics.

Research output: Contribution to journalArticle

RADARODO: Ego-Motion Estimation from Doppler and Spatial Data in RADAR Images

Monaco, C. D. & Brennan, S., 2020, (Accepted/In press) In : IEEE Transactions on Intelligent Vehicles.

Research output: Contribution to journalArticle

2019

Analyzing the effects of geometric lane constraints on radar-based sensing of available vehicle headway using mapped lane geometry and camera registration of lane position

Varadarajan, K., Leary, R., Pelletier, E., Wahba, M. & Brennan, S., Jan 1 2019, Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing. American Society of Mechanical Engineers (ASME), V001T01A005. (ASME 2019 Dynamic Systems and Control Conference, DSCC 2019; vol. 1).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

An examination of vehicle spacing to reduce aerodynamic drag in truck platoons

Vohra, V., Wahba, M., Akarslan, G., Ni, R. & Brennan, S., Jan 7 2019, 2018 IEEE Vehicle Power and Propulsion Conference, VPPC 2018 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 8604977. (2018 IEEE Vehicle Power and Propulsion Conference, VPPC 2018 - Proceedings).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Diesel engine characterization and performance scaling via brake specific fuel consumption map dimensional analysis

Pelletier, E. & Brennan, S., Jan 1 2019, Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations: Modeling, Analysis, and Control. American Society of Mechanical Engineers (ASME), (ASME 2019 Dynamic Systems and Control Conference, DSCC 2019; vol. 2).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Real-time path-based fusion of spatial databases with temporal control inputs for assistive operation of wheelchairs

Wolkowicz, K. L., Leary, R. D., Moore, J. Z. & Brennan, S. N., Jan 1 2019, Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing. American Society of Mechanical Engineers (ASME), V001T05A009. (ASME 2019 Dynamic Systems and Control Conference, DSCC 2019; vol. 1).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Statistical determination of decision-making regions for branching paths: An algorithm with a wheelchair assistance application

Wolkowicz, K. L., Leary, R. D., Moore, J. Z. & Brennan, S. N., Jan 1 2019, Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing. American Society of Mechanical Engineers (ASME), V001T05A008. (ASME 2019 Dynamic Systems and Control Conference, DSCC 2019; vol. 1).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations
2018
5 Scopus citations

Change propagation during prototyping: A case study of a robotic inspection system for dry nuclear waste storage casks

Bracken, J., Brennan, S., Lissenden, C., Simpson, T. W., Van Sant, I., Reichard, K. & Ng, M., Jan 1 2018, 30th International Conference on Design Theory and Methodology. American Society of Mechanical Engineers (ASME), (Proceedings of the ASME Design Engineering Technical Conference; vol. 7).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Discriminating spatial intent from noisy joystick signals for wheelchair path planning and guidance

Wolkowicz, K. L., Leary, R. D., Moore, J. Z. & Brennan, S. N., Jan 1 2018, Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control. American Society of Mechanical Engineers (ASME), (ASME 2018 Dynamic Systems and Control Conference, DSCC 2018; vol. 3).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Doppler Velocity Log Placement Effects on Autonomous Underwater Vehicle Navigation Accuracy

Monaco, C. D., Brennan, S. N. & Hacker, K. A., Nov 2018, AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings. Institute of Electrical and Electronics Engineers Inc., 8729737. (AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ego-Motion Estimate Corruption Due to Violations of the Range Flow Constraint

Monaco, C. D. & Brennan, S. N., Dec 27 2018, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., p. 3964-3969 6 p. 8594131. (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Extracting Geometric Road Centerline and Lane Edges from Single-Scan LiDAR Intensity Using Optimally Filtered Extrema Features

Leary, R. D. & Brennan, S. N., Oct 26 2018, 2018 IEEE Conference on Control Technology and Applications, CCTA 2018. Institute of Electrical and Electronics Engineers Inc., p. 1133-1138 6 p. 8511347. (2018 IEEE Conference on Control Technology and Applications, CCTA 2018).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Mechanical performance analysis of ultem 9085 in a heated, irradiated environment

Ng, M. B. & Brennan, S. N., Jan 1 2018, Mechanics of Solids, Structures, and Fluids. American Society of Mechanical Engineers (ASME), (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); vol. 9).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Negative obstacle detection using LiDAr sensors for a robotic wheelchair

Baum, T. E., Chobot, J. P., Wolkowicz, K. L. & Brennan, S. N., Jan 1 2018, Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control. American Society of Mechanical Engineers (ASME), (ASME 2018 Dynamic Systems and Control Conference, DSCC 2018; vol. 3).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Nuclear storage cask inspection robotics as a case study in system design challenges

Bracken, J., Brennan, S. N., Van Sant, I., Lissenden, III, C. J. & Reichard, K. M., Jan 1 2018, Design, Reliability, Safety, and Risk. American Society of Mechanical Engineers (ASME), (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); vol. 13).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2017

Assessing perceptions and alerts of tractor instability

Lleras, N. O., Brennan, S. N., Murphy, D. J., Klena, J. M., Garvey, P. M. & Sommer, III, H. J., Jan 1 2017, In : Chemical Engineering Transactions. 58, p. 7-12 6 p.

Research output: Contribution to journalArticle

1 Scopus citations

Toward Robotic Inspection of Dry Storage Casks for Spent Nuclear Fuel

Lissenden, C. J., Choi, S., Cho, H., Motta, A., Hartig, K., Xiao, X., Le Berre, S., Brennan, S., Reichard, K., Leary, R., McNelly, B. & Jovanovic, I., Jun 1 2017, In : Journal of Pressure Vessel Technology, Transactions of the ASME. 139, 3, 031602.

Research output: Contribution to journalArticle

15 Scopus citations
2016

A ROS-simulink real-time communication bridge using UDP with a driver-in-the-loop application

Wahba, M., Leary, R., Ochoa-Lleras, N., Safi, J. & Brennan, S., Jan 1 2016, Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control. American Society of Mechanical Engineers, (ASME 2016 Dynamic Systems and Control Conference, DSCC 2016; vol. 2).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Characterizing successful robotic insertion and removal from a dry storage cask using peg-like jamming and wedging analysis

McNelly, B. P., Leary, R., Brennan, S. & Reichard, K., Jan 1 2016, Materials and Fabrication. American Society of Mechanical Engineers (ASME), (American Society of Mechanical Engineers, Pressure Vessels and Piping Division (Publication) PVP; vol. 6B-2016).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Development of an open-source tractor driving simulator for tractor stability tests

Lleras, N. O., Brennan, S., Murphy, D., Jennifer Klena, M., Garvey, P. M. & Sommer, H. J., Jan 1 2016, Journal of Agricultural Safety and Health, 22, 4, p. 227-246 20 p.

Research output: Contribution to specialist publicationArticle

5 Scopus citations

Development of robotic multisensor inspection system for used nuclear fuel canisters

Lissenden, C. J., Motta, A. T., Brennan, S., Reichard, K., Jovanovic, I., Knight, T. & Popovics, J., Jan 1 2016, In : Transactions of the American Nuclear Society. 115, p. 201-204 4 p.

Research output: Contribution to journalConference article

Effects of symmetry on the structural controllability of neural networks: A perspective

Whalen, A. J., Brennan, S. N., Sauer, T. D. & Schiff, S. J., Jul 28 2016, 2016 American Control Conference, ACC 2016. Institute of Electrical and Electronics Engineers Inc., p. 5785-5790 6 p. 7526576. (Proceedings of the American Control Conference; vol. 2016-July).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Energy-based path planning for skid-steer vehicles operating in areas with mixed surface types

Pentzer, J., Reichard, K. & Brennan, S., Jul 28 2016, 2016 American Control Conference, ACC 2016. Institute of Electrical and Electronics Engineers Inc., p. 2110-2115 6 p. 7525230. (Proceedings of the American Control Conference; vol. 2016-July).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Scopus citations

On-line estimation of wheelchair tire slip utilizing an instantaneous center of rotation extended kalman filter

Wolkowicz, K., Pentzer, J., Miller, C., Moore, J. Z. & Brennan, S. N., Jan 1 2016, Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation. American Society of Mechanical Engineers, (ASME 2016 Dynamic Systems and Control Conference, DSCC 2016; vol. 1).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Region of attraction for a vehicle pose estimator utilizing monocular vision and lane marker maps

Leary, R. D. & Brennan, S. N., Jan 1 2016, Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control. American Society of Mechanical Engineers, Vol. 2. p. 106DUMMY

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Robotic inspection of dry storage casks for spent nuclear fuel

Lissenden, C. J., Choi, S., Cho, H., Motta, A., Hartig, K., Xiao, X., Le Berre, S., Brennan, S., Reichard, K., Leary, R., McNelly, B. & Jovanovic, I., Jan 1 2016, Materials and Fabrication. American Society of Mechanical Engineers (ASME), (American Society of Mechanical Engineers, Pressure Vessels and Piping Division (Publication) PVP; vol. 6B-2016).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations

State of charge estimation for an electric wheelchair using a fuel gauge model

Miller, C., Wolkowicz, K., Safi, J. & Brennan, S. N., Jan 1 2016, Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation. American Society of Mechanical Engineers, (ASME 2016 Dynamic Systems and Control Conference, DSCC 2016; vol. 1).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Variable-sensitivity road departure warning system based on static, mapped, near-road threats

Arora, P., Corbin, D. & Brennan, S. N., Aug 5 2016, 2016 IEEE Intelligent Vehicles Symposium, IV 2016. Institute of Electrical and Electronics Engineers Inc., p. 1217-1223 7 p. 7535545. (IEEE Intelligent Vehicles Symposium, Proceedings; vol. 2016-August).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Vehicle road departure detection using anomalies in dynamics

Yang, H., McBlane, D., Boyd, C., Beal, C. & Brennan, S., Jul 28 2016, 2016 American Control Conference, ACC 2016. Institute of Electrical and Electronics Engineers Inc., p. 6314-6319 6 p. 7526662. (Proceedings of the American Control Conference; vol. 2016-July).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations
2015
5 Scopus citations

Identification of locally influential agents in self-organizing multi-agent systems

Jerath, K. & Brennan, S. N., Jul 28 2015, ACC 2015 - 2015 American Control Conference. Institute of Electrical and Electronics Engineers Inc., p. 335-340 6 p. 7170758. (Proceedings of the American Control Conference; vol. 2015-July).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Indoor mapping and localization for a smart wheelchair using measurements of ambient magnetic fields

Trezza, A. T., Virani, N. N., Wolkowicz, K. L., Moore, J. Z. & Brennan, S. N., Jan 1 2015, Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. American Society of Mechanical Engineers, (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015; vol. 3).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Lateral vehicle state and environment estimation using temporally previewed mapped lane features

Brown, A. A. & Brennan, S. N., Jun 1 2015, In : IEEE Transactions on Intelligent Transportation Systems. 16, 3, p. 1601-1608 8 p., 6977925.

Research output: Contribution to journalArticle

6 Scopus citations

Low-order modeling of vehicle impacts upon boulders embedded in cohesionless soil

Keske, M. P., Brown, A. A., Brennan, S. N. & Qiu, T., Jan 2015, In : International Journal of Impact Engineering. 75, p. 88-99 12 p.

Research output: Contribution to journalArticle

4 Scopus citations

MPC-based energy management of a parallel hybrid electric vehicle using terrain information

Wahba, M. & Brennan, S., Jan 1 2015, Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems. American Society of Mechanical Engineers, (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015; vol. 1).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations

Observability and controllability of nonlinear networks: The role of symmetry

Whalen, A. J., Brennan, S. N., Sauer, T. D. & Schiff, S. J., 2015, In : Physical Review X. 5, 1, 011005.

Research output: Contribution to journalArticle

80 Scopus citations

Preview horizon analysis for vehicle rollover prevention using the zero-moment point

Stankiewicz, P. G., Brown, A. A. & Brennan, S. N., Sep 1 2015, In : Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME. 137, 9, 091002.

Research output: Contribution to journalArticle

10 Scopus citations
8 Scopus citations

Vehicle localization using in-vehicle pitch data and dynamical models

Laftchiev, E. I., Lagoa, C. M. & Brennan, S. N., Feb 1 2015, In : IEEE Transactions on Intelligent Transportation Systems. 16, 1, p. 206-220 15 p., 6863698.

Research output: Contribution to journalArticle

18 Scopus citations

Vehicle rollover prevention using the zero-moment point in an LQR output regulator

Stankiewicz, P., Lleras, N. O., Leary, R. & Brennan, S. N., Jan 1 2015, Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. American Society of Mechanical Engineers, (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015; vol. 3).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2014

Differential diagnostics for lithium ion battery cells connected in series

Safi, J., Anstrom, J., Brennan, S. & Fathy, H. K., 2014, Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems. American Society of Mechanical Engineers, (ASME 2014 Dynamic Systems and Control Conference, DSCC 2014; vol. 1).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Improving SOC accuracy using collective estimation for Lithium Ion battery cells in series

Safi, J., Beeney, M., Kehs, M., Anstrom, J., Brennan, S. & Fathy, H., Jan 1 2014, 2014 American Control Conference, ACC 2014. Institute of Electrical and Electronics Engineers Inc., p. 254-259 6 p. 6859050. (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Maximizing parameter identifiability of an equivalent-circuit battery model using optimal periodic input shaping

Rothenberger, M. J., Anstrom, J., Brennan, S. & Fathy, H. K., 2014, Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems. American Society of Mechanical Engineers, (ASME 2014 Dynamic Systems and Control Conference, DSCC 2014; vol. 1).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Scopus citations
39 Scopus citations