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. J. Shi and D. Zelazo, “Extending the Leader-First Follower Structure for Bearing-only Formation Control on Directed Graphs,” IEEE Transactions on Control of Network Systems, 1–12, 2025.
    Shi2025_TCNS.pdf DOI: 10.1109/TCNS.2025.3626655 Shi2025_TCNS.bibtex
  2. F. Yue and D. Zelazo, “A Passivity Analysis for Nonlinear Consensus on Balanced Digraphs,” European Journal of Control, 86(Part A):101368, 2025.
    Yue2025_EJC.pdf Yue2025_EJC.slides DOI: 10.1016/j.ejcon.2025.101368 Yue2025_EJC.bibtex
  3. D. Zelazo, S.-ichi Tanigawa, and B. Schulze, “Forced Symmetric Formation Control,” IEEE Transactions on Control of Network Systems, 12(2):1415–1426, 2025.
    zelazo2025TCNS.pdf DOI: 10.1109/TCNS.2025.3525814 zelazo2025TCNS.bibtex
  4. M. Sharf and D. Zelazo, “Cluster assignment in multi-agent systems: Sparsity bounds and fault tolerance,” Asian Journal of Control, 27(1):63–75, 2025.
    Sharf2025a_J.pdf DOI: 10.1002/asjc.3149 Sharf2025a_J.bibtex
  5. 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 Sharf2024_J.bibtex
  6. 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 Xu2023b_J.bibtex
  7. 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 Xu2023a_J.bibtex
  8. 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 Sharf2021c_J.bibtex
  9. 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 Sewlia2023a_J.bibtex
  10. 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 Barkai2023a_J.bibtex
  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 Sharf2023a_J.bibtex
  12. 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 Belabbas2021a_J.bibtex
  13. 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 Michael2022a_J.bibtex
  14. 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 Priel2023_J.bibtex
  15. 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 Fabris2023_J.bibtex
  16. 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 Verginis2023_J.bibtex
  17. 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 Fabris2022a_J.bibtex
  18. 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 Sharf2019d_J.bibtex
  19. 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 Fabris2021b_J.bibtex
  20. 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 Sharf2019e_J.bibtex
  21. 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 Sharf2021b_J.bibtex
  22. 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 Barkai2022a_J.bibtex
  23. 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 Sharf2019c_J.bibtex
  24. 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 Leiter2021_J.bibtex
  25. 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 Michieletto2021_J.bibtex
  26. 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 Chen2018a_J.bibtex
  27. M. H. Trinh, D. Zelazo, and H.-S. Ahn, “Pointing Consensus and Bearing-Based Solutions to the Fermat–Weber Location Problem,” IEEE Transactions on Automatic Control, 65(6):2339–2354, 2020.
    Trinh_TAC2020.pdf DOI: 10.1109/TAC.2019.2927932 Trinh_TAC2020.bibtex
  28. D. Mukherjee 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 Muhkerjee2017a_J.bibtex
  29. D. Mukherjee 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 Muhkerjee2017b_J.bibtex
  30. 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 Sharf2017b_J.bibtex
  31. 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 Zelazo2019a_J.bibtex
  32. 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 Sharf2019a_J.slides DOI: 10.1109/lcsys.2019.2914128 Sharf2019a_J.bibtex
  33. 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 VanTran2019.bibtex
  34. 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 Zhao2017_J.bibtex
  35. 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 Hoang2016a_J.bibtex
  36. 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 Jain2018a_J.bibtex
  37. M. H. Trinh, D. Mukherjee, 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 Hoang2016b_J.bibtex
  38. 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 Liu_IEEETRo2019.bibtex
  39. 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 Montenbruck2016a_J.bibtex
  40. 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 Zhao2015b_J.bibtex
  41. 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 Sharf2017a_J.bibtex
  42. 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 Zelazo2014a_J.bibtex
  43. 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 Rist2016_J.bibtex
  44. 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 Zhao2014a_J.bibtex
  45. 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 Zhao2015a_J.bibtex
  46. 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 Zelazo2013a_J.bibtex
  47. 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 Burger2014_J.bibtex
  48. 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 Burger2011_J.bibtex
  49. 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 Zelazo2011_J.bibtex
  50. 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 Zelazo2013_J.bibtex
  51. 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 Zelazo2011a_J.bibtex
  52. 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 Zelazo2010_J.bibtex
  53. 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 Zelazo2009b_J.bibtex

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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 Zelazo2012b.bibtex
  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 Zelazo.bibtex

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Conference Articles

  1. Z. Martinez, “Symmetry-Constrained Formation Maneuvering,” in IAAC Workshop: Graduate Students in Systems and Control, Haifa, Israel, Jul. 2025.
    Martinez_GSC2025.slides Martinez_GSC2025.bibtex
  2. F. Yue and D. Zelazo, “A Passivity Analysis for Nonlinear Consensus on Digraphs,” in IAAC3 Control Conference, Herzliya, Israel, Apr. 2025.
    Yue_IAAC2025.slides Yue_IAAC2025.bibtex
  3. E. Matmon and D. Zelazo, “Leader Identification in Semi-Autonomous Consensus Protocols,” in IAAC3 Control Conference, Herzliya, Israel, Apr. 2025.
    Matmon_IAAC2025.slides Matmon_IAAC2025.bibtex
  4. G. Barkai and D. Zelazo, “On Filtered Consensus Protocols,” in IAAC3 Control Conference, Herzliya, Israel, Apr. 2025.
    Barkai_IAAC2025.bibtex
  5. Z. Martinez and D. Zelazo, “Symmetry-Constrained Formation Maneuvering,” in 64th Israel Annual Conference on Aerospace Sciences, Haifa, Israel, Mar. 2025.
    Martinez2025_IACAS.pdf Martinez2025_IACAS.slides Martinez2025_IACAS.bibtex
  6. 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.pdf Barkai2024_CDC.slides DOI: 10.1109/CDC56724.2024.10886376 Barkai2024_CDC.bibtex
  7. 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 Barkai2024_ECC.bibtex
  8. 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.pdf Shi_IACAS2024.slides Shi_IACAS2024.bibtex
  9. 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.pdf Attias_IACAS2024.slides Attias_IACAS2024.bibtex
  10. 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.pdf Yue_IACAS2024.slides Yue_IACAS2024.bibtex
  11. 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.
    Barkai_IACAS2024.pdf Barkai_IACAS2024.bibtex
  12. 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 Barkai2023a.bibtex
  13. 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 Priel2023a_C.bibtex
  14. 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 Sun2023a_C.bibtex
  15. 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 Zelazo2023a_C.bibtex
  16. 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 Zelazo2023b_C.bibtex
  17. 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.pdf Barkai2022a.slides Barkai2022a.bibtex
  18. 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 Sharf2022a.bibtex
  19. 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 Pozzan2021a.bibtex
  20. 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 Priel2021a.bibtex
  21. 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 Michael2020a.bibtex
  22. 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 Ikeda2019a.bibtex
  23. 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 Jain2019a.bibtex
  24. 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 Sewlia2019a.bibtex
  25. 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 Sharf2019a.bibtex
  26. 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 Palti2019a.bibtex
  27. 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 Sharf2018a.bibtex
  28. 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 Zelazo2018a.bibtex
  29. 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 Frank2018.bibtex
  30. 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 Trinh2018a.bibtex
  31. D. Mukherjee and D. Zelazo, “Robust Consensus of Higher Order Agents over Cycle Graphs,” in 58th Israel Annual Conference on Aerospace Sciences, Haifa, Israel, Mar. 2018.
    Mukherjee2016a.pdf Mukherjee2016a.slides Mukherjee2016a.bibtex
  32. 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.
    Leiter2018a.pdf Leiter2018a.bibtex
  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 Trinh2017c.bibtex
  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 Zhao2017a.bibtex
  35. 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 Leiter2017a.bibtex
  36. 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 Trinh2017b.bibtex
  37. 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.
    Mukherjee2017a.pdf Mukherjee2017a.slides Mukherjee2017a.bibtex
  38. 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.
    Rist2017.pdf Rist2017.slides Rist2017.bibtex
  39. 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.
    Shoushan2017.pdf Shoushan2017.bibtex
  40. 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 Mukherjee2016b.bibtex
  41. 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 Schiano2016a.bibtex
  42. D. Mukherjee, M. H. Trinh, D. Zelazo, and H.-S. Ahn, “Robustness of Heterogeneous Cyclic Pursuit,” in 56th Israel Annual Conference on Aerospace Sciences , Tel-Aviv, Israel, Feb. 2016.
    Mukherjee2016IACAS.pdf Mukherjee2016IACAS.bibtex
  43. 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 Montenbruck2015.bibtex
  44. 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 Zelaxo2015c1.bibtex
  45. 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 Zhao2015c1.bibtex
  46. 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 Zhao2015c2.bibtex
  47. 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 Rozenheck2014b.bibtex
  48. 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 Zhao2014a.slides DOI: 10.1109/ecc.2015.7330866 Zhao2014a.bibtex
  49. 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 Rozenheck2014a.bibtex
  50. S. Zhao and D. Zelazo, “Bearing-Constrained Formation Control Using Bearing Measurements,” in 55th Israel Annual Conference on Aerospace Sciences, Haifa, Israel, Feb. 2015.
    Zhao2014b.pdf Zhao2014b.bibtex
  51. 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 Zelazo2014f.bibtex
  52. 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 Zelazo2014.bibtex
  53. 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 Mathias2013.bibtex
  54. 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 Schuler2013.bibtex
  55. 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 Schuler2012.slides DOI: 10.1109/CDC.2012.6426358 Schuler2012.bibtex
  56. D. Zelazo and F. Allgöwer, “Eulerian Consensus Networks,” in 51st IEEE Conference on Decision and Control, Maui, HI, Dec. 2012.
    Zelazo2012a.pdf Zelazo2012a.slides DOI: 10.1109/CDC.2012.6425921 Zelazo2012a.bibtex
  57. 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 Burger2012.bibtex
  58. 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 Zelazo2012c.bibtex
  59. D. Zelazo and F. Allgöwer, “Growing Optimally Rigid Formations,” in American Control Conference, Montreal, Canada, 2012.
    Zelazo2012.pdf DOI: 10.1109/acc.2012.6315460 Zelazo2012.bibtex
  60. 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 Zelazo2012d.slides DOI: 10.1109/cdc.2012.6426450 Zelazo2012d.bibtex
  61. 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 Briegel2011.bibtex
  62. 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 Zelazo2011b.bibtex
  63. 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 Zelazo2011.bibtex
  64. 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 Zelazo2010b.bibtex
  65. 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 Zelazo2009b.bibtex
  66. 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 Zelazo2009.bibtex
  67. 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 Zelazo2009a.bibtex
  68. 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 Zelazo2008.bibtex
  69. 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 Zelazo2008a.bibtex
  70. 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 Zelazo2007.bibtex
  71. 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 Zelazo2002.bibtex

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ArXiv and Technical Reports

  1. L. Theran, D. Zelazo, and J. Sidman, “A Geometric View of Formation Control with Application to Directed Sensing,” Dec. 2025.
    Theran_IFAC26.pdf arXiv: https://arxiv.org/abs/2512.06195 Theran_IFAC26.bibtex
  2. Z. Martinez and D. Zelazo, “Symmetry-Based Formation Control on Cycle Graphs Using Dihedral Point Groups,” Dec. 2025.
    Martinzez_IFAC26.pdf arXiv: https://arxiv.org/abs/2512.06733 Martinzez_IFAC26.bibtex
  3. S. Goldgraber Casspi and D. Zelazo, “The Geometry of Hidden Modes in Distance-Based Formation Control,” Nov. 2025.
    GoldgraberCasspi_IFAC26.pdf arXiv: https://arxiv.org/abs/2511.13187 GoldgraberCasspi_IFAC26.bibtex
  4. G. Barkai, L. Mirkin, and D. Zelazo, “On two-degrees-of-freedom agreement protocols,” Nov. 2025.
    Barkai2026_ECC.pdf arXiv: https://arxiv.org/abs/2511.12632 Barkai2026_ECC.bibtex
  5. E. Matmon and D. Zelazo, “Fiedler-Based Characterization and Identification of Leaders in Semi-Autonomous Networks,” Nov. 2025.
    Matmon2026_ECC.pdf arXiv: https://arxiv.org/abs/2511.02317 Matmon2026_ECC.bibtex
  6. Z. Martinez and D. Zelazo, “Formation Control via Rotation Symmetry Constraints,” Oct. 2025.
    Martinez2026_ACC.pdf arXiv: https://arxiv.org/abs/2510.00676 Martinez2026_ACC.bibtex
  7. F. Yue and D. Zelazo, “A Passivity Analysis for Nonlinear Consensus on Digraphs,” 2025.
    Yue2025_CDC.pdf Yue2025_CDC.slides arXiv: https://arxiv.org/abs/2508.21428 Yue2025_CDC.bibtex
  8. 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 leiter2021product.bibtex
  9. M. Sharf and D. Zelazo, “On Certain Properties of Convex Functions,” Mar. 2017.
    arXiv: https://arxiv.org/abs/1703.00867 Sharf2017arxiv.bibtex
  10. 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.
    URL: https://journals.plos.org/plosbiology/article/comment?id=10.1371/annotation/827a645d-9508-44b3-bfbc-c309ffa13985 Holland2011.bibtex

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

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Patents

  1. S.-W. J. Fu, K. J. Karimi, M. Mesbahi, and D. Zelazo, “Power Management Control System,” issued 11-2013.
    Sheauwei:20130297089.pdf URL: http://www.freepatentsonline.com/y2013/0297089.html Sheauwei:20130297089.bibtex
  2. D. Zelazo and S. D. Trautmann, “Sharing Wavelet Domain Components Among Encoded Signals,” issued 2-15-2011.
    ZELAZO:2011:biblatex.pdf URL: http://www.patentlens.net/patentlens/patent/US_7890335/en/ ZELAZO:2011:biblatex.bibtex
  3. A. Sakurai, S. Trautmann, and D. Zelazo, “Time-scale Modification of Audio Based on Power-complementary IIR Filter Decomposition,” issued 4-2007.
    URL: http://www.freepatentsonline.com/y2007/0081663.html patent:20070081663.bibtex
  4. S. Trautmann, A. Sakurai, and D. Zelazo, “Time-scale Modification of Audio Using Bark Bands,” issued 4-2007.
    patent:20070083377.pdf URL: http://www.freepatentsonline.com/y2007/0083377.html patent:20070083377.bibtex
  5. D. Zelazo, “Designing Boundary Filters for a Biorthogonal Filter Bank,” issued 6-13-2006.
    Zelazo2006a.pdf URL: http://www.patentlens.net/patentlens/patent/US_7062430/en/ Zelazo2006a.bibtex
  6. D. Zelazo and S. D. Trautman, “Efficient Reconstruction,” issued 5-2-2006.
    URL: http://www.patentlens.net/patentlens/patent/US_7039665/en/ Zelazo2006b.bibtex
  7. A. Sakurai, S. Trautmann, and D. Zelazo, “Time-scale Modification of Music Signals Based on Polyphase Filterbanks and Constrained Time-domain Processing,” issued 1-3-2006.
    URL: http://www.patentlens.net/patentlens/patent/US_6982377/en/ Sakurai2006.bibtex
  8. S. Trautmann, A. Sakurai, and D. Zelazo, “Time-scale Modification of Audio Using Separated Frequency Bands,” issued 6-2005.
    URL: http://www.freepatentsonline.com/y2005/0137730.html patent:20050137730.bibtex

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