Sonia Martínez

Jacobs Faculty Scholar
Professor of Mechanical and Aerospace Engineering

Journal Papers
  1. Distributed Variational Inference for Online Supervised Learning
    Parth Paritosh, Nikolay Atanasov and Sonia Martínez
    IEEE Transactions on Control of Network Systems, submitted

  2. Distributed Bayesian Estimation in Sensor Networks: Consensus on Marginal Densities
    Parth Paritosh, Nikolay Atanasov and Sonia Martínez
    IEEE Transactions on Network Science and Engineering, submitted

  3. Data-driven mode detection and stabilization of unknown switched linear systems
    Jaap Eising, Shenyu Liu, Sonia Martínez and Jorge Cortés
    IEEE Transactions on Automatic Control, submitted

  4. Data-driven spectrum estimation for linear time-invariant systems
    Shenyu Liu, Jorge Cortés, and Sonia Martínez
    IEEE Transactions on Control of Networked Systems, to appear

  5. Online optimization and ambiguity-based learning of distributionally uncertain dynamic systems
    Dan Li, Dariush Fooladivanda, and Sonia Martínez
    IEEE Transactions on Automatic Control, to appear

  6. Robotic exploration using generalized Behavioral Entropy
    Aamodh Suresh, Carlos Nieto-Granda and Sonia Martínez
    IEEE Robotics and Automation Letters, to appear

  7. Fine-Tuned Convex Approximations of Probabilistic Reachable Sets under Data-driven Uncertainties
    Pengchen Wu, Sonia Martínez, and Jun Chen
    IEEE Transactions on Automation Science and Engineering, to appear

  8. Parallel Quantum Rapidly-Exploring Random Trees
    Paul Lathrop, Beth Boardman and Sonia Martínez
    IEEE Access, 12 (2024) 47173-47189

  9. Quantum search approaches to sampling-based motion planning
    Paul Lathrop, Beth Boardman and Sonia Martínez
    IEEE Access, 11 (2023) 89506-89519

  10. Robot navigation in risky, crowded environments: understanding human preferences
    Aamodh Suresh, Angelique Taylor, Laurel Riek and Sonia Martínez
    IEEE Robotics and Automation Letters, 8 (9) (2023) 5632-5639

  11. Stabilization of linear cyber-physical systems against attacks via switching defense
    Shenyu Liu, Sonia Martínez, and Jorge Cortés
    IEEE Transactions on Automatic Control, 68 (12) (2023) 7326-7341

  12. High-confidence data-driven ambiguity sets for time-varying linear systems
    Dimitris Boskos, Jorge Cortés and Sonia Martínez
    IEEE Transactions on Automatic Control, 69 (2) (2023) 797-812

  13. Data‐driven predictive control for a class of uncertain control‐affine systems
    Dan Li, Dariush Fooladivanda, and Sonia Martínez
    International Journal of Robust and Nonlinear Control, 33 (2) (2023) 1284-1315

  14. Guaranteed privacy of distributed nonconvex optimization via mixed-monotone functional perturbations
    Mohammad Khajenejad and Sonia Martínez
    IEEE Control Systems Letters 7 (DOI: 10.1109/LCSYS.2022.3231223) (2022) 1081-1086

  15. A multiscale analysis of multi-agent coverage control algorithms
    Vishaal Krishnan and Sonia Martínez
    Automatica, 145 (DOI: 10.1016/j.automatica.2022.110516) (2022) 2545-2550

  16. Distributed Bayesian estimation of continuous variables over time-varying directed networks
    Parth Paritosh, Nikolay Atanasov, and Sonia Martínez
    IEEE Control Systems Letters, 6 (2022) 2545-2550

  17. Iterative algorithms for assessing network resilience against structured perturbations
    Shenyu Liu, Sonia Martínez and Jorge Cortés
    IEEE Transactions on Control of Network Systems, 9 (4) (2022) 1816-1827

  18. Frequency regulation with heterogeneous energy resources: a realization using distributed control
    Tor Anderson, Manassa Muralidharan, Priyank Srivastava, Hamed Valizadeh Haghi, Jorge Cortés, Jan Kleissl and Sonia Martínez
    IEEE Transactions on Smart Grid, 12 (5) (2021) 4126-4136

  19. A numerical verification framework for differential privacy in estimation
    Yunhai Han and Sonia Martínez
    IEEE Control Systems Letters, 6 (2021) 1712-1717

  20. Risk-perception-aware control design under dynamic spatial risks
    Aamodh Suresh and Sonia Martínez
    IEEE Control Systems Letters, 6 (2021) 2475-2456

  21. Distributionally safe path planning: Wasserstein Safe RRT
    Paul Lathrop, Beth Boardman and Sonia Martínez
    IEEE Robotics and Automation Letters, 7 (2021) 430-437

  22. Dynamics of data-driven ambiguity sets for hyperbolic conservation laws with uncertain inputs
    Francesca Boso, Dimitris Boskos, Sonia Martínez, Jorge Cortés, Daniel M. Tartakovsky
    SIAM Journal of Scientific Computing, 43 (3) (2021) A2102-A2129

  23. Planning under non-rational perception of uncertain spatial costs
    Aamodh Suresh and Sonia Martínez
    IEEE Robotics and Automation Letters, 6 (2) (2021) 4133-4140

  24. Average dwell-time minimization of switched systems via sequential convex programming
    Shenyu Liu, Sonia Martínez and Jorge Cortés
    IEEE Control Systems Letters, 6 (2021) 1076-1081

  25. Distributed resource allocation with binary decisions via Newton-like Neural Network dynamics
    Tor Anderson and Sonia Martínez
    Automatica, 128, (2021) DOI: 109564

  26. Data-driven ambiguity sets with probabilistic guarantees for dynamic processes
    Dimitris Boskos, Jorge Cortés, and Sonia Martínez
    IEEE Transactions on Automatic Control, 66 (7) (2021) 2991-3006

  27. Online data assimilation in distributionally robust optimization
    Dan Li and Sonia Martínez
    IEEE Transactions on Automatic Control, 66 (5) (2021) 2115-2129

  28. Virtual-voltage partition-based approach to mixed-integer optimal power flow problems
    Chin-Yao Chang, Sonia Martínez and Jorge Cortés
    IEEE Transactions on Control Systems Technology, 29 (3) (2021) 1246-1256

  29. A probabilistic framework for moving-horizon estimation: stability and privacy guarantees
    Vishaal Krishnan and Sonia Martínez
    IEEE Transactions on Automatic Control, 66 (4) (2021) 1817-1824

  30. Multi-agent motion planning with sporadic communications for collision avoidance
    Beth Boardman, Troy Harden and Sonia Martínez
    IFAC Journal of Systems and Control, 15 (2021) 100-126

  31. Online learning of parameterized uncertain dynamical environments with finite-sample guarantees
    Dan Li, Dariush Fooladivanda, and Sonia Martínez
    IEEE Control Systems Letters, 5 (2) (2020) 379-384

  32. High-confidence attack detection via Wasserstein-metric computations
    Dan Li and Sonia Martínez
    IEEE Control Systems Letters, 5 (2) (2020) 379-384

  33. Global controllability tests for geometric hybrid control systems
    María Barbero Liñán, Jorge Cortés, David Martín de Diego, Sonia Martínez, and Miguel C. Muñóz Lecanda
    Nonlinear Analysis: Hybrid Systems, 38 (2020), DOI 100935

  34. Using time-inconsistent wait-time functions for cycle-free coordinated traffic intersections
    Evan Gravelle and Sonia Martínez
    IFAC Journal of Systems and Control, 12 (3) (2020) DOI 10.1016/j.ifacsc.2020.100087

  35. Human-swarm interactions for formation control using interpreters
    Aamodh Suresh and Sonia Martínez
    International Journal of Control, Automation, and Systems, (2020) DOI 10.1007/s12555-019-0497-3

  36. Distributed approximate Newton algorithms for constrained optimization
    Tor Anderson, Chin-Yao Chang and Sonia Martínez
    Automatica, 109 (2019) doi 108538

  37. Tutorial on Dynamic Average Consensus : the problem, its applications, and the algorithms
    Solmaz S. Kia, Brian Van Scoy, Jorge Cortés, Randy Freeman, Kevin M. Lynch, and Sonia Martínez
    IEEE Control Systems Magazine, 39 (3) (2019) 40-72

  38. Identification of critical nodes in large-scale spatial networks
    Vishaal Krishnan and Sonia Martínez
    IEEE Transactions on Control of Network Systems, 6 (2) (2019) 842-851

  39. A hierarchical algorithm for vehicle-to-grid integration under line capacity constraints
    Andres Cortés and Sonia Martínez
    European Journal of Control, 47 (2019) 53-63

  40. Stochastic source seeking for mobile robots in environments with obstacles via the SPSA method
    Eduardo Ramírez-Llanos and Sonia Martínez
    IEEE Transactions on Automatic Control, 64 (4) (2019) 1732-1739

  41. Improved performance of asymptotically optimal rapidly-exploring random trees
    Beth Boardman, Troy Harden, and Sonia Martínez
    Journal of Dynamic Systems, Measurement and Control, 141 (1) (2019) 011002

  42. Scheduled-asynchronous distributed algorithm for optimal power flow
    Chin-Yao Chang, Jorge Cortés, and Sonia Martínez
    IEEE Transactions on Control of Network Systems, 6 (1) (2019) 261-275

  43. Distributed control for spatial self-organization of multi-agent swarms
    Vishaal Krishnan and Sonia Martínez
    SIAM Journal on Control and Optimization, 56 (5) (2018) 3642-3667

  44. Server-assisted distributed cooperative localization over unreliable communication links
    Solmaz Kia, Jonathan Hechtbauer, David Gogokhinya and Sonia Martínez
    IEEE Transactions on Robotics, 34 (5) (2018) 1392-1399

  45. Cooperative robot localization using event-triggered estimation
    Mike Ouimet, David Iglesias-Echevarria, Nisar Ahmed and Sonia Martínez
    Journal of Aerospace and Information Systems, 15 (7) (2018)

  46. Limited range spatial load balancing in non-convex environments using sampling-based motion planners
    Beth Boardman, Troy Harden, and Sonia Martínez
    Autonomous Robots, 42 (2018) 1731-1748

  47. Traffic delay reduction via distributed dynamic lane reversal and rerouting
    Evan Gravelle and Sonia Martínez
    International Journal of Control, 91 (10) (2018) 2355-2365

  48. Distributed discrete-time optimization algorithms with applications to resource allocation in epidemics control
    Eduardo Ramírez-Llanos and Sonia Martínez
    Optimal Control Applications and Methods, 39 (1) (2018) 160-180

  49. A projection-based decomposition algorithm for distributed fast computation of control in microgrids
    Andres Cortés and Sonia Martínez
    SIAM Journal on Control and Optimization, 56 (2) (2018) 583-609

  50. An anytime distributed load balancing algorithm satisfying capacity and quantization constraints
    Evan Gravelle and Sonia Martínez
    IEEE Transactions on Control of Network Systems, 4 (2) (2017) 279-287

  51. Distributed and robust fair optimization applied to virus diffusion control
    Eduardo Ramírez-Llanos and Sonia Martínez
    IEEE Transactions on Network Science and Engineering, 4 (1) (2017) 41-54

  52. A distributed dynamics for virus-spread control
    Eduardo Ramírez-Llanos and Sonia Martínez
    Automatica, 76 (2017) 41-48

  53. Cooperative localization for mobile agents: a recursive decentralized algorithm based on Kalman filter decoupling
    Solmaz S. Kia, Stephen Rounds, and Sonia Martínez
    IEEE Control Systems Magazine, 36 (2) (2016) 86-101

  54. Distributed reactive power and storage control in microgrids
    Andrés Cortés and Sonia Martínez
    International Journal of Robust and Nonlinear Control, 26 (14) (2016) 3150-3169

  55. A hierarchical algorithm for optimal plug-in electric vehicle charging with usage constraints
    Andrés Cortés and Sonia Martínez
    Automatica, 68 (2016) 119-131

  56. On triggering control of single-input linear systems under pulse-width modulated DoS jamming attacks
    Hamed Shisheh Foroush and Sonia Martínez
    SIAM Journal on Control and Optimization, 54 (6) (2016) 3084-3105

  57. Distributed event-triggered communication for dynamic average consensus in networked systems
    Solmaz S. Kia, Jorge Cortés and Sonia Martínez
    Automatica, 59 (9) (2015) 112-119

  58. Distributed convex optimization via continuous time coordination algorithms with discrete time communication
    Solmaz S. Kia, Jorge Cortés, and Sonia Martínez
    Automatica, 55 (5) (2015) 254-264

  59. Dynamic Average Consensus under Limited Control Authority and Privacy Requirements
    Solmaz S. Kia, Jorge Cortés, and Sonia Martínez
    International Journal of Robust and Nonlinear Control, 25 (13) (2015) 1941-1966

  60. Self-triggered best-response dynamics for continuous games
    Andrés Cortés and Sonia Martínez
    IEEE Transactions on Automatic Control, 60 (4) (2015) 1115-1120

  61. Distributed robust consensus using RANSAC and dynamic opinions
    Eduardo Montijano, Carlos Sagüés, and Sonia Martínez
    IEEE Transactions on Control Systems Technology, 23 (1) (2015) 150-163

  62. Robust discrete time dynamic average consensus
    Eduardo Montijano, Carlos Sagüés, Juan Ignacio Montijano, and Sonia Martínez
    Automatica, 50 (12) (2014) 3131-3138

  63. On attack-resilient distributed formation control in operator-vehicle networks
    Minghui Zhu and Sonia Martínez
    SIAM Journal on Control and Optimization, 52 (5) (2014) 3176-3202

  64. Synchronization of N beads on a ring by feedback control
    Sara Susca, Pushkarini Agharkar, Sonia Martínez, and Francesco Bullo
    SIAM Journal on Control and Optimization, 52 (2) (2014) 914-938

  65. On the performance analysis of resilient networked control systems under replay attacks
    Minghui Zhu and Sonia Martínez
    IEEE Transactions on Automatic Control, 59 (3) (2014) 804-808

  66. Exact sizing of battery capacity for photovoltaic systems
    Yu Ru, Jan Kleissl, and Sonia Martínez
    European Journal of Control, 20 (1) (2014) 24-37

  67. On distributed constrained formation control in operator-vehicle adversarial networks
    Minghui Zhu and Sonia Martínez
    Automatica, 49 (12) (2013) 3571-3582

  68. Coverage Control in Constant Flow Environments Based on a Mixed Energy-time Metric
    Yu Ru and Sonia Martínez
    Automatica, 49 (9) (2013) 2632-2640

  69. An approximate dual subgradient algorithm for distributed non-convex constrained optimization
    Minghui Zhu and Sonia Martínez
    IEEE Transactions on Automatic Control, 58 (6) (2013) 1534-1539

  70. Storage size determination for grid-connected photovoltaic systems
    Yu Ru, Jan Kleissl, and Sonia Martínez
    IEEE Transactions on Sustainable Energy, 4 (1) (2013) 68-81

  71. Distributed coverage games for energy-aware mobile sensor networks
    Minghui Zhu and Sonia Martínez
    SIAM Journal on Control and Optimization 51 (1) (2013) 1-27

  72. Coverage maximization with autonomous agents in fast flow environments
    Andrew Kwok and Sonia Martínez
    Journal of Optimization Theory and Applications (JOTA), 155 (2) (2012) 986-1007

  73. On distributed convex optimization under inequality and equality constraints via primal-dual subgradient methods
    Minghui Zhu and Sonia Martínez
    IEEE Transactions on Automatic Control, 57 (1) (2012) 151-164

  74. On the convergence time of asynchronous distributed quantized averaging algorithms
    Minghui Zhu and Sonia Martínez
    IEEE Transactions on Automatic Control, 56 (2) (2011) 386-390

  75. A distributed deterministic annealing algorithm for limited range sensor coverage
    Andrew Kwok and Sonia Martínez
    IEEE Transactions on Control Systems Technology, 19 (4) (2011) 792-804

  76. Deployment algorithms for a power-constrained mobile sensor network
    Andrew Kwok and Sonia Martínez
    International Journal of Robust and Nonlinear Control, 20 (7) (2010) 725-842

  77. Discrete-time dynamic average consensus
    Minghui Zhu and Sonia Martínez
    Automatica, 46 (2) (2010) 322-329

  78. Distributed interpolation schemes for field estimation by mobile sensor networks
    Sonia Martínez
    IEEE Transactions on Control Systems Technology, 18 (2) (2010) 491-500

  79. Unicycle coverage control via hybrid modeling
    Andrew Kwok and Sonia Martínez
    IEEE Transactions on Automatic Control, 55 (2) (2010) 528-532

  80. A catalog for inverse-kinematics planners for underactuated systems on matrix groups
    Sonia Martínez, Jorge Cortés, and Francesco Bullo
    Journal of Geometric Mechanics, 1 (4) (2009), 445-460

  81. Practical multiagent rendezvous through modified circumcenter algorithms
    Sonia Martínez
    Automatica, 45 (9) (2009) 2010-2017

  82. Gradient algorithms for polygonal approximation of convex contours
    Sara Susca, Francesco Bullo, and Sonia Martínez
    Automatica, 45 (1) (2009) 510-516

  83. Monitoring Environmental Boundaries with a Robotic Sensor Network
    Sara Susca, Francesco Bullo, and Sonia Martínez
    IEEE Transactions on Control Systems Technology, 16 (2) (2008) 288-296

  84. On synchronous robotic networks Part I: Models, tasks and complexity notions
    Sonia Martínez, Francesco Bullo, Jorge Cortés, and Emilio Frazzoli
    IEEE Transactions on Automatic Control, 52 (12) (2007) 2199-2213

  85. On synchronous robotic networks Part II: Time Complexity of Rendezvous and deployment algorithms
    Sonia Martínez, Francesco Bullo, Jorge Cortés, and Emilio Frazzoli
    IEEE Transactions on Automatic Control, 52 (12) (2007) 2214-2226

  86. Motion Coordination with Distributed Information
    Sonia Martínez, Jorge Cortés, and Francesco Bullo
    IEEE Control Systems Magazine, 27 (4) (2007) 75-88

  87. Control Geométrico de Sistemas Mecánicos (Geometric Control of Mechanical Systems)
    Sonia Martínez
    La Gaceta de la Real Sociedad Matemática Española, 10 (1) (2007) 53-80

  88. Optimal sensor placement and motion coordination for target tracking
    Sonia Martínez and Francesco Bullo
    Automatica, 42 (4) (2006) 661-668

  89. Robust rendezvous for mobile autonomous agents via proximity graphs in d dimensions
    Jorge Cortés, Sonia Martínez, and Francesco Bullo
    IEEE Transactions on Automatic Control, 51 (8) (2006) 1289-1298

  90. Spatially-distributed coverage optimization and control with limited-range interactions
    Jorge Cortés, Sonia Martínez and Francesco Bullo
    ESAIM: Control, Optimisation, and Calculus of Variations, 11 (4) (2005) 691-719

  91. Coverage control for mobile sensing networks
    Jorge Cortés, Sonia Martínez, Timur Karatas, and Francesco Bullo
    IEEE Transactions on Robotics and Automation, 20 (2) (2004), 243-255

  92. General symmetries in optimal control
    Manuel de León, Jorge Cortés, David Martín de Diego, and Sonia Martínez
    Reports on Mathematical Physics, 53 (1) (2004), 55-78

  93. The consistency problem in optimal control: the degenerate case
    Jorge Cortés and Sonia Martínez
    Reports on Mathematical Physics, 51 (2/3) (2003), 171-186

  94. Analysis and design of oscillatory control systems
    Sonia Martínez, Jorge Cortés, and Francesco Bullo
    IEEE Transactions on Automatic Control, 48 (7) (2003), 1164-1177

  95. Motion control algorithms for mechanical systems with symmetry
    Sonia Martínez and Jorge Cortés
    Acta Applicandae Mathematicae, 76 (3) (2003), 221-264

  96. Configuration controllability for mechanical systems underactuated by one control
    Jorge Cortés and Sonia Martínez
    SIAM Journal on Control and Optimization, 41 (6) (2003), 1901-1921

  97. Geometric description of vakonomic and nonholonomic dynamics. Comparison of solutions
    Jorge Cortés, Manuel de León, David Martín de Diego, and Sonia Martínez
    SIAM Journal on Control and Optimization, 41 (5) (2003), 1389-1412

  98. Simple mechanical control systems with constraints and symmetry
    Jorge Cortés, Sonia Martínez, James P. Ostrowski, and Hong Zhang
    SIAM Journal on Control and Optimization, 41 (3) (2002), 851-874

  99. On nonlinear controllability and series expansions for Lagrangian systems with dissipative forces
    Jorge Cortés, Sonia Martínez, Francesco Bullo
    IEEE Transactions on Automatic Control, 47 (8) (2002), 1396-1401

  100. Skinner-Rusk approach to time-dependent mechanics
    Jorge Cortés, Sonia Martínez, and Frans Cantrijn
    Physics Letters A, 300 (2/3) (2002), 250-258

  101. Optimal gaits for dynamic robotic locomotion
    Jorge Cortés, Sonia Martínez, James P. Ostrowski, and Kenneth A. McIsaac
    International Journal of Robotics Research, 20 (9) (2001), 707-728

  102. Nonholonomic integrators
    Jorge Cortés and Sonia Martínez
    Nonlinearity, 14 (2001), 1365-1392

  103. Symmetries in vakonomic dynamics. Applications to optimal control
    Sonia Martínez, Jorge Cortés, and Manuel de León
    Journal of Geometry and Physics, 38 (3-4) (2001), 343-365

  104. Mechanical systems subject to generalized nonholonomic constraints
    Jorge Cortés, Manuel de León, David Martín de Diego, and Sonia Martínez
    Proceedings of the Royal Society of London. Series A: Mathematical, Physical and Engineering Sciences, 457 (2007) (2001), 651-670

  105. The geometric theory of constraints applied to the dynamics of vakonomic mechanical systems. The vakonomic bracket
    Sonia Martínez, Jorge Cortés, and Manuel de León
    Journal of Mathematical Physics, 41 (2000), 2090-2120


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Refereed Conference Papers

  1. Data-driven distributionally robust coverage control by mobile robots
    Dimitris Boskos, Jorge Cortés and Sonia Martínez
    Proceedings of the 62nd IEEE Int. Conf. on Decision and Control, Singapore, December 2023, to appear

  2. Computing controlled invariant sets of nonlinear control-affine systems
    Scott Brown, Mohammad Khajenejad, Sze Zheng Yong and Sonia Martínez
    Proceedings of the 62nd IEEE Int. Conf. on Decision and Control, Singapore, December 2023, to appear

  3. PuRR-RRT*: Behavioral path planning in uncertain, risky, and rewarding environments
    Aamodh Suresh, Carlos Nieto-Granda and Sonia Martínez
    Proceedings of the 2023 20th Int. Conf. on Ubiquitous Robots (UR), Honolulu, HI, USA, June 2023

  4. Control of discrete time LTI systems via Stochastic Ensembles
    Nirabhra Mandal and Mohammad Khajenejad and Sonia Martínez
    Proceedings of the 2023 SIAM Conference on Control Systems and Its Applications, July 2023

  5. Distributed interval observers for bounded-error LTI systems
    Mohammad Khajenejad, Scott Brown and Sonia Martínez
    Proceedings of the 2023 American Control Conference, San Diego, CA, USA, May 31 - June 2, 2023

  6. Distributed resilient interval observers for bounded-error LTI systems subject to false data injection attacks
    Mohammad Khajenejad, Scott Brown and Sonia Martínez
    Proceedings of the 2023 American Control Conference, San Diego, CA, USA, May 31 - June 2, 2023

  7. Distributionally robust optimization using Haar wavelet ambiguity sets
    Dimitris Boskos, Jorge Cortés and Sonia Martínez
    Proceedings of the 61st IEEE Int. Conf. on Decision and Control, Cancun, Mexico, December 2022

  8. Using data informativity for online stabilization of unknown switched linear systems
    Jaap Eising, Shenyu Liu, Sonia Martínez and Jorge Cortés
    Proceedings of the 61st IEEE Int. Conf. on Decision and Control, Cancun, Mexico, December 2022

  9. DERConnect: a distributed energy resources testbed for solar power integration
    Jan Kleissl, Adil Khurram, Keaton Chia, Scott Brown, Aditya Misra, Jorge Cortés, Raymond de Callafon, Rajesh Gupta, Sonia Martínez and David Victor
    Proceedings of Thirteenth ACM International Conference on Future Energy Systems, Virtual Event, 28 June - 1 July 2022

  10. Distributed event-triggered localization for high-latency communication
    Luke Barbier, Luke Morrisey, Nisar Ahmed, Eric Frew, Sonia Martínez and Kenneth Center
    Proceedings of the 2022 American Control Conference, Atlanta, GA, USA, June 2022

  11. Online learning of parameterized uncertain dynamical environments with finite-sample guarantees
    Dan Li, Dariush Fooladivanda and Sonia Martínez
    Proceedings of the 2021 American Control Conference, New Orleans, LA, USA, July 2021

  12. Marginal density averaging for distributed node localization from local edge measurements
    Parth Paritosh, Nikolai Atanasov and Sonia Martínez
    Proceedings of the 59th IEEE Int. Conf. on Decision and Control, Jeju, Korea, December 2020

  13. Data-Driven Ambiguity Sets for Linear Systems Under Disturbances and Noisy Observations
    Dimitris Boskos, Jorge Cortés and Sonia Martínez
    Proceedings of the 2020 American Control Conference, Denver, CO, USA, July 2020

  14. Hypothesis assignment and partial likelihood averaging for cooperative estimation
    Parth Paritosh, Nikolay Atanasov and Sonia Martínez
    Proceedings of the 58th IEEE Int. Conference on Decision and Control, Nice, France, December 2019

  15. Dynamic evolution of distributional ambiguity sets and precision tradeoffs in data assimilation
    Dimitris Boskos, Jorge Cortés and Sonia Martínez
    Proceedings of the 18th European Control Conference, Naples, Italy, June 2019

  16. Data-driven variable speed limit design for highways via distributionally robust optimization
    Dan Li, Dariush Fooladivanda and Sonia Martínez
    Proceedings of the 18th European Control Conference, Naples, Italy, June 2019

  17. Gesture-based human-swarm interactions for formation control using interpreters
    Aamodh Suresh and Sonia Martínez
    Proceedings of the 2nd IFAC Conference on Cyber-Physical and Human Systems, Miami, FL, USA, December 2018

  18. Distributed optimal transport for the deployment of swarms
    Vishaal Krishnan and Sonia Martínez
    Proceedings 57th IEEE Int. Conference on Decision and Control, Miami, FL, USA, December 2018

  19. Online data assimilation in distributionally robust optimization
    Dan Li and Sonia Martínez
    Proceedings of the 57th IEEE Int. Conference on Decision and Control, Miami, FL, USA, December 2018

  20. Co-optimization of control and actuator selection for cyber-physical systems
    Chin-Yao Chang, Sonia Martínez and Jorge Cortés
    Proceedings of the IFAC Distributed Estimation and Control in Networked Systems (7th NECSYS 2018) Groningen, the Netherlands, August 2018

  21. Maximizing algebraic connectivity of constrained graphs in adversarial environments
    Tor Anderson, Chin-Yao Chang and Sonia Martínez
    Proceedings of the 2018 European Control Conference, Limassol, Cyprus, June 2018

  22. Receding-horizon multi-objective optimization for disaster response
    Kooktae Lee, Sonia Martínez, Jorge Cortés, Robert H. Chen, and Mark B. Milam
    Proceedings of the 2018 American Control Conference, Milwaukee, WI, USA, June 2018

  23. Convex relaxation for mixed-integer optimal power flow problems
    Chin-Yao Chang, Sonia Martínez, and Jorge Cortés
    Proceedings of the 2017 55th Annual Allerton Conference on Communication, Control, and Computing (Allerton), Monticello, IL, USA, October 2017

  24. Weight design of distributed approximate Newton algorithms for constrained optimization
    Tor Anderson, Chin-Yao Chang, and Sonia Martínez
    Proceedings of the 1st IEEE Conference on Control Technology and Applications, Maui, HW, USA, August 2017

  25. A cycle-free coordinated traffic intersection policy using time-inconsistent wait-time functions
    Evan Gravelle and Sonia Martínez
    Proceedings of the 1st IEEE Conference on Control Technology and Applications, Maui, HW, USA, August 2017

  26. Identification of critical-node clusters for consensus in large-scale spatial networks
    Vishaal Krishnan and Sonia Martínez
    Proceedings of the IFAC 2017 World Congress, Tolouse, France, July 2017

  27. A scheduled-asynchronous distributed optimization algorithm for the optimal power flow problem
    Chin-Yao Chang, Jorge Cortés, and Sonia Martínez
    Proceedings of the 2017 American Control Conference, Seattle, WA, USA, May 2017

  28. Limited-range, spatial load balancing for multiple robots
    Beth Boardman, Troy Harden, and Sonia Martínez
    Proceedings of the 2017 American Control Conference, Seattle, WA, USA, May 2017

  29. Constrained source seeking for mobile robots via stochastic approximation
    Eduardo Ramírez-Llanos and Sonia Martínez
    Proceedings of the 55th IEEE Int. Conference on Decision and Control, Las Vegas, NV, USA December 2016

  30. Gradient-free distributed resource allocation via simultaneous perturbation
    Eduardo Ramírez-Llanos and Sonia Martínez
    Proceedings of the 54th Annual Allerton Conference, (Annual Conference on Communication, Control, and Computing), Monticello, IL, USA, September 2016

  31. Directed self-organization in multi-agent swarms via pseudo-localization algorithms
    Vishaal Krishnan and Sonia Martínez
    22nd Int. Symposium on Mathematical Theory of Networks and Systems (MTNS 2016), Minneapolis, MN, USA, July 2016

  32. Traffic delay reduction via dynamic lane reversal and rerouting distributed algorithms
    Evan Gravelle and Sonia Martínez
    22nd Int. Symposium on Mathematical Theory of Networks and Systems (MTNS 2016), Minneapolis, MN, USA, July 2016

  33. Spatial load balancing in non-convex environments using sampling-based motion planners
    Beth Boardman, Troy Harden, and Sonia Martínez
    Proceedings of the 2016 American Control Conference, Boston, MA, USA, July 2016

  34. Hierarchical management of demand response events with On/Off loads
    Andres Cortes and Sonia Martínez
    Proceedings of the 2016 American Control Conference, Boston, MA, USA, July 2016

  35. Network integrity via coordinated motion of stratospheric vehicles
    Michael Ouimet, Jorge Cortés, and Sonia Martínez
    Proceedings of the 54th IEEE Int. Conference on Decision and Control, Osaka, Japan, December 2015

  36. Distributed and robust resource allocation algorithms for multi-agent systems via discrete-time iterations
    Eduardo Ramírez-Llanos and Sonia Martínez
    Proceedings of the 54th IEEE Int. Conference on Decision and Control, Osaka, Japan, December 2015

  37. Event-based cooperative localization using implicit and explicit measurements
    Michael Ouimet, Nisar Ahmed, and Sonia Martínez
    Proceedings of the IEEE 2015 Int. Conference on Multisensor Fusion and Integration for Intelligent Systems, San Diego, CA, USA, September 2015

  38. Focused refinement in the RRT*: Trading optimality for improved performance
    Beth Boardman, Troy Harden, and Sonia Martínez
    Proceedings of the ASME Int. Design Engineering Technical Conferences and Computers and Information in Engineering Conference Boston, MA, USA, August 2015

  39. A hierarchical demand-response mechanism for optimal Vehicle-2-Grid power discharge
    Andres Cortés and Sonia Martínez
    Proceedings of the 2015 European Control Conference, Linz, Austria, July 2015

  40. Distributed and robust fair resource allocation applied to virus spread minimization
    Eduardo Ramírez-Llanos and Sonia Martínez
    Proceedings of the 2015 American Control Conference, Chicago, IL, USA, July 2015

  41. Cooperative localization under message dropouts via a partially decentralized EKF scheme
    Solmaz S. Kia, Stephen Rounds, and Sonia Martínez
    Proceedings of the 2015 IEEE Int. Conference on Robotics and Automation, Seattle, Washington, USA, May 2015

  42. Quantized distributed load balancing under capacity constraints
    Evan Gravelle and Sonia Martínez
    Proceedings of the 53rd IEEE Int. Conference on Decision and Control, Los Angeles, CA, USA, December 2014

  43. On the robustness of event-based synchronization under switching interactions
    Hamed Shisheh Foroush and Sonia Martínez
    Proceedings of the 53rd IEEE Int. Conference on Decision and Control, Los Angeles, CA, USA, December 2014

  44. Dynamic average consensus with distributed event-triggered communication
    Solmaz S. Kia, Jorge Cortés, and Sonia Martínez
    Proceedings of the 53rd IEEE Int. Conference on Decision and Control, Los Angeles, CA, USA, December 2014

  45. Optimal kinodynamic motion planning in environments with unexpected obstacles
    Beth Boardman, Troy Harden, and Sonia Martínez
    Proceedings of the 2014 Allerton Conference, Annual Conference on Communication, Control, and Computing, Monticello, IL, USA, October 2014

  46. A centralized-equivalent decentralized implementation of extended Kalman filters for cooperative localization
    Solmaz S. Kia, Stephen Rounds, and Sonia Martínez
    Proceedings of the 2014 IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS), Chicago, IL, USA, September 2014

  47. Distributed control of reactive power and storage in microgrids
    Andrés Cortés and Sonia Martínez
    Proceedings of the 21st International Symposium on Mathematical Theory of Networks and Systems (MTNS 2014), Groningen, The Netherlands, July 2014

  48. A distributed algorithm for virus spread minimization
    Eduardo Ramírez and Sonia Martínez
    Proceedings of the 2014 American Control Conference, Portland, OR, USA, June 2014

  49. Distributed, anytime optimization in power-generator networks for economic dispatch
    Ashish Cherukuri, Sonia Martínez, and Jorge Cortés
    Proceedings of the 2014 American Control Conference, Portland, OR, USA, June 2014

  50. Step-size analysis in discrete-time dynamic average consensus
    Eduardo Montijano, Juan Ignacio Montijano, Carlos Sagüés, and Sonia Martínez
    Proceedings of the 2014 American Control Conference, Portland, OR, USA, June 2014

  51. Distributed continuous-time convex optimization: discrete-time communication and privacy preservation
    Solmaz S. Kia, Jorge Cortés, and Sonia Martínez
    Proceedings of the 2014 American Control Conference, Portland, OR, USA, June 2014

  52. Distributed line search via dynamic convex combinations
    Jorge Cortés and Sonia Martínez
    Proceedings of the 52th IEEE Int. Conference on Decision and Control, Florence, Italy, December 2013

  53. Optimal plug-in electric vehicle charging with schedule constraints
    Andres Cortés and Sonia Martínez
    Proceedings of the 2013 Allerton Conference, 51st Annual Conference on Communication, Control and Computing, Monticello, IL, USA, October 2013

  54. Saturation-tolerant average consensus with controllable rates of convergence
    Solmaz S. Kia, Jorge Cortés, and Sonia Martínez
    Proceedings of the 2013 SIAM Conference on Control and its Applications, San Diego, CA, USA, July 2013

  55. On multi-input controllable linear systems under unknown periodic DoS jamming attacks
    Hamed Shisheh Foroush and Sonia Martínez
    Proceedings of the 2013 SIAM Conference on Control and its Applications, San Diego, CA, USA, July 2013

  56. Singularly perturbed filters for dynamic average consensus
    Solmaz S. Kia, Jorge Cortés, and Sonia Martínez
    Proceedings of the 2013 European Control Conference, Zürich, Switzerland, July 2013

  57. Self-triggered best-response dynamics for mobile sensor deployment
    Andres Cortés and Sonia Martínez
    Proceedings of the 2013 American Control Conference, Washington, DC, USA, June 2013

  58. Deployment algorithms for dynamically constrained mobile robots
    Sonia Martínez
    Proceedings of the 2011 IROS Workshop: Redundancy in Robot Manipulators and Multi-Robot Systems

  59. Coverage control in constant flow environments based on a mixed energy-time metric
    Yu Ru and Sonia Martínez
    Proceedings of the 51th IEEE Int. Conference on Decision and Control, Maui, HI, USA, December 2012

  60. On event-triggered control of linear systems under periodic DoS attacks
    Hamed Shisheh Foroush and Sonia Martínez
    Proceedings of the 51th IEEE Int. Conference on Decision and Control, Maui, HI, USA, December 2012

  61. On distributed resilient consensus against replay attacks in adversarial networks
    Minghui Zhu and Sonia Martínez
    Proceedings of the 2012 American Control Conference, Montreal, Canada, June 2012

  62. Battery Sizing for Grid Connected PV Systems with Fixed Minimum Charging/Discharging Time
    Yu Ru, Jan Kleissl, and Sonia Martínez
    Proceedings of the 2012 American Control Conference, Montreal, Canada, June 2012

  63. Freshwater-saltwater boundary detection using mobile sensors. Part I: Drifter deployment.
    Yu Ru and Sonia Martínez
    Proceedings of the 50th IEEE Int. Conference on Decision and Control and European Control Conference, Orlando, FL, USA, December 2011

  64. Freshwater-saltwater boundary detection using mobile sensors. Part II: Drifter movement.
    Yu Ru and Sonia Martínez
    Proceedings of the 50th IEEE Int. Conference on Decision and Control and European Control Conference, Orlando, FL, USA, December 2011

  65. Attack-resilient distributed formation control via online adaptation
    Minghui Zhu and Sonia Martínez
    Proceedings of the 50th IEEE Int. Conference on Decision and Control and European Control Conference, Orlando, FL, USA, December 2011

  66. Stackelberg game analysis of correlated attacks in cyber-physical systems
    Minghui Zhu and Sonia Martínez
    Proceedings of the 2011 American Control Conference,
    San Francisco, CA, USA, June 2011

  67. Distributed robust data fusion based on dynamic voting
    Eduardo Montijano, Sonia Martínez, and Carlos Sagüés
    Proceedings of the IEEE Int. Conference on Robotics and Automation,
    Shanghai, China, May 2011

  68. An approximate dual subgradient algorithm for multi-agent non-convex optimization
    Minghui Zhu and Sonia Martínez
    Proceedings to the 49th IEEE Int. Conference on Decision and Control,
    Atlanta, GA, USA, December 2010

  69. A distributed joint-learning and auction algorithm for target assignment
    Teymur Sadikhov, Minghui Zhu, and Sonia Martínez
    Proceedings of the 49th IEEE Int. Conference on Decision and Control,
    Atlanta, GA, USA, December 2010

  70. Deployment of drifters in a piecewise constant flow environment
    Andrew Kwok and Sonia Martínez
    Proceedings of the IEEE Int. Conference on Decision and Control,
    Atlanta, GA, USA, December 2010

  71. De-RANSAC: Robust consensus for robot formations
    Eduardo Montijano, Sonia Martínez, and Carlos Sagüés
    Proceedings of Network Science and Systems Issues in Multi-Robot Autonomy, Workshop at the IEEE International Conference on Robotics and Automation, Anchorage, AK, USA, May 2010

  72. On distributed optimization under inequality and equality constraints via penalty primal-dual methods
    Minghui Zhu and Sonia Martínez
    Proceedings of the 2010 American Control Conference,
    Baltimore, MD, USA, June 2010

  73. On distributed optimization under inequality constraints via Lagrangian primal-dual methods
    Minghui Zhu and Sonia Martínez
    Proceedings of the 2010 American Control Conference,
    Baltimore, MD, USA, June 2010

  74. A coverage algorithm for drifters in a river environment
    Andrew Kwok and Sonia Martínez
    Proceedings of the 2010 American Control Conference,
    Baltimore, MD, USA, June 2010

  75. Distributed coverage games for mobile visual sensors (II): Reaching the set of Global Optima
    Minghui Zhu and Sonia Martínez
    Proceedings of the 48th IEEE Int. Conference on Decision and Control and 28th Chinese Control Conference, Shanghai, China, 2009

  76. Distributed coverage games for mobile visual sensors (I): Reaching the set of Nash equilibria
    Minghui Zhu and Sonia Martínez
    Proceedings of the 48th IEEE Int. Conference on Decision and Control and 28th Chinese Control Conference, Shanghai, China, 2009

  77. A limited-range deterministic annealing algorithm for sensor coverage control
    Andrew Kwok and Sonia Martínez
    Proceedings of the 2009 American Control Conference,
    St. Louis, MO, USA, June 2009

  78. A convergence result for multiagent systems subject to noise
    Sonia Martínez
    Proceedings of the 2009 American Control Conference,
    St. Louis, MO, USA, June 2009

  79. On the convergence time of distributed quantized averaging algorithms
    Minghui Zhu and Sonia Martínez
    Proceedings of the 47th IEEE Int. Conference on Decision and Control,
    Cancún, Mexico, December 2008

  80. Dynamic average consensus on synchronous communication networks
    Minghui Zhu and Sonia Martínez
    Proceedings of the 2008 American Control Conference
    Seattle, WA, June 2008

  81. Coverage control with unicycles via hybrid modeling
    Andrew Kwok and Sonia Martínez
    Proceedings of the 2008 American Control Conference
    Seattle, WA, June 2008

  82. Deployment algorithms for a power constrained mobile sensor network
    Andrew Kwok and Sonia Martínez
    Proceedings of the 2008 IEEE Int. Conference on Robotics and Automation,
    Pasadena, CA, May 2008

  83. Synchronization of beads on a ring
    Sara Susca, Francesco Bullo, and Sonia Martínez
    Proceedings of the 46th IEEE Int. Conference on Decision and Control,
    New Orleans, LA, USA, December 2007

  84. Energy-balancing cooperative strategies for sensor deployment
    Andrew Kwok and Sonia Martínez
    Proceedings of the 46th IEEE Int. Conference on Decision and Control,
    New Orleans, LA, USA, December 2007

  85. Practical rendezvous through modified Circumcenter Algorithms
    Sonia Martínez
    Proceedings of the 46th IEEE Int. Conference on Decision and Control,
    New Orleans, LA, USA, December 2007

  86. Distributed representation of spatial fields through adaptive interpolation schemes
    Sonia Martínez
    Proceedings of the 2007 American Control Conference,
    New York, NY, USA, July 2007

  87. Distributed algorithms for polygonal approximation of convex contours
    Sara Susca, Sonia Martínez, and Francesco Bullo
    Proceedings of the 45th IEEE Conf. Decision and Control,
    San Diego, CA, USA, December 2006

  88. Monitoring environmental boundaries with a robotic sensor network
    Sara Susca, Sonia Martínez, and Francesco Bullo
    Proceedings of the 2006 American Control Conference,
    Minneapolis, MN, USA, June 2006

  89. On synchronous robotic networks part II: Time complexity of rendezvous and deployment algorithms
    Sonia Martínez, Francesco Bullo, Jorge Cortés, and Emilio Frazzoli
    Proceedings of the 44th IEEE Int. Conference on Decision and Control,
    Seville, Spain, December 2005

  90. On synchronous robotic networks part I: Models, tasks and complexity notions
    Sonia Martínez, Francesco Bullo, Jorge Cortés, and Emilio Frazzoli
    Proceedings of the 44th IEEE Int. Conference on Decision and Control,
    Seville, Spain, December 2005

  91. On collective motion in sensor networks: sample problems and distributed algorithms
    Anurag Ganguli, Sara Susca, Sonia Martínez, Francesco Bullo, and Jorge Cortés
    Proceedings of the 44th IEEE Int. Conference on Decision and Control,
    Seville, Spain, December 2005

  92. On robust rendezvous for mobile autonomous agents
    Sonia Martínez, Jorge Cortés, and Francesco Bullo
    Proceedings of the IFAC World Congress,
    Praga, Czech Republic, July 2005

  93. Generalized state-space averaging for port-controlled hamiltonian systems
    Carles Batlle, Enric Fossas, Robert Griñó, and Sonia Martínez
    Proceedings of the IFAC World Congress,
    Praga, Czech Republic, July 2005

  94. On optimal sensor placement and motion coordination for target tracking
    Sulema Aranda, Sonia Martínez, and Francesco Bullo
    Proceedings of the IEEE Int. Conference on Robotics and Automation,
    Barcelona, Spain, April 2005

  95. Analysis and design tools for distributed motion coordination
    Jorge Cortés, Sonia Martínez, and Francesco Bullo
    Proceedings of the 2005 American Control Conference,
    Portland, OR, USA, June 2005

  96. Coordinated deployment of mobile sensing networks with limited-range interactions
    Jorge Cortés, Sonia Martínez, and Francesco Bullo
    Proceedings of the 43rd IEEE Int. Conference on Decision and Control,
    Paradise Island, Bahamas, December 2004

  97. A catalog of inverse-kinematic planners for underactuated systems on matrix Lie groups
    Sonia Martínez, Jorge Cortés, and Francesco Bullo
    Proceedings of the IEEE/RSJ Int. Conference on Intelligent Robots and Systems,
    Las Vegas, NV, USA, October 2003

  98. Design of oscillatory control systems
    Sonia Martínez, Jorge Cortés, and Francesco Bullo
    Proceedings of the 41st IEEE Int. Conference on Decision and Control,
    Las Vegas, NV, USA, December 2002

  99. Coverage control for mobile sensing networks: variations on a theme
    Jorge Cortés, Sonia Martínez, Timur Karatas, and Francesco Bullo
    Proceedings of the 10th Mediterranean Conference on Control and Automation,
    Lisbon, Portugal, July 2002


  100. Controllability of mechanical systems with constraints and symmetries
    Jorge Cortés, Sonia Martínez, James P. Ostrowski, and Hong Zhang
    15th International Symposium on Mathematical Theory of Networks and Systems,
    South Bend, IN, USA, August 2002


  101. Coverage control for mobile sensing networks
    Jorge Cortés, Sonia Martínez, Timur Karatas, and Francesco Bullo
    Proceedings of the 2002 IEEE Int. Conf. Robotics and Automation,
    Arlington, VA, USA, May 2002


  102. Analysis of oscillatory control systems
    Sonia Martínez, Jorge Cortés, and Francesco Bullo
    IFAC World Congress, Barcelona, Spain, 2002

  103. Geometric control of robotic locomotion systems
    Sonia Martínez and Jorge Cortés
    Proceedings of the X Fall Workshop on Geometry and Physics,
    Miraflores de la Sierra, Spain, September 2001


  104. On nonlinear controllability and series expansions for Lagrangian systems with damping
    Jorge Cortés, Sonia Martínez, and Francesco Bullo
    Proceedings of the 40th IEEE Int. Conference on Decision and Control,
    Orlando, FL, USA, December 2001


  105. Optimal control for nonholonomic systems with symmetry
    Jorge Cortés and Sonia Martínez
    Proceedings of the 39th IEEE Int. Conference on Decision and Control,
    Sydney, Australia, December 2000


  106. Non-constant rank constraints
    Jorge Cortés, Manuel de León, David Martín de Diego, and Sonia Martínez
    Actas del VII Encuentro de Otoño de Geometría y Física,
    Medina del Campo, Spain, 1999


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Informative Papers

  1. "UAV Cooperative Decision and Control: Challenges and Practical Approaches"
    Edited by Tal Shima and Steve Rasmussen
    Sonia Martínez
    Book Review, IEEE Control Systems Magazine, 2010

  2. Getting close to robotics: some applications and the design of legged robots.
    Sonia Martínez
    Matematicalia, (Electronic magazine of the Royal Spanish Mathematical Society). (Invited contribution).

  3. ¿Podemos imitar el vuelo de un insecto? (Can we imitate the flight of an insect?)
    Sonia Martínez
    Ars Medica. Revista de Humanidades 1 (2003), 154-156. (Invited contribution.)



Book Chapters


  1. Distributed algorithms for robotic networks
    Francesco Bullo, Jorge Cortés, and Sonia Martínez
    Springer Encyclopedia of Complexity and Systems Science, 2008

  2. Matemáticas, control y robótica
    Sonia Martínez and Jorge Cortés
    Matemáticas en la Frontera, eds. M. de León, J.L. González, L.A. Ibort, and E. Zuazua, Comunidad de Madrid, Consejería de Educación, 2007, pp. 116-123

  3. Vector-valued quadratic forms in control theory
    Francesco Bullo, Jorge Cortés, Andrew D. Lewis, and Sonia Martinez
    Workshop on Open Problems in Mathematical Systems and Control Theory, MTNS'02,
    Notre Dame, IN, USA, August 2002

  4. Motion planning and control problems for underactuated robots
    Sonia Martínez, Jorge Cortés, and Francesco Bullo
    Control Problems in Robotics, eds. A. Bicchi, H. Christensen and D. Prattichizzo, Springer Tracts in Advanced Robotics Series, vol. 4, Springer-Verlag, 2003, pp. 59-74

  5. An introduction to mechanics with symmetry
    Manuel de León, Jorge Cortés, David Martín de Diego, and Sonia Martínez
    Recent Advances in Lie Theory, eds. I. Bajo, E. Sanmartin, Research and Exposition in Mathematics Series, vol. 25, Heldermann Verlag, 2002, pp. 305-332