Journal Publications
[J22] A. Samiei, R. Selje, and L. Sun, "Allocating Limited Resources and Learning Flight Energy Consumption for Advanced Air Mobility," J. Aircraft, vol. 63, no. 1, pp. 1–12, Jan. 2025, doi: 10.2514/1.J063517.
[J21] J. Rosales, L. Sun, L. R. G. Carrillo, and A. Gross, "Evaluation of an autonomous soaring algorithm for survey missions in a simulation environment," IEEE Transactions on Aerospace and Electronic Systems, vol. 60, no. 3, pp. 2966–2975, Jun. 2024, doi: 10.1109/TAES.2024.3359166.
[J20] A. Samiei and L. Sun, "Distributed matching-by-clone Hungarian-based algorithm for task allocation of multiagent systems," IEEE Transactions on Robotics, vol. 40, pp. 851–863, 2024, doi: 10.1109/TRO.2023.3335656.
[J19] D. Gala and L. Sun, "Moving sound source localization and tracking for an autonomous robot equipped with a self-rotating bi-microphone array," J. Acoust. Soc. Am., vol. 154, pp. 1261–1273, Aug. 2023, doi: 10.1121/10.0020583.
[J18] H. Stuckey, A. Al-Radaideh, L. Sun, and W. Tang, "A spatial localization and attitude estimation system for unmanned aerial vehicles using a single dynamic vision sensor," IEEE Sensors Journal, vol. 22, no. 15, pp. 15497–15507, Aug. 2022, doi: 10.1109/JSEN.2022.3187423.
[J17] A. Al-Radaideh and L. Sun, "Self-localization of tethered drones without a cable force sensor in GPS-denied environments," Drones, vol. 5, no. 4, p. 135, Nov. 2021, doi: 10.3390/drones5040135.
[J16] D. Gala, N. Lindsay, and L. Sun, "Multi-sound-source localization using machine learning for small autonomous unmanned vehicles with a self-rotating bi-microphone array," J. Intell. Robot. Syst., vol. 103, article no. 52, Oct. 2021, doi: [N/A].
[J15] N. Lindsay, R. K. Buehling, and L. Sun, "A sequential task addition distributed assignment algorithm for multi-robot systems," J. Intell. Robot. Syst., vol. 102, article no. 51, May 2021, doi: [N/A].
[J14] D. Gala and L. Sun, "Moving sound source localization and tracking using a self-rotating bi-microphone array," in Proc. ASME Dyn. Syst., Control Conf. (DSCC), Paper No. DSCC2019-9024, Nov. 2019.
[J13] D. Gala, N. Lindsay, and L. Sun, "Realtime active sound source localization for unmanned ground robots using a self-rotational bi-microphone array," Appl. Acoust., vol. 95, pp. 935–954, Aug. 2018, doi: [N/A].
[J12] D. Brown and L. Sun, "Dynamic exhaustive mobile target search using unmanned aerial vehicles," IEEE Transactions on Aerospace and Electronic Systems, vol. 55, no. 6, pp. 3413–3423, Dec. 2019, doi: 10.1109/TAES.2019.2907391.
[J11] R. Dutta, L. Sun, and D. Pack, "A decentralized formation and network connectivity tracking controller for multiple unmanned systems," IEEE Transactions on Control Systems Technology, vol. 26, no. 6, pp. 2206–2213, Nov. 2018, doi: 10.1109/TCST.2017.2740837.
[J10] N. Farmani, L. Sun, and D. J. Pack, "A scalable multitarget tracking system for cooperative unmanned aerial vehicles," IEEE Transactions on Aerospace and Electronic Systems, vol. 53, no. 4, pp. 1947–1961, Aug. 2017, doi: 10.1109/TAES.2017.2677746.
[J9] Y. Lu, Q. Wang, S. Fan, B. Hu, L. Sun, H. Xue, C. Zhou, Y. Zhou, K. Zhang, Z. Li, and T. Ma, "Effective use of PI3K inhibitor BKM120 to treat human osteosarcoma," Int. J. Clin. Exp. Med., vol. 10, no. 4, pp. 6378–6386, Apr. 2017.
[J8] X. Zhong, L. Sun, and W. Yost, "Active binaural localization of multiple sound sources," Robotics and Autonomous Systems, vol. 85, pp. 83–92, Nov. 2016, doi: 10.1016/j.robot.2016.08.005.
[J7] X. Zhong, W. Yost, and L. Sun, "Dynamic binaural sound source localization with ITD cues: Human listeners," J. Acoust. Soc. Am., vol. 137, no. 4_Supplement, p. 2376, Apr. 2015, doi: 10.1121/1.4920636.
[J6] L. Sun, X. Zhong, and W. Yost, "Dynamic binaural sound source localization with interaural time difference cues: Artificial listeners," J. Acoust. Soc. Am., vol. 137, no. 4_Supplement, p. 2226, Apr. 2015, doi: 10.1121/1.4920112.
[J5] L. Sun, J. D. Castagno, J. D. Hedengren, and R. W. Beard, "Parameter estimation for towed cable systems using moving horizon estimation," IEEE Transactions on Aerospace and Electronic Systems, vol. 51, no. 2, pp. 1432–1446, Apr. 2015, doi: 10.1109/TAES.2014.130642.
[J4] H. Zhao, T. Jin, S. Wang, and L. Sun, "A real-time selective harmonic elimination based on a transient-free inner closed-loop control for cascaded multilevel inverters," IEEE Transactions on Power Electronics, vol. 31, no. 2, pp. 1000–1014, Feb. 2016, doi: 10.1109/TPEL.2015.2413898.
[J3] J. W. Nichols, L. Sun, R. W. Beard, and T. McLain, "Aerial rendezvous of small unmanned aircraft using a passive towed cable system," Journal of Guidance, Control, and Dynamics, vol. 37, no. 4, pp. 1131–1142, 2014, doi: 10.2514/1.G000027.
[J2] L. Sun, J. D. Hedengren, and R. W. Beard, "Optimal trajectory generation using model predictive control for aerially towed cable systems," Journal of Guidance, Control, and Dynamics, vol. 37, no. 2, pp. 525–539, 2014, doi: 10.2514/1.61492.
[J1] M. B. Colton, L. Sun, D. C. Carlson, and R. W. Beard, "Multi-vehicle dynamics and control for aerial recovery of micro air vehicles," International Journal of Vehicle Autonomous Systems, vol. 9, no. 1–2, pp. 78–107, 2011, doi: 10.1504/IJVAS.2011.040933.
Conference Proceedings
[C66] S. A. Rocha, N. M. Negash, L. Sun, "Energy-Efficient Control for Multicopters in the Presence of Wind for Advanced Air Mobility", AIAA SCITECH 2025-2281, Orlando, FL, USA, 2025, doi: 10.2514/6.2025-2281.
[C65] M.D. Perez, L. Sun, J. Chen, B. Hu, M.S.Politowicz, and E.T.Chancey, "A Sigma-Point Based Uncertainty-Aware Decision Making Framework for Advanced Air Mobility", AIAA AVIATION FORUM AND ASCEND 2025, Las Vegas, NV, USA, 2025, doi: 10.2514/6.2025-3467.
[C64] N. M. Negash, L. Sun, C. Fan, D. Shi, F. Wang, "Review of Wildfire Detection, Fighting, and Technologies: Future Prospects and Insights", AIAA AVIATION FORUM AND ASCEND 2025, Las Vegas, NV, USA, 2025, doi:10.2514/6.2025-3469.
[C63] S. C. Ochoa, N. M. Negash, L. Sun, G. Gorospe, "Flight Energy Consumption Modeling and Analysis for Advanced Air Mobility", AIAA AVIATION FORUM AND ASCEND 2025, Las Vegas, NV, USA, 2025, doi:10.2514/6.2025-3310.
[C62] S. A. Rocha, N. M. Negash, L. Sun, "Energy-Efficient Control for Multicopters in the Presence of Wind for Advanced Air Mobility", AIAA SCITECH 2025-2281, Orlando, FL, USA, 2025, doi: 10.2514/6.2025-2281.
[C61] K. Acharya, M. Lad, H. Song, L. Sun, "Regional air mobility flight demand modeling in Tennessee state", AIAA SCITECH 2025 Forum, 6-10 January 2025, Orlando, FL, USA.
[C60] M. Lad, K. Acharya, L. Sun, H. Song, "Enhancing Forecasting for Advanced Air Mobility", 2024 IEEE International Conference on Big Data (BigData), 15-18 December 2024, Washington, DC, USA.
[C59] K. Acharya, M. Lad, L. Sun, H. Song, "Demand modeling for advanced air mobility", 2024 IEEE International Conference on Big Data (BigData), 15-18 December 2024, Washington, DC, USA.
[C58] E. C. Fatule, M. A. Arif, F. Wang, L. Sun, "A Mathematical Model for Scheduling Electrical Vertical Takeoff and Landing Vehicle Flights", 2024 56th North American Power Symposium (NAPS), 13-15 October 2024, El Paso, TX, USA.
[C57] K. Acharya, A. Velasquez, Y. Liu, D. Liu, L. Sun, H. H. Song, "Improving air mobility for pre-disaster planning with neural network accelerated genetic algorithm", 2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), 24-27 September 2024, Edmonton, AB, Canada.
[C56] M. A. Arif, F. Wang, D. Shi, L. Sun, Z. Wang, "Analysis of the Impacts of Reserve Requirements on Marginal Emission Rate", 2024 IEEE Power & Energy Society Innovative Smart Grid Technologies Conference (ISGT), 19-22 February 2024, Washington, DC, USA.
[C55] Y. Zhang, J. Chen, T. Bautista, N. Lindsay, L. Sun, P. Ghodrati, B. Hu, M. Politowicz, E. T. Chancey, "Operator Workload and Task Allocation in m: N Operational Architectures of Uncrewed Aerial Systems", AIAA AVIATION FORUM AND ASCEND 2024, 29 July - 2 August 2024, Las Vegas, NV, USA.
[C54] A.D. Nguyen, L. Pham, N. Lindsay, L. Sun, S. C. Tran, "Optimized eVTOL Aircraft Scheduling-An Answer Set Programming Based Approach", AIAA AVIATION FORUM AND ASCEND 2024, 29 July - 2 August 2024, Las Vegas, NV, USA.
[C53] R. A. Selje, L. Sun, Y. Zhu, T. Nam, R. Gupta, "Waypoint Optimization Using Reinforcement Learning for Maximizing Energy Harvesting for High Altitude Airborne Wind Energy Systems", AIAA AVIATION FORUM AND ASCEND 2024, 29 July - 2 August 2024, Las Vegas, NV, USA.
[C52] S. C. Ochoa, G. E. Gorospe, L. Sun, "Identifying thrust and aerodynamic drag forces in energy consumption models for advanced air mobility", AIAA AVIATION FORUM AND ASCEND 2024, 29 July - 2 August 2024, Las Vegas, NV, USA.
[C51] M. Dittrich, T. Bautista, A. Al-Radaideh, L. Sun, "Self-Localization and Heading Estimation of a Tethered System in GPS-Denied Environments", AIAA AVIATION FORUM AND ASCEND 2024, 29 July - 2 August 2024, Las Vegas, NV, USA.
[C50] K. N. Vasiloff, Z. Wang, L. Sun, "Energy-Aware Portal Siting for Regional Air Mobility: A Case Study on the New England Region", AIAA AVIATION FORUM AND ASCEND 2024, 29 July - 2 August 2024, Las Vegas, NV, USA.
[C49] T. Karpinski, L. Sun, G. E. Gorospe, "Physics-Based Energy Consumption Modeling of Multicopter in the Presence of Wind for Advanced Air Mobility", AIAA AVIATION FORUM AND ASCEND 2024, 29 July - 2 August 2024, Las Vegas, NV, USA.
[C48] K. Kim, A. Patel, M. Samson, J. Saunders, L. Sun, L. Yang, "Cell Selection Trade Study for Generic Electrified Vertical Takeoff and Landing Applications", AIAA AVIATION FORUM AND ASCEND 2024, 29 July - 2 August 2024, Las Vegas, NV, USA.
[C47] N. Lindsay, M. A. Arif, L. Sun, F. Wang, "Emission and Energy Aware Operation of Electric Aircraft for Advanced Air Mobility", AIAA Aviation Forum and Ascend 2024, 29 July - 2 August 2024, Las Vegas, NV, USA.
[C46] R. A. Selje, R. Rubio, G. E. Gorospe, L. Sun, "Comprehensive Study of Machine Learning Techniques to Predict Flight Energy Consumption for Advanced Air Mobility", AIAA SCITECH 2024 Forum, 8-12 January 2024, Orlando, FL, USA.
[C45] T. Karpinski, A. Blakesley, J. Krol, B. Anvari, G. E. Gorospe, L. Sun, "Energy-minimization path planning and control of unmanned aerial systems for advanced air mobility", AIAA SciTech 2023 Forum, 23-27 January 2023, National Harbor, MD & Online.
[C44] A. Al-Radaideh, R. A. Selje, D. Coraspe, E. Camci, R. Dutta, L. Sun, S. Jayavelu, X. Li, "Tethered Multicopter Guidance in GPS-Denied Environments Through Reinforcement Learning", AIAA SCITECH 2023 Forum, 23-27 January 2023, National Harbor, MD & Online.
[C43] A. Samiei, R. A. Selje, L. Sun, "Distributed Limited Resource Allocation and Energy-Expenditure Learning for Advanced Air Mobility", AIAA SCITECH 2023 Forum, 23-27 January 2023, National Harbor, MD & Online.
[C42] D. Coraspe, S. Diaz-Acosta, E. Serrano, Z. Banash, L. Sun, "Impact of Hydrogen Powered Drones on Advanced Air Mobility", AIAA SCITECH 2023 Forum, 23-27 January 2023, National Harbor, MD & Online.
[C41] A. Baraka, N. Lindsay, L. Sun, G. Gorospe, "Decision Tree vs K-Nearest Neighbors: Machine Learning Based Wind Estimation for Unmanned Aerial Vehicles", AIAA SCITECH 2022 Forum, January 3-7, 2022, San Diego, CA & Virtual.
[C40] A. Samiei, M. A. Arif, T. Karpinski, F. Wang, L. Sun, "Energy-aware task allocation for drone package delivery", AIAA SCITECH 2022 Forum, January 3-7, 2022, San Diego, CA & Virtual.
[C39] R. A. Selje, A. Al-Radaideh, R. Dutta, L. Sun, "GPS-denied three-dimensional leader-follower formation control using deep reinforcement learning", AIAA SCITECH 2022 Forum, January 3-7, 2022, San Diego, CA & Virtual.
[C38] L. Escamilla, Y. Shi, Z. Wang, S. Augustine, O. Lavrova, S. Ranade, L. Sun, "Development of Distributed Model Predictive Control Tools for Power Generation Systems", 2021 North American Power Symposium (NAPS), 14-16 November 2021, College Station, TX, USA.
[C37] Y. Chang, L. Sun, "EEG-based emotion recognition for modulating social-aware robot navigation", 2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), 01-05 November 2021, Mexico.
[C36] J. R. Rosales, G. A. G. Reyes, L. Sun, L. R. G. Carrillo, A. Gross, "Development of an autonomous soaring algorithm for small unmanned aircraft systems", 2021 International Conference on Unmanned Aircraft Systems (ICUAS), 15-18 June 2021, Athens, Greece.
[C35] R. Selje, A. Al-Radaideh, L. Sun, "Efficient Three-Dimensional Formation Control for Unmanned Aerial Vehicles in GPS-Denied Environments", 2021 American Control Conference (ACC), 25-28 May 2021, New Orleans, LA, USA.
[C34] H. Stuckey, A. Al-Radaideh, L. Escamilla, L. Sun, L. G. Carrillo, W. Tang, "An Optical Spatial Localization System for Tracking Unmanned Aerial Vehicles Using a Single Dynamic Vision Sensor", 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, 2021.
[C33] C. Estrada, L. Sun, "Trajectory tracking control of a drone-guided hose system for fluid delivery", AIAA Scitech 2021 Forum, 11–15 & 19–21 January 2021, VIRTUAL EVENT.
[C32] R. A. Selje, L. Sun, "Learning Global Network Topology Using Local Information for Multi-Agent Coordination", AIAA Scitech 2021 Forum, 11–15 & 19–21 January 2021, VIRTUAL EVENT.
[C31] Z. Wang, P. Wei, L. Sun, "Optimal cruise, descent, and landing of eVTOL vehicles for urban air mobility using convex optimization", AIAA scitech 2021 forum, 11–15 & 19–21 January 2021, VIRTUAL EVENT.
[C30] M. Haghshenas-Jaryani, H. E. Sevil, L. Sun, "Navigation and obstacle avoidance of snake-robot guided by a co-robot UAV visual servoing", Dynamic Systems and Control Conference, October 5–7, 2020, Virtual, Online.
[C29] N. Lindsay, L. Sun, "A task-oriented distributed assignment algorithm for collaborative unmanned aerial systems", 2020 International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece.
[C28] A. Al-Radaideh, R. Selje II, L. Sun, "Relative dynamics modeling and three-dimensional formation control for leader-follower UAVs in the presence of wind", AIAA Scitech 2020 Forum, 6-10 January 2020, Orlando, FL, USA.
[C27] A. Samiei, L. Sun, "Distributed recursive hungarian-based approaches to fast task allocation for unmanned aircraft systems", AIAA Scitech 2020 Forum, 6-10 January 2020, Orlando, FL, USA.
[C26] R. Zahedi, E. Ceh-Varela, R. Selje II, H. Cao, L. Sun, "Neural network based approaches to mobile target localization and tracking using unmanned aerial vehicles", AIAA Scitech 2020 Forum, 6-10 January 2020, Orlando, FL, USA.
[C24] A. Samiei, S. Ismail, L. Sun, "Cluster-based Hungarian approach to task allocation for unmanned aerial vehicles", 2019 IEEE National Aerospace and Electronics Conference (NAECON), Dayton, OH, USA, 2019.
[C23] A. Al-Radaideh, L. Sun, "Observability analysis and Bayesian filtering for self-localization of a tethered multicopter in GPS-denied environments", 2019 International Conference on Unmanned Aircraft Systems (ICUAS), Atlanta, GA, USA, 2019.
[C22] D. Gala, N. Lindsay, L. Sun, "Three-dimensional sound source localization for unmanned ground vehicles with a self-rotational two-microphone array", Proceedings of the 5th International Conference of Control, Dynamic Systems and Robotics, Niagara Falls, ON, Canada, 2018.
[C21] A. Samiei, B. Hu, S. Zhao, L. Sun, "A Decision-Making Framework for Robust Multi-Agent Systems in Risky Communication Scenarios", 2018 AIAA Information Systems-AIAA Infotech @ Aerospace, 8–12 January 2018, Kissimmee, FL, USA.
[C20] S. Ismail, L. Sun, "Decentralized hungarian-based approach for fast and scalable task allocation", 2017 International Conference on Unmanned Aircraft Systems (ICUAS), Miami, FL, USA, 2017.
[C19] D. Brown, L. Sun, "Exhaustive mobile target search and non-intrusive reconnaissance using cooperative unmanned aerial vehicles", 2017 International Conference on Unmanned Aircraft Systems (ICUAS), Miami, FL, USA, 2017.
[C18] A. Al-Radaideh, L. Sun, "Self-localization of a tethered quadcopter using inertial sensors in a GPS-denied environment", 2017 International Conference on Unmanned Aircraft Systems (ICUAS), Miami, FL, USA, 2017.
[C17] L. Sun, B. Hu, S. Zhao, "An event-triggering-based approach for three-dimensional local-level frame formation control of leader-follower UAVs", 2017 International Conference on Unmanned Aircraft Systems (ICUAS), Miami, FL, USA, 2017.
[C16] L. Sun and B. Hu, "Event-triggering in three-dimensional leader-follower formation control for unmanned aerial vehicles," in Proc. ASME Dynamic Systems and Control Conf. (DSCC), Minneapolis, MN, USA, Oct. 2016, pp. V002T23A005. doi: 10.1115/DSCC2016-9783.
[C15] J. Lwowski, L. Sun, and D. Pack, "Heterogeneous bi-directional cooperative unmanned vehicles for obstacle avoidance," in Proc. ASME Dynamic Systems and Control Conf. (DSCC), Minneapolis, MN, USA, Oct. 2016, pp. V002T24A002. doi: 10.1115/DSCC2016-9645.
[C14] R. Dutta, L. Sun, and D. Pack, "Multi-agent formation control with maintaining and controlling network connectivity," in Proc. American Control Conf. (ACC), Boston, MA, USA, 2016, pp. 1036-1041. doi: 10.1109/ACC.2016.7525051.
[C13] L. Sun and D. Pack, "A novel estimation technique based on curve fitting and sigma-point Kalman filtering with time-delayed measurements," in Proc. Int. Conf. Unmanned Aircraft Systems (ICUAS), Arlington, VA, USA, 2016, pp. 580-588. doi: 10.1109/ICUAS.2016.7502610.
[C12] L. Sun and D. Pack, "Guidance law design for tracking mobile ground targets using an unmanned aerial vehicle with a fixed camera," in Proc. Int. Conf. Unmanned Aircraft Systems (ICUAS), Arlington, VA, USA, 2016, pp. 235-241. doi: 10.1109/ICUAS.2016.7502611.
[C11] L. Sun and D. Pack, "Controlling unmanned aerial vehicles with a pre-existing autopilot system in the loop," in Proc. IEEE Conf. Decision and Control (CDC), Osaka, Japan, 2015, pp. 476-481. doi: 10.1109/CDC.2015.7402245.
[C10] N. Farmani, L. Sun, and D. Pack, "Tracking multiple mobile targets using cooperative unmanned aerial vehicles," in Proc. Int. Conf. Unmanned Aircraft Systems (ICUAS), Denver, CO, USA, 2015, pp. 395-400. doi: 10.1109/ICUAS.2015.7152315.
[C9] L. Sun and D. Pack, "Mobile target tracking using an unmanned aerial vehicle with a non-gimbaled video sensor," in AIAA Guidance, Navigation, and Control Conf., Kissimmee, FL, USA, Jan. 2015, Paper No. AIAA 2015-1077.
[C8] N. Farmani, L. Sun, and D. Pack, "Optimal UAV sensor management and path planning for tracking multiple mobile targets," in Proc. ASME Dynamic Systems and Control Conf. (DSCC), San Antonio, TX, USA, Oct. 2014, pp. V002T25A003. doi: 10.1115/DSCC2014-6232.
[C7] R. Dutta, L. Sun, M. Kothari, R. Sharma, and D. Pack, "A cooperative formation control strategy maintaining connectivity of a multi-agent system," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), Chicago, IL, USA, 2014, pp. 1189-1194. doi: 10.1109/IROS.2014.6942708.
[C6] L. Sun, R. W. Beard, and D. Pack, "Trajectory-tracking control law design for unmanned aerial vehicles with an autopilot in the loop," in Proc. American Control Conf. (ACC), Portland, OR, USA, 2014, pp. 1390-1395. doi: 10.1109/ACC.2014.6859132.
[C5] N. Farmani, L. Sun, and D. Pack, "An optimal sensor management technique for unmanned aerial vehicles tracking multiple mobile ground targets," in Proc. Int. Conf. Unmanned Aircraft Systems (ICUAS), Orlando, FL, USA, 2014, pp. 570-576. doi: 10.1109/ICUAS.2014.6842299.
[C4] L. Sun and R. W. Beard, "Towed-body trajectory tracking in aerial recovery of micro air vehicle in the presence of wind," in Proc. American Control Conf. (ACC), San Francisco, CA, USA, 2011, pp. 3209-3214. doi: 10.1109/ACC.2011.5990967.
[C3] L. Sun and R. Beard, "Towed body altitude stabilization and states estimation in aerial recovery of micro air vehicles," in AIAA Guidance, Navigation, and Control Conf., Toronto, Canada, Aug. 2010, Paper No. AIAA 2010-8414.
[C2] L. Sun, R. W. Beard, and M. B. Colton, "Motion planning and control for mothership-cable-drogue systems in aerial recovery of micro air vehicles," in Proc. American Control Conf. (ACC), Baltimore, MD, USA, 2010, pp. 2101-2106. doi: 10.1109/ACC.2010.5531313.
[C1] L. Sun, R. W. Beard, M. B. Colton, and T. W. McLain, "Dynamics and control of cable-drogue system in aerial recovery of micro air vehicles based on Gauss's principle," in Proc. American Control Conf. (ACC), St. Louis, MO, USA, 2009, pp. 4729-4734. doi: 10.1109/ACC.2009.5160527.