I include here links to the publications I have (co-)authored (inverse chronological order). The files are in PDF form. Please email me if you find difficulties in opening any file.


Journal publications



2008


  1. Deployment algorithms for a power-constrained mobile sensor network
    Andrew Kwok and Sonia Martínez
    International Journal of Robust and Nonlinear Control, submitted 2008

  2. Practical multiagent rendezvous through modified circumcenter algorithms
    Sonia Martínez
    Automatica, submitted 2007

  3. Distributed interpolation schemes for field estimation by mobile sensor networks
    Sonia Martínez
    IEEE Transactions on Control Systems Technology, submitted 2007

  4. Gradient algorithms for polygonal approximation of convex contours
    Sara Susca, Francesco Bullo and Sonia Martínez
    Automatica, submitted 2007

  5. 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

2007

  1. 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

  2. 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

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

  4. 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

2006

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

  2. 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

2005

  1. 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

2004

  1. 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

  2. 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

2003

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

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

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

  4. 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

  5. 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

2002

  1. 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

  2. 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

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

2001

  1. 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

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

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

  4. 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, numb. 2007 (2001), 651-670

2000

  1. 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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Book chapters

2008

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

2007

  1. 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

2004

  1. Vector-valued quadratic forms in control theory
    Francesco Bullo, Jorge Cortés, Andrew D. Lewis and Sonia Martínez
    Unsolved Problems in Mathematical Systems and Control Theory, eds. V. Blondel and A. Megretski, Princeton University Press, 2004, pp. 315-320

2003

  1. 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

2002

  1. 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
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Informative Papers

  1. 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).

  2. ¿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.)
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Conference proceedings


2008

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

  2. Dynamic average consensus on synchronous communication networks
    Minghui Zhu and Sonia Martínez
    Proceedings of the 2008 American Control Conference

  3. Coverage control with unicycles via hybrid modeling
    Andrew Kwok and Sonia Martínez
    Proceedings of the 2008 American Control Conference

  4. 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

2007

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

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

  3. Practical rendezvous through modified Circumcenter Algorithms
    Sonia Martínez
    Proceedings of the 46th IEEE Conf. Decision and Control, New Orleans, USA, December 2007

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

2006

  1. 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, USA, December 2006

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

2005

  1. 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. Conf. Decision and Control, Seville, Spain, December 2005

  2. 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. Conf. Decision and Control, Seville, Spain, December 2005

  3. 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. Conf. Decision and Control, Seville, Spain, December 2005

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

  5. 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, 2005

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

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

2004

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

2003

  1. 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 Conf. Intelligent Robots and Systems, Las Vegas, Nevada, USA, 2003

2002

  1. Design of oscillatory control systems
    Sonia Martínez, Jorge Cortés and Francesco Bullo
    Proceedings of the 41st IEEE Int. Conf. Decision and Control, Las Vegas, Nevada, USA, 2002

  2. 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, Indiana, USA, 2002

  3. 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, 2002

  4. 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, Indiana, USA, 2002

  5. 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, Virginia, USA, 2002

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

2001

  1. 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, 2001

  2. On nonlinear controllability and series expansions for Lagrangian systems with damping
    Jorge Cortés, Sonia Martínez and Francesco Bullo
    Proceedings of the 40th IEEE Int. Conf. Decision and Control, Orlando, Florida, USA, 2001

2000

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

1999

  1. 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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