Publications

Sort publications chronologically or by type . You are also welcome to browse slides from talks .

[Journal Articles] [Book Chapters] [Conference Articles] [ArXiv & Technical Reports] [PhD & MSc Theses] [Patents]

Journal Articles

  1. M. Sharf and D. Zelazo, “A Characterization of Passivizing Input-Output Transformations of Nonlinear MIMO Systems,” IEEE Control Systems Letters, 8:2733–2738, 2024.
    Sharf2024_J.pdf DOI: 10.1109/LCSYS.2024.3513238
  2. M. Sewlia and D. Zelazo, “Bearing-Based Formation Stabilization Using Event-Triggered Control,” International Journal on Robust and Nonlinear Control, 34(6):4375–4387, 2024.
    Sewlia2023a_J.pdf DOI: 10.1002/rnc.7185
  3. M. Sharf and D. Zelazo, “A Characterization of All Linear Passivizing Input-Output Transformations of a Passive-Short System: The SISO Case,” IEEE Control Systems Letters, 8:532–537, 2024.
    Sharf2021c_J.pdf Sharf2021c_J.slides DOI: 10.1109/LCSYS.2024.3396616
  4. C. Xu, D. Zelazo, and B. Wu, “Bearing-based formation control of second-order multiagent systems with bounded disturbances,” International Journal on Robust and Nonlinear Control, 34(1):167–199, 2024.
    Xu2023a_J.pdf DOI: https://doi.org/10.1002/rnc.6966
  5. C. Xu, D. Zelazo, and B. Wu, “Distributed Prescribed-Time Coordinated Control of Spacecraft Formation Flying under Input Saturation,” Advances in Space Research, 74(5):2302–2315, 2024.
    Xu2023b_J.pdf DOI: https://doi.org/10.1016/j.asr.2024.05.077
  6. G. Barkai, L. Mirkin, and D. Zelazo, “On the internal stability of diffusively coupled multi-agent systems and the dangers of cancel culture,” Automatica, 155:111158, 2023.
    Barkai2023a_J.pdf DOI: https://doi.org/10.1016/j.automatica.2023.111158
  7. M.-A. Belabbas, X. Chen, and D. Zelazo, “On Structural Rank and Resilience of Sparsity Patterns,” IEEE Transactions on Automatic Control, 68(8):4783–4795, 2023.
    Belabbas2021a_J.pdf DOI: 10.1109/tac.2022.3212013
  8. M. Fabris and D. Zelazo, “A Robustness Analysis to Structured Channel Tampering Over Secure-by-Design Consensus Networks,” IEEE Control Systems Letters, 7:2011–2016, 2023.
    Fabris2023_J.pdf Fabris2023_J.slides DOI: 10.1109/LCSYS.2023.3284482
  9. E. Michael, C. Manzie, T. A. Wood, D. Zelazo, and I. Shames, “Gradient Free Cooperative Seeking of a Moving Source,” Automatica, 152:110948, 2023.
    Michael2022a_J.pdf DOI: 10.1016/j.automatica.2023.110948
  10. A. Priel and D. Zelazo, “Event-triggered consensus Kalman filtering for time-varying networks and intermittent observations,” International Journal of Robust and Nonlinear Control, 33(13):7430–7451, 2023.
    Priel2023_J.pdf DOI: https://doi.org/10.1002/rnc.6762
  11. M. Sharf and D. Zelazo, “Network Identification for Diffusively-Coupled Networks with Minimal Time Complexity,” IEEE Transactions on Control of Network Systems, 10(3):1616–1628, 2023.
    Sharf2023a_J.pdf DOI: https://doi.org/10.1109/TCNS.2023.3237368
  12. M. Sharf and D. Zelazo, “Cluster assignment in multi-agent systems: Sparsity bounds and fault tolerance,” Asian Journal of Control, 2023.
    Sharf2023b_J.pdf DOI: 10.1002/asjc.3149
  13. C. K. Verginis, D. Zelazo, and D. V. Dimarogonas, “Cooperative Manipulation via Internal Force Regulation: A Rigidity Theory Perspective,” IEEE Transactions on Control of Network Systems, 10(3):1222–1233, 2023.
    Verginis2023_J.pdf DOI: 10.1109/TCNS.2022.3181724 Verginis2023_J.video
  14. G. Barkai, L. Mirkin, and D. Zelazo, “On Sampled-Data Consensus: Divide and Concur,” IEEE Control Systems Letters, 6:343–348, 2022.
    Barkai2022a_J.pdf DOI: 10.1109/lcsys.2021.3074589
  15. M. Fabris and D. Zelazo, “Bearing-based Autonomous Communication Relay Positioning under Field-of-View Constraints,” Advanced Control for Applications, 4(2):e103, 2022.
    Fabris2021b_J.pdf DOI: 10.1002/adc2.103
  16. M. Fabris and D. Zelazo, “Secure Consensus via Objective Coding: Robustness Analysis to Channel Tampering,” IEEE Transactions on Systems, Man and Cybernetics: Systems, 52(12):7885–7897, 2022.
    Fabris2022a_J.pdf DOI: 10.1109/tsmc.2022.3177756
  17. M. Sharf and D. Zelazo, “Monitoring Link Faults in Nonlinear Diffusively-coupled Networks,” IEEE Transactions on Automatic Control, 67(6):2857–2872, 2022.
    Sharf2019d_J.pdf DOI: 10.1109/tac.2021.3095258
  18. M. Sharf, A. Romer, D. Zelazo, and F. Allgower, “Model-Free Practical Cooperative Control for Diffusively Coupled Systems,” IEEE Transactions on Automatic Control, 67(2):754–766, 2022.
    Sharf2019e_J.pdf DOI: 10.1109/tac.2021.3056582
  19. M. Sharf, I. Romm, M. Palman, D. Zelazo, and B. Cukurel, “Economic Dispatch of a Single Micro-Gas Turbine Under CHP Operation with Uncertain Demands,” Applied Energy, 309:118391, 2022.
    Sharf2021b_J.pdf DOI: 10.1016/j.apenergy.2021.118391
  20. N. Leiter and D. Zelazo, “Edge-matching graph contractions and their interlacing properties,” Linear Algebra and its Applications, 612:289–317, 2021.
    Leiter2021_J.pdf DOI: https://doi.org/10.1016/j.laa.2020.11.003
  21. G. Michieletto, A. Cenedese, and D. Zelazo, “A Unified Dissertation on Bearing Rigidity Theory,” IEEE Transactions on Control of Network Systems, 8(4):1624–1636, 2021.
    Michieletto2021_J.pdf DOI: 10.1109/TCNS.2021.3077712
  22. M. Sharf, A. Jain, and D. Zelazo, “Geometric Method for Passivation and Cooperative Control of Equilibrium-Independent Passive-Short Systems,” IEEE Transactions on Automatic Control, 66(12):5877–5892, 2021.
    Sharf2019c_J.pdf DOI: 10.1109/tac.2020.3043390
  23. H. Chen, D. Zelazo, X. Wang, and L. Shen, “Convergence Analysis of Signed Nonlinear Networks,” IEEE Transactions on Control of Network Systems, 7(1):189–200, 2020.
    Chen2018a_J.pdf DOI: 10.1109/tcns.2019.2913550
  24. M. H. Trinh, S. Zhao, Z. Sun, D. Zelazo, B. D. O. Anderson, and H. Ahn, “Bearing-Based Formation Control of A Group of Agents with Leader-First Follower Structure,” IEEE Transactions on Automatic Control, 64(2):598–613, 2019.
    Hoang2016a_J.pdf DOI: 10.1109/tac.2018.2836022
  25. D. Muhkerjee and D. Zelazo, “Robustness of Consensus over Weighted Digraphs,” IEEE Transactions on Network Sciences and Engineering, 6(4):657–670, 2019.
    Muhkerjee2017a_J.pdf DOI: 10.1109/tnse.2018.2866780
  26. D. Muhkerjee and D. Zelazo, “Consensus of Higher Order Agents: Robustness and Heterogeneity,” IEEE Transactions on Control of Network Systems, 6(4):1323–1333, 2019.
    Muhkerjee2017b_J.pdf DOI: 10.1109/tcns.2018.2889003
  27. M. Sharf and D. Zelazo, “Analysis and Synthesis of MIMO Multi-Agent Systems Using Network Optimization,” IEEE Transactions on Automatic Control, 64(11):1558–2523, 2019.
    Sharf2017b_J.pdf DOI: 10.1109/tac.2019.2908258
  28. M. Sharf and D. Zelazo, “Network Feedback Passivation of Passivity-Short Multi-Agent Systems,” IEEE Control Systems Letters, 3(3):607–612, 2019.
    Sharf2019a_J.pdf DOI: 10.1109/lcsys.2019.2914128
  29. Q. Van Tran, M. H. Trinh, D. Zelazo, D. Mukherjee, and H.-S. Ahn, “Finite-Time Bearing-Only Formation Control via Distributed Global Orientation Estimation,” IEEE Transactions on Control of Network Systems, 6(2):702–712, 2019.
    VanTran2019.pdf DOI: 10.1109/tcns.2018.2873155
  30. D. Zelazo and S. Zhao, “Formation Control and Rigidity Theory,” Snapshots of Modern Mathematics from Oberwolfach, (12):1–16, 2019.
    Zelazo2019a_J.pdf DOI: 10.14760/SNAP-2019-017-EN
  31. S. Zhao and D. Zelazo, “Bearing Rigidity Theory and its Applications for Control and Estimation of Network Systems: Life beyond distance rigidity,” IEEE Control Systems Magazine, 39(2):66–83, 2019.
    Zhao2017_J.pdf DOI: 10.1109/mcs.2018.2888681
  32. M. H. Trinh, D. Muhkerjee, D. Zelazo, and H.-S. Ahn, “Formations on Directed Cycles with Bearing-Only Measurements,” International Journal of Robust and Nonlinear Control, 28(3):1074–1096, 2018.
    Hoang2016b_J.pdf DOI: 10.1002/rnc.3921
  33. A. Jain, M. Sharf, and D. Zelazo, “Regularization and Feedback Passivation in Cooperative Control of Passivity-Short Systems: A Network Optimization Perspective,” IEEE Control Systems Letters, 2(4):731–736, 2018.
    Jain2018a_J.pdf DOI: 10.1109/lcsys.2018.2847738
  34. Y. Liu, J. M. Montenbruck, D. Zelazo, M. Odelga, S. Rajappa, H. H. Bülthoff, F. Allgöwer, and A. Zell, “A Distributed Control Approach to Formation Balancing and Maneuvering of Multiple Multirotor UAVs,” IEEE Transactions on Robotics, 34(4):870–882, 2018.
    Liu_IEEETRo2019.pdf DOI: 10.1109/TRO.2018.2853606 Liu_IEEETRo2019.video
  35. J. M. Montenbruck, D. Zelazo, and F. Allgöwer, “Fekete Points, Formation Control, and the Balancing Problem,” IEEE Transactions on Automatic Control, 62(10):5069–5081, 2017.
    Montenbruck2016a_J.pdf DOI: 10.1109/tac.2017.2679073
  36. J. F. Rist, M. F. Dias, M. Palman, D. Zelazo, and B. Cukurel, “Economic Dispatch of a Single Micro-Gas Turbine Under CHP Operation,” Applied Energy, 200:1–18, 2017.
    Rist2016_J.pdf DOI: 10.1016/j.apenergy.2017.05.064
  37. M. Sharf and D. Zelazo, “A Network Optimization Approach to Cooperative Control Synthesis,” IEEE Control Systems Letters, 1(1):86–91, 2017.
    Sharf2017a_J.pdf DOI: 10.1109/lcsys.2017.2706948
  38. D. Zelazo and M. Bürger, “On the Robustness of Uncertain Consensus Networks,” IEEE Transactions on Control of Network Systems, 4(2):170–178, 2017.
    Zelazo2014a_J.pdf DOI: 10.1109/tcns.2015.2485458
  39. S. Zhao and D. Zelazo, “Translational and Scaling Formation Maneuver Control via a Bearing-Based Approach,” IEEE Transactions on Control of Network Systems, 4(3):429–438, 2017.
    Zhao2015b_J.pdf DOI: 10.1109/tcns.2015.2507547 Zhao2015b_J.video
  40. S. Zhao and D. Zelazo, “Bearing Rigidity and Almost Global Bearing-Only Formation Stabilization,” IEEE Transactions on Automatic Control, 61(6):1255–1268, 2016.
    Zhao2014a_J.pdf DOI: 10.1109/tac.2015.2459191 Zhao2014a_J.video
  41. S. Zhao and D. Zelazo, “Localizability and distributed protocols for bearing-based network localization in arbitrary dimensions,” Automatica, 69:334–341, 2016.
    Zhao2015a_J.pdf DOI: 10.1016/j.automatica.2016.03.010
  42. D. Zelazo, A. Franchi, H. H. Bülthoff, and P. Robuffo Giordano, “Decentralized Rigidity Maintenance Control with Range-only Measurements for Multi-Robot Systems,” International Journal of Robotics Research, 34(1):105–128, 2015.
    Zelazo2013a_J.pdf DOI: 10.1177/0278364914546173 Zelazo2013a_J.video
  43. M. Bürger, D. Zelazo, and F. Allgöwer, “Duality and network theory in passivity-based cooperative control,” Automatica, 50(8):2051–2061, 2014.
    Burger2014_J.pdf DOI: 10.1016/j.automatica.2014.06.002
  44. M. Bürger, D. Zelazo, and F. Allgöwer, “Hierarchical Clustering of Dynamical Networks Using a Saddle-Point Analysis,” IEEE Transactions on Automatic Control, 58(1):113–124, 2013.
    Burger2011_J.pdf DOI: 10.1109/TAC.2012.2206695
  45. D. Zelazo, S. Schuler, and F. Allgöwer, “Performance and Design of Cycles in Consensus Networks,” Systems & Control Letters, 62(1):85–96, 2013.
    Zelazo2011_J.pdf DOI: 10.1016/j.sysconle.2012.10.014
  46. D. Zelazo, M. Bürger, and F. Allgöwer, “A Finite-Time Dual Method for Negotiation between Dynamical Systems,” SIAM Journal on Control and Optimization, 51(1):172–194, 2013.
    Zelazo2013_J.pdf DOI: 10.1137/100819175
  47. D. Zelazo, R. Dai, and M. Mesbahi, “An energy management system for off-grid power systems,” Energy Systems, 3(2):153–179, 2012.
    Zelazo2011a_J.pdf DOI: 10.1007/s12667-012-0050-4
  48. D. Zelazo and M. Mesbahi, “Edge Agreement: Graph-Theoretic Performance Bounds and Passivity Analysis,” IEEE Transactions on Automatic Control, 56(3):544–555, 2011.
    Zelazo2009b_J.pdf DOI: 10.1109/TAC.2010.2056730
  49. D. Zelazo and M. Mesbahi, “Graph-Theoretic Analysis and Synthesis of Relative Sensing Networks,” IEEE Transactions on Automatic Control, 56(5):971–982, 2011.
    Zelazo2010_J.pdf DOI: 10.1109/TAC.2010.2085312

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Book Chapters

  1. D. Zelazo, M. Bürger, and F. Allgöwer, “Dynamic Negotiation Under Switching Communication,” in Mathematical System Theory – Festschrift in Honor of Uwe Helmke on the Occasion of his Sixtieth Birthday, K. Hüper and J. Trumpf, Eds. CreateSpace, 2013, p. 479500.
    URL: http://users.cecs.anu.edu.au/ trumpf/UH60Festschrift.pdf
  2. D. Zelazo and M. Mesbahi, “Graph-Theoretic Methods for Networked Dynamic Systems: Heterogeneity and H2 Performance,” in Efficient Modeling and Control of Large-Scale Systems, J. Mohammadpour and K. M. Grigoriadis, Eds. Boston, MA: Springer US, 2010, pp. 219–249.
    DOI: 10.1007/978-1-4419-5757-3

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Conference Articles

  1. G. Barkai, L. Mirkin, and D. Zelazo, “An Emulation Approach to Output-Feedback Sampled-Data Synchronization,” in European Control Conference, Stockholm, Sweden, Jun. 2024.
    Barkai2024_ECC.pdf Barkai2024_ECC.slides
  2. G. Barkai, L. Mirkin, and D. Zelazo, “Asynchronous Sampled-Data Synchronization with Small Communications Delays,” in IEEE Conference on Decision and Control, Milan, Italy, Dec. 2024.
    Barkai2024_CDC.slides
  3. J. Shi and D. Zelazo, “Bearing-only Formation Control with Directed Sensing,” in 63rd Israel Annual Conference on Aerospace Sciences, Haifa, Israel, May 2024.
    Shi_IACAS2024.slides
  4. J. Attias, Y. Marciano, R. Arhipov, and D. Zelazo, “An Open Source Quadcopter Platform for Simulink,” in 63rd Israel Annual Conference on Aerospace Sciences, Haifa, Israel, May 2024.
    Attias_IACAS2024.slides
  5. F. Yue and D. Zelazo, “Diodes and the Importance of Network Orientations in Diffusively-Coupled Networks,” in 63rd Israel Annual Conference on Aerospace Sciences, Haifa, Israel, May 2024.
    Yue_IACAS2024.slides
  6. G. Barkai, L. Mirkin, and D. Zelazo, “Asynchronous Sampled-Data Synchronization with Small communication Delays,” in 63rd Israel Annual Conference on Aerospace Sciences, Haifa, Israel, May 2024.
  7. G. Barkai, L. Mirkin, and D. Zelazo, “An emulation approach to sampled-data synchronization,” in IEEE Conference on Decision and Control, Singapore, Dec. 2023.
    Barkai2023a.pdf DOI: 10.1109/cdc49753.2023.10384079
  8. A. Priel and D. Zelazo, “Distributed Consensus Kalman Filtering Over Time-Varying Graphs,” in IFAC World Congress, Yokohama, Japan, Jul. 2023.
    Priel2023a_C.pdf DOI: 10.1016/j.ifacol.2023.10.903 Priel2023a_C.poster
  9. Z. Sun, S. Zhao, and D. Zelazo, “Characterizing bearing persistence in directed graphs,” in IFAC World Congress, Yokohama, Japan, Jul. 2023.
    Sun2023a_C.pdf DOI: 10.1016/j.ifacol.2023.10.1307 Sun2023a_C.poster
  10. D. Zelazo, B. Shulze, and S.-I. Tanigawa, “Stabilization of Symmetric Formations,” in IFAC World Congress, Yokohama, Japan, Jul. 2023.
    Zelazo2023a_C.pdf Zelazo2023a_C.slides DOI: 10.1016/j.ifacol.2023.10.301
  11. D. Zelazo, M. Fabris, and L. Peled-Eitan, “Distributed Identification of Leader Agents in Semi-Autonomous Networks,” in 62nd Israel Annual Conference on Aerospace Sciences, Haifa, Israel, Mar. 2023.
    Zelazo2023b_C.pdf Zelazo2023b_C.slides
  12. G. Barkai, L. Mirkin, and D. Zelazo, “On Internal Stability of Diffusive-Coupling and the Dangers of Cancel Culture,” in 25th International Symposium on Mathematical Theory of Networks and Systems, Germany, Sep. 2022.
    Barkai2022a.slides
  13. M. Sharf and D. Zelazo, “Cluster Assignment in Multi-Agent Systems,” in The 13th Asian Control Conference, Jeju Island, South Korea, May 2022.
    Sharf2022a.pdf Sharf2022a.slides DOI: 10.23919/ascc56756.2022.9828091
  14. B. Pozzan, G. Michieletto, A. Cenedese, and D. Zelazo, “Heterogeneous Formation Control: a Bearing Rigidity Approach,” in IEEE Conference on Decision and Control, Austin, Texas, Dec. 2021.
    Pozzan2021a.pdf DOI: 10.1109/cdc45484.2021.9683374
  15. A. Priel and D. Zelazo, “An Improved Distributed Consensus Kalman Filter Design Approach,” in IEEE Conference on Decision and Control, Austin, Texas, Dec. 2021.
    Priel2021a.pdf Priel2021a.slides DOI: 10.1109/cdc45484.2021.9683438
  16. E. Michael, D. Zelazo, T. A. Wood, C. Manzie, and I. Shames, “Optimization with Networked Zeroth-Order Oracles,” in IEEE Conference on Decision and Control, Jeju Island, South Korea, Dec. 2020.
    Michael2020a.pdf DOI: 10.1109/CDC42340.2020.9304272
  17. T. Ikeda, D. Zelazo, and K. Kashima, “Maximum Hands-Off Distributed Bearing-Based Formation Control,” in IEEE Conference on Decision and Control, Nice, France, Dec. 2019.
    Ikeda2019a.pdf DOI: 10.1109/cdc40024.2019.9029574
  18. A. Jain and D. Zelazo, “Temporal Circular Formation Control with Bounded Trajectories in a Uniform Flowfield,” in 27th Mediterranean Conference on Control and Automation, Akko, Israel, Jul. 2019.
    Jain2019a.pdf Jain2019a.slides DOI: 10.1109/med.2019.8798531
  19. Y. Palti and D. Zelazo, “A Projected Lloyd’s Algorithm for Coverage Control Problems,” in 59th Israel Annual Conference on Aerospace Sciences, Haifa, Israel, Mar. 2019.
    Palti2019a.pdf
  20. M. Sewlia and D. Zelazo, “Distributed Event-Based Control for Second-Order Multi-Agent Systems,” in 27th Mediterranean Conference on Control and Automation, Akko, Israel, Jul. 2019.
    Sewlia2019a.pdf DOI: 10.1109/med.2019.8798577
  21. M. Sharf and D. Zelazo, “Symmetry-Induced Clustering in Multi-Agent Systems using Network Optimization and Passivity,” in 27th Mediterranean Conference on Control and Automation, Akko, Israel, Jul. 2019.
    Sharf2019a.pdf Sharf2019a.slides DOI: 10.1109/med.2019.8798507
  22. D. Frank, D. Zelazo, and F. Allgöwer, “Bearing-Only Formation Control with Limited Visual Sensing: Two Agent Case,” in 7th IFAC Workshop on Distributed Estimation and Control in Networked System , Groningen, The Netherlands, Sep. 2018.
    Frank2018.pdf DOI: 10.1016/j.ifacol.2018.12.006
  23. N. Leiter and D. Zelazo, “The Aggregating Consensus Protocol: A Case Study of Behavioral Multi-Agent Systems,” in 58th Israel Annual Conference on Aerospace Sciences, Haifa, Israel, Feb. 2018.
  24. D. Mukherjee and D. Zelazo, “Robust Consensus of Higher Order Agents over Cycle Graphs,” in 58th Israel Annual Conference on Aerospace Sciences, Haifa, Israel, Feb. 2018.
  25. M. Sharf and D. Zelazo, “Network Identification: A Passivity and Network Optimization Approach,” in IEEE Conference on Decision and Control, Miami, Florida, Dec. 2018.
    Sharf2018a.pdf DOI: 10.1109/cdc.2018.8619059
  26. M. H. Trinh, D. Zelazo, Q. V. Tran, and H.-S. Ahn, “Pointing Consensus for Rooted Out-Branching Graphs,” in American Control Conference, Milwaukee, WI, Jun. 2018.
    Trinh2018a.pdf DOI: 10.23919/acc.2018.8430992
  27. D. Zelazo, M. Mesbahi, and M.-A. Belabbas, “Graph Theory in Systems and Controls,” in IEEE Conference on Decision and Control, Miami, Florida, Dec. 2018.
    Zelazo2018a.pdf Zelazo2018a.slides DOI: 10.1109/cdc.2018.8619841
  28. N. Leiter and D. Zelazo, “Graph-Based Model Reduction of the Controlled Consensus Protocol,” in IFAC World Congress, Toulouse, France, Jul. 2017.
    Leiter2017a.pdf DOI: 10.1016/j.ifacol.2017.08.1467
  29. D. Mukherjee, M. H. Trinh, D. Zelazo, and H.-S. Ahn, “Bearing-only Cyclic Pursuit in 2-D for Capture of Moving Target,” in 57th Israel Annual Conference on Aerospace Sciences , Tel-Aviv, Israel, Feb. 2017.
  30. J. F. Rist, M. F. Dias, D. Zelazo, B. Cukurel, and M. Palman, “Optimal Combined Heat and Power Integration of a Micro-Gas Turbine Unit in Distributed Energy Generation,” in 57th Israel Annual Conference on Aerospace Sciences , Tel-Aviv, Israel, Feb. 2017.
  31. Y. Ben Shoushan and D. Zelazo, “Negotiation Between Dynamical Systems with Connectivity Constraints,” in 57th Israel Annual Conference on Aerospace Sciences , Tel-Aviv, Israel, Feb. 2017.
  32. M. H. Trinh, D. Mukherjee, D. Zelazo, and H.-S. Ahn, “Planar Bearing-only Cyclic Pursuit for Target Capture,” in IFAC World Congress, Toulouse, France, Jul. 2017.
    Trinh2017b.pdf DOI: 10.1016/j.ifacol.2017.08.1759
  33. M. H. Trinh, D. Mukherjee, D. Zelazo, and H.-S. Ahn, “Finite-time bearing-only formation control,” in IEEE Conference on Decision and Control, Melbourne, Australia, Dec. 2017.
    Trinh2017c.pdf DOI: 10.1109/cdc.2017.8263876
  34. S. Zhao, Z. Sun, D. Zelazo, M. H. Trinh, and H.-S. Ahn, “Laman Graphs are Generically Bearing Rigid in Arbitrary Dimensions,” in IEEE Conference on Decision and Control, Melbourne, Australia, Dec. 2017.
    Zhao2017a.pdf DOI: 10.1109/cdc.2017.8264151
  35. D. Mukherjee and D. Zelazo, “Robust Consensus of Higher Order Agents over Cycle Graphs,” in 56th Israel Annual Conference on Aerospace Sciences, Haifa, Israel, Mar. 2016.
    Mukherjee2016a.slides
  36. D. Mukherjee and D. Zelazo, “Consensus Over Weighted Digraphs: A Robustness Perspective,” in 55th IEEE Conference on Decision and Control, Las Vegas, Nevada, Dec. 2016.
    Mukherjee2016b.pdf DOI: 10.1109/cdc.2016.7798784
  37. F. Schiano, A. Franchi, D. Zelazo, and P. R. Giordano, “A Rigidity-Based Decentralized Bearing Formation Controller for Groups of Quadrotor UAVs,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, Sep. 2016.
    Schiano2016a.pdf DOI: 10.1109/iros.2016.7759748 Schiano2016a.video
  38. M. M. Montenbruck, D. Zelazo, and F. Allgöwer, “Retraction Balancing and Formation Control,” in 54th IEEE Conference on Decision and Control, Osaka, Japan, Dec. 2015.
    Montenbruck2015.pdf DOI: 10.1109/cdc.2015.7402784
  39. O. Rozenheck, S. Zhao, and D. Zelazo, “Formation Velocity Tracking with Proportional Control,” in 55th Israel Annual Conference on Aerospace Sciences , Haifa, Israel, Feb. 2015.
    Rozenheck2014a.pdf
  40. O. Rozenheck, S. Zhao, and D. Zelazo, “A Proportional-Integral Controller for Distance-Based Formation Tracking,” in European Control Conference, Linz, Austria, Jul. 2015.
    Rozenheck2014b.pdf Rozenheck2014b.slides DOI: 10.1109/ecc.2015.7330781
  41. D. Zelazo, P. R. Giordano, and A. Franchi, “Bearing-Only Formation Control Using an SE(2) Rigidity Theory,” in 54th IEEE Conference on Decision and Control, Osaka, Japan, Dec. 2015.
    Zelaxo2015c1.pdf DOI: 10.1109/cdc.2015.7403182
  42. S. Zhao and D. Zelazo, “Bearing-Based Distributed Control and Estimation of Multi-Agent Systems,” in European Control Conference, Linz, Austria, Jul. 2015.
    Zhao2014a.pdf DOI: 10.1109/ecc.2015.7330866
  43. S. Zhao and D. Zelazo, “Bearing-Constrained Formation Control Using Bearing Measurements,” in 55th Israel Annual Conference on Aerospace Sciences, Haifa, Israel, Feb. 2015.
  44. S. Zhao and D. Zelazo, “Bearing-Based Formation Stabilization with Directed Interaction Topologies,” in 54th IEEE Conference on Decision and Control, Osaka, Japan, Dec. 2015.
    Zhao2015c1.pdf DOI: 10.1109/cdc.2015.7403181
  45. S. Zhao and D. Zelazo, “Bearing-Based Formation Maneuvering,” in IEEE International Symposium on Intelligent Control, Sydney, Australia, Sep. 2015.
    Zhao2015c2.pdf DOI: 10.1109/isic.2015.7307285 Zhao2015c2.video
  46. D. Zelazo, A. Franchi, and P. R. Giordano, “Rigidity Theory in SE(2) for Unscaled Relative Position Estimation Using Only Bearing Measurements,” in European Control Conference, Strasbourg, France, Jun. 2014.
    Zelazo2014.pdf Zelazo2014.slides DOI: 10.1109/ECC.2014.6862558
  47. D. Zelazo and M. Bürger, “On the Definiteness of the Weighted Laplacian and its Connection to Effective Resistance,” in 53rd IEEE Conference on Decision and Control, Los Angeles, CA, Dec. 2014.
    Zelazo2014f.pdf Zelazo2014f.slides DOI: 10.1109/cdc.2014.7039834
  48. M. Bürger, D. Zelazo, and F. Allgöwer, “On the Steady-State Inverse-Optimality of Passivity-Based Cooperative Control,” in 4th IFAC Workshop on Distributed Estimation and Control in Networked System, Koblenz, Germany, Sep. 2013.
    Mathias2013.pdf DOI: 10.3182/20130925-2-DE-4044.00004
  49. S. Schuler, D. Zelazo, and F. Allgöwer, “Robust Design of Sparse Relative Sensing Networks,” in European Control Conference, Zürich, Switzerland, Jul. 2013.
    Schuler2013.pdf Schuler2013.slides DOI: 10.23919/ecc.2013.6669618
  50. M. Bürger, D. Zelazo, and F. Allgöwer, “Combinatorial Insights and Robustness Analysis for Clustering in Dynamic Networks,” in American Control Conference, Montreal, Canada, Jul. 2012.
    Burger2012.pdf DOI: 10.1109/acc.2012.6314935
  51. S. Schuler, D. Zelazo, and F. Allgöwer, “Design of sparse relative sensing networks,” in 51st IEEE Conference on Decision and Control, Maui, HI, Dec. 2012.
    Schuler2012.pdf DOI: 10.1109/CDC.2012.6426358
  52. D. Zelazo and F. Allgöwer, “Growing Optimally Rigid Formations,” in American Control Conference, Montreal, Canada, 2012.
    Zelazo2012.pdf DOI: 10.1109/acc.2012.6315460
  53. D. Zelazo and F. Allgöwer, “Eulerian Consensus Networks,” in 51st IEEE Conference on Decision and Control, Maui, HI, Dec. 2012.
    Zelazo2012a.pdf DOI: 10.1109/CDC.2012.6425921
  54. D. Zelazo, A. Franchi, F. Allgöwer, H. H. Bülthoff, and P. Robuffo Giordano, “Rigidity Maintenance Control for Multi-Robot Systems,” in Proceedings of Robotics: Science and Systems, Sydney, Australia, Jul. 2012.
    Zelazo2012c.pdf DOI: 10.15607/rss.2012.viii.060
  55. D. Zelazo, S. Schuler, and F. Allgöwer, “Cycles and Sparse Design of Consensus Networks,” in 51st IEEE Conference on Decision and Control, Maui, HI, 2012.
    Zelazo2012d.pdf DOI: 10.1109/cdc.2012.6426450
  56. B. Briegel, D. Zelazo, M. Bürger, and F. Allgöwer, “On the Zeros of Consensus Networks,” in 50th IEEE Conference on Decision and Control and European Control Conference, Orlando, FL, Dec. 2011.
    Briegel2011.pdf DOI: 10.1109/CDC.2011.6161047
  57. D. Zelazo, M. Bürger, and F. Allgöwer, “A Distributed Real-Time Algorithm for Preference-Based Agreement,” in Proc. 18th IFAC World Congress, Milan, Italy, Aug. 2011.
    Zelazo2011.pdf DOI: 10.3182/20110828-6-IT-1002.03155
  58. M. Bürger, D. Zelazo, and F. Allgöwer, “Network clustering: A dynamical systems and saddle-point perspective,” in 50th IEEE Conference on Decision and Control and European Control Conference, Orlando, FL, Dec. 2011.
    Zelazo2011b.pdf DOI: 10.1109/CDC.2011.6161045
  59. D. Zelazo and M. Mesbahi, “\mathcalH_∞ Performance and Robust Topology Design of Relative Sensing Networks,” in American Control Conference, Baltimore, MD, Jul. 2010.
    Zelazo2010b.pdf DOI: 10.1109/ACC.2010.5530963
  60. D. Zelazo and M. Mesbahi, “\mathcalH_2 Analysis and Synthesis of Networked Dynamic Systems,” in American Control Conference, St. Louis, MO, Jun. 2009.
    Zelazo2009.pdf DOI: 10.1109/ACC.2009.5160153
  61. D. Zelazo and M. Mesbahi, “\mathcalH_2 Performance of Relative Sensing Networks: Analysis and Synthesis,” in AIAA Infotech@Aerospace Conference and AIAA Unmanned ...Unlimited Conference, Seattle, WA, Apr. 2009, no. 7.
    Zelazo2009a.pdf DOI: 10.2514/6.2009-1840
  62. D. Zelazo and M. Mesbahi, “\mathcalH_2 Performance of Agreement Protocol with Noise: An Edge Based Approach,” in 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, Shanghai, China, Dec. 2009.
    Zelazo2009b.pdf DOI: 10.1109/CDC.2009.5400513
  63. D. Zelazo and M. Mesbahi, “On the Observability Properties of Homogeneous and Heterogeneous Networked Dynamic Systems,” in 47th IEEE Conference on Decision and Control, Cancun, Mexico, Dec. 2008.
    Zelazo2008.pdf DOI: 10.1109/CDC.2008.4738920
  64. D. Zelazo, A. Rahmani, J. Sandhu, and M. Mesbahi, “Decentralized Formation Control via the Edge Laplacian,” in American Control Conference, Seattle, WA, Jun. 2008.
    Zelazo2008a.pdf DOI: 10.1109/ACC.2008.4586588
  65. D. Zelazo, A. Rahmani, and M. Mesbahi, “Agreement via the Edge Laplacian,” in 46th IEEE Conference on Decision and Control, New Orleans, LA, Dec. 2007.
    Zelazo2007.pdf DOI: 10.1109/CDC.2007.4434553
  66. D. Zelazo, “Boundary Filter Design for Biorthogonal Filter Banks,” in 6th International Conference on Signal Processing, Beijing, China, Aug. 2002.
    Zelazo2002.pdf DOI: 10.1109/ICOSP.2002.1180979

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ArXiv and Technical Reports

  1. F. Yue and D. Zelazo, “A Passivity Analysis for Nonlinear Consensus on Balanced Digraphs,” 2024.
    Yue2024_ECC.pdf arXiv: https://arxiv.org/abs/2411.05933
  2. D. Zelazo, S.-ichi Tanigawa, and B. Schulze, “Forced Symmetric Formation Control,” 2024.
    arXiv: https://arxiv.org/abs/2403.02836
  3. N. Leiter and D. Zelazo, “Product Form of Projection-Based Model Reduction and its Application to Multi-Agent Systems,” 2021.
    arXiv: https://arxiv.org/abs/2112.15182
  4. M. Sharf and D. Zelazo, “On Certain Properties of Convex Functions,” Mar. 2017.
    arXiv: https://arxiv.org/abs/1703.00867
  5. A. Holland and D. Zelazo, “Sensitivity Analysis in Control Versus Biology,” Letter to the Editor of PLoS Biology regarding the 2009 PLoS Biol 7(1) e10000015 and e1000021 articles, 2011.

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PhD & MSc Theses

  1. J. Shi, “Bearing-only Formation Control with Directed Sensing,” mastersthesis, Technion - Israel Institute of Technology, Autonomous Systems and Robotics, 2024.
    Shi2024.pdf
  2. N. Leiter, “Graph-based Model Reduction Methods for Multi-Agent Systems,” phdthesis, Technion - Israel Institute of Technology, Aerospace Engineering Department, 2022.
    Leiter2022.pdf
  3. N. Peleg, “Economic Dispatch for a Network of Micro-Gas Turbines,” mastersthesis, Technion - Israel Institute of Technology, Aerospace Engineering Department, 2022.
    Peleg2022.pdf
  4. A. Priel, “Consensus Kalman Filtering: Filter Design and Event-Triggering,” mastersthesis, Technion - Israel Institute of Technology, Aerospace Engineering Department, 2022.
    Priel2022.pdf
  5. N. Drellich, “Low-Cost Aerial Platform for Guidance, Navigation and Control System Design,” mastersthesis, Technion - Israel Institute of Technology, Aerospace Engineering Department, 2021.
    Drellich2021.pdf
  6. F. Ulmer, “Smart Sensors for Monitoring for the Electric Power Network,” mastersthesis, ETH, 2021.
    Ulmer2021.pdf
  7. M. Sharf, “Network Optimization Methods in Passivity-Based Cooperative Control,” phdthesis, Technion - Israel Institute of Technology, Aerospace Engineering Department, 2020.
    Sharf2020.pdf
  8. M. Sewlia, “Distributed Event-Triggered Control for Multi-Agent Systems with Second-Order Dynamics,” mastersthesis, Technion - Israel Institute of Technology, Aerospace Engineering Department, 2020.
    Sewlia2020.pdf
  9. Y. Palti, “Deployment Strategies for Coverage Control Problems,” mastersthesis, Technion - Israel Institute of Technology, Aerospace Engineering Department, 2020.
    Palti2020.pdf
  10. D. Goldenberg, “Cooperative Object Manipulation A Rigidity Approach,” mastersthesis, Technion - Israel Institute of Technology, Aerospace Engineering Department, 2019.
    Goldenberg2019.pdf
  11. D. Frank, “Bearing-only Formation Control with Limited View Constraints,” mastersthesis, University of Stuttgart, 2018.
    Frank2019.pdf
  12. Y. Ben-Shoushan, “Negotiation between Dynamical Systems with Connectivity Constraints,” mastersthesis, Technion - Israel Institute of Technology, Aerospace Engineering Department, 2017.
    BenShoushan2017.pdf
  13. O. Rozenheck, “Distance-Constrained Formation Tracking Control,” mastersthesis, Technion - Israel Institute of Technology, Aerospace Engineering Department, 2016.
    Rozenheck2016.pdf
  14. D. Zelazo, “Graph-theoretic Methods for the Analysis and Synthesis of Networked Dynamic Systems,” phdthesis, University of Washington, Department of Aeronautics & Astronautics, 2009.
    Zelazo2010.pdf
  15. D. Zelazo, “Study of a MEMS Laser Range Finder: Integration, Performance and Design of a 2-Axis Mirror Control System,” masterthesis, Massachusetts Institute of Technology, Department of Electrical Engineering & Computer Science, 2001.
    Zelazo2001.pdf

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Patents

  1. S.-W. J. Fu, K. J. Karimi, M. Mesbahi, and D. Zelazo, “Power Management Control System,” Nov. 2013.
    URL: http://www.freepatentsonline.com/y2013/0297089.html
  2. D. Zelazo and S. D. Trautmann, “Sharing Wavelet Domain Components Among Encoded Signals,” Feb. 2011.
    URL: http://www.patentlens.net/patentlens/patent/US_7890335/en/
  3. A. Sakurai, S. Trautmann, and D. Zelazo, “Time-scale Modification of Audio Based on Power-complementary IIR Filter Decomposition,” Apr. 2007.
    URL: http://www.freepatentsonline.com/y2007/0081663.html
  4. S. Trautmann, A. Sakurai, and D. Zelazo, “Time-scale Modification of Audio Using Bark Bands,” Apr. 2007.
    URL: http://www.freepatentsonline.com/y2007/0083377.html
  5. D. Zelazo, “Designing Boundary Filters for a Biorthogonal Filter Bank,” Jun. 2006.
    URL: http://www.patentlens.net/patentlens/patent/US_7062430/en/
  6. D. Zelazo and S. D. Trautman, “Efficient Reconstruction,” May 2006.
    URL: http://www.patentlens.net/patentlens/patent/US_7039665/en/
  7. A. Sakurai, S. Trautmann, and D. Zelazo, “Time-scale Modification of Music Signals Based on Polyphase Filterbanks and Constrained Time-domain Processing,” Jan. 2006.
    URL: http://www.patentlens.net/patentlens/patent/US_6982377/en/
  8. S. Trautmann, A. Sakurai, and D. Zelazo, “Time-scale Modification of Audio Using Separated Frequency Bands,” Jun. 2005.
    URL: http://www.freepatentsonline.com/y2005/0137730.html

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