Pentzer, Jesse; Brennan, Sean; Reichard, Karl. "On-line estimation of power model parameters for skid-steer robots with applications in mission energy use prediction." Journal of Field Robotics. Vol 1. Pg 1-20. 2022. PDF https://doi.org/10.1002/rob.22076
Bai, Wushuang; Maddipatla, Satya Prasad; Pelletier, Evan; Gao, Liming; Brennan, Sean; "Determining Region of Influence of Ego-Vehicle on Roadways for Vehicle Decision Making," accepted to RSS 2022 - 8th Road Safety and Simulation International Conference. 08-10 June, 2022. Athens, Greece. To appear. 10 pages.
Gao, Liming; Beal, Craig; Bai, Wushuang; Maddipatla, Satya Prasad; Chen, Cindy; Jerath, Kshitij; Haeri, Hossein; Sinanaj, Lorina; Brennan, Sean; “Boxes-based Representation and Data Sharing of Road Surface Friction for CAVs,” accepted to RSS 2022 - 8th Road Safety and Simulation International Conference. 08-10 June, 2022. Athens, Greece. To appear. 10 pages. PDF
Sinanaj, Lorina; Haeri, Hossein; Gao, Liming; Maddipatla, Satya Prasad; Chen, Cindy; Jerath, Kshitij; Beal, Craig; Brennan, Sean; “Allan Variance-based Granulation Technique for Large Temporal Databases,” Submitted to Springer Nature Computer Science Journal, March 20200.
Sinanaj, Lorina; Haeri, Hossein; Gao, Liming; Maddipatla, Satya Prasad; Chen, Cindy; Jerath, Kshitij; Beal, Craig; Brennan, Sean; “Allan Variance-based Granulation Technique for Large Temporal Databases,” in 13th International Conference on Knowledge Management and Information Systems (KMIS),accepted, Online, October 25-27, 2021. Winner of Best Student Paper in conference. PDF https://doi.org/10.5220/0000152400003064
Maddipatla, Satya Prasad; Haeri, Hossein; Jerath, Kshitij; Brennan, Sean; “Fast Allan Variance (FAVAR) and Dynamic Fast Allan Variance (D-FAVAR) Algorithms for both Regularly and Irregularly Sampled Data,” in 2021 Modeling, Estimation and Control Conference (MECC),accepted, Austin, TX, October 24-27, 2021. (Winner of "gold medal" for student paper)
Gao, Liming; Bai, Wushuang; Leary, Robert; Varadarajan, Krishna; Brennan, Sean; “ROS Integration of External Vehicle Motion Simulations with an AIMSUN Traffic Simulator as a Tool to Assess CAV Impacts on Traffic,” in 2021 Modeling, Estimation and Control Conference (MECC). Austin, TX, October 24-27, 2021.
Gao, Liming; Maddipatla, Satya Prasad; Beal, Craig; Jerath, Kshitij; Chen, Cindy; Sinanaj, Lorina; Haeri, Hossein; Brennan, Sean; “A Micro-simulation Framework for Studying CAVs Behavior and Control Utilizing a Traffic Simulator, Chassis Simulation, and a Shared Roadway Friction Database,” 2021 American Control Conference (ACC), 2021, pp. 1650-1655. PDF https://doi.org/10.23919/ACC50511.2021.9483221
Gao, Liming; Beal, Craig; Fescenmyer,Daniel; Brennan, Sean; “Analytical Longitudinal Speed Planning for CAVs with Previewed Road Geometry and Friction Constraints,” in 2021 IEEE International Intelligent Transportation Systems Conference (ITSC), September 19-22, 2021,Indianapolis, IN, United States, 2021. PDF
Craig E. Beal & Sean Brennan (2021) Modeling and friction estimation for automotive steering torque at very low speeds, Vehicle System Dynamics, 59:3, 458-484. PDF https://doi.org/10.1080/00423114.2019.1708416
Wolkowicz, Kelilah; Leary, Robert; Moore, Jason; Brennan, Sean; "Statistical Determination of Decision-Making Regions for Branching Paths: An Algorithm With a Wheelchair Assistance Application," ASME Letters Dyn. Sys. Control, Jan. 2021, 1(1). PDF https://doi.org/10.1115/1.4046578
Leung, S. L., & Marsh, E., & Lynch, S., & Sommer, H. J., & Brennan, S. N., & Wong, T., & Foley, B. M., & Mongeau, J., & Cortes, D. H., & Thole, K. A. (2021, July), A New Approach to Equip Students to Solve 21st-Century Global Challenges: Integrated Problem-Based Mechanical Engineering Laboratory Paper presented at 2021 ASEE Virtual Annual Conference Content Access, Virtual Conference. PDF https://doi.org/10.18260/1-2--36597
Pelletier, E., Bai, W., Alvarez Tiburcio, M., Borek, J. et al., "In-Vehicle Validation of Heavy-Duty Vehicle Fuel Savings via a Hierarchical Predictive Online Controller," SAE Int. J. Adv. & Curr. Prac. in Mobility 3(4):2159-2169, 2021. PDF https://doi.org/10.4271/2021-01-0432
S. P. Maddipatla and S. Brennan, "Synchronization and Feedback Loop Integration of a Non-real Time Microscopic Traffic Simulation with a Real-time Driving Simulator using Model-Based Prediction," 2021 American Control Conference (ACC), 2021, pp. 4376-4382. PDF https://doi.org/10.23919/ACC50511.2021.9482970
Bai, Wushuang; Gao, Liming; Pelletier, Evan; Zhou, Guangwei; Brennan, Sean; "An In-Vehicle Speed Advisories HMI for Driving Safety and Fuel Economy Improvement." 2021 IEEE 94th Vehicular Technology Conference (VTC2021-Fall), 2021, pp. 1-7, doi: 10.1109/VTC2021-Fall52928.2021.9625285 PDF https://doi.org/10.1109/VTC2021-Fall52928.2021.9625285
Bai, Wushuang; Borek, John; Gao, Liming; Vermillion, Chris; Brennan, Sean; "Determining the Region of Influence of a Signalized Traffic Intersection by Analysis of Heavy-duty Diesel Vehicle Fuel Consumption," 2021 American Control Conference (ACC), 2021, pp. 1867-1874. PDF https://doi.org/10.23919/ACC50511.2021.9482959
Bai, W., Pelletier, E., Katibi, F., Vitagliano, N., & Brennan, S. N. Characterizing impacts of autonomous vehicles on fuel economy of surrounding traffic utilizing traffic simulators and vehicle powertrain modeling. 2020 Meeting of the Mid-Atlantic Section of the Institute of Transportation Engineers (MASITE).
C. D. Monaco and S. N. Brennan, "RADARODO: Ego-Motion Estimation From Doppler and Spatial Data in RADAR Images," in IEEE Transactions on Intelligent Vehicles, vol. 5, no. 3, pp. 475-484, Sept. 2020. PDF https://doi.org/10.1109/TIV.2020.2973536
Michael D. Robinson, Craig E. Beal, and Sean N. Brennan, "At what cost? How planned collisions with pedestrians may save lives," Accident Analysis & Prevention, Vol. 141, June 2020, 105492. PDF https://doi.org/10.1016/j.aap.2020.105492
S. Tau, S. Brennan, K. Reichard, J. Pentzer and D. Gorsich, "Increasing Efficiency of Grid Free Path Planning by Bounding the Search Region*," 2020 American Control Conference (ACC), 2020, pp. 150-155. PDF https://doi.org/10.23919/ACC45564.2020.9147228
V. Gruning, J. Pentzer, S. Brennan and K. Reichard, "Energy-Aware Path Planning for Skid-Steer Robots Operating on Hilly Terrain," 2020 American Control Conference (ACC), 2020, pp. 2094-2099. PDF https://doi.org/10.23919/ACC45564.2020.9147470
Xu, C., Groelke, B., Alvarez Tiburcio, M., Earnhardt, C. et al., "Engine-in-the-Loop Study of a Hierarchical Predictive Online Controller for Connected and Automated Heavy-Duty Vehicles," Proceedings of WCX SAE World Congress Experience, SAE Technical Paper 2020-01-0592, 2020. PDF https://doi.org/10.4271/2020-01-0592
Xu, C., Groelke, B., Alvarez Tiburcio, M., Earnhardt, C. et al., "Engine-in-the-Loop Study of a Hierarchical Predictive Online Controller for Connected and Automated Heavy-Duty Vehicles," SAE Technical Paper 2020-01-0592, 2020. PDF https://doi.org/10.4271/2020-01-0592
Bracken, J, Brennan, S, Van Sant, I, Lissenden, C, & Reichard, K. "Nuclear Storage Cask Inspection Robotics As a Case Study in System Design Challenges." Proceedings of the ASME 2018 International Mechanical Engineering Congress and Exposition. Volume 13: Design, Reliability, Safety, and Risk. Pittsburgh, Pennsylvania, USA. November 9–15, 2018. V013T05A037. ASME. PDF https://doi.org/10.1115/IMECE2018-88374
Craig E. Beal, Sean Brennan. (2019) Friction detection from stationary steering manoeuvres. Vehicle System Dynamics 58:11, pages 1736-1765. PDF https://doi.org/10.1080/00423114.2019.1645862
Dow, N., Topper, S., Brennan, S. N., & Parkinson, M. B. (2019). "Assessment of Speed Choice during High Speed Horizontal Curves Evaluating Driver Familiarity and Engagement." 2019 Transportation Research Board Annual Meeting (2019 TRB). (pp. 15 pages). The Transportation Research Board of the National Academies of Science.
Pelletier, E, & Brennan, S. "Diesel Engine Characterization and Performance Scaling via Brake Specific Fuel Consumption Map Dimensional Analysis." Proceedings of the ASME 2019 Dynamic Systems and Control Conference. Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations: Modeling, Analysis, and Control. Park City, Utah, USA. October 8–11, 2019. V002T11A003. ASME. PDF https://doi.org/10.1115/DSCC2019-9110
Tau, S., Brennan, S. N., Reichard, K. M., Pentzer, J., & Gorsich, D. "The Effects of Obstacle Dimensional Uncertainty on Path Planning in Cluttered Environments." Proceedings of the 2019 Ground Vehicle Systems Engineering & Technology Symposium & Advanced Planning Briefing for Industry (GVSETS). 8 pages. August 13-15, 2019, Novi Suburban Collection Showplace, Novi, Michigan.
Varadarajan, K, Leary, R, Pelletier, E, Wahba, M, & Brennan, S. "Analyzing the Effects of Geometric Lane Constraints on RADAR-Based Sensing of Available Vehicle Headway Using Mapped Lane Geometry and Camera Registration of Lane Position." Proceedings of the ASME 2019 Dynamic Systems and Control Conference. Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing. Park City, Utah, USA. October 8–11, 2019. V001T01A006. ASME. PDF https://doi.org/10.1115/DSCC2019-9167
Wolkowicz, KL, Leary, RD, Moore, JZ, & Brennan, SN. "Real-Time Path-Based Fusion of Spatial Databases With Temporal Control Inputs for Assistive Operation of Wheelchairs." Proceedings of the ASME 2019 Dynamic Systems and Control Conference. Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing. Park City, Utah, USA. October 8–11, 2019. V001T05A009. ASME. PDF https://doi.org/10.1115/DSCC2019-9120
Wolkowicz, KL, Leary, RD, Moore, JZ, & Brennan, SN. "Statistical Determination of Decision-Making Regions for Branching Paths: An Algorithm With a Wheelchair Assistance Application." Proceedings of the ASME 2019 Dynamic Systems and Control Conference. Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing. Park City, Utah, USA. October 8–11, 2019. V001T05A008. ASME. PDF https://doi.org/10.1115/DSCC2019-9114
Alvarez, M., Xu, C., Rodriguez, M., Al-Mamun, A., Wahba, M., Brennan, S. N., & Fathy, H. K. (2018). Reducing Road Vehicle Fuel Consumption by Exploiting Connectivity and Automation: A Literature Survey. 14th International Symposium on Advanced Vehicle Control (AVEC '18). (pp. 6). July 16th to July 20th. PDF
Baum, TE, Wolkowicz, KL, Chobot, JP, & Brennan, SN. "Negative Obstacle Detection Using LiDAR Sensors for a Robotic Wheelchair." Proceedings of the ASME 2018 Dynamic Systems and Control Conference. Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control. Atlanta, Georgia, USA. September 30–October 3, 2018. V003T37A011. ASME. PDF https://doi.org/10.1115/DSCC2018-9231
Bracken, J, Brennan, S, Lissenden, C, Simpson, TW, Van Sant, I, Reichard, K, & Ng, M. "Change Propagation During Protoyping: A Case Study of a Robotic Inspection System for Dry Nuclear Waste Storage Casks." Proceedings of the ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 7: 30th International Conference on Design Theory and Methodology. Quebec City, Quebec, Canada. August 26–29, 2018. V007T06A041. ASME. PDF https://doi.org/10.1115/DETC2018-86283
C. D. Monaco and S. N. Brennan, "Ego-Motion Estimate Corruption Due to Violations of the Range Flow Constraint," 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, pp. 3964-3969. PDF https://doi.org/10.1109/IROS.2018.8594131
C. D. Monaco, S. N. Brennan and K. A. Hacker, "Doppler Velocity Log Placement Effects on Autonomous Underwater Vehicle Navigation Accuracy," 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV), 2018, pp. 1-6. PDF https://doi.org/10.1109/AUV.2018.8729737
Dow, N., Topper, S., Brennan, S. N., & Parkinson, M. B. A Baseline Experiment for the Effect of Virtual Immersion on Vehicle Passenger Risk Perception. Applied Human Factors and Ergonomics (AHFE 2018), "Human Factors in Transportation" Session. Paper 2187. July 21-25, 2018.
Kshitij Jerath, Sean Brennan, Constantino Lagoa. "Bridging the gap between sensor noise modeling and sensor characterization." Measurement, Volume 116, 2018, Pages 350-366, ISSN 0263-2241. PDF https://doi.org/10.1016/j.measurement.2017.09.012
Leary, R., & Brennan, S. N. (2018). Region of Attraction of a Real-time Vehicle Pose Estimator Using Monocular Vision And Lane Marker Maps. 14th International Symposium on Advanced Vehicle Control (AVEC '18). (pp. 6).
Ng, MB, & Brennan, SN. "Mechanical Performance Analysis of ULTEM 9085 in a Heated, Irradiated Environment." Proceedings of the ASME 2018 International Mechanical Engineering Congress and Exposition. Volume 9: Mechanics of Solids, Structures, and Fluids. Pittsburgh, Pennsylvania, USA. November 9–15, 2018. V009T12A020. ASME. PDF https://doi.org/10.1115/IMECE2018-88181
R. D. Leary and S. N. Brennan, "Extracting Geometric Road Centerline and Lane Edges from Single-Scan LiDAR Intensity Using Optimally Filtered Extrema Features," 2018 IEEE Conference on Control Technology and Applications (CCTA), Copenhagen, Denmark, 2018, pp. 1133-1138. PDF https://doi.org/10.1109/CCTA.2018.8511347
V. Vohra, M. Wahba, G. Akarslan, R. Ni and S. Brennan, "An Examination of Vehicle Spacing to Reduce Aerodynamic Drag in Truck Platoons," 2018 IEEE Vehicle Power and Propulsion Conference (VPPC), 2018, pp. 1-6. PDF https://doi.org/10.1109/VPPC.2018.8604977
Wahba, M., & Brennan, S. N. (Co-Author) (2018). Developing an Operational Testing Ground for Autonomous and Connected Vehicles. 14th International Symposium on Advanced Vehicle Control (AVEC '18). (pp. 5). July 16th-20th, Bejing, China.
Xu, T., & Brennan, S. N. (2018). Collision-Free CAV Navigation for Two Cars at Four-Way Non-Signalized Intersections. Proceedings of the 2018 AVEC, the 14th International Symposium on Advanced Vehicle Control. (pp. 7 pages). July 16th-20th, Bejing, China
Arora, P., & Brennan, S. N. (2017). Development of User-guided Automatic Generation of Random Highway Scenarios for Driving Simulator Applications. (pp. 10). The Hague: 2017 Roadside Safety and Simulation International Conference.
Lissenden, C. J., Choi, S., Cho, H., Motta, A., Hartig, K., Xiao, X., Le Berre, S., Brennan, S., Reichard, K., Leary, R., McNelly, B., and Jovanovic, I. (February 8, 2017). "Toward Robotic Inspection of Dry Storage Casks for Spent Nuclear Fuel." ASME. J. Pressure Vessel Technol. June 2017; 139(3): 031602. PDF https://doi.org/10.1115/1.4035788
Lleras, Nicolas Ochoa ; Brennan, Sean ; Murphy, Dennis ; Klena, Jennifer M. ; Garvey, Philip M. ; Sommer, H. Joseph. "Assessing perceptions and alerts of tractor instability." In: Chemical Engineering Transactions. 2017 ; Vol. 58. pp. 7-12. PDF https://doi.org/10.3303/CET1758002
Ochoa-Lleras, N., Brennan, S. N. (Author), Murphy, D. J., Klena, J., Garvey, P. M., & Sommer, H. J. (2017). Assessing Perceptions and Alerts of Tractor Instabilty. 2017 CIOSTA. Palermo, Italy: 37th CIOSTA Conference. (this paper was republished in journal form) PDF https://doi.org/10.3303/CET1758002
P. Arora, D. Corbin and S. N. Brennan, "Variable-sensitivity road departure warning system based on static, mapped, near-road threats," 2016 IEEE Intelligent Vehicles Symposium (IV), 2016, pp. 1217-1223. PDF https://doi.org/10.1109/IVS.2016.7535545
Robinson, M., & Brennan, S. N. (2017). Geometrically Derived Distance-Optimal Trajectories Using a Point-Mass Model for Pedestrian Avoidance. (pp. 10). The Hague: 2017 Roadside Safety and Simulation International Conference.
Rothenberger, M. J., Safi, J., Liu, J., Anstrom, J., Brennan, S., and Fathy, H. K. (May 15, 2017). "Improving Lithium-Ion Battery Pack Diagnostics by Optimizing the Internal Allocation of Demand Current for Parameter Identifiability." ASME. J. Dyn. Sys., Meas., Control. August 2017; 139(8): 081001. PDF https://doi.org/10.1115/1.4035743
Shekhawat, I., Corbin, D., Donnell, E. T., & Brennan, S. N. (2017). Automatic identification of hazardous roadside conditions. (pp. 10). The Hague: 2017 Roadside Safety and Simulation International Conference.
A. J. Whalen, S. N. Brennan, T. D. Sauer and S. J. Schiff, "Effects of symmetry on the structural controllability of neural networks: A perspective," 2016 American Control Conference (ACC), 2016, pp. 5785-5790 PDF https://doi.org/10.1109/ACC.2016.7526576
H. Yang, D. McBlane, C. Boyd, C. Beal and S. Brennan, "Vehicle road departure detection using anomalies in dynamics," 2016 American Control Conference (ACC), 2016, pp. 6314-6319. PDF https://doi.org/10.1109/ACC.2016.7526662
J. Pentzer, K. Reichard and S. Brennan, "Energy-based path planning for skid-steer vehicles operating in areas with mixed surface types," 2016 American Control Conference (ACC), 2016, pp. 2110-2115. PDF https://doi.org/10.1109/ACC.2016.7525230
K. Wolkowicz, J. Pentzer, C. Miller, J. Moore, S. Brennan, "On-Line Estimation of Wheelchair Tire Slip Utilizing an Instantaneous Center of Rotation Extended Kalman Filter," in Proceedings of ASME 2016 Dynamic Systems and Control Conference (Minneapolis, MN). PDF https://doi.org/10.1115/DSCC2016-9699
Leary, RD, & Brennan, S. "Region of Attraction for a Vehicle Pose Estimator Utilizing Monocular Vision and Lane Marker Maps." Proceedings of the ASME 2016 Dynamic Systems and Control Conference. Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control. Minneapolis, Minnesota, USA. October 12–14, 2016. V002T31A002. ASME. PDF https://doi.org/10.1115/DSCC2016-9701
Lissenden, C. J., Motta, A. T., Brennan, S. N., Reichard, K. M., Jovanovic, I., Knight, T., & Popovics, J. "Development of robotic multisensor inspection system for used nuclear fuel canisters." Transactions of the American Nuclear Society, Volume 115, Number 1, November 2016, Pages 201-204. PDF
Lissenden, CJ, Choi, S, Cho, H, Motta, A, Hartig, K, Xiao, X, Le Berre, S, Brennan, S, Reichard, K, Leary, R, McNelly, B, & Jovanovic, I. "Robotic Inspection of Dry Storage Casks for Spent Nuclear Fuel." Proceedings of the ASME 2016 Pressure Vessels and Piping Conference. Volume 6B: Materials and Fabrication. Vancouver, British Columbia, Canada. July 17–21, 2016. V06BT06A063. ASME. PDF https://doi.org/10.1115/PVP2016-63312
McNelly, BP, Leary, R, Brennan, S, & Reichard, K. "Characterizing Successful Robotic Insertion and Removal From a Dry Storage Cask Using Peg-Like Jamming and Wedging Analysis." Proceedings of the ASME 2016 Pressure Vessels and Piping Conference. Volume 6B: Materials and Fabrication. Vancouver, British Columbia, Canada. July 17–21, 2016. V06BT06A064. ASME. PDF https://doi.org/10.1115/PVP2016-63634
Miller, C, Wolkowicz, K, Safi, J, & Brennan, SN. "State of Charge Estimation for an Electric Wheelchair Using a Fuel Gauge Model." Proceedings of the ASME 2016 Dynamic Systems and Control Conference. Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation. Minneapolis, Minnesota, USA. October 12–14, 2016. V001T06A005. ASME. PDF https://doi.org/10.1115/DSCC2016-9802
Nicolas Ochoa Lleras, Sean Brennan, Dennis Murphy, M. Jennifer Klena, Philip M. Garvey, H. J. Sommer III. "Development of an Open-Source Tractor Driving Simulator for Tractor Stability Tests." Journal of Agricultural Safety and Health. 22(4): 227-246. 2016. PDF https://doi.org/10.13031/jash.22.11774
Pentzer, J., Safi, J., Brennan, S. N., & Reichard, K. M. (2016). "On-line estimation of skid-steer instantaneous centers of rotation in GPS-denied environments." Proceedings of the 2016 International Society for Terrain Vehicle Systems, 8th Americas Regional Conference..
Wahba, M, Leary, R, Ochoa-Lleras, N, Safi, J, & Brennan, S. "A ROS-Simulink Real-Time Communication Bridge Using UDP With a Driver-in-the-Loop Application." Proceedings of the ASME 2016 Dynamic Systems and Control Conference. Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control. Minneapolis, Minnesota, USA. October 12–14, 2016. V002T23A002. ASME. PDF https://doi.org/10.1115/DSCC2016-9693
A. A. Brown and S. N. Brennan, "Lateral Vehicle State and Environment Estimation Using Temporally Previewed Mapped Lane Features," in IEEE Transactions on Intelligent Transportation Systems, vol. 16, no. 3, pp. 1601-1608, June 2015. PDF https://doi.org/10.1109/TITS.2014.2366991
A. Whalen, S. Brennan, T. Sauer, and S. Schiff "Observability and Controllability of Nonlinear Networks: The Role of Symmetry", Physical Review X, 5, 23 January, p. 011005, 2015. PDF https://doi.org/10.1103/PhysRevX.5.011005
Alexander Brown, Sean Brennan. "Simulating vehicle dynamics on both design plans and laser-scanned road geometry to guide highway design policy." Transportation Research Part C: Emerging Technologies, Volume 50, 2015, Pages 28-36, ISSN 0968-090X. PDF https://doi.org/10.1016/j.trc.2014.07.009
K. Jerath and S. Brennan, "Identification of locally influential agents in self-organizing multi-agent systems," 2015 American Control Conference (ACC), 2015, pp. 335-340. PDF https://doi.org/10.1109/ACC.2015.7170758
K. Jerath, A. Ray, S. Brennan and V. V. Gayah, "Dynamic Prediction of Vehicle Cluster Distribution in Mixed Traffic: A Statistical Mechanics-Inspired Method," in IEEE Transactions on Intelligent Transportation Systems, vol. 16, no. 5, pp. 2424-2434, Oct. 2015. PDF https://doi.org/10.1109/TITS.2015.2409798
M.P. Keske, A.A. Brown, S.N. Brennan, T. Qiu. "Low-order modeling of vehicle impacts upon boulders embedded in cohesionless soil." International Journal of Impact Engineering, Volume 75, 2015, Pages 88-99, ISSN 0734-743X. PDF https://doi.org/10.1016/j.ijimpeng.2014.07.010
N. Ochoa-Lleras, M. Dennis, and S. Brennan, "Experimental Determination of Operator Perception of Tractor Instability," Proceedings of the 3rd International Conference on Safety, Health and Welfare in Agriculture, Agro-food and Forestry Systems (Regusa), pp. 294 - 301. 2015.
Stankiewicz, P, Ochoa Lleras, N, Leary, R, & Brennan, S. "Vehicle Rollover Prevention Using the Zero-Moment Point in an LQR Output Regulator." Proceedings of the ASME 2015 Dynamic Systems and Control Conference. Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. Columbus, Ohio, USA. October 28–30, 2015. V003T44A001. ASME. PDF
Stankiewicz, P. G., Brown, A. A., and Brennan, S. N. (September 1, 2015). "Preview Horizon Analysis for Vehicle Rollover Prevention Using the Zero-Moment Point." ASME. J. Dyn. Sys., Meas., Control. September 2015; 137(9): 091002. PDF https://doi.org/10.1115/1.4030390
Trezza, AT, Virani, NN, Wolkowicz, KL, Moore, JZ, & Brennan, SN. "Indoor Mapping and Localization for a Smart Wheelchair Using Measurements of Ambient Magnetic Fields." Proceedings of the ASME 2015 Dynamic Systems and Control Conference. Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. Columbus, Ohio, USA. October 28–30, 2015. V003T42A005. ASME. PDF https://doi.org/10.1115/DSCC2015-9915
Wahba, M, & Brennan, S. "MPC-Based Energy Management of a Parallel Hybrid Electric Vehicle Using Terrain Information." Proceedings of the ASME 2015 Dynamic Systems and Control Conference. Volume 1: Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems. Columbus, Ohio, USA. October 28–30, 2015. V001T10A005. ASME. PDF https://doi.org/10.1115/DSCC2015-9624
A. Brown and S. Brennan, "Temporal Preview Estimation for Design of a Low Cost Lane-Following System Using a Forward-Facing Monocular Camera," Proceedings of the 2014 IEEE Intelligent Vehicle Symposium, pp. 1457 - 1462. 2014.
A. Brown and S. Brennan. "On the Required Complexity of Vehicle Dynamic Models for use in Simulation-Based Highway Design," International Journal of Safety Research, 49(1), 105-115. 2014. PDF http://dx.doi.org/10.1016/j.jsr.2014.03.005
E. I. Laftchiev, C. M. Lagoa and S. N. Brennan, "Vehicle Localization Using In-Vehicle Pitch Data and Dynamical Models," in IEEE Transactions on Intelligent Transportation Systems, vol. 16, no. 1, pp. 206-220, Feb. 2015. PDF https://doi.org/10.1109/TITS.2014.2330795
E. Laftchiev, C. Lagoa and S. Brennan, "Multi-attribute data dynamics discontinuity identification: A probabilistic approach using linear modeling," 53rd IEEE Conference on Decision and Control, 2014, pp. 5666-5673. PDF https://doi.org/10.1109/CDC.2014.7040276
E. Laftchiev, C. Lagoa, and S. Brennan. "Robust Map Design using Chance Constraint Optimization", Proceedings of the American Control Conference, pp. 2822-2827, June 4-6,Portland Oregon, 2014 PDF https://doi.org/10.1109/ACC.2014.6858839
J. Pentzer, S. Brennan and K. Reichard, "On-line estimation of vehicle motion and power model parameters for skid-steer robot energy use prediction," 2014 American Control Conference, 2014, pp. 2786-2791. PDF https://doi.org/10.1109/ACC.2014.6859073
J. Pentzer, S. Brennan, and K. Reichard "Model-Based Prediction of Skid-Steer Robot Kinematics Using On-Line Estimation of Track Instantaneous Centers of Rotation," Journal of Field Robotics. Vol. 31, No. 3, p. 455-476, 2014. PDF https://doi.org/10.1002/rob.21509
J. Pentzer, S. Brennan, and K. Reichard "The Use of Unicycle Robot Control Strategies for Skid-Steer Robots Through the ICR Kinematic Mapping," Proceedings of the International Conference on Intelligent Robots and Systems, Chicago, IL, 2014.
J. Safi, J. Anstrom, S. Brennan, and H. Fathy, "Differential Diagnostics For Lithium Ion Battery Cells Connected In Series," Proceedings of the ASME 2014 Dynamic Systems and Control Conference. 2014
J. Safi, M. Beeney, M. Kehs, J. Anstrom, S. Brennan and H. Fathy, "Improving SOC accuracy using collective estimation for Lithium Ion battery cells in series," 2014 American Control Conference, 2014, pp. 254-259. PDF https://doi.org/10.1109/ACC.2014.6859050
Jerath, K., Gayah, V., & Brennan, S. N. (2014). Influential subspaces of connected vehicles in highway traffic. (pp. 9). TRB Committee on Traffic Flow Theory and Characteristics Symposium. August 11-13, 2014, Portland, OR, USA.
K. Jerath, A. Ray, S. Brennan and V. V. Gayah, "Dynamic Prediction of Vehicle Cluster Distribution in Mixed Traffic: A Statistical Mechanics-Inspired Method," in IEEE Transactions on Intelligent Transportation Systems, vol. 16, no. 5, pp. 2424-2434, Oct. 2015. PDF https://doi.org/10.1109/TITS.2015.2409798
K. Jerath, A. Ray, S. N. Brennan, and V. V. Gayah. "Statistical Mechanics-inspired Framework for Studying the Effects of Mixed Traffic Flows on Highway Congestion", accepted for publication at 2014 American Control Conference, June 04-06, 2014 in Portland, OR, USA.
N. Ochoa Lleras, A. Brown, S. Brennan, P. Garvey, H.J. Sommer, D. Murphy. "Development of an Open-Source Immersive Tractor Driving Simulator," accepted for publication at 2014 ASABE Annual International Meeting, July 13-16, 2014 in Montreal, Quebec, Canada.
P. Stankiewicz, A. Brown and S. Brennan, "Open-loop vehicle collision avoidance and rollover prevention using previewed Zero-Moment Point," 2014 American Control Conference, 2014, pp. 3207-3212. PDF https://doi.org/10.1109/ACC.2014.6859141
P. Stankiewicz, A. Brown, and S. Brennan. "Preview Horizon Analysis for Vehicle Rollover Prevention using the Zero-Moment Point," accepted for publication in ASME Journal of Dynamic Systems, Measurement, and Control.
Torbic DJ, Donnell ET, Brennan SN, Brown A, O'Laughlin MK, Bauer KM. "Superelevation Design for Sharp Horizontal Curves on Steep Grades." Transportation Research Record. 2014; 2436(1):81-91. PDF https://doi.org/10.3141%2F2436-09
Torbic, D., Donnell, E., Brennan, S. N., Brown, A., O'Laughlin, M., & Bauer, K. (2014). Superelevation design for sharp horizontal curves on steep grades. Transportation Research Board Annual Conference. January 12-15, 2014. (paper was selected for journal publication - see citation for this)
A. Brown and S. Brennan. "An Introduction to Lateral Vehicle State and Environment Estimation Using Temporally Previewed Mapped Lane Features," under review for the IEEE Transactions on Intelligent Transportation Systems.
A. Brown and S. Brennan. "Analysis of Simulation Model Complexity for Predicting Vehicle Skidding for 3D Geometric Design of Roadways", Road Safety and Simulation International Conference, October 22-25, 2013, Rome, Italy
A. Brown and S. Brennan. "Comparison of Field Measurements of Vehicle Dynamics to Simulations Using Both Design Plans and LIDAR-Scanned Road Geometry", Road Safety and Simulation International Conference, October 22-25, 2013, Rome, Italy.
A. Brown and S. Brennan. "Global and Local Frameworks for Vehicle State Estimation Using Temporally Previewed Mapped Lane Features", IEEE IV2013 Environment Perception and Navigation for Intelligent Vehicles, June 23rd 2013, Gold Cost, Australia.
D. Torbic, E. Donnell, S. Brennan, A. Brown, M. O'Laughlin, K. Bauer. "Superelevation Design For Sharp Horizontal Curves on Steep Grades," under review by invitation for the Journal of the Transportation Research Board.
E. Laftchiev, C. Lagoa, and S. Brennan. "Robust Map Design by Outlier Point Selection for Terrain-Based Vehicle Localization" Conference on Decision and Control, Florence, Italy. pp. 3366-3371. December 2013 PDF
E. Laftchiev, C. Lagoa, and S. Brennan. "Robust Map Design for Terrain-Based Vehicle Localization" College of Engineering Research Symposium, State College, PA. April 2013 PDF
K. Swanson, A. Brown, S. Brennan, C. LaJambe. "Extending Driving Simulator Capabilities Toward Hardware-In-The-Loop Testbeds and Remote Vehicle Interfaces", IEEE IV2013 Environment Perception and Navigation for Intelligent Vehicles, June 23rd 2013, Gold Cost, Australia.
M. Keske, A. Brown, and S. Brennan. "Dynamics of Vehicle Impacts With Boulders Embedded in Cohesionless Soil," under review for the Journal of Impact Engineering, Elsevier.
P. K. Vemulapalli, V. Monga and S. N. Brennan, "Robust Extrema Features for Time-Series Data Analysis," in IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 35, no. 6, pp. 1464-1479, June 2013. PDF https://doi.org/10.1109/TPAMI.2012.216
P. Stankiewicz, A. Brown, and S. Brennan. "Determination of Minimum State Preview Time to Prevent Vehicle Rollover", Proceedings of the ASME Dynamic Systems and Control Conference. October 21-23, 2013, Palo Alto, CA.
A. Brown and S. Brennan "Model-based Vehicle State Estimation Using Previewed Road Geometry and Noisy Sensors", Proceedings of the Dynamic Systems and Control Conference, Paper 8762, October 17-19, 2012, Ft. Lauderdale, FL, USA. 2012. PDF
A. Whalen, S. Brennan, T. Sauer, and S. Schiff "Observability of Neuronal Network Motifs", IEEE Conference on Information Science and Systems, 21-23 March, Princeton, NJ, p. 1-5, 2012. PDF
Drew G. Logan, Jesse Pentzer, Sean N. Brennan, Karl Reichard. "Comparing batteries to generators as power sources for use with mobile robotics." Journal of Power Sources, Volume 212, Aug, 2012, Pages 130-138, ISSN 0378-7753. PDF https://doi.org/10.1016/j.jpowsour.2012.03.041
E. Laftchiev, C. Lagoa, and S. Brennan "Terrain-Based Vehicle Localization from Real-Time Data Using Dynamical Models", Proceedings of the College of Engineering Research Symposium, April, State College, PA, USA, 2012 PDF
E. Laftchiev, C. Lagoa, and S. Brennan "Terrain-Based Vehicle Localization from Real-Time Data Using Dynamical Models", Proceedings of the IEEE Conference on Decision and Control, December 10-13, Maui, HI, USA, p. 3366-3371, 2012. PDF http://dx.doi.org/10.1109/CDC.2012.6426351
E. O'Hare, D. Linzell, Z. Rado, and S. Brennan, "Development of Shallow Foundation Streetscape Vehicular Anti-Ram (SVAR) Systems Through Modeling and Testing," 83rd Shock and Vibration Symposium, pp. 11. 2012.
J. Pentzer and S. Brennan "Investigation of the Effect of Continuously Variable Transmissions on Ground Robot Powertrain Efficiency", Proceedings of the American Control Conference, June 27-29, Montreal, Canada. p. 4245 - 4250. 2012. PDF
K. Jerath and S. Brennan "GPS-Free Terrain-based Vehicle Tracking on Road Networks", Proceedings of the American Control Conference, June 27-29, Montreal, Canada. p. 307-311. 2012. PDF
K. Jerath and S. N. Brennan, "Analytical Prediction of Self-Organized Traffic Jams as a Function of Increasing ACC Penetration," in IEEE Transactions on Intelligent Transportation Systems, vol. 13, no. 4, pp. 1782-1791, Dec. 2012. PDF http://dx.doi.org/10.1109/TITS.2012.2217742
L. Reese, T. Qiu, D. Linzell, Z. Rado, and S. Brennan, "Development of Landscape Vehicular Anti-Ram Systems through Computational and Experimental Methods," 93rd Shock and Vibration Symposium, pp. 18 pages. 2012.
M. Barnes and S. Brennan "Simulation, Design, and Verification of an Electrified Bicycle Energy Model", Proceedings of the Dynamic Systems and Control Conference, Paper 8766. October 17-19, Ft. Lauderdale, FL, USA. 2012. PDF
M. Montenbruck and S. Brennan "Monitoring Delayed Systems Using the Smith Predictor", Proceedings of the American Control Conference, June 27-29, Montreal, Canada. p. 6235 - 6239. 2012. PDF
P. Vemulapalli, G. Ledva, S. Brennan and K. Reichard "Pattern Matching of In-vehicle Acceleration Time-series Data", Proceedings of the Dynamic Systems and Control Conference, Paper 8758. October 17-19, Ft. Lauderdale, FL, USA. 2012. PDF
P. Vemulapalli, V. Monga, and S. Brennan "Optimally Robust Extrema Filters for Time Series Data", Proceedings of the American Control Conference, June 27-29, Montreal, Canada. p. 2189 - 2195. 2012. PDF
S. Lapapong, A. A. Brown, K. S. Swanson & S. N. Brennan (2012) Zero-moment point determination of worst-case manoeuvres leading to vehicle wheel lift, Vehicle System Dynamics, 50:sup1, 191-214. PDF https://doi.org/10.1080/00423114.2012.676652
T. Simpson, A. Bobuk, L. Slingerland, S. Brennan, D. Logan, and K. Reichard. "From user requirements to commonality specifcations: an integrated approach to product family design." Res. Eng Design. Vol 23. P. 141-153. 2012. PDF https://doi.org/10.1007/s00163-011-0119-4
T. Varunjikar, P. Vemulapalli, and S. Brennan. "Multi-body Vehicle Dynamics Simulation Based on Measured 3D Terrain Data." Transportation Research - Part C. 17 pages. Accepted...in final submission.
A. Brown and S. Brennan "Measuring Vehicle Roll, Tire Camber, and Camber Coefficient Using LIDAR", 22nd International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD 2011), Manchester, UK, August, 2011 PDF
A. Brown, S. Lapapong, K. Swanson and S. Brennan "Modeling of Planar Vehicle Dynamics During Gradual Tire Deflation", 22nd International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD 2011), Manchester, UK, August, 2011 PDF
A. Dean, R. Martini & S. Brennan (2011) Terrain-based road vehicle localisation using particle filters, Vehicle System Dynamics, vol. 49, no. 8, pp. 1209-1223. PDF https://doi.org/10.1080/00423114.2010.493218
K. Jerath and S. Brennan "GPS-Free Terrain-based Vehicle Tracking Performance as a Function of Inertial Sensor Characteristics", Dynamic Systems and Control Conference, October 31- November 03, 2011, Arlington, VA, USA PDF
P. Vemulapalli, A. Dean, and S. Brennan. "Pitch-based Vehicle Localization using Time Series Subsequence Matching with Multi-scale Extrema Features", Proceedings of the 2011 American Control Conference, June 29-July 01, San Francisco. PDF
S. Kadetotad, P. Vemulapalli and S. Brennan "Terrain-aided Localization using Feature-based Particle Filtering ", Dynamic Systems and Control Conference, October 31- November 03, 2011, Arlington, VA, USA PDF
S. Lapapong and S. Brennan "A Novel Comparative Approach to Evaluate Vehicle Rollover Propensity", 22nd International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD 2011), Manchester, UK, August, 2011 PDF
S. Lapapong, A. Brown and S. Brennan "Frequency Characteristics and Explanation of Notches Seen in Frequency Responses of Vehicles ", 2nd TSME International Conference on Mechanical Engineering, Krabi, Thailand, October 19-21, 2011 PDF
T. Simpson, K. Reichard, and S. Brennan, "An Integrated Approach to Platform-based Engineering with Application to a Family of Unmanned Ground Vehicles," Proceedings of the Systems 2020 Conference. 2011.
T. Varunjikar, P. Vemulapalli, and S. Brennan. "Multi-body Vehicle Dynamics Simulation Based on Measured 3D Terrain Data", 3rd International Conference on Road Safety and Simulation, September 14-16, 2011, Indianapolis, USA PDF
A. Dean, J. Langelaan and S. Brennan. "Improvements in Terrain-Based Road Vehicle Localization By Initializing an Unscented Kalman Filter Using Particle Filters", Proceedings of the American Control Conference 2010, Baltimore, MD, June 30-July 02, 2010. PDF
J. Yutko, K. Jerath, and S. Brennan. "A Failure Rate Analysis of Complex Vehicles", International Journal of Heavy Vehicle Systems, vol. 17, no. 1, pp. 76-98, 2010. PDF https://doi.org/10.1504/IJHVS.2010.029624
Jason S. Stine, Bridget C. Hamblin, Sean N. Brennan, Eric T. Donnell. "Analyzing the influence of median cross-section design on highway safety using vehicle dynamics simulations." Accident Analysis & Prevention, Volume 42, Issue 6, 2010, Pages 1769-1777, ISSN 0001-4575. PDF https://doi.org/10.1016/j.aap.2010.04.018
K. Jerath and S. Brennan. "Adaptive Cruise Control: Towards Higher Traffic Flows, at the Cost of Increased Susceptibility to Congestion", Proceedings of the 10th International Symposium on Advanced Vehicle Control, Loughborough, UK, August 22-26, 2010. PDF
S. Lapapong, A. Brown and S. Brennan. "Experimental Validation of Terrain-Aware Rollover Prediction for Ground Vehicles Using the Zero-Moment Point Method", Proceedings of the 10th International Symposium on Advanced Vehicle Control, Loughborough, UK, August 22-26, 2010. PDF
S. Lapapong, and S. Brennan. "Terrain-aware Rollover Prediction for Ground Vehicles Using the Zero-Moment Point Method", Proceedings of the American Control Conference 2010, Baltimore, MD, June 30-July 02, 2010. PDF
T.W. Simpson, S. Brennan, L.A. Slingerland, A. Bobuk, D. Logan and K. Reichard. "From User Requirements to Commonality Specifications: An Integrated Approach to Product Family Design", Proceedings of the 13th AIAA/ISSMO Multidisciplinary Analysis and Optimization Conference, Fort Worth, TX, AIAA, AIAA 2010-9173, 2010. PDF
A. Dean and S. Brennan. "Terrain-Based Road Vehicle Localization on Multi-Lane Highways." Proceedings of the 2009 American Control Conference, St. Louis, MO, USA, June 10-12, 2009. Pg 707-712 PDF
C. Rogan, J. Anstrom, S. Brennan. "Power and Energy Management for Heavy Tactical Vehicles." 2009 Joint Service Power Expo. May 2009, New Orleans.
M. D. Petersheim and S. N. Brennan, "Scaling of hybrid electric vehicle powertrain components for hardware-in-the-loop simulation," 2008 IEEE International Conference on Control Applications, 2008, pp. 720-726. PDF https://doi.org/10.1109/CCA.2008.4629602
Michael D. Petersheim, Sean N. Brennan. "Scaling of hybrid-electric vehicle powertrain components for Hardware-in-the-loop simulation." Mechatronics, Volume 19, Issue 7, 2009, Pages 1078-1090, ISSN 0957-4158. PDF https://doi.org/10.1016/j.mechatronics.2009.08.001
P. Vemulapalli and S. Brennan, "Design and Testing of a Terrain Mapping System for Median Slope Measurement", Proceedings of the Transportation Research Board of the National Academy of Science, January 2009. PDF
S. Lapapong, V. Gupta, E. Callejas, and S. Brennan. "Fidelity of using scaled vehicles for chassis dynamic studies." Vehicle System Dynamics, vol. 47, no. 11, pp. 1401-1437, November 2009. PDF https://doi.org/10.1080/00423110802687604
A. Dean and S. Brennan, "A Low-order Dynamic Model of a Tracked Robot Inclusive of Nonlinear Slip." International Journal of Heavy Vehicle Systems vol. 15, no. 2/3/4, pg. 327-355, 2008. PDF https://doi.org/10.1504/IJHVS.2008.022248
A. Dean, P. Vemulapalli, and S. Brennan. "Highway Evaluation of Terrain-Aided Localization Using Particle Filters." Proceedings of the 2008 ASME Dynamic Systems and Control Conference, Ann Arbor, MI, Oct. 20-22, 2008. PDF
A. Dean, R. Martini, and S. Brennan. "Terrain-Based Road Vehicle Localization Using Particle Filters." Proceedings of the 2008 American Control Conference, Seattle, WA, Jun. 11-13, 2008, pg 236-241. PDF
Hailu, H., and Brennan, S. (May 12, 2008). "Reduction in the Number of Gain-Scheduling Parameters Using Dimensional Transformation." ASME Transactions on Dynamic Systems, Measurement, and Control, May 2008; Volume 130, Number 3: 034505. PDF https://doi.org/10.1115/1.2907396
K. Reichard, T. Simpson, C. Rogan, J. Merenich, and S. Brennan, "Design and Development of a Family of Explosive Ordinance Disposal (EOD) Robots, Proceeings of the 2008 SPIE European Defense and Security Conference. 2008.
M. Peterscheim, S. Brennan, C. LaJambe, and F. Brown, "Important visual cues for driver speed perception in virtual driving environments," Proceedings of the 4th International Conference on Traffic & Transport Psychology (ICTTP). 2008.
V. Gupta and S. Brennan. "Terrain-based vehicle orientation estimation combining vision and inertial measurements." Journal of Field Robotics vol. 25, no. 3, pg. 181-202, 2008. PDF https://doi.org/10.1002/rob.20233
V. Mehta, F. Gandhi, and S. Brennan. "Experimentally Verified Optimal Serpentine Gait and Hyper-Redundancy of a Rigid-Link Snake Robot." IEEE Transactions on Robotics, vol. 24, no. 2, pg. 348-360, April 2008. PDF https://doi.org/10.1109/TRO.2008.915441
Vishisht Gupta and Sean Brennan, "Vehicle State Estimation Using Vision and Inertial Measurements," Journal of Field Robotics, Volume 25, Issue 3, Pages 181-202. 2008. PDF https://doi.org/10.1002/rob.20233
B. Hamblin and S. Brennan. "Lessons Learned from Matching Experimental Data to Low-Order Models of Vehicle Behavior." 2007 ASME IMECE, New York, NY. Paper Number IMECE2007-42202. PDF
B. Hamblin and S. Brennan. "Utilization of Vehicle Dynamic Simulations as Predictors of Highway Safety." 2007 ASME IMECE, New York, NY. Paper Number IMECE2007-42195. PDF
S. Brennan, J. Buckland, U. Christen, I. Haskara and I. Kolmanovsky, "Editorial: Special Issue on Control Applications in Automotive Engineering," in IEEE Transactions on Control Systems Technology, vol. 15, no. 3, pp. 403-405, May 2007. PDF https://doi.org/10.1109/TCST.2007.895684
S. Brennan. "Mechatronics and Systems Instruction Across Graduate, Undergraduate, and Research Applications Using Rapidly Reconfigurable Hardware." 2007 ASEE Annual Conference and Exhibition. Oahu Hawaii, 2007. PDF
Vishisht Gupta, Sean Brennan. "Vehicle State Estimation using Vision and Inertial Measurements." IFAC Proceedings Volumes, Fifth IFAC Symposium on Advances in Automotive Control, Aug. 19-22. Monterey Coast, CA., Volume 40, Issue 10, 2007, Pages 63-70, ISSN 1474-6670, ISBN 9783902661265. PDF https://doi.org/10.3182/20070820-3-US-2918.00011
B. Hamblin, R. Martini, J. Cameron, S. Brennan, "Low-Order Modeling of Vehicle Roll Dynamics." Proceedings of the 2006 American Control Conference, pg 4008-4015. PDF
H. Hailu and S. Brennan. "The Vehicle Autopilot: Simultaneous Robust Control Through Parametric Adaptation," ASME IMECE Chicago, IL, 2006. PDF
M. D. Petersheim, S. P. Clewell, S. N. Brennan, C. M. LaJambe, M. El-Gindy, and F. M. Brown, 2006, "Development of a Driving Simulator for Human-Vehicle Interaction Studies," Proceedings of the 9th International Symposium on Heavy Vehicles, Weights, & Dimensions University Park, PA, June 18th-22nd, 2006, pg 121-130. PDF
A. Nirakh, S. Brennan, and F. Gandhi, "An Implicit Model for Snake Robot Locomotion and Gait Optimization," Proceedings of the 2005 ASME IMECE, Orlando, FL, November, 2005. PDF
H. Hailu and S. Brennan, "Use of dimensional analysis to reduce the parametric space for gain-scheduling," Proceedings of the 2005 American Control Conference, 2005, pp. 598-603 vol. 1. PDF https://doi.org/10.1109/ACC.2005.1470022
H. Hailu, S. Brennan, "Simplifying Robust Control Designs of Parametric Uncertain Systems Using Dimensional Transformations." Proceedings of the 2005 ASME IMECE, Dynamic Systems and Control Division, 2005, pg 77-83. PDF
J. Cameron, S. Brennan, "A Comparative, Experimental Study of Model Suitability to Describe Vehicle Rollover Dynamics for Control Design." Proceedings of the 2005 ASME IMECE, Dynamic Systems and Control Division, 2005, pg 405-414. PDF
S. Brennan and A. Alleyne, "Dimensionless robust control with application to vehicles," in IEEE Transactions on Control Systems Technology, vol. 13, no. 4, pp. 624-630, July 2005. PDF https://doi.org/10.1109/TCST.2004.841669
C. Robinson, D. Block, S. Brennan, F. Bullo, and J. Cortes. "Nonsmooth analysis and sonar-based implementation of distributed coordination algorithms." Proceedings of the 2004 IEEE Conference on Robotics and Automation, New Orleans, April, 2004. PDF
E. Ozatay, B. Zile, J. Anstrom, and S. Brennan. "Power Distribution Control Coordinating Ultracapacitors and Batteries for Electric Vehicles." Proceedings of the 2004 American Control Conference, Boston, MA, June 30 - July 2, 2004. PDF
J. Cameron and S. Brennan, "Low Cost Vehicle Guidance and Automation Strategies for Crash Testing; A Vehicle Dynamics Analysis," 7th Annual PTI Transportation Conference. 2004.
S. Brennan and A. Alleyne. "Real-time identification of vehicle chassis dynamics using a novel reparameterization based on sensitivity invariance." International Journal of Adaptive Control and Signal Processing, vol. 18, no. 2, pg. 103-123, March, 2004. PDF https://doi.org/10.1002/acs.784
S. Brennan, "Similarity Conditions for Comparing Closed-Loop Vehicle Roll and Pitch Dynamics." Proceedings of the 2004 American Control Conference, Boston, MA, June 30 - July 2, 2004. PDF
A. Alleyne, S. Brennan, B. Rasmussen, Rong Zhang and Yisheng Zhang, "Controls and experiments: lessons learned," in IEEE Control Systems Magazine, vol. 23, no. 5, pp. 20-34, Oct. 2003 PDF https://doi.org/10.1109/MCS.2003.1234648
S. Brennan and A. Alleyne. "Generalized H-infinity Vehicle Control Utilizing Dimensional Analysis." Proceedings of the 2003 American Control Conference, Denver, Colorado, pg. 3774--3780, June 4--6, 2003. PDF
S. Brennan. "Dimensionless Sensitivity Methods for the Identification of Vehicle Chassis Dynamics." Proceedings of the 2003 ASME IMECE, November, 2003. PDF
S. Brennan and A. Alleyne. "H-infinity vehicle control using non dimensional perturbation measures." Proceedings of the 2002 American Control Conference, Anchorage, Alaska, pg. 2534--2539, May, 2002. PDF
S. Brennan and A. Alleyne. "Integrated Vehicle Control via Coordinated Steering and Wheel Torque Inputs" Proceedings of the American Control Conference, Arlington, VA, pg. 7-12, June 25-27, 2001. PDF
S. Brennan and A. Alleyne. "Robust Scalable Vehicle Control via Non-dimensional Vehicle Dynamics." Vehicle System Dynamics, vol. 36, no. 4-5, pg. 255-278, Nov., 2001. PDF https://doi.org/10.1076/vesd.36.4.255.3551
S. Brennan and A. Alleyne. "Using a Scale Testbed: Controller Design and Evaluation." IEEE Control Systems Magazine, vol. 21, no. 3, pg. 15-26, June, 2001. PDF https://doi.org/10.1109/37.924794
S. Brennan and A. Alleyne, "The Illinois Roadway Simulator: a mechatronic testbed for vehicle dynamics and control," in IEEE/ASME Transactions on Mechatronics, vol. 5, no. 4, pp. 349-359, Dec. 2000. PDF https://doi.org/10.1109/3516.891046
S. Brennan and A. Alleyne. "Robust stabilization of a generalized vehicle, a nondimensional approach." Proceedings of the 5th International Symposium on Advanced Vehicle Control (AVEC), Ann-Arbor, Michigan, August 22-24, 2000. PDF
S. Brennan and A. Alleyne. "A scaled testbed for vehicle control: the IRS." IEEE International Conference on Control Applications, Kohala Coast, Hawaii, pg. 327-332, August 22-27, 1999. PDF
S. Brennan and A. Alleyne. "Driver assisted yaw rate control." Proceedings of the 1999 American Controls Conference, San Diego, CA, pg. 1679-1704, June 2--4, 1999. PDF
M. DePoorter, S. Brennan, and A. Alleyne. "Driver Assisted Control Strategies: Theory and Experiment." Proceedings of the 1998 ASME International Mechanical Engineering Congress and Exposition, Anaheim, CA, 1998. PDF
M. Lieberman, C. Bragg, and S. Brennan. "Determining Gravimetric Bark Content in Cotton with Machine Vision." Textile Research Journal, vol. 68, no. 2, pages 94-104, Feb. 1998. PDF https://doi.org/10.1177%2F004051759806800203
S. Brennan, M. DePoorter, and A. Alleyne. "The Illinois roadway simulator - a hardware-in-the-loop testbed for vehicle dynamics and control." Proceedings of the 1998 American Control Conference, Philadelphia, PA, pg. 493-497, June, 1998. PDF
N. Aukland, H. Hardee, A. Wehr, S. Brennan, and P. Lees. "An Examination of the Metallic Bonding of a Clad Material and Two Gold Plating Systems under Constant Force Fretting Conditions." Proceedings of the IEEE-HCEC, Seattle, 1997. PDF
Stankiewicz, Paul; "Vehicle Control for Collision Avoidance and Rollover Prevention using the Zero-Moment Point", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, May 2015. PDF
Laftchiev, Emil; "Robust Dynamical Model-based Data Representations and Structuring of Time Series Data for In-Sequence Localization", Ph.D. Thesis, Mechanical Engineering, The Pennsylvania State University, December 2014. PDF
Pentzer, Jesse; "Utilization of ICR Kinematics in Estimation, Control, and Energy-Aware Mission Planning for Skid-Steer Vehicles", Ph.D. Thesis, Mechanical Engineering, The Pennsylvania State University, December 2014. PDF
Jerath, Kshitij; "Influential Subspaces in Self-Organizing Multi-agent Systems", Ph.D. Thesis, Mechanical Engineering, The Pennsylvania State University, December 2014. PDF
Jerath, Kshitij; "Sensor Noise Modeling, Characterization and Simulation: An Allan Variance Tutorial", M.S. Thesis, Electrical Engineering, The Pennsylvania State University, December 2014.
Hoskins, Sam; "Small-Scale Evaluation of Engineered Anti-ram Rock Barrier Systems in Cohensionless Soil", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, December 2014. PDF
Dorris, James "Ted"; "Automated Docking of a Small-Scale Tractor-Trailer Using an Infrastructure-Based System", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2014.
Corbin, David; "Road-side Obstacle Detection and Threat Assessment", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2014. PDF
Briggs, Katie; "A Coupled Mobile Base Manipulation System for Robotic Refueling", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2014. PDF
Fernando, Raveen; "Motorized Testbed for Automated RC Vehicle Control", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2014. PDF
Crimboli, Adam; "Development of Ground Robot Validation Methods and Studies in Operator and Terrain Variability For NIST Test Methods", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2014. PDF
Mangus, Anthony; "Robust Vehicle Localization Using GPS, In-Vehicle Camera, Magnetic Guidance and Kalman Filtering", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, December 2013. PDF
Barnes, Matt; "Autonomous Wheelchair Control", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2013. PDF
Brown, Alex; "Model-based Inclusion of Previewed Information for Lateral Vehicle State and Environment Estimation", Ph.D. Thesis, Mechanical Engineering, The Pennsylvania State University, Aug 2013. PDF
Leary, Robert; "Occlusion Detection in a Driving Scene By Registering Forward-looking Camera Images to a Rendered Map", B.S. Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2013. PDF
Liang, Xiaoming; "Active Suspension for V2V and V2I Learning of Road Comfort", Honors Thesis, Earth and Mineral Sciences, The Pennsylvania State University, May 2013. PDF
Pangborn, Herschel; "Development and Applications of a Robot Tracking System for NIST Test Methods", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2013. PDF
Reigh, Kyle; "Simulation of a Vehicle Docking and Collision Avoidance System Using LIDAR-Based Object Tracking", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2013. PDF
Shipley, Jenny; "Semi-Autonomous Line Following for Domino Dispenser", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2013. PDF
Stankiewicz, Paul; "Vehicle Path Following and Rollover Prevention Using Previewed State Information", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2013. PDF
Swanson, Kevin; "Identification of Stability Thresholds in Time-Delayed Vehicle Teleoperation"; M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2013. PDF
Trevitz, Daniel; "Mechanical Design, Modeling, and Control of a Three Degree-of-Freedom Parallel Mechanism Implemented on a Quadruped Robot", Honors Thesis, Earth and Mineral Science, The Pennsylvania State University, May 2013. PDF
Guo, Mengran; "LIDAR-Based Multi-Object Tracking System With Dynamic Modeling", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, December 2012 PDF
Moll, Miguel, "Control and Design of Power Systems and Embedded Control of DC Motors", M.S. Thesis, Institut Quimic de Sarria (thesis work at Penn State). August 2012. PDF
Sirera, Nick; "Preparation of LIDAR Point Cloud Data for use in a ROS/Gazebo Simulation Environment", Honor's Thesis, Mechanical Engineering, The Pennsylvania State University, May 2012 PDF
Vemulapalli, Pramod; "Extrema Features for Global-Localization and Pattern Matching of Time-Series Data ", Ph.D. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2012 PDF
Keske, Mark; "Dynamics and Dimensional Similitude of Vehicle Impacts Upon Soil-Fixed Boulders in Cohesionless Soil", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2012 PDF
Yao, Wenqing; "LIDAR-Based Vehicle Tracking for Stopping Distance Measurement at Intersections"; M.S. Thesis, Ag & Bio Eng, The Pennsylvania State University, May 2012. PDF
Amin, Sanket; "Determining the Uncertainty of a GPS-based Vehicle Collision Detection System", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2011 PDF
Kadetotad, Sneha; "Terrain-aided Localization using Feature-based Particle Filtering", M.S. Thesis, Electrical Engineering, The Pennsylvania State University, May 2011 PDF
Varunjikar, Tejas; "Design of Horizontal Curves with Downgrades using Low-order Vehicle Dynamics Models", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, May 2011 PDF
Chen, Dave; "The Application of Delay Compensation to Hardware-in-the-Loop Battery Systems", Honor's Thesis, Mechanical Engineering, The Pennsylvania State University, May 2011 PDF
Cheng, Jenny; "Map-guided Power Chair Automation and Driver Assistance ", Honor's Thesis, Mechanical Engineering, The Pennsylvania State University, May 2011 PDF
Swanson, Kevin; "Development of Mechatronics Education System for Mechanical Engineers at Penn State University", Honor's Thesis, Mechanical Engineering, The Pennsylvania State University, May 2011 PDF
Montenbruck, Maximilian; "Monitoring Delayed Systems with Spatial Distribution in Presence of Real-time Requirements", Bachelor's Thesis, Mechanical Engineering, The Pennsylvania State University, January 2011 PDF
Troupe, Nathan; "Optimization of Steering Geometry For Ultra-High-Mileage Vehicles", MS Paper, Mechanical Engineering, The Pennsylvania State University, August 2011. PDF
Filko, Brian; "Terrain Visualization and Human-Terrain Interaction Using an Immersive Driving Simulator", Honor's Thesis, Mechanical Engineering, The Pennsylvania State University, May 2011 PDF
Logan, Drew; "Optimization of Hybrid Power Sources for Mobile Robotics through the use of Allometric Design Principles and Dynamic Programming", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, December 2010 PDF
Lapapong, Sittikorn; "Vehicle Rollover Prediction for Banked Surfaces", Ph.D. Thesis, Mechanical Engineering, The Pennsylvania State University, November 2010 PDF
Sulewski, Tara; "Gate Retraining using "Smart Shoe" Device", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2010 PDF
Jerath, Kshitij; "Impact of Adaptive Cruise Control on the Formation of Self-organized Traffic Jams on Highways", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, May 2010 PDF
Chaves, Steve; "Using Kalman Filtering to Improve a Low-cost GPS-based Collision Warning System for Vehicle Convoys", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, May 2010 PDF
Stine, Jason; "Analyzing Highway Median Safety through Vehicle Dynamics Simulations", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2009 PDF
Singla, Joan; " Software Design for IGVC Competition", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2009 PDF
Gupta, Vishisht; "Vehicle Localization Using Low-accuracy GPS, IMU and Map-aided Vision", Ph.D. Thesis, Mechanical and Nuclear Engineering, The Pennsylvania State University, May 2009 PDF
Correll, Zachary; "Using Monte Carlo Methods for Robot Localization", Honors Thesis, Electrical Engineering and Mechanical Engineering, The Pennsylvania State University, May 2009 PDF
Mattes, Richard; "Intelligent Farming Using Modular Mobile Robots", Honors Thesis, Engineering Science and Mechanics, The Pennsylvania State University, May 2009 PDF
Owen, Trevor; "Design and Prototyping of a Robotic Research Vehicle to Investigate and Verify the Calculated Effect of Combined Locomotion and Serpentine Gait", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2009 PDF
Vemulapalli, Pramod; "Design and Testing of a Terrain Mapping System for Median Slope Measurement", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, December 2008 PDF
Dean, Adam; "Terrain-based Road Vehicle Localization using Attitude Measurements", Ph.D. Thesis, Mechanical Engineering, The Pennsylvania State University, October 2008 PDF
Petersheim, Michael; "Scaling of Hybrid-Electric Vehicle Powertrain Components for Hardware-in-the-Loop Simulation." M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, May 2008. PDF
Yutko, Joseph; "An Analysis of Complex Vehicle Reliability: A Systematic Failure Rate Approach." M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, May 2008. PDF
Chaves, Stephen; "Development of an Off-Road Ground Vehicle Platform for Teleoperation." Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2008. PDF
Yu, Nan; "Yaw-Control Enhancement for Buses by Active Front-Wheel Steering." Ph.D. Thesis, Mechanical Engineering, The Pennsylvania State University, May 2007. PDF
Hamblin, Bridget; "Vehicle Rollover Prediction from Low Order Dynamic Models or Varying Terrain Encountered During Median Traversal." M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2007. PDF
Lapapong, Sittikorn; "Vehicle Similitude Modeling and Validation of the Pennsylvania State University Rolling Roadway Simulator." M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, May 2007. PDF
Kaiserian, Dan; "Tractor-Trailer Instability Due to Liquid Slosh in a Partially Filled Tank." Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2007. PDF
Plank, Dennis; "Vehicle to Vehicle Comparison of Tire and Chassis Dynamics." Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2007. PDF
Weidner, Jon; "Tractor-Trailer Instability of Variably Loaded Container Trucks." Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2007. PDF
Cohen, Kevin M.; "A Comparative Analysis of Static and Dynamic Transit Bus Rollover Testing Using Computer Simulation.", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2006. PDF
Glumac, Andrew T.; "Scale Tire Modeling and Experimentation on a Rolling Roadway Simulator.", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2006. PDF
Hailu, Haftay; "Dimensional Transformation: A Novel Method for Gain-Scheduling and Robust Control.", Ph.D. Thesis, Mechanical and Nuclear Engineering, The Pennsylvania State University, May 2006. PDF
Kowalczyk, Janine M. "Scaled Vehicle Testing of Control Algorithms to Prevent Vehicle Rollover.", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, December 2006. PDF
Martini, Ryan D., "GPS/INS Sensing Coordination for Vehicle State Identification and Road Grade Positioning.", M.S. Thesis, Mechanical and Nuclear Engineering, The Pennsylvania State University, Aug 2006. PDF
Cameron, John T. "Vehicle Dynamic Modeling for the Prediction and Prevention of Vehicle Rollover.", M.S. Thesis, Mechanical and Nuclear Engineering, The Pennsylvania State University, Dec 2005. PDF
Nirakh, Appa Rao. "Computational and Experimental Dynamics of a Snake Using Discrete and Continuum Models." M.S. Thesis, Aeronautical Engineering, The Pennsylvania State University, May 2005. PDF
Glumac, Andrew. "Scale Tire Modeling and Experimentation on a Rolling Roadway Simulator." Honor's Thesis, Mechanical Engineering, The Pennsylvania State University, May 2005. PDF
Bourne, Keith A., "Design, Construction, and Testing of an Instrumented Multi-Jointed Arm and Computer Software for Measurement and Visualization of 3D Coordinates on Large Objects.", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May, 2004. PDF
Brennan, Sean N. "On Size and Control: The Use of Dimensional Analysis in Controller Design." , Ph.D. Thesis, University of Illinois at Urbana-Champaign, Mechanical and Industrial Engineering, Dec. 2002. PDF
Brennan, Sean N.. "Modeling and Control Issues Associated with Scaled Vehicles." M.S. Thesis, Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, August, 1999. PDF
D. Torbic, M. O'Laughlin, D. Harwood, K Bauer, C. Bokenkroger, L. Lucas, J. Ronchetto, S. Brennan, E. Donnell, A. Brown, T. Varunjikar, "Superelevation Criteria for Sharp Horizontal Curves on Steep Grades," National Cooperative Highway Research Program (NCHRP), Report 774, 2014. PDF
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