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Randy Beard

Professor
Faculty
Email: beard@byu.edu

Office: 460J EB

Biography

Randal W. Beard received the B.S. degree in electrical engineering from the University of Utah, Salt Lake City, in 1991, the M.S. degree in electrical engineering in 1993, the M.S. degree in mathematics in 1994, and the Ph.D. degree in electrical engineering in 1995, all from Rensselaer Polytechnic Institute, Troy, N.Y. Since 1996, he has been with the Electrical and Computer Engineering Department at Brigham Young University, Provo, UT, where he is currently a professor. In 1997 and 1998, he was a Summer Faculty Fellow at the Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA. In 2006-2007 he was a National Research Council Fellow at the Air Force Research Labs at Eglin Air Force Base, Fort Walton Beach, Florida, where he worked on vision based guidance and control algorithms for micro air vehicles.

His primary research focus is in autonomous systems, unmanned air vehicles, and multiple vehicle coordination and control. He has published over 200 peer reviewed articles and has received over $6M in external research funding from AFOSR, AFRL, NASA, DARPA, and NSF. He is a fellow of the IEEE and an associate fellow of the AIAA. He is a former associate editor for the IEEE Transactions on Automatic Control, the Journal of Intelligent and Robotics Systems, and the IEEE Control Systems Magazine. In 1998 and 2004 he was voted the outstanding teacher in the BYU Electrical and Computer Engineering Department by graduating seniors, and in 2002 he received the Outstanding Professor award from the BYU Electrical and Computer Engineering Department. In 2004 he was awarded the BYU Young Scholar Award and in 2006 he was awarded the BYU Technology Transfer Award, and in 2009 he was award the Karl G. Maeser Research and Creative Arts Award for excellence in research, and in 2017 he received the Karl G. Maeser Distinguished Lecturer Award. His students have won numerous competitions and awards for their work on micro air vehicles.

Publications

  • Bai, He, & Beard, Randal Winston. (January (1st Quarter/Winter) 2019). Relative Heading Estimation and its Application to Target Handoff in GPS-Denied Environments. Journal Article, Academic Journal. IEEE Transactions on Control Systems Technology, . 27 (1)
  • Ferrin, Jeffrey, Beard, Randal Winston, & McLain, Timothy Wayne. (No date available). Estimation-aware model predictive control of a ground robot. Journal Article, Academic Journal. Transactions on Robotics, IEEE.
  • Jackson, James, Nielsen, Jarel, McLain, Timothy Wayne, & Beard, Randal Winston. (No date available). Improving the robustness of visual-inertial extended Kalman filtering. Conference Proceedings. International Conference on Robotics and Automation, IEEE.
  • Sahawneh, Laith R., Wikle, Jared K., Roberts, Adam K., Spencer, Jonathan C., McLain, Timothy Wayne, Beard, Randal Winston, & Warnick, Karl Foster. (August 2018). A ground-based sense-and-avoid system for small unmanned aircraft. Journal Article, Academic Journal. Journal of Aerospace Information Systems, American Institute of Aeronautics and Astronautics. 15 (8) , 501-517. doi:10.2514/1.I010627
  • Wheeler, David O, Koch, Daniel P, Jackson, James S, McLain, Timothy Wayne, & Beard, Randal Winston. (August 2018). Relative Navigation: A keyframe-based approach for observable GPS-degraded navigation. Journal Article, Academic Journal. Control Systems, IEEE. doi:10.1109/MCS.2018.28300
  • White, Jacob, Silva, Karl T, & Beard, Randal Winston. (June 2018). Extending Motion Detection to Track Stopped Objects in Visual Multi-Target Tracking. Conference Proceedings. American Control Conference, .
  • Nielsen, Jerel, & Beard, Randal Winston. (June 2018). Ground Target Tracking Using a Monocular Camera and IMU in a Nonlinear Observer SLAM Framework. Conference Proceedings. American Control Conference, .
  • Millard, Jeffrey, & Beard, Randal Winston. (June 2018). Improved Track Continuity in Multi-Target Tracking by Fusing Multiple Input Sources. Conference Proceedings. American Control Conference, .
  • Lusk, Parker, & Beard, Randal Winston. (June 2018). Visual Multiple Target Tracking From a Descending Aerial Platform. Conference Proceedings. American Control Conference, .
  • Lee, Jae Hun, & Beard, Randal Winston. (May 2018). Autonomous Target Following with a Monocular Camera on a UAV using R-RANSAC. Conference Proceedings. International Conference on Unmanned Aircraft Systems, .
  • Wheeler, David, Koch, Daniel, Jackson, James, Ellingson, Gary, Nyholm, Paul, McLain, Timothy Wayne, & Beard, Randal Winston. (No date available). Relative navigation of autonomous GPS-degraded micro air vehicles. Journal Article, Academic Journal. Journal of Autonomous Robots, .
  • Wikle, Jared K, McLain, Timothy Wayne, Beard, Randal Winston, & Sahawneh, Laith R. (2017). Minimum Required Detection Range for Detect and Avoid of Unmanned Aircraft Systems. Journal Article, Academic Journal. AIAA Journal of Aerospace Information Systems (JAIS), AIAA. 14 (7) , 351-372. doi:10.2514/1.I010479
  • Sahawneh, Laith R, & Beard, Randal Winston. (2017). Path Planning in the Local-Level Frame for Small Unmanned Aircraft Systems. Book, Chapter/ Section in Scholarly Book. Kinematics, InTech. doi:http://dx.doi.org/10.5772/intechopen.71895.
  • Sakamaki, Joshua Y, & Beard, Randal Winston. (2017). Tracking Multiple Ground Objects Using a Team of Unmanned Air Vehicles. Book, Chapter/ Section in Scholarly Book. Sensing and Control for Autonomous Vehicles: Applications to Land, Water, and Air Vehicles, Springer. , 249-268.
  • Nielsen, Jerel, & Beard, Randal W. (September 2017). Relative Target Estimation using a Cascade of Extended Kalman Filters. Conference Proceedings. Proceedings of the International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+), ION GNSS.
  • Tolman, Skyler, & Beard, Randal Winston. (June 2017). Counter UAS Using a Formation Controlled Dragnet. Conference Proceedings. Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS), .
  • Niedfeldt, Peter C, Ingersoll, Kyle, & Beard, Randal Winston. (February 2017). A Comparison and Analysis of Recursive-RANSAC for Multiple Target Tracking. Journal Article, Academic Journal. IEEE Transactions on Aerospace and Electronic Systems, . 53 (1) , 461-476.
  • Sahawneh, Laith, Argyle, Matthew, & Beard, Randal Winston. (June 2016). 3D Path Planning for Small UAS Operating in Low-Altitude Airspace. Conference Proceedings. International Conference no Unmanned Air Systems, .
  • Lewis, Benjamin, & Beard, Randal Winston. (June 2016). A Framework for Visual Return-to-Home Capability in GPS-Denied Environments. Conference Proceedings. International Conference no Unmanned Air Systems, .
  • Sakamaki, Joshua Y, Beard, Randal Winston, & Rice, Michael. (June 2016). Cooperative Estimation for a Vision-Based Target Tracking System. Conference Proceedings. International Conference no Unmanned Air Systems, .
  • Mahony, Robert, Beard, Randal Winston, & Kumar, Vijay. (June 2016). Modeling and Control of Aerial Robots. Book, Chapter/ Section in Scholarly Book. Handbook of Robotics, Springer. , 1307-1334.
  • Beard, Randal Winston, & Argyle, Matthew. (June 2016). Nonlinear Total Energy Control for the Longitudinal Dynamics of an Aircraft. Conference Proceedings. American Control Conference, .
  • Bai, He, & Beard, Randal Winston. (June 2016). Relative Pose Estimation for Target Handoff in GPS-Denied Environments. Conference Proceedings. American Control Conference, .
  • McLain, Timothy Wayne, Wikle, Jared K, Beard, Randal Winston, & Sahawneh, Laith R.. (No date available). Minimum Required Detection Range for Detect and Avoid of Unmanned Aircraft Systems. Journal Article, Academic Journal. Journal of Aerospace Information Systems, AIAA.
  • Wheeler, David O, Nyholm, Paul W, Koch, Daniel P, Ellingson, Gary J, McLain, Timothy Wayne, & Beard, Randal Winston. (May 2016). Relative Navigation in GPS-Degraded Environments. Book, Chapter/ Section in Scholarly Book. Encyclopedia of Aerospace Engineering, Wiley. doi:10.1002/9780470686652.eae1154
  • Niedfeldt, Peter C, & Beard, Randal Winston. (February 2016). Convergence and Complexity Analysis of Recursive-RANSAC: A New Multiple Target Tracking Algorithm. Journal Article, Academic Journal. IEEE Transactions on Automatic Control, IEEE. 61 (2) , 456-461.
  • Quist, Eric, & Beard, Randal Winston. (February 2016). Radar Odometry on Small Unmanned Aircraft. Journal Article, Academic Journal. IEEE Transactions on Aerospace and Electronic Systems, IEEE. 52 (1) , 396-410.
  • Sahawneh, Laith R, Spencer, Jonathan, Beard, Randal Winston, & Warnick, Karl Foster. (January (1st Quarter/Winter) 2016). Minimum Required Sensing Range for UAS Sense and Avoid Systems. Conference Proceedings. AIAA Infotech@Aerospace, AIAA. , 2016-1982.
  • Izadi, Maziar, Sanyal, Amit, Beard, Randal Winston, & Bai, He. (December 2015). GPS-Denied Relative Motion Estimation for Fixed-Wing UAV Using the Variational Pose Estimator. Conference Proceedings. IEEE Conference on Decision and Control, IEEE.
  • Bai, He, Cook, Kevin, Yu, Huili, Ingersoll, Kyle, Beard, Randal Winston, Seppi, Kevin Darrell, & Avadhanam, Sharath. (December 2015). Improving cooperative tracking of an urban target with target motion model learning. Conference Proceedings. Decision and Control (CDC), 2015 IEEE 54th Annual Conference on, .
  • Sahawneh, Laith R, Mackie, James, Spencer, Jonathan, Beard, Randal Winston, & Warnick, Karl Foster. (2015). Airborne Radar-Based Collision Detection and Risk Estimation for Small Unmanned Aircraft Systems. Journal Article, Academic Journal. Journal of Aerospace Information Systems, . , 1–11.
  • Yu, Huili, & Beard, Randal Winston. (May 2015). A Vision-based Three-tiered Path Planning and Collision Avoidance Scheme for Miniature Air Vehicles. Journal Article, Academic Journal. International Journal of Robotics and Automation, Actapress. 30 (5) doi:10.2316/Journal.206.2015.5.206-4182
  • Ingersoll, Kyle, Niedfeldt, Peter C, & Beard, Randal Winston. (May 2015). Multiple Target Tracking and Stationary Object Detection with Recursive-RANSAC and Tracker-Sensor Feedback. Conference Proceedings. Proceedings of the International Conference on Unmanned Air Vehicles, .
  • Sun, Liang, Castagno, J.D., Hedengren, John D, & Beard, Randal Winston. (April (2nd Quarter/Spring) 2015). Parameter estimation for towed cable systems using moving horizon estimation. Journal Article, Academic Journal. Aerospace and Electronic Systems, IEEE Transactions on. 51 (2) , 1432-1446. doi:10.1109/TAES.2014.130642 issn:0018-9251
  • Beard, Randal Winston, Yu, Huili, Meiel, Keven, & Argyle, Matt. (April (2nd Quarter/Spring) 2015). Probabilistic Path Planning for Cooperative Target Tracking Using Aerial and Ground Vehicles. Journal Article, Academic Journal. IEEE/ASME Transactions on Mechatronics, . 20 (2) , 541-552.
  • Yu, Huili, Meier, Kevin , Argyle, Matt, & Beard, Randal Winston. (April (2nd Quarter/Spring) 2015). Probabilistic Path Planning for Cooperative Target Tracking Using Aerial and Ground Vehicles. Journal Article, Academic Journal. IEEE/ASME Transactions on Mechatronics, IEEE. 20 (2) , 541-552.
  • Shawnee, Laith, Duffield, Matthew, Beard, Randal Winston, & McLain, Timothy Wayne. (April (2nd Quarter/Spring) 2015). Detect and Avoid for Small Unmanned Aircraft Systems using ADS-B. Journal Article, Academic Journal. Air Traffic Control Quaterly, . 23 (2-3) , 203-240.
  • Sahawneh, Laith, & Beard, Randal Winston. (December 2014). "A Probabilistic Framework for Unmanned Aircraft Systems Collision Detection and Risk Estimation". Conference Proceedings. IEEE Conference on Decision and Control, Los Angeles, CA. , 242-247.
  • Niedfeldt, Peter, & Beard, Randal Winston. (December 2014). "Robust Feedback Control with Faulty Measurements using Recursive RANSAC" . Conference Proceedings. IEEE Conference on Decision and Control, Los Angeles, CA. , 4160-4165.
  • Argyle, Matthew E., Beard, Randal Winston, & Casbeer, David W.. (2014). "A Multi-Team Consensus Bundle Algorithm". Book, Chapter/ Section in Scholarly Book. Handbook of Unmanned Aerial Vehicles, . Section XII (Chapter 61) , 1491-1508.
  • Niedfeldt, Peter C., Quist, Eric, & Beard, Randal Winston. (2014). "Characterizing Range Progression of SAR Point Scatters with Recursive RANSAC". Conference Proceedings. Proceedings of IEEE Radar Conference, Cincinnati, OH, OR. , 712-717.
  • Cook, Kevin, Bryan, Everett, Yu, Huili, Bai, He, Seppi, Kevin Darrell, & Beard, Randal Winston. (2014). "Intelligent Cooperative Control for Urban Tracking". Journal Article, Academic Journal. Journal of Intelligent and Robotic Systems, . 74 (1-2) , 251-267.
  • Beard, Randal Winston, McLain, Timothy Wayne, & Owen, Mark. (2014). Implementing Dubins Airplane Paths on Fixed-wing UAVs. Book, Chapter/ Section in Scholarly Book. Handbook of Unmanned Aerial Vehicles, . Section XII (Chapter 68) , 1677-1702.
  • Beach, Jason M., Argyle, Matthew, McLain, Timothy Wayne, Beard, Randal Winston, & Morris, Steven. (2014). Tailsitter Attitude Control Using Resolved Tilt-Twist. Conference Proceedings. Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS), Orlando, FL. , 768-779.
  • Beard, Randal Winston, Ferrin, Jeff, & Humpherys, Jeffrey C. (November 2014). "Fixed Wing UAV Path Following in Wind with Input Constraints". Journal Article, Academic Journal. IEEE Transactions on Control Systems Technology, . 22 (6) , 2013-2117.
  • Sun, Liang, Castagno, Jeremy, Hedengren, John D, & Beard, Randall W. (No date available). Real-Time Parameter Estimation for Towed Cable systems Using Moving Horizon Estimation. Journal Article, Academic Journal. IEEE Transactions on Aerospace and Electronic Systems, IEEE.
  • Nichols, Joseph W., Sun, Liang, Beard, Randal Winston, & McLain, Timothy Wayne. (July (3rd Quarter/Summer) 2014). Aerial Rendezvous of Small Unmanned Aircraft Using a Passive Towed Cable Systems. Journal Article, Academic Journal. AIAA Journal of Guidance, Control, and Dynamics, . 37 (4) , 1131-1142.
  • Niedfeldt, Peter C, & Beard, Randal Winston. (June 2014). "Multiple Target Tracking using Recursive RANSAC". Conference Proceedings. Proceedings of the American Control Conference, Portland, OR. , 3393-3398.
  • Sun, Liang, Beard, Randal Winston, & Pack, Daniel. (June 2014). "Trajectory Tracking Control Law Design for Unmanned Aerial Vehicles with an Autopilot in the Loop". Conference Proceedings. Proceedings of the American Control Conference, Portland, OR. , 1390-1395.
  • Macdonald, John, Leishman, Robert , Beard, Randal Winston, & McLain, Timothy Wayne. (June 2014). Analysis of an Improved IMU-Based Observer for Multirotor Helicopters. Journal Article, Academic Journal. Journal of Intelligent and Robotic Systems, . 74 (3-4) , 1049-1061.
  • Argyle, Matthew, Beach, Jason M, Beard, Randal Winston, McLain, Timothy Wayne, & Morris, Steven. (June 2014). Tailsitter Attitude Control During Hover Flight. Conference Proceedings. Proceedings of the American Control Conference, Portland, OR. , 1396-1401.
  • Beach, Jason, Argyle, Matthew , McLain, Timothy Wayne, Beard, Randal Winston, & Morris, Steven. (June 2014). Tailsitter Heading Estimation Using a Magnetometer. Conference Proceedings. Proceedings of the American Control Conference, .
  • Leishman, Robert, McLain, Timothy Wayne, & Beard, Randal Winston. (April (2nd Quarter/Spring) 2014). Relative Navigation Approach for Vision-based Aerial GPS-denied Navigation. Journal Article, Academic Journal. Journal of Intelligent and Robotic Systems, Springer. 74 (1-2) doi:10.1007/s10846-013-9914-7
  • Macdonald, John, Leishman, Robert, Beard, Randal Winston, & McLain, Timothy Wayne. (April (2nd Quarter/Spring) 2014). Analysis of an Improved IMU-based Observer for Multirotor Helicopters. Journal Article, Academic Journal. Journal of Intelligent and Robotic Systems, Springer. , 13. doi:10.1007/s10846-013-9835-5
  • Beard, Randal Winston, Sun, Liang, & Hedengren, John D. (March 2014). "Optimal Trajectory Generation using Model Predictive Control for Aerially Towed Cable Systems". Journal Article, Academic Journal. AIAA Journal of Guidance, Control, and Dynamics, . 37 (2) , 525-539.
  • Leishman, Robert, Macdonald, John, Beard, Randal Winston, & McLain, Timothy Wayne. (February 2014). Quadrotors and Accelerometers: State Estimation with an Improved Dynamic Model. Journal Article, Academic Journal. IEEE Control Systems, IEEE. 34 (1) , 28-41.
  • Beard, Randal Winston, Sharma, Rainikant, & Quebec, Stephen. (December 2013). Bearing-only Cooperative Localization. Journal Article, Academic Journal. Journal of Intelligent and Robotic Systems, . 72 (3-4) , 429-440.
  • Beard, Randal Winston, & Sharma, Rainikant. (December 2013). Cooperative Target-capturing with Incomplete Target Information. Journal Article, Academic Journal. Journal of Intelligent and Robotic Systems, . 72 (3-4) , 373-384.
  • Beard, Randal Winston, & Yu, Huili. (2013). A Vision-based Collision Avoidance Technique for Micro Air Vehicles Using Local-level Frame Mapping and Path Planning. Journal Article, Academic Journal. Autonomous Robots, . 34 (1-2) , 93-109.
  • Cook, Kevin, Brayan, Everett, Yu, Huili, Bai, He, Seppi, Kevin Darrell, & Beard, Randal Winston. (2013). Intelligent Cooperative Control for Urban Tracking with Unmanned Air Vehicles. Conference Proceedings. Unmanned Aircraft Systems (ICUAS), 2013 International Conference on, IEEE. , 1-7. doi:10.1109/ICUAS.2013.6564667 isbn:978-1-4799-0815-8
  • Beard, Randal Winston, & Yu, Huili. (2013). Vision-based Local-level Frame Mapping and Planning in Spherical Coordinates for Micro Air Vehicles using Bearing Camera. Journal Article, Academic Journal. IEEE Transactions on Control Systems Technology, . 21 (3) , 695-703.
  • Niedfeldt, Peter, , Brandon Carroll, Howard, Joel, Beard, Randal Winston, Morse, Bryan Stuart, & Pledgie, Stephen . (September 2013). Enhanced UAS Surveillance Using a Video Utility Metric. Journal Article, Academic Journal. Unmanned Systems, World Scientific. 1 (2) , 277-296.
  • Beard, Randal Winston, & Niedfeldt, Peter. (September 2013). Recursive RANSAC: Multiple Signal Estimation with Outliers. Conference Proceedings. Proceedings of the 9th IFAC Symposium on Nonlinear Control Systems, , Toulouse, France. , 430-435.
  • Beard, Randal Winston, & Sahawneh, Laith R. (August 2013). Chain-based Collision Avoidance for UAS Sense and Avoid Systems. Conference Proceedings. .
  • Beard, Randal Winston, & Quist, Eric B.. (August 2013). Radar Odometry on Small Unmanned. Conference Proceedings. .
  • Leishman, Robert, Koch, Daniel, McLain, Timothy Wayne, & Beard, Randal Winston. (August 2013). Robust Motion Estimation with RGB-D Cameras. Conference Proceedings. Proceedings of the AIAA Guidance, Navigation, and Control Conference, AIAA. , AIAA 2013-4810.
  • Beard, Randal Winston, & Argile, Mattew. (June 2013). The Vertical Bat Tail-sitter: Dynamic Model and Control Architecture. Conference Proceedings. .
  • Beard, Randal Winston, Cook, Kevin M.B., Bryan, Everett, Yu, Huili, Bai, He, & Seppi, Kevin. (May 2013). Intelligent Cooperative Control for Urban Tracking with Unmanned Air Vehicles. Conference Proceedings. Proceedings of the International Conference in the Unmanned Aircraft Systems, , Atlanta, GA.
  • Leishman, Robert, McLain, Timothy Wayne, & Beard, Randal Winston. (May 2013). Relative Navigation Approach for Vision-based Aerial GPS-denied Navigation. Conference Proceedings. Proceedings of the 2013 International Conference on Unmanned Aircraft Systems, IEEE. , 343-352.
  • Sun, Liang, Hedengren, John D, & Beard, Randal Winston. (No date available). Optimal Trajectory Generation using Model Predictive Control for Aerially Towed Cable Systems. Journal Article, Academic Journal. Journal of Guidance, Control, and Dynamics, .
  • Niedfeldt, Peter C, Carroll, Brandon T, & Beard, Randal Winston. (August 2012). A Staged Path Planner for an Unmanned Air System Performing Surveillance and Tracking. Conference Proceedings. AIAA Guidance, Navigation, and Control Conference and Exhibit,, AIAA. , 13.
  • Sun, Liang, Hedengren, John D, & Beard, Randal Winston. (August 2012). Real-time Moving Horizon Estimation for an Unmanned Aerial System. Conference Proceedings. OPTEC Workshop on Moving Horizon Estimation and System Identification, OPTEC, Leuven, Belgium.
  • Sharma, Rajnikant, Beard, Randal Winston, & Taylor, Clark N. (June 2012). Bearing-only Cooperative Geo-Location using Miniature Air Vehicles. Conference Proceedings. American Control Conference, AACC. , 3883-3888.
  • Macdonald, John C, & Beard, Randal Winston. (June 2012). Efficient Estimation for Indoor Navigation. Conference Proceedings. JSDE/ION Joint Navigation Conference, . , 10.
  • Leishman, Robert, Macdonald, John, McLain, Timothy Wayne, & Beard, Randal Winston. (May 2012). Relative Navigation and Control of a Hexacopter. Conference Proceedings. International Conference on Robotics and Automation, IEEE. , 4937-4942.
  • Sharma, Rajnikant, Beard, Randal Winston, & Taylor, Clark N. (April (2nd Quarter/Spring) 2012). Graph-based Observability Analysis of Bearing-only Cooperative Localization. Journal Article, Academic Journal. IEEE Transactions on Robotics, IEEE. 28 (2) , 522-529.
  • Beard, Randal Winston, & McLain, Timothy Wayne. (February 2012). Small Unmanned Aircraft: Theory and Practice. Book, Textbook. Princeton University Press, Princeton, New Jersey, USA. 1 (ISBN: 978-06-911-4921-9) , 320 .
  • Beard, Randal Winston, Argyle, Matthew E., & Chamberlain, Caleb. (2011). Chain Based Path Planning for Multiple UAV's. Conference Proceedings. IEEE Conference on Decision and Control, Orlando, Florida, USA.
  • Beard, Randal Winston, Colton, Mark, Sun, Liang, & Carlson, Daniel. (2011). Multi-vehicle Dynamics and Control for Aerial Recovery of Micro Air Vehicles. Journal Article, Academic Journal. International Journal of Vehicle Autonomous Systems, USA. 9 (1/2) , 78 - 107.
  • Beard, Randal Winston, Manathara, Joel G., & Sujit, P. B.. (2011). Multiple UAV Coalitions for a Search and Prosecute Mission. Journal Article, Academic Journal. Journal of Intelligent and Robotic Systems, Denver, CO, USA. 62 (1) , 125 - 158.
  • Beard, Randal Winston, Sharma, Rajnikant, & Saunders, Jeffery B.. (2011). Reactive Path Planning for Micro Air Vehicles Using Bearing-Only Measurements. Journal Article, Academic Journal. Journal of Intelligent and Robotic Systems, Denver, Colorado, USA. (EOI 10.1007/s10846-011-9617)
  • Beard, Randal Winston, & Yu, Huili. (2011). Vision-based Local-level Frame Mapping and Planning in Spherical Coordinates for Miniature Air Vehicles. Conference Proceedings. IEEE Conference on Decision and Control, Orlando, Florida, USA.
  • Ferrin, Jeffrey L, Leishman, Robert C., Beard, Randal Winston, & McLain, Timothy Wayne. (September 2011). Path Planning and Control Utilizing Differential Flatness of Rotocraft. Conference Proceedings. IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA.
  • Beard, Randal Winston, McLain, Timothy Wayne, Leishman, Robert, Macdonald, John, Ferrin, Jeffrey, & Quebe, Stephen. (September 2011). Utilizing an Improved Rotocraft Dynamic Model in Estimation. Conference Proceedings. IEEE/RSI International Conference on Intelligent Robots and Systems, San Francisco, CA, USA.
  • Beard, Randal Winston, & Saunders, Jeffery. (September 2011). Visual Tracking in Wind with Field of View Constraints. Journal Article, Academic Journal. International Journal of Micro Air Vehicles, Wright-Patterson AFB, Ohio, USA. 3 (3) , 13.
  • Beard, Randal Winston, & Egbert, Joseph. (August 2011). Low-Altitude Road Following Using Strap-down Cameras on Miniature Air Vehicles. Journal Article, Academic Journal. Special Issue on Development of Autonomous Unmanned Aerial Vehicles. 21 (5) , 831 - 843.
  • Beard, Randal Winston, Argyle, Matthew E., & Casbeer, David W.. (June 2011). A Multi-Team Extension of the Consensus-Based Bundle Algorithm. Conference Proceedings. American Control Conference, San Francisco, CA, USA. , 5376-5381.
  • Beard, Randal Winston, Taylor, Clark Noble, & Humpherys, Jeffrey C. (June 2011). Dynamic Input Consensus using Integrators. Conference Proceedings. American Control Conference, San Francisco, CA, USA. , 3357 - 3362.
  • Beard, Randal Winston, & Humpherys, Jeffrey C. (June 2011). Following Straight Line and Orbital Paths with Input Constraints. Conference Proceedings. American Control Conference, San Francisco, CA, USA. , 1587-1592.
  • Beard, Randal Winston, Taylor, Clark Noble, Yu, Huili, & Sharma, Rajnikant. (June 2011). Observability-based Local Path Planning and Collsion Avoidance for Micro Air Vehicles using Bearing-Only Measurements. Conference Proceedings. American Control Conference, San Francisco, CA, USA. , 4649-4654.
  • Beard, Randal Winston, Yu, Huili, Argyle, Matthew E., & Chamberlain, Caleb. (June 2011). Probabilistic Path Planning for Cooperative Target Tracking Using Aerial and Ground Vehicles. Conference Proceedings. American Control Conference, San Francisco, CA, USA. , 4673-4678.
  • Beard, Randal Winston, & Sun, Liang. (June 2011). Towed-body Trajectory Tracking in Aerial Recovery of Micro Air Vehicles in the Presence of Wind. Conference Proceedings. American Control Conference, San Francisco, CA, USA. , 3209-3214.
  • Beard, Randal Winston, Niedfeldt, Peter C., & Kingston, Derek B.. (June 2011). Vehicle State Estimation Within a Road Network Using a Bayesian Filter. Conference Proceedings. American Control Conference, San Francisco, CA, USA. , 4910-4915.
  • Beard, Randal Winston, Sharma, Rajnikant, Taylor, Clark Noble, & Casbeer, David. (2010). Distributed Cooperation SLAM Using an Information Consensus Filter. Conference Proceedings. AIAA Guidance, Navigation, and Control Conference and Exhibit, , Toronto, Canada. (paper no. AIAA, 2010) , 2010-8334, 2010.
  • Beard, Randal Winston. (2010). Embedded UAS Autopilot and Sensor Systems. Book, Chapter/ Section in Textbook. Encyclopedia of Aerospace Engineering, John Wiley & Sons, Ltd., Chichester, UK. , p. 4799-4814, 2010.
  • Cutler, Mark J., McLain, Timothy Wayne, Beard, Randal Winston, & Capozzi, Brian. (2010). Energy Harvesting and Mission Effectiveness for Small Unmanned Aircraft. Conference Proceedings. AIAA Guidance, Navigation, and Control Conference and Exhibit, , Toronto, Canada. (Paper no. AIAA) , 2010-8037.
  • Beard, Randal Winston, Niedfeldt, Peter, Morse, Bryan Stuart, & Pledgie, Stephen. (2010). Integrated Sensor Guidance using Probability of Object Identification. Conference Proceedings. Proceedings of the American Control Conference, , Baltimore, MA, USA. (2010) , p. 788-793.
  • Beard, Randal Winston, & Egbert, Joseph M. (2010). Low-Altitude Road Following Using Strap-down Cameras on Miniature Air Vehicles. Journal Article, Academic Journal. Mechatronics, (2010), doi:10.1016/j.mechatronics.2010.10.008 (in press), .
  • Beard, Randal Winston, Colton, Mark B, Sun, Liang, & Carlson, Daniel. (2010). Multi-vehicle dynamics and Control for Aerial Recovery of Micro Air Vehicles. Journal Article, Academic Journal. International Journal of Vehicle Autonomous Systems, . 9 (Nos. 1/2, 2011) , p. 78 - 107.
  • Saunders, Jeffrey, & Beard, Randal Winston. (2010). Reactive Vision Based Obstacle Avoidance with Camera Field of View Constraints. Conference Proceedings. Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit,, AIAA.
  • Beard, Randal Winston, Valavanis, Kimon P., Oh, Paul, Ollero, Anibal, Piegl, Leslie, & Shim, Hyunchul. (2010). Selected Papers from the 2nd International Symposium on UAV's. Book, Scholarly. Springer ISBN: 978-90-481-8763-8, New York, New York, USA.
  • Beard, Randal Winston, & Sun, Liang. (2010). Towed Body Altitude Stablization and State Estimation in Aerial Recovery of Micro Air Vehicles. Conference Proceedings. AIAA Guidance, Navigation, and Control Conference and Exhibit, , Toronto, Canada. (paper no. AIAA, 2010) , 2010-84144.
  • Beard, Randal Winston, Yu, Huili, & Byrne, Jeffry. (2010). Visiion-based Body Frame Mapping and Path Planning for Miniature Air Vehicles. Book, Chapter/ Section in Textbook. Control Engineering Practice, . (February, 2010)
  • Beard, Randal Winston, Sun, Liang, & Colton, Mark B. (July (3rd Quarter/Summer) 2010). Motion Planning and Control for Mothership-Cable-Drogue System in Aerial Recovery of Micro Air Vehicles. Conference Proceedings. Proceedings of the American Control Conference, , Baltimore, MA, USA. (2010) , p. 2101-2106.
  • Saunders, Jeff, & Beard, Randal Winston. (December 2009). UAV Flight Simulator with Hardware-in-the-Loop Testing and Vision Generation. Journal Article, Academic Journal. Journal of Intelligent Robotic Systems, . 57 , 407-415.
  • Beard, Randal Winston, & Holt, Ryan S.. (December 2009). Vision-based Road-Following Using Proportional Navigation. Journal Article, Academic Journal. Journal of Intelligent Robotic Systems, . 57 , 193-216.
  • Beard, Randal Winston, Taylor, Clark Noble, Sharma, Rajnikant, & Saunders, Jeff. (August 2009). Reactive Collision Avoidance for Fixed-wing MAVs Flying in Urban Terrain. Conference Proceedings. AIAA Guidance, Navigation, and Control Conference and Exhibit, .
  • Yu, Huili, Byrne, Jeffrey, & Beard, Randal Winston. (August 2009). Vision Based Local Muli-Resolution Path Planning and Obstacle Avoidance for Micro Air Vehicles. Conference Proceedings. Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit, .
  • Swindlehurst, A. Lee, Beard, Randal Winston, & DAvid, Casbeer W.. (June 2009). Distributed Information Filtering using Consensus Filters. Conference Proceedings. Proceedings of the American Control Conference, . , 1882-1887.
  • Sun, Liang, Colton, Mark, McLain, Timothy Wayne, & Beard, Randal Winston. (June 2009). Dynamics and Control of a Cable-Drogue System in Aerial Recovery of Micro Air Vehicles Based on Gauss?s Principle. Conference Proceedings. Proceedings of the American Control Conference, . , 4729-4734.
  • Beard, Randal Winston, & Sunjit, P. B.. (June 2009). Multiple UAV Path Planning using Anytime Algorithms. Conference Proceedings. Proceedings of the American Control Conference, . , 2978-2983.
  • Beard, Randal Winston, & Yu, Huili. (June 2009). Vision-based Local Multi-Resolution Mapping and Path Planning for Miniature Air Vehicles. Conference Proceedings. Proceedings of the American Control Conference, . , 5247--5252.
  • Beard, Randal Winston, & Saunders, Jeffrey. (June 2009). Vision-based Reactive Multiple Obstacle Avoidance for Micro Air Vehicles. Conference Proceedings. Proceedings of the American Control Conference, . , 5252-5258.
  • Taylor, Clark Noble, Beard, Randal Winston, Saunders, Jeffrey, Holt, Ryan, & McLain, Timothy Wayne. (May 2009). Payload Directed Flight of Micro Air Vehicles,. Conference Proceedings. Infotech@Aerospace, .
  • Kingston, Derek, Beard, Randal Winston, & Holt, Ryan. (December 2008). Decentralized Perimeter Surveillance Using a Team of UAVs. Journal Article, Academic Journal. IEEE Transactions on Robotics, IEEE. 24 , 1394-1404.
  • Beard, Randal Winston, Swindlehurst, A. Lee, & Casbeer, David W.. (December 2008). Discrete Double Integrator Consensus with Perturbations. Conference Proceedings. Proceedings of the IEEE Conference on Decision and Control, IEEE.
  • Beard, Randal Winston, Baliyarasimhuni, Sujit P., & George, J. M.. (August 2008). Multiple UAV Task Allocation using Particle Swarm Optimization. Conference Proceedings. Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit,, AIAA.
  • Johansen, David L., Hall, James K., Taylor, Clark Noble, & Beard, Randal Winston. (August 2008). Stabilization of Video from Miniature Air Vehicles for Target Localization. Journal Article, Academic Journal. AIAA Journal of Aerospace Computing, Information, and Communication, . 5 , 251-273.
  • Beard, Randal Winston, & Saunders, Jeffrey. (June 2008). Micro Air Vehicle Moving Target Tracking in Wind Using Strap-down Camera. Conference Proceedings. Proceedings of the American Control Conference, AACC. , 3863-3868.
  • Beard, Randal Winston, & Baliyarasimhuni, Sujit P.. (June 2008). Multiple UAV Coalition Formation. Conference Proceedings. American Control Conference,, AACC. , 2010-2015.
  • Beard, Randal Winston, & Kingston, Derek B.. (January (1st Quarter/Winter) 2008). UAV Splay State Configuration for Moving Targets in Wind. Journal Article, Academic Journal. Advances in Cooperative Control and Optimization,, Lecture Notes in Computer Science, Springer Verlag.
  • Beard, Randal Winston, Kingston, Derek, & Sujit, P. B.. (December 2007). Cooperative Forest Fire Monitoring using Multiple UAVs. Conference Proceedings. Proceedings of the IEEE Conference on Decision and Control, IEEE, New Orleans.
  • Griffiths, S., Saunders, J., Curtis, A., McLain, Timothy Wayne, & Beard, Randal Winston. (2007). Chapter 7, Obstacle and Terrain Avoidance for Miniature Air Vehicles. Book, Chapter/ Section in Scholarly Book. Advances in Unmanned Aerial Vehicles: State of the Art and Road to Autonomy, Springer.
  • Ren, W., Sun, J., Beard, Randal Winston, & McLain, Timothy Wayne. (November 2007). Experimental Validation of an Autonomous Control System on a Mobile Robot Platform. Journal Article, Academic Journal. IET Proceedings on Control Theory and Applications, . 1 (6) , 1621-1629.
  • Beard, Randal Winston, & Ren, Wei. (November 2007). . Book, Scholarly. Distributed Consensus in Multi-Vehicle Cooperative Control, Springer Verlag, New York. , 319.
  • Beard, Randal Winston. (October (4th Quarter/Autumn) 2007). State Estimation for Micro Air Vehicles. Book, Chapter/ Section in Scholarly Book. Innovations in Intelligent Machines I, Springer Verlag, Berlin Heidelberg. 70 , 26.
  • Nelson, Derek, McLain, Timothy W., & Beard, Randal Winston. (August 2007). Experiments in Cooperative Timing for Miniature Air Vehicles. Journal Article, Academic Journal. AIAA Journal of Aerospace Computing, Information, and Communication, AIAA. 4 , 11.
  • Nelson, D., McLain, Timothy Wayne, & Beard, Randal Winston. (August 2007). Experiments in Cooperative Timing for Miniature Air Vehicles. Journal Article, Academic Journal. AIAA Journal of Aerospace Computing, Information, and Communication, . 4 (8) , 956-967.
  • Sujit, P. B., & Beard, Randal Winston. (August 2007). Multiple MAV Task Allocation using Distributed Auctions. Conference Proceedings. Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit, AIAA, Hilton Head.
  • Saunders, Jeffrey, Beard, Randal Winston, & McLain, Timothy W.. (August 2007). Obstacle Avoidance Using Circular Paths. Conference Proceedings. Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit, AIAA, Hilton Head, South Carolina.
  • Beard, Randal Winston, Will Curtis, J., Eilders, Martin, Evers, Johnny, & Cloutier, James R.. (August 2007). Vision Aided Proportional Navigation for Micro Air Vehicles. Conference Proceedings. Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit, AIAA, Hilton Head, South Carolina.
  • Baliyarasimhuni, Sujit P., & Beard, Randal Winston. (July (3rd Quarter/Summer) 2007). Cooperative Path Planning for Multiple UAVs Exploring an Unknown Region. Conference Proceedings. Proceedings of the American Control Conference, AACC, New York.
  • Baliyarasimhuni, Sujit P., & Beard, Randal Winston. (July (3rd Quarter/Summer) 2007). Distributed Sequential Actions for Multiple UAV Task Allocation. Conference Proceedings. Proceedings of the American Control Conference, IEEE, New York, New York.
  • Griffiths, Stephen, Saunders, Jeff, Curtis, Andrew, Barber, Blake, McLain, Tim, & Beard, Randal Winston. (July (3rd Quarter/Summer) 2007). Obstacle and Terrain Avoidance for Miniature Aerial Vehicles. Book, Chapter/ Section in Scholarly Book. Advances in Unmanned Aerial Vehicles: State of the art and the road to autonomy, Springer Verlag.
  • Egbert, Joseph, & Beard, Randal Winston. (July (3rd Quarter/Summer) 2007). Road Following Control Constraints for Low Altitude Miniature Air Vehicles. Conference Proceedings. Proceedings of the American Control Conference, AACC, New York.
  • Beard, Randal Winston. (June 2007). A Class of Flight Trajectories for Tracking Ground Targets with Micro Air Vehicles. Conference Proceedings. Proceedings of the 15th Mediterranean Conference on Control and Automation, , Athens, Greece.
  • Nelson, D., Barber, B., McLain, Timothy Wayne, & Beard, Randal Winston. (June 2007). Vector Field Path Following for Minature Air Vehicles. Journal Article, Academic Journal. IEEE Transactions on Robotics, . 23 (3) , 519-529.
  • Nelson, Derek R., Barber, Blake, McLain, Timothy W., & Beard, Randal Winston. (June 2007). Vector Field Path Following for Miniature Air Vehicles. Journal Article, Academic Journal. IEEE Transactions on Robotics, IEEE. 23 , 10.
  • McLain, Timothy W., Beard, Randal Winston, Blake Barber, D., & Knoebel, Nathan B.. (May 2007). An Overview of MAV Research at Brigham Young University. Conference Proceedings. NATO Research and Technology Organization AVT-146 Symposium on Platform Innovations and System Integration for Unmanned Air, Land, and Sea Vehicles, , Florence, Italy.
  • McLain, Timothy Wayne, Beard, Randal Winston, Barber, B., & Knoebel, N.. (May 2007). An Overview of MAV Research at Brigham Young University. Conference Proceedings. Proceedings of the NATO Research and Technology Organisation Symposium on Platform Innovations..., , Florence, Italy.
  • Barber, D. Blake, Griffiths, Stephen, McLain, Timothy Wayne, & Beard, Randal Winston. (May 2007). Autonomous Landing of Miniature Aerial Vehicles. Journal Article, Academic Journal. AIAA Journal of Aerospace Computing, Information, and Communication, AIAA. 4 (5) , 770-784.
  • Barber, D. Blake, McLain, Timothy Wayne, & Beard, Randal Winston. (May 2007). Vision Based Precision Landing of Fixed-wing MAVs. Conference Proceedings. Proceedings of the 2007 AIAA Infotech@Aerospace Conference, AIAA, Rohnert Park, CA. , 2007-2984.
  • Ren, Wei, Beard, Randal Winston, & Atkins, Ella. (April (2nd Quarter/Spring) 2007). Information Consensus and its Applications in Multi-vehicle Cooperative Control. Journal Article, Academic Journal. IEEE Control Systems Magazine, IEEE. 27 , 11.
  • Baliyarasimhuni, Sujit P., & Beard, Randal Winston. (February 2007). Distributed Auctions for Multiple UAV Task Allocation. Conference Proceedings. Advances in Control and Optimization of Dynamical Systems, , Bangalore, India.
  • Kingston, Derek, & Beard, Randal Winston. (February 2007). UAV Splay State Configuration for Moving Targets. Conference Proceedings. Proceedings of the Conference on Cooperative Control and Optimization, Gainesville, Florida.
  • Barber, D. Blake, Redding, Joshua D., McLain, Timothy Wayne, Beard, Randal Winston, & Taylor, Clark Noble. (December 2006). Vision-based Target Geo-location using a Fixed-wing Miniature Air Vehicle,. Journal Article, Academic Journal. Journal of Intelligent and Robotic Systems, Springer. 47 (4) , 361-382.
  • Griffiths, S., Saunders, J., Curtis, A., Barber, B., McLain, Timothy Wayne, & Beard, Randal Winston. (September 2006). Obstacle and Terrain Avoidance for Miniature Unmanned Aerial Vehicles. Journal Article, Academic Journal. IEEE Robotics and Automation Magazine, . 13 (3) , 34-43.
  • Casbeer, David W., Lee Swindlehurst, A., & Beard, Randal Winston. (August 2006). Connectivity in a UAV Multi-Static Radar Network. Conference Proceedings. Proceedings of the AIAA Conference on Guidance,Navigation, and Control, . , AIAA-2006-6209.
  • Cao, Chengyu, Beard, Randal Winston, & Hovakimyan, Naira . (August 2006). L1 Adaptive Pitch Controller for Miniature Air Vehicles. Conference Proceedings. Proceedings of the AIAA Conference on Guidance,Navigation, and Control, . , AIAA-2006-6777.
  • Call, Brandon, Beard, Randal Winston, & Taylor, Clark Noble. (August 2006). Obstacle Avoidance for Unmanned Air Vehicles Using Image Feature Tracking. Conference Proceedings. Proceedings of the AIAA Conference on Guidance,Navigation, and Control, . , AIAA-2006-6541.
  • McLain, Timothy Wayne, Knoebel, Nathan B., Osborne, Stephen R., Snyder, Deryl O., Beard, Randal Winston, & Eldredge, Andrew M.. (August 2006). Preliminary Modeling, Control, and Trajectory Design for Miniature Autonomous Tailsitters. Conference Proceedings. Proceedings of the AIAA Conference on Guidance,Navigation, and Control, . , AIAA-2006-6713.
  • Knoebel, N., Osborne, S., Snyder, Deryl, McLain, Timothy Wayne, Beard, Randal Winston, & Eldredge, A.. (August 2006). Preliminary Modeling, Control, and Trajectory Design for Miniature Autonomous Tailsitters. Conference Proceedings. Proceedings of the AIAA Guidance, Navication, and Control Conference, Keystone, CO, .
  • Beard, Randal Winston, McLain, Timothy Wayne, Kingston, Derek, Nelson, Derek, & Johanson, D.. (July (3rd Quarter/Summer) 2006). Decentralized Cooperative Aerial Surveillance Using Fixed-Wing Miniature UAVs. Journal Article, Academic Journal. Proceedings of the IEEE, IEEE. 94 (7) , 1306-1323.
  • Griffths, Stephen, Saunders, Jeff, Curtis, Andrew, Blake Barber, D., McLain, Timothy Wayne, & Beard, Randal Winston. (July (3rd Quarter/Summer) 2006). Maximizing miniature aerial vehicles. Journal Article, Academic Journal. IEEE Robotics and Automation Magazine,, IEEE. 13 , 34-43.
  • Ready, Bryce B., Taylor, Clark Noble, & Beard, Randal Winston. (June 2006). A Kalman filter Based Method for Creation of Super-resolved Mosaicks. Conference Proceedings. Proceedings of the International Conference on Robotics and Automation, IEEE. , 3417-3422.
  • Matthews, Joshua S., Knoebel, Nathan B., Osborne, Stephen R., & Beard, Randal Winston. (June 2006). Adaptive Backstepping Control for Miniature Air Vehicles. Conference Proceedings. Proceedings of the American Control Conference, . , 5972-5977.
  • Knoebel, Nathan B., Osborne, Stephen R., Matthews, Joshua S., & Beard, Randal Winston. (June 2006). Computationally Simple Model Reference Adaptive Control for Miniature Air Vehicles. Conference Proceedings. Proceedings of the American Control Conference, . , 5978-5983.
  • Kingston, Derek, & Beard, Randal Winston. (June 2006). Discrete-Time Average-Consensus under Switching Network Topologies. Conference Proceedings. Proceedings of the American Control Conference, . , 3551-3556.
  • Nelson, Derek R., Blake Barber, D., McLain, Timothy Wayne, & Beard, Randal Winston. (June 2006). Vector Field Path Following for Small Unmanned Air Vehicles. Conference Proceedings. Proceedings of the American Control Conference, . , 5788-5794.
  • Redding, Joshua, McLain, Timothy Wayne, Beard, Randal Winston, & Taylor, Clark Noble. (June 2006). Vision-based Target Localization from a Fixed-wing Miniature Air Vehicle. Conference Proceedings. Proceedings of the American Control Conference, . , 2862-2867.
  • Casbeer, David W., Kingston, Derek B., Beard, Randal Winston, McLain, Timothy Wayne, Li, Sai-Ming, & Mehra, Raman . (May 2006). Cooperative Forest Fire Surveillance Using a Team of Small Unmanned Air Vehicles. Journal Article, Academic Journal. International Journal of Systems Science, . 37 (6) , 351-360.
  • Jackson, J., Eldredge, A., Nelson, D., Griffiths, S., McLain, Timothy Wayne, & Beard, Randal Winston. (May 2006). Miniature Air Vehicle Cooperative Timing Missions. Conference Proceedings. Video Proceedings of the 2006 IEEE Conference on Robotics and Automation, .
  • Jackson, J., Eldredge, A., Griffiths, S., Saunders, J., McLain, Timothy Wayne, & Beard, Randal Winston. (May 2006). Miniature Air Vehicles Obstacle Avoidance. Conference Proceedings. Video Proceedings of the 2006 IEEE Conference on Robotics and Automation, .
  • Holt, Ryan S., Egbert, Joseph W., Bradley, Justin M., Beard, Randal Winston, Taylor, Clark Noble, & McLain, Timothy Wayne. (April (2nd Quarter/Spring) 2006). Forest Fire Monitoring Using Multiple Unmanned Air Vehicles. Conference Proceedings. Proceedings of the Eleventh Biennial USDA Forest Service Remote Sensing Applications Conference, .
  • Barber, D., McLain, Timothy Wayne, & Beard, Randal Winston. (September 2005). Autonomous Landing of Miniature Aerial Vehicles. Conference Proceedings. Proceedings of the AIAA Infotech@Aerospace Conference, .
  • Saunders, J., Call, B., Curtis, A., Beard, Randal Winston, & McLain, Timothy Wayne. (September 2005). Static and Dynamic Obstacle Avoidance for Miniature Air Vehicles. Conference Proceedings. Proceedings of the AIAA Infotech@Aerospace Conference, .
  • Kingston, D., Holt, R., Beard, Randal Winston, McLain, Timothy Wayne, & Casbeer, D.. (August 2005). Decentralized Perimeter Surveillance Using a Team of UAVs. Conference Proceedings. AIAA Guidance, Navigation, and Control Conference, . , AIAA-2005-5831.
  • Ren, Wei, Beard, Randal Winston, & Kingston, Derek B.. (July (3rd Quarter/Summer) 2005). Multi-agent Kalman Consensus with Relative Uncertainty. Conference Proceedings. American Control Conference, . , 1865-1870.
  • Ren, Wei, & Beard, Randal Winston. (June 2005). A Survey of Consensus Problems in Multi-agent Coordination. Conference Proceedings. American Control Conference, . , 1859-1864.
  • Kingston, Derek B., Ren, Wei, & Beard, Randal Winston. (June 2005). Consensus Algorithms are Input-to-State Stable. Conference Proceedings. American Control Conference, . , 1686-1690.
  • Ren, W., Sun, J., Beard, Randal Winston, & McLain, Timothy Wayne. (June 2005). Experimental Nonlinear Tracking Control for Nonholonomic Mobile Robots with Input Constraints. Conference Proceedings. Proceedings of the American Control Conference, .
  • Li, Sai-Ming, Casbeer, David W., Beard, Randal Winston, McLain, Timothy Wayne, & Mehra, Raman K.. (June 2005). Forest Fire Monitoring Using Multiple Small Unmanned Air Vehicles. Conference Proceedings. American Control Conference, . , 3530-3535.
  • Beard, Randal Winston, Ren, Wei, Sun, Ji-Sang, & McLain, Timothy Wayne. (June 2005). Nonlinear Tracking Control for Nonholonomic Mobile Robots with Input Constraints: An Experimental Study. Conference Proceedings. American Control Conference, . , 4923-4928.
  • Ren, Wei, & Beard, Randal Winston. (June 2005). Satisficing Approach to Human-in-the-Loop Safeguarded Control. Conference Proceedings. American Control Conference, . , 4985-4990.
  • Ren, Wei, & Beard, Randal Winston. (May 2005). Consensus Seeking in Multi-agent Systems Using Dynamically Changing Interaction Topologies. Journal Article, Academic Journal. IEEE Transactions on Automatic Control, IEEE. 50 , 655-661.
  • Anderson, Erik P., Beard, Randal Winston, & McLain, Timothy Wayne. (May 2005). Real Time Dynamic Trajectory Smoothing for Uninhabited Aerial Vehicles. Journal Article, Academic Journal. IEEE Transactions on Control Systems Technology, IEEE. 13 (3) , 471-477.
  • Quigley, Morgan, Goodrich, Michael A., Griffiths, Steve, Eldredge, Andrew, & Beard, Randal Winston. (May 2005). Target Acquisition, Localization, and Surveillance Using a Fixed-Wing Mini-UAV and Gimbaled Camera. Conference Proceedings. IEEE International Conference on Robotics and Automation, .
  • Beard, Randal Winston, Lee, Dah Jye, Quigley, Morgan, Thakoor, Sarita, & Zornetzer, Steve. (January (1st Quarter/Winter) 2005). A New Approach to Observation of Descent and. Journal Article, Academic Journal. AIAA Journal of Aerospace Computing, Information,, AIAA. 2 , 65-91.
  • Beard, Randal Winston, Kingston, Derek, Quigley, Morgan, & Snyder, Deryl. (January (1st Quarter/Winter) 2005). Autonomous Vehicle Technologies for Small Fixed Wing UAVs. Journal Article, Academic Journal. AIAA Journal of Aerospace Computing, Information, and Communication, AIAA. 2 , 92--108.
  • Beard, Randal Winston, Kingston, D., Quigley, M., Snyder, Deryl, Christiansen, R., Johnson, W., McLain, Timothy Wayne, & Goodrich, Michael A. (January (1st Quarter/Winter) 2005). Autonomous Vehicle Technologies for Small Fixed-wing UAVs. Journal Article, Academic Journal. Journal of Aerospace Computing, Information, and Communication, . 2 (1) , 92-108.
  • McLain, Timothy Wayne, & Beard, Randal Winston. (January (1st Quarter/Winter) 2005). Coordination Variables, Coordination Functions, and Cooperative Timing Missions. Journal Article, Academic Journal. AIAA Journal of Guidance, Control, and Dynamics, AIAA. 28 (1) , 150-161.
  • Ren, Wei, Beard, Randal Winston, & McLain, Timothy Wayne. (November 2004). Coordination Variables and Consensus Building in Multiple Vehicle Systems. Book, Chapter/ Section in Scholarly Book. Block Island Workshop on Cooperative Control, Springer-Verlag. 309 , 17.
  • Merrell, P. C., Lee, Dah Jye, & Beard, Randal Winston. (October (4th Quarter/Autumn) 2004). Obstacle Avoidance for Unmanned Air Vehicles Using Optical Flow Probability Distributions. Conference Proceedings. SPIE Proceeding, . 5609 , 13-22.
  • Lee, Dah Jye, Beard, Randal Winston, Merrell, P. C., & Zhan, P.. (October (4th Quarter/Autumn) 2004). See and Avoidance Behaviors for Autonomous Navigation. Conference Proceedings. SPIE Optics East, Robotics Technologies and Architectures, Mobile Robot XVII, SPIE Proceeding, Philadelphia, PA,. 5609 , 12.
  • Quigley, Morgan, Goodrich, Michael A, & Beard, Randal Winston. (October (4th Quarter/Autumn) 2004). Semi-Autonomous Human-UAV Interfaces for Fixed-Wing Mini-UAVs. Conference Proceedings. Proceedings of the International Conference on Robots and Systems, .
  • Zhan, P., Lee, Dah Jye, & Beard, Randal Winston. (October (4th Quarter/Autumn) 2004). Solving Correspondence Problem Using 1-D Signal Matching. Conference Proceedings. SPIE Proceeding, . 5608 , 207-215.
  • Merrell, P. C., Lee, Dah Jye, & Beard, Randal Winston. (October (4th Quarter/Autumn) 2004). Statistical Analysis of Multiple Optical Flow Values for Estimation of Unmanned Air Vehicles Height Above Ground. Conference Proceedings. SPIE Optics East, Robotics Technologies and Architectures, Intelligent Robots and Computer Vision XXII, SPIE Proceeding, Philadelphia, PA. 5608 , 8.
  • Nelson, Derek R., McLain, Timothy Wayne, Christiansen, Reed S., Beard, Randal Winston, & Johansen, David. (September 2004). Initial Experiements in Cooperative Control of Unmanned Air Vehicles. Conference Proceedings. Proceedings of the AIAA 3rd Unmanned Unlimited Systems Conference and Workshop, AIAA. , AIAA-2004-6533.
  • Nelson, D., McLain, Timothy Wayne, Christiansen, R., Beard, Randal Winston, & Johansen, D.. (September 2004). Initial Experiments in the Cooperative Control of Unmanned Air Vehicles. Conference Proceedings. Proceedings of the AIAA Unmanned Unlimited Conference, AIAA.
  • Kingston, Derek B., & Beard, Randal Winston. (September 2004). Real-Time Attitude and Position Estimation for Small UAVs Using Low-Cost Sensors. Conference Proceedings. Proceedings of the AIAA 3rd Unmanned Unlimited Systems Conference and Workshop, AIAA. , AIAA-2004-6488.
  • Ren, Wei, & Beard, Randal Winston. (September 2004). Trajectory Tracking for Unmanned Air Vehicles with Velocity and Heading Rate Constraints. Journal Article, Academic Journal. IEEE Transactions on Control Systems Technology, IEEE. 12 , 706-716.
  • Willard Curtis, J., & Beard, Randal Winston. (July (3rd Quarter/Summer) 2004). Satisficing: A New Approach to Constructive Nonlinear Control. Journal Article, Academic Journal. IEEE Transactions on Automatic Control, IEE. 49 , 1090-1102.
  • McLain, Timothy Wayne, & Beard, Randal Winston. (July (3rd Quarter/Summer) 2004). Unmanned Air Vehicle Testbed for Cooperative Control Experiments. Conference Proceedings. Proceedings of the American Control Conference, .
  • Ren, Wei, & Beard, Randal Winston. (June 2004). Consensus of Information Under Dynamically Changing Interaction Topologies. Conference Proceedings. American Control Conference, . , 4939-4944.
  • Ren, Wei, & Beard, Randal Winston. (June 2004). Constrained Nonlinear Tracking Control For Small Fixed-wing Unmanned Air Vehicles. Conference Proceedings. American Control Conference, . , 4663-4668.
  • Gouvea, Josiel A., Lizarralde, Fernando , & Beard, Randal Winston. (June 2004). Control of Passive Systems using the Satisficing Paradigm. Conference Proceedings. American Control Conference, . , 1067-1072.
  • Ren, Wei, & Beard, Randal Winston. (May 2004). Formation Feedback Control for Multiple Spacecraft via Virtual Structures. Journal Article, Academic Journal. IEE Proceedings - Control Theory and Applications, IEE. 151 , 357-368.
  • Blake, Matthew A, Sorensen, Gerrit A, Archibald, James K, & Beard, Randal Winston. (May 2004). Human-Assisted Capture-the-Flag in an Urban Environment. Conference Proceedings. Proc. of IEEE Int. Conf. on Robotics and Automation, . 2 , 1167-1172.
  • Blake, Matthew A., Sorensen, Gerrit A., Archibald, James K, & Beard, Randal Winston. (April (2nd Quarter/Spring) 2004). Human Assisted Capture-the-Flag in an Urban Environment. Conference Proceedings. IEEE International Conference on Robotics and Automation, . , 1167-1172.
  • Archibald, James K, & Beard, Randal Winston. (March 2004). Goal! Robot Soccer for Undergraduate Students. Journal Article, Academic Journal. IEEE Robotics and Automation Magazine, . 11 , 70-75.
  • Archibald, James K, & Beard, Randal Winston. (March 2004). Robot Soccer for Undergraduate Students. Journal Article, Academic Journal. IEEE Robotics and Automation Magazine, IEEE. 11 , 70-75.
  • Ren, Wei, & Beard, Randal Winston. (January (1st Quarter/Winter) 2004). A Decentralized Scheme for Spacecraft Formation Flying via the Virtual Structure Approach. Journal Article, Academic Journal. AIAA Journal of Guidance, Control and Dynamics, AIAA. 27 , 73-82.
  • Beard, Randal Winston, McLain, Timothy Wayne, Goodrich, Michael A, & Anderson, E. (December 2002). Coordinated Target Assignment and Intercept for Unmanned Air Vehicles. Journal Article, Academic Journal. IEEE Transactions on Robotics and Automation, . 18 (6) , 911-922.
  • Abbott, R, McLain, Timothy Wayne, & Beard, Randal Winston. (September 2001). Application of an Optimal Control Synthesis Strategy to an Electro-hydraulic Positioning System. Journal Article, Academic Journal. ASME Journal of Dynamic Systems, Measurement, and Control, . 123 (3) , 377-384.
  • Bailey, Christopher A, McLain, Timothy Wayne, & Beard, Randal Winston. (July (3rd Quarter/Summer) 2001). Fuel Saving Strategies for Dual Spacecraft Interferometry Missions. Journal Article, Academic Journal. Journal of the Astronautical Sciences, . 49 (3) , 469-488.
  • Beard, Randal Winston, McLain, Timothy Wayne, & Hadaegh, F. (March 2000). Fuel Optimization for Constrained Rotation of Satellite Formations. Journal Article, Academic Journal. AIAA Journal of Guidance, Control, & Dynamics, . 23 (2) , 339-346.