Books (author or co-author)

B. A. Francis, A Course in H-infinity Control Theory , Lecture Notes in Control and Information Science, vol. 88, Springer-Verlag, Berlin, 1987; corrected 1st printing, 1987.

C. Foias, B. Francis, J. W. Helton, H. Kwakernaak, J. B. Pearson, H-infinity-Control Theory, Lecture Notes in Mathematics, vol. 1496, Springer-Verlag, Berlin, 1991.

J. C. Doyle, B. A. Francis, and A. R. Tannenbaum, Feedback Control Theory, Macmillan, New York, 1992; Chinese translation 1993; Japanese translation 1995. Re-published by Dover Publications, 2008.

T. Chen and B. A. Francis, Optimal Sampled-Data Control Systems, Communication and Control Engineering Series, Springer-Verlag, Berlin, 1995.

H. Ishii and B. A. Francis, Limited Data Rate in Control Systems with Networks, Lecture Notes in Control and Information Sciences, vol. 275, Springer-Verlag, Berlin, 2002.

Books (co-editor)

B. A. Francis and P. P. Khargonekar (editors), Robust Control Theory, The IMA Volumes in Mathematics and its Applications, vol. 66, Springer-Verlag, New York, 1995.

B. A. Francis and A. R. Tannenbaum (editors), Feedback Control, Nonlinear Systems, and Complexity, Lecture Notes in Control and Information Science, vol. 202, Springer-Verlag, Berlin, 1995.

B. A. Francis, M. C. Smith, and J. C. Willems (editors), Control of Uncertain Systems: Modelling, Approximation, and Design, Lecture Notes in Control and Information Sciences, vol. 329, Springer-Verlag, Berlin, 2006.


Journal Articles

1. B. A. Francis, O. A. Sebakhy and W. M. Wonham, "Synthesis of multivariable regulators; the internal model principle," J. Appl. Math. Opt., vol. 1, 1974, pp. 64-86.

2. B. A. Francis and W. M. Wonham, “The internal model principle for linear multivariable regulators,” J. Appl. Math. Opt., vol. 2, 1975, pp. 170-194.

3. B. A. Francis and W. M. Wonham, “The role of transmission zeros in linear multivariable regulators," Int. J. Control, vol. 22, 1975, pp. 657-681.

4. B. A. Francis and W. M. Wonham, “The internal model principle of control theory,” Automatica, vol. 12, 1976, pp. 457-465.

5. B. A. Francis, “The multivariable servomechanism problem,” SIAM J. Control and Opt., vol. 15, 1977, pp. 486-505.

6. B. A. Francis, “The multivariable servomechanism problem from the input-output viewpoint,” IEEE Trans. Aut. Control, vol. 22, 1977, pp. 322-328.

7. B. A. Francis and K. Glover, “Bounded peaking in the optimal linear regulator with cheap control,” IEEE Trans. Aut. Control, vol. 23, 1978, pp. 608-617.

8. B. A. Francis, “The optimal linear-quadratic time-invariant regulator with cheap control,” IEEE Trans. Aut. Control, vol. 24, 1979, pp. 616-621.

9. B. A. Francis, “On robustness of the stability of feedback systems,” IEEE Trans. Aut. Control, vol. 25, 1980, pp. 817-818.

10. B. A. Francis, “Convergence in the boundary layer for singularly perturbed equations,” Automatica, vol. 18, 1982, pp. 57-62.

11. B. A. Francis, “On the Wiener-Hopf approach to optimal feedback design,” Systems and Control Letters, vol. 2, 1982, pp. 197-201.

12. M. Vidyasagar, H. Schneider, and B. A. Francis, “Algebraic and topological aspects of feedback stabilization,” IEEE Trans. Aut. Control, vol. 27, 1982, pp. 880-894.

13. G. Zames and B. A. Francis, “Feedback, minimax sensitivity, and optimal robustness,” IEEE Trans. Aut. Control, vol. 28, 1983, pp. 585-601.

14. B. A. Francis and M. Vidyasagar, “Algebraic and topological aspects of the regulator problem for lumped linear systems,” Automatica, vol. 19, 1983, pp. 87-89.

15. B. A. Francis and G. Zames, “On H-infinity-optimal sensitivity theory for siso feedback systems,” IEEE Trans. Aut. Control, vol. 29,1984, pp. 9-16.

16. B. A. Francis, J. W. Helton, and G. Zames, “ H-infinity-optimal feedback controllers for linear multivariable systems,” IEEE Trans. Aut. Control, vol. 29, 1984, pp. 888-900.

17. A. Feintuch and B. A. Francis, “Uniformly optimal control of linear time-varying systems,” Systems and Control Letters, vol. 5, 1984, pp. 67-71.

18. S. O'Young and B. A. Francis, “Sensitivity trade-offs for multivariable plants,” IEEE Trans. Aut. Control, vol. 30, 1985, pp. 625-632.

19. A. Feintuch and B. A. Francis, “Uniformly optimal control of linear feedback systems,” Automatica, vol. 21, 1985, pp. 563-574.

20. S. O'Young and B. A. Francis, “Optimal performance and robust stabilization,” Automatica, vol. 22, 1986, pp. 171-183.

21. B. A. Francis, “Stabilizability of linear systems with uncertain gains,” Systems and Control Letters, vol. 7, 1986, pp. 195-198.

22. B. A. Francis and J. C. Doyle, “Linear control theory with an H-infinity optimality criterion,” SIAM J. Cont. Opt., vol. 25, 1987, pp. 815-844. (Invited expository paper)

23. A. Feintuch and B. A. Francis, “Distance formulas for operator algebras arising in optimal control problems,” Topics in Operator Theory and Interpolation, vol. 29 in Operator Theory: Advances and Applications, Birkhauser, 1988, pp. 151-170.

24. B. A. Francis and A. Tannenbaum, “Generalized interpolation in control theory,” Mathematical Intelligencer, vol. 10, no.4, Fall 1988, pp. 48-52.

25. B. A. Francis and T. T. Georgiou, “Stability theory for linear time-invariant plants with periodic digital controllers,” IEEE Trans. Auto. Control, vol. 33, 1988, pp. 820-832.

26. T. Chen and B. A. Francis, “Spectral and inner-outer factorizations of rational matrices,” SIAM J. Matrix Analysis and Appl., vol. 10, no. 1, 1989, pp. 1-17.

27. J. Doyle, K. Glover., P. Khargonekar, and B. Francis, “State-space solutions to standard H2 and H-infinity control problems,” IEEE Trans. Auto. Control, vol. 34, 1989, pp. 831-847.

28. T. Chen and B. A. Francis, “On the L2-induced norm of a sampled-data system,” Systems and Control Letters, vol. 15, 1990, pp. 211-219.

29. T. Chen and B. A. Francis, “Input-output stability of sampled-data systems,”IEEE Trans. Auto. Control, vol. 36, 1991, pp. 50-58.

30. G. Leung, T. Perry, and B. A. Francis, “Performance analysis of sampled-data control systems,” Automatica, vol. 27, 1991, pp. 699-704.

31. T. Chen and B. A. Francis, “ H2-optimal sampled-data control,”IEEE Trans. Auto. Control, vol. 36, 1991, pp. 387-397.

32. T. Chen and B. A. Francis, “Linear time-varying H2-optimal control of sampled-data systems,” Automatica, vol. 27, 1991, pp. 963-974.

33. B. Bamieh, J. B. Pearson, B. A. Francis, and A. Tannenbaum, “A lifting technique for linear periodic systems with applications to sampled-data control,” Systems & Control Letters, vol. 17, 1991, pp. 79-88.

34. G. Dullerud and B. A. Francis, “L1 performance in sampled-data systems,” IEEE Trans. Auto. Control, vol. 37, 1992, pp. 436-446.

35. T. Chen and B. A. Francis, “Sampled-data optimal design and robust stabilization,” ASME J. Dynamic Systems, Meas. and Control, vol. 114, 1992, pp. 538-543.

36. R. E. Avedon and B. A. Francis, “Digital control design via convex optimization,” ASME J. Dynamic Systems, Meas. and Control, vol. 115, 1993, pp. 579-586.

37. G. M. H. Leung, B. A. Francis, and J. Apkarian, “Bilateral controller for teleoperators with time delay via mu-synthesis,” IEEE Trans. Robotics and Automation, vol. 11, 1995, pp. 105-116.

38. T. Chen and B. A. Francis, “Design of multirate filter banks by H-infinity optimization,” IEEE Trans. Signal Processing, Dec. 1995, pp. 2822-2830.

39. T. Chen and B. A. Francis, “ H-infinity-optimal sampled-data control: computation and design,” Automatica, Feb. 1996, pp. 223-228.

40. H. Shu, T. Chen, and B. A. Francis, “Minimax design of hybrid multirate filter banks,” IEEE Trans. Circuits and Systems, Part II, Feb. 1997, pp. 120-128.

41. B. Boulet, B. A. Francis, P. C. Hughes, and T. Hong, “Uncertainty modeling and experiments in H-infinity control of large flexible space structures,” IEEE Trans. Control Syst. Tech., Sept. 1997, pp. 504-519.

42. S. Mirabbasi, B. A. Francis, and T. Chen, “Controlling distortions in maximally decimated filter banks,”IEEE Trans. Circuits and Systems, Part II, July 1997, pp. 597-600.

43. B. Boulet and B. A. Francis, “Consistency of open-loop experimental frequency-response data with coprime factor plant models,” IEEE Trans. on Automatic Control, Dec. 1998, pp. 1680-1691.

44. B. Francis and S. Dasgupta, “Signal compression by subband coding,” Automatica, Dec. 1999, pp. 1895-1908.

45. P. Goldsmith, B. Francis, and A. Goldenberg, “Stability of hybrid position/force control applied to manipulators with flexible joints,” Int. J. Robotics and Automation, vol. 14(4), Dec. 1999, pp. 146-160.

46. B. Boulet, B. Francis, P. Hughes, and T. Hong, “mu-synthesis for a large flexible space structure experimental testbed,” AIAA J. Guidance and Control, vol. 24, Sept.-Oct. 2001, pp. 967-977.

47. H. Ishii and B. Francis, “Stabilizing a linear system by switching control with dwell time,” IEEE Trans. Automatic Control, Dec. 2002, pp. 1962-1973.

48. H. Ishii and B. Francis, “Stabilization with control networks,” Automatica, 2002, pp. 1745-1751.

49. O. Jahromi, B. Francis, and R. Kwong, “Algebraic theory of optimal filter banks,” IEEE Trans. on Signal Processing, Feb. 2003, pp. 442-457.

50. O. Jahromi, B. Francis, and R. Kwong, “Spectrum estimation using multirate observations,” IEEE Trans Signal Processing, 2004, pp. 1878-1890.

51. H. Ishii and B. A. Francis, “Quadratic stabilization of sampled-data systems with quantization,” Automatica, 2003, pp. 1793-1800.

52. Z. Lin, M. Broucke, and B. Francis, “Local control strategies for groups of mobile autonomous agents,” IEEE Trans. Automatic Control, 2004, pp. 622-629.

53. O. S. Jahromi, B. A. Francis, and R. H. Kwong, “Relative information of multirate sensors,” Information Fusion, special issue on Robust Speech Processing, Vol. 5/2, 2004, pp. 119-129.

54. J. A. Marshall, M. E. Broucke, and B. A. Francis, “Formations of vehicles in cyclic pursuit,” IEEE Trans. Automatic Control, 2004, pp. 1963-1974.

55. Z. Lin, B. A. Francis, and M. Maggiore, “Necessary and sufficient graphical conditions for formation control of unicycles,” IEEE Trans. Automatic Control, 2005, pp. 121-127.

56. S. L. Smith, M. E. Broucke, and B. A. Francis, “A hierarchical cyclic pursuit scheme for vehicle networks,” Automatica, 2005, pp. 1045-1053.

57. J. A. Marshall, M. E. Broucke, and B. A. Francis, “Pursuit formations of unicycles,” Automatica, 2006, pp. 3 - 12.

58. J. A. Marshall, T. Fung, M. E. Broucke, G. M. T. D'Eleuterio and B. A. Francis, “Experiments in multirobot coordination,” Robotics and Autonomous Systems, 2006, pp. 265 - 275.

59. Z. Lin, B. A. Francis, and M. Maggiore, “State agreement for coupled nonlinear systems with time-varying interaction,” SIAM J. Control Opt, 2007, pp. 288 - 307.

60. S. L. Smith, M. E. Broucke, and B. Francis, “Curve shortening and the rendezvous problem for mobile autonomous robots,” IEEE Trans. Automatic Control, June 2007, pp. 1154 - 1159.

61. L. Krick, M. Broucke, and B. Francis, “Stabilization of infinitesimally rigid formations of multi-robot networks,” Int. J. Control, 2009, pp. 423 - 439.

62. H. Goi, T. Barfoot, B. Francis, and J. Giesbrecht, "Vision-based autonomous convoying with constant time delay," Journal of Field Robotics, July/August, 2010, pp. 430 - 449.

63. F. Dörfler and B. Francis, "Geometric analysis of the formation problem for autonomous robots," IEEE Trans. Automatic Control, October, 2010, pp. 2379 - 2384.

64. A Feintuch and B. Francis, "Infinite chains of kinematic points," submitted to Automatica, March 5, 2011, Brief Paper.

Chapter in Book


T. Chen and B. A. Francis, “ H2-optimal control of discrete-time and sampled-data systems,” Discrete-Time Control Systems Analysis and Design, Editor: C.T. Leondes,pp. 1-34, vol. 71 in Control and Dynamic Systems: Advances in Theory and Applications, Academic Press, 1995.

Encyclopedia Articles


1. B. A. Francis, “The internal model principle,” Encyclopedia of Systems and Control, Pergamon Press, 1987.

2. J. Raisch and B. A. Francis, “Modelling deterministic uncertainty,” The Control Handbook, A CRC Handbook Published in Cooperation with IEEE Press, W.S. Levine (ed.), 1996, pp. 551-560.

Conference Papers


1. B. A. Francis and W. M. Wonham, “The necessary structure of multivariable regulators,” Proc. Twelfth Allerton Conf. on Circuit and System Theory, 1974.

2. B. A. Francis and W. M. Wonham, “The internal model principle of linear control theory,” Proc. IFAC Sixth Triennial World Congress, 1975.

3. B. A. Francis, “The linear multivariable regulator problem,” Proc. IEEE Conf. on Decision and Control, 1976.

4. B. A. Francis, “Perfect regulation and feedforward control of linear multivariable systems,” Proc. IEEE Conf. on Decision and Control, 1977.

5. B. A. Francis, “Singularly perturbed linear initial value problems with an application to singular optimal control,” Proc. IRIA/IFAC Workshop on Singular Perturbations in Control, Paris, 1978.

6. B. A. Francis and M. Vidyasagar, “Adaptive robust regulation of linear multivariable systems,” Proc. IEEE Conf. on Decision and Control, 1978.

7. M. Vidyasagar, H. Schneider and B. A. Francis, “Algebraic and topological aspects of feedback stabilization,” Proc. IEEE Conf. on Decision and Control, 1980.

8. G. Zames and B. A. Francis, “A new approach to classical sensitivity methods,” Proc. IEEE Conf. on Decision and Control, San Diego, 1981.

9. B. A. Francis and G. Zames, “On optimal minimax servos,” Proc. IEEE Conf. on Decision and Control, San Diego, 1981.

10. B. A. Francis and M. Vidyasagar, “Algebraic and topological aspects of the servo problem for lumped linear systems,” Proc. VIII IFAC Congress, Kyoto, 1981.

11. B. A. Francis and G. Zames, “On optimal sensitivity theory for siso feedback systems,” Proc. IEEE Conf. on Decision and Control, 1982.

12. B. A. Francis, J. W. Helton and G. Zames, “ H-infinity-Optimal feedback controllers for linear multivariable systems,” Proc. Math. Theory of Networks and Systems, Beer-Sheva, 1983.

13. B. A. Francis and G. Zames, “Design of H-infinity-Optimal multivariable feedback systems,” Proc. IEEE Conf. on Decision and Control, 1983.

14. B. A. Francis, “Optimal disturbance attenuation with control weighting,” Proc. Twente Workshop on Systems and Optimization, Lecture Notes in Control and Inf. Sciences, vol. 66, Springer-Verlag, 1984.

15. S. O'Young and B. A. Francis, “Sensitivity trade-offs for multivariable plants,” Proc. IEEE Conf. on Decision and Control, 1984.

16. A. Feintuch and B. A. Francis, “Uniformly optimal control of linear feedback systems,” Proc. Math. Theory of Networks and Systems, Stockholm, 1985.

17. S. O'Young and B. A. Francis, “Optimal performance with plant uncertainty,” Proc. IEEE Conf. on Decision and Control, 1985.

18. J. Bird and B. A. Francis, “On the robust disturbance attenuation problem,” Proc. IEEE Conf. on Decision and Control,1986.

19. B. A. Francis, “A guide to H-infinity control theory,” Workshop on Modelling, Robustness and Sensitivity Reduction in Control Systems, Groningen, Dec. 1-5, 1986.

20. J. Doyle, K. Glover, P. Khargonekar, and B. Francis, “State-space solutions to standard H2 and H-infinity control problems,” Proc. Amer. Control Conf., 1988.

21. B. A. Francis, “Snippets of H-infinity control theory,” presented at the IMA Workshop on Signal Processing, 1988;Signal Processing, Part II: Control Theory and Applications, ed. by F.A. Grunbaum, J.W. Helton, and P. Khargonekar, Springer-Verlag, New York, 1990, pp. 79-98.

22. B. A. Francis and T. T. Georgiou, “Stability theory for linear time-invariant plants with periodic digital controllers,” presented at the IMA Workshop on Signal Processing, 1988.

23. B. A. Francis, “Past, present, and future of H-infinity control,” Proc. First Workshop on Robust Control, Hokkaido University, Aug. 18, 1989.

24. T. Chen and B. A. Francis, “Stability of sampled-data systems,” Proc. Allerton Conf., 1989.

25. B. A. Francis, “Lectures on H-infinity control and sampled-data systems,” CIME Summer Institute, Como, Italy, June, 1990.

26. G. Dullerud and B. A. Francis, “L1 performance of sampled-data systems,” Proc. Sym. MTNS, 1991.

27. B. A. Francis, “Sampled-data control theory,” Proc. Sym. MTNS, 1991.

28. T. Chen and B. A. Francis, “Sampled-data optimal design and robust stabilization,” Proc. ACC, 1991.

29. S. E. Posner and B. A. Francis, “L2-Optimal discretization of analog filters,” Proc. Conf. on Information Sciences and Systems, Princeton, NJ, 1992, pp. 161-165.

30. T. Chen and B. A. Francis, “State-space solutions to discrete-time and sampled-data H2 control problems,” Proc. IEEE CDC, 1992.

31. G. Leung and B. A. Francis, “Bilateral control of teleoperators with time delay through a digital communication channel,” Proceedings of the Thirtieth Annual Allerton Conference on Communication, Control, and Computing, Sept. 1992, pp. 692-701.

32. G. Leung and B. A. Francis, “Delayed force feedback in the digital implementation of space telerobots,” Canadian Aeronautics and Space Institute Seventh Conference on Astronautics, Ottawa, Nov 5-6, 1992, pp. 257-266.

33. T. Chen and B. A. Francis, “ H-infinity-optimal sampled-data control: computation and design,” Proc. American Control Conf., 1994,pp. 2767-2771.

34. B. Boulet and B. A. Francis, “Robust control of large flexible space structures using a coprime factor plant description,” Proc. American Control Conf., 1994, pp. 265-266.

35. B. Boulet and B. A. Francis, “Consistency of experimental frequency-response data with coprime factor plant models,” Proc. American Control Conf., 1994, pp. 2738-2739.

36. A. Langari and B. A. Francis, “Sampled-data repetitive control systems,” Proc. American Control Conf., 1994, pp. 3234-3235.

37. G. Leung and B. A. Francis, “Robust nonlinear control of bilateral teleoperators,” Proc. American Control Conf., 1994, pp. 2119-2123.

38. B. Boulet, B. A. Francis, P. C. Hughes, and T. Hong, “Uncertainty modeling and experiments in H-infinity control of large flexible space structures,” Proc. IEEE Conf. on Control Applications, 1995, pp. 1078-1085.

39. B. Boulet, B. A. Francis, P. C. Hughes, and T. Hong, “Daisy: a large flexible space structure testbed for advanced control experiments,” Trends in Control: A European Perspective, A. Isidori (ed.), Proc. European Control Conference, 1995, pp. 115-140.

40. T. Chen and B. A. Francis, “An application of H-infinity optimization to multirate digital signal processing,” Proc. IEEE Conf. on Decision and Control, 1995, pp. 1177-1182.

41. A. Langari and B. A. Francis, “Design of optimal sampled-data repetitive control systems,” Allerton Conference on Control, Communications and Computing, October 4-6, 1995, pp. 401-410.

42. A. Langari and B. A. Francis, “Robustness analysis of sampled-data repetitive control systems,” Congress of the Int. Federation of Automatic Control, San Francisco, June 30-July 5, 1996, vol. D, pp. 19-24.

43. S. Mirabbasi, B, Francis, and T. Chen, “Input-output gains of linear periodic discrete-time systems with application to multirate signal processing,” Proc. Int. Sym. Circuits and Systems, vol. II, 1996, pp. 193-196.

44. H. Shu, T. Chen, and B. Francis, “Minimax design of hybrid multirate filter banks,” Proc. Int. Sym. Circuits and Systems, vol. II, 1996, pp. 324-327.

45. P. Goldsmith, B. Francis, and A. Goldenberg, “The cause of kinematic instability in hybrid position/force control: contact compliance,” IASTED Int. Conf. on Intelligent Information Systems, Dec. 8-10, 1997.

46. B. A. Francis, “From Digital Control to Digital Signal Processing,” Workshop on Learning, Control, and Hybrid Systems, Centre for Artificial Intelligence and Robotics, Bangalore, January 1998; published as Learning, Control, and Hybrid Systems, Lecture Notes in Control and Information Sciences, Springer-Verlag, 1998, pp. 93-107.

47. Q. Pu and B. A. Francis, “Solution of a wavelet crime,” Workshop on Recent Advances in Control, Fields Inst., Toronto, June 29-30, 1998; published in Topics in Control and its Applications, Springer-Verlag, 1999, pp. 143-156.

48. O. Jahromi and B. Francis, “An information-theoretic method for designing multiresolution principal component transforms,” International Joint Conf. on Neural Networks, Washington, DC, July 10-16, 1999.

49. H. Ishii, Y. Yamamoto and B. A. Francis, “Sample-rate conversion via sampled-data H-infinity control,” Proc. IEEE CDC, 1999, pp. 3440-3445.

50. O. S. Jahromi, B. A. Francis, and R. H. Kwong, “Algebraic theory of optimal filter banks,” ICASSP, Istanbul, June 2000.

51. H. Ishii and B. Francis, “Stabilization with control networks,” UKACC Int. Conf. Control 2000, Cambridge, UK, Sept, 2000.

52. H. Ishii and B. Francis, “Control over networks,” Annual Allerton Conference on Communication, Control, and Computing, Oct. 4-6, 2000, 143-152.

53. H. Ishii and B. Francis, “Stabilizing a linear system by switching control with dwell time,” ACC, 2001.

54. H. Ishii and B. A. Francis, “Stabilizing a linear system by switching control and output feedback with dwell time,” Proc. 40th IEEE Conf. on Decision and Control, pp. 191-196, 2001.

55. O. S. Jahromi, B. A. Francis, and R. H. Kwong, “Information theory of Multirate systems,” IEEE International Symposium on Information Theory, June 24-29, 2001, Washington D.C.

56. O. S. Jahromi, B. A. Francis, and R. H. Kwong, “Multirate signal estimation,”Canadian Conference on Electrical and Computer Engineering, Toronto, Ontario, May 13-16, 2001.

57. O. S. Jahromi, B. A. Francis, and R. H. Kwong, “Multirate spectral estimation,” IEEE Pacific Rim Conference on Communications, Computers and Signal Processing, Victoria, B.C., Canada, August 26-28, 2001.

58. O. S. Jahromi, R. H. Kwong, and B. A. Francis, “Information theory of multirate systems,” IEEE Int. Symposium on Information Theory, Washington, DC, June 24-29, 2001.

59. H. Ishii and B. A. Francis, “Quadratic stabilization of sampled-data systems with quantization,” Proc. 15th IFAC World Congress, Barcelona, 2002.

60. J. A. Marshall, Z. Lin, M. E. Broucke, and B. A. Francis, “Pursuit strategies for autonomous agents,” Proceedings of the 2003 Block Island Workshop on Cooperative Control, eds. V. J. Kumar, N. E. Leonard, and A. S. Morse, Springer-Verlag Series: Lecture Notes in Control and Information Sciences, 2004.

61. Z. Lin, M. Broucke, and B. Francis, “Local control strategies for groups of mobile autonomous agents,” Proc. CDC, Hawaii, 2003.

62. J. Marshall, M. Broucke, and B. Francis, “A pursuit strategy for wheeled-vehicle formations,” Proc. CDC, Hawaii, 2003, pp. 2555-2560.

63. J. A. Marshall, M. E. Broucke, and B. A. Francis, “Unicycles in cyclic pursuit,” to appear in Proceedings of the 2004 Automatic Control Conference, Boston, MA U.S.A., June 30-July 2, 2004.

64. Z. Lin, B. A. Francis, and M. Maggiore, “Feasibility for formation stabilization of multiple unicycles,” Proc. of 43rd IEEE Conference on Decision and Control, Bahamas, Dec. 14-17, 2004, pp. 2448-2452.

65. Z. Lin, B. Francis, and M. Maggiore, “On the state agreement problem for multiple nonlinear dynamical systems,” 16th IFAC World Congress, Prague, 2005.

66. J. A. Marshall, M. E. Broucke, and B. A. Francis. Unicycles in cyclic pursuit. In Proceedings of the 2004 American Control Conference, June 30-July 2, 2004, pp. 5344-5349.

67. S. Smith, M. E. Broucke, B. Francis, “Curve shortening and its application to multi-agent systems,” Proc. IEEE Conference on Decision and Control, Seville, 2005, pp. 2817 - 2822.

68. Z. Lin, B. Francis, and M. Maggiore, “Coupled dynamic systems: from structure towards state agreement,” Proc. IEEE Conference on Decision and Control, Seville, 2005, pp. 3303 - 3308.

69. S. L. Smith, M. E. Broucke, and B. Francis, “Stabilizing a multiagent system to an equilateral polygon formation,” MTNS, Kyoto, 2006.

70. Z. Lin, B. Francis, and M. Maggiore, “Getting mobile autonomous robots to rendezvous,” Workshop on Control of Uncertain Systems: Modelling, Approximation, and Design, Cambridge UK, April 21,22, 2006; in Control of Uncertain Systems: Modelling, Approximation, and Design, Lecture Notes in Control and Information Sciences, vol. 329, Springer-Verlag, Berlin, 2006, pp. 131 - 149.

71. L. Koch, R. Adve, and B. Francis, “Optimal beamforming with mobile robots,” Asilomar Conf. on Signals, Systems, and Computers, 2007.

72. L. Krick, M. Broucke, and B. Francis, “Getting mobile autonomous robots to form a prescribed geometric arrangement,” Lecture Notes in Control and Information Sciences, vol. 371, 2008, pp. 1149-159.

73. L. Krick, M. Broucke, and B. Francis, “Stabilization of infinitesimally rigid formations of multi-robot networks,” CDC, 2008.

74. J. Giesbrecht, H. Goi, T. Barfoot, and B. Francis, “A vision-based robotic follower vehicle,” Proceedings of the SPIE Defence, Security, and Sensing, vol. 7332, pp. 14–17, 2009.

75. F. Dörfler and B. Francis, “Formation control of autonomous robots based on cooperative behaviour,” European Control Conference, 2009.

76. H. Goi, T. Barfoot, B. Francis, and J. Giesbrecht, "Vision-based vehicle trajectory following with constant time delay," 7th International Conference on Field and Service Robots, 2009.

77. B. Tsai, O. Trescases, and B. Francis, "An investigation of steady-state averaging for the single-inductor, dual-output buck converter using Fourier analysis," IEEE Workshop on Control and Modeling for Power Electronics (COMPEL 2010).