University of Delaware
Department of Mechanical Engineering
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Herbert G. Tanner

Assistant Professor
Department of Mechanical Engineering
University of Delaware
110 Spencer Lab.
Newark, DE 19716
E-mail: btanner@udel.edu

Bert Tanner's personal homepage

 

 

DEGREES
Ph.D., Mechanical Engineering, NTUA, Greece, 2001
Eng. Diploma, Mechanical Engineering, NTUA, Greece, 1996

SERVICE
9/08-present: Assistant Professor of Mechanical Engineering, University of Delaware
8/03-8/08: Asst. Professor of Mechanical Engineering, Univ. of New Mexico
8/05-8/08: Asst. Professor of Electrical & Computer Eng., (joint appt.) Univ. of New Mexico

OTHER RELATED EXPERIENCE
6/01-8/03: Post Doc. Electrical and Systems Engineering, University of Pennsylvania


CONSULTING
N/A


STATE REGISTERED
NONE


SELECTED PUBLICATIONS

Journal Articles

  1. Michael M. Zavlanos, Herbert G. Tanner, Ali Jadbabaie, and George J. Pappas , "Hybrid Control for Connectivity Preserving Flocking," IEEE Transactions on Automatic Control, 2008
  2. A. Clauset, H.G. Tanner, C.T. Abdallah, and R.H. Byrne, "Controlling across complex networks; emerging links between networks and control," Annual Reviews in Control, vol 32, pp. 183-192, 2008.
  3. A. Clauset, H.G. Tanner, C.T. Abdallah, and R.H. Byrne, "Controlling across complex networks; emerging links between networks and control," IFAC Control Engineering Practice, 2008
  4. R.A. Cortez, X. Papageorgiou, H.G. Tanner, A.V. Klimenko, K.N. Borozdin, R. Lumia, J. Wood, and W.C. Priedhorsky, "Smart Radiation Sensor Management; Nuclear Search and Mapping using Mobile Robots," IEEE Robotics & Automation Magazine, Vol 15, Issue 3, pp. 85-93, 2008
  5. Jorge L. Piovesan, Chaouki T. Abdallah, and Herbert G. Tanner, "A Hybrid Framework for Resource Allocation among Multiple Agents Moving on Discrete Environments," Asian Journal of Control, Vol 10, no 2, pp 171-186, 2008.
  6. Herbert G. Tanner and Dimitrios Christodoulakis, “Decentralized Cooperative Control of Heterogeneous Vehicle Groups,” Robotics and Autonomous Systems, vol 55, no 11, pp 811-823, 2007
  7. Herbert G. Tanner, Ali Jadbabaie and George J. Pappas, "Flocking in Fixed and Switching Networks," IEEE Transactions on Automatic Control, vol 52, no 5, May 2007 pp 863-868.
  8. Dushyant Palejiya and Herbert Tanner, "Hybrid Velocity/Force Control for Robot Navigation in Compliant Unknown Environments," Robotica, Vol 24, No 06, pp 745--758, November 2006,
  9. Herbert G. Tanner, "Mobile Manipulation of Flexible Objects Under Deformation Constraints," IEEE Transactions on Robotics, Vol 22, No 1, pp 179--184, February 2006.
  10. Georgios Tzeremes, Herbert Tanner, Tsai Liao and Christos Christodoulou, "Wireless Communication with Smart Antennas using Transmission Power Control," IEEE Antennas and Wireless Propagation Letters, Vol 3, No 13, pp 232--235, April 2004
  11. Herbert G. Tanner, "ISS Properties of Nonholonomic Vehicles," Systems & Control Letters, Volume 53, No 3-4, November 2004, pp 229-235.
  12. Herbert G. Tanner, George J. Pappas and Vijay Kumar, "Leader-to-Formation Stability", IEEE Transactions on Robotics and Automation, vol 20, no 3, June 2004, pp. 433-455.
  13. Herbert G. Tanner, S. Loizou and K. J. Kyriakopoulos, "Nonholonomic Navigation and Control of Cooperating Mobile Manipulators," IEEE Transactions on Robotics and Automation, vol 19, no 1, February 2003, pp 53-64.
  14. Herbert G. Tanner and Kostas J. Kyriakopoulos, "Backstepping for non smooth systems," Automatica, vol 39, pp 1259-1265, 2003.
  15. H. G. Tanner and K.J. Kyriakopoulos, "Kane's approach to modeling mobile manipulators," Advanced Robotics, Vol. 16, No. 1, pp 57-85, 2002.
  16. H. G. Tanner and K.J. Kyriakopoulos, "Mobile Manipulator Modeling with Kane's Approach," Robotica, Vol. 19, pp. 675-690, 2001.
  17. H. G. Tanner, K. J. Kyriakopoulos and N. I. Krikelis, "Advanced Agricultural Robots: Kinematics and Dynamics of Multiple Mobile Manipulators Handling Non-rigid Material," IFAC Journal on Computers and Electronics in Agriculture, special issue on AI and Smart Machines in Agriculture, Elsevier, Volume 31, Issue 1, March 2001, pp 91-105.
  18. H. G. Tanner, K. J. Kyriakopoulos and N. I. Krikelis, "Modeling of Multiple Mobile Manipulators Handling a Common Deformable Object," Journal of Robotic Systems 15(11) 599-623 (1998).
  19. K. J. Kyriakopoulos, H.G. Tanner and N. I. Krikelis, "Navigation of Nonholonomic Vehicles in Complex Environments with Potential Fields and Tracking," Int. Journal of Intelligent Control and Systems, Vol. 1, No. 4, 487- 495 (1996)
Book Chapters
  1. Wenqi Zhang and Herbert G. Tanner, "Composition of Motion Description Languages," Hybrid Systems: Computation and Control, M. Egerstedt and B. Misrha (eds), Springer 2008 (in print)
  2. Herbert G. Tanner and Amit Kumar, "Formation Stabilization of Multiple Agents Using Decentralized Navigation Functions," Robotics: Science and Systems I, S. Thrun, G. Sukhatme, S. Schaal and O. Brock (eds), MIT Press, 2005, pp 49–56.
  3. Herbert G. Tanner, Ali Jadbabaie and George J. Pappas, “Flocking in Teams of Nonholonomic Agents,” in S. Morse, N. Leonard and V. Kumar (eds.), Cooperative Control, Lecture Notes in Control and Information Sciences , Vol. 09 Springer, pp 229-239.
  4. H. G. Tanner and K. J. Kyriakopoulos,"A Manipulated Deformable Object as an Underactuated System," in D. Henrich and H. Worn (eds.), Robot Manipulation of Deformable Objects, pp 175-198, Advanced Manufacturing Series, Springer, 2000

Conference papers

  1. I. Lopez, C.T. Abdallah, S.K. Jayaweera, and H. Tanner, "Conditions for Tracking in Networked Control Systems," Proc. IEEE Conference on Decision and Control, 2008 .
  2. R. Andres Cortez, H. G. Tanner, and R. Lumia, "Distributed Robotic Radiation Mapping," Proc.Int. Symposium on Experimental Robotics, 2008 .
  3. R. A. Cortez, H. G. Tanner and R. Lumia, “The Entropy of Cooperative Radiation Sensing by Distributed Sensors,” 2nd ANS Intl. Joint Topical Meeting on Emergency Preparedness & Response and Robotic & Remote Systems, March 2008 .
  4. R. A. Cortez and H. G. Tanner, “Radiation Mapping Using Multiple Robots,” 2nd ANS Int. Joint Topical Meeting on Emergency Preparedness & Response and Robotic & Remote Systems, March 2008.
  5. A. Closet, B. Tanner, R. Byrne and C.T. Abdallah, “Controlling Across Complex Networks: Emerging Links between Networks and Control,” Proc. of the IFAC Time-Delay Symposium, Nantes France, 2007.
  6. R.A. Cortez, X. Papageorgiou, H.G. Tanner, A.V. Klimenko, K.N. Borozdin and W.C. Priedhorsky, "Experimental Implementation of Robotic Sequential Nuclear Search," Proc.IEEE Mediterranean Conf. on Control and Automation, 2007 pp 1-6
  7. Herbert G. Tanner, “Switched UAV-UGV Cooperation Scheme for Target Detection,” Proc.IEEE Intl. Conf. Robotics and Automation, 2007 pp. 3457-3462
  8. D. Kumar and H.G. Tanner, “How Sensor Graph Topology Affects Localization Accuracy,” Proc.European Control Conf., 2007 pp. 868-873
  9. Xanthi Papageorgiou, Herbert G. Tanner, and Kostas J. Kyriakopoulos “Motion Tasks for Robot Manipulators on Embedded 2-D Manifolds under Input Constraints,” Proc. European Control Conf., 2007 p.p 3783-3789
  10. Jorge L. Piovesan, Chaouki T. Abdallah, and Herbert G. Tanner, “Leader-Follower Control with Odometry Error Analysis,” Proc. European Control Conf., 2007 pp. 3783-3789
  11. Jorge Piovesan, Chaouki T. Abdallah, Magnus Egerstedt, Herbert Tanner and Yorai Wardi, “Statistical Learning for Optimal Control of Hybrid Systems,” Proc. IEEE American Control Conf., 2007, pp 2775-2780
  12. Herbert Tanner, Jorge Piovesan, Chaouki T. Abdallah, "Discrete Asymptotic Abstractions of Hybrid Systems," Proc. 45th IEEE Conf. on Decision and Control, pp 917-922
  13. Herbert Tanner and Dimitrios Christodoulakis, "Cooperation between Aerial and Ground vehicle groups for Reconnaissance missions," Proc. 45th IEEE Conf. on Decision and Control, 2006 pp. 5918-5923
  14. A. Kumar, H.G. Tanner, A.V. Klimenko, and W.C. Priedhorsky, "Automated Sequential Search for Weak Radiation Sources," Proc. 14th IEEE Mediterranean Conf. on Control and Automation, June 28-30, 2006, Università Politecnica delle Marche, Ancona, Italy, pp 1-6.
  15. A.V. Klimenko, W.C. Priedhorsky, H. Tanner, K.N. Borozdin, and N. Hengartner, “Intelligent Sensor Management in Nuclear Searches and Radiological Surveys,” ANS Transactions, vol 95, pp 21-22, 2006.
  16. K. N. Borozdin, A. V. Klimenko, W. C. Priedhorsky, N. W. Hengartner, C. C. Alexander, R. A. Cortez, and H. G. Tanner, "Optimized Strategies for Smart Nuclear Search," Proc. 2006 IEEE Nuclear Science Symposium and Medical Imaging Conf., San Diego CA, pp 926-928
  17. Herbert G. Tanner and Dimitrios K. Christodoulakis, "The stability of synchronization in local-interaction networks is robust with respect to time delays," Proc. 44th IEEE Conf. on Decision and Control, 2005, pp 4945–4950.
  18. Herbert G. Tanner and Amit Kumar, "Towards Decentralization of Mutli-robot Navigation Functions," 2005 Proc. IEEE Intl. Conf. on Robotics and Automation, Barcelona, Spain, pp 4143-4148
  19. A. Regmi, R. Sandoval, R. Byrne, H. Tanner and C.T. Abdallah, "Experimental Implementation of Flocking Algorithms in Wheeled Mobile Robots," Proc. 2005 American Control Conf., pp 4917 - 4922.
  20. Herbert G. Tanner, "On the Controllability of Nearest Neighbor Interconnections," Proc. 43rd IEEE Conf. on Decision and Control, December 14-17 2004. pp 2467-2472
  21. Herbert G. Tanner, "Flocking with Obstacle Avoidance in Switching Networks of Interconnected Vehicles," Proc. 2004 IEEE Intl. Conf. on Robotics and Automation, New Orleans LA, April 26-May 1, pp. 3006-3011
  22. Herbert G. Tanner, Ali Jadbabaie and George J. Pappas, "Stable Flocking of Mobile Agents, Part I: Fixed Topology," Proc. 42nd IEEE Conf. on Decision and Control, Maui Hawaii, December 2003, pp. 2010-2015
  23. Herbert G. Tanner, Ali Jadbabaie and George J. Pappas, "Stable Flocking of Mobile Agents, Part II: Dynamic Topology," Proc. 42th IEEE Conf. on Decision and Control, Maui Hawaii, December 2003, pp. 2016-2021
  24. Savvas G. Loizou, Herbert G. Tanner, Vijay Kumar and Kostas Kyriakopoulos, "Closed Loop Motion Planning and Control for Mobile Robots in Uncertain Environment", Proc. 42th IEEE Conf. on Decision and Control, Maui Hawaii, December 2003, pp. 2010-2015
  25. Herbert G. Tanner, Ali Jadbabaie and George J. Pappas, "Coordination of Multiple Autonomous Agents", Proc. 11th Mediterranean Conf. on Control and Automation, Rhodes Greece, 2003
  26. Herbert G. Tanner, "ISS Properties of Nonholonomic Mobile Robots", Proc. IEEE / RSJ Intl. Conf. on Intelligent Robots and Systems 2003, Las Vegas NV, October 27-31, pp.3799 - 3804
  27. Savvas G. Loizou, Herbert G. Tanner, Vijay Kumar and Kostas Kyriakopoulos, "Closed Loop Navigation for Mobile Robots in Dynamic Environments", Proc. IEEE / RSJ Intl. Conf. on Intelligent Robots and Systems 2003, Las Vegas NV, October 27-31, pp. 3769 - 3774
  28. Herbert G. Tanner, Ali Jadbabaie and George J. Pappas. "Flocks of Autonomous Mobile Agents", Second Annual Symposium on Autonomous Intelligent Networks and Systems, Menlo Park CA, June 30-July 1, 2003.
  29. Herbert G. Tanner and George J. Pappas, "Abstractions of Constrained Linear Systems", Proc. 2003 American Control Conf., Denver CO, pp 3381-3386.
  30. Herbert G. Tanner, George J. Pappas and Vijay Kumar, "Input-to-State Stability on Formation Graphs", Proc. of the IEEE Intl. Conf. on Decision and Control, 2002, Las Vegas, NV, pp. 2439-2444.
  31. Herbert G. Tanner, Vijay Kumar and George J. Pappas, "Stability Properties of Interconnected Vehicles", Proc. of the 15th Intl. Symposium on Mathematical Theory of Networks and Systems, South Bend IN, August 2002.
  32. Herbert G. Tanner and George J. Pappas, "Simulation Relations for Discrete-Time Linear Systems", Proc. of the 15th IFAC World Congress on Automatic Control, Barcelona, Spain, 2002, pp 1302-1307.
  33. Herbert G. Tanner and George J. Pappas, "Formation Input-to-State Stability", Proc. of the 15th IFAC World Congress on Automatic Control, Barcelona, Spain, 2002, pp 1512-1517.
  34. Herbert G. Tanner, Vijay Kumar and George J. Pappas, "The effect of Feedback and Feedforward on Formation ISS", Proc. of the 2002 Intl. Conf. on Robotics and Automation, May 11-15, Washington DC, pp 3448-3453.
  35. H.G. Tanner and K.J. Kyriakopoulos, "Discontinuous Backstepping for Stabilization of Nonholonomic Mobile Robots", Proc. of the 2002 Intl. Conf. on Robotics and Automation, May 11-15, Washington DC, pp 3948-3953.
  36. H.G. Tanner, S. Loizou and K.J. Kyriakopoulos, "Nonholonomic Stabilization with Collision Avoidance for Mobile Robots," Proc. of the 2001 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, Oct 29- Nov 3, Maui, Hawaii, pp 1220-1225.
  37. H. G. Tanner and K.J. Kyriakopoulos, "Stabilization and Output Tracking for Underactuated Mechanical Systems with Inequality Constraints," Proc. of the 2001 IEEE/ASME Intl. Conf. on Advanced Intelligent Mechantronics, 8-12 July 2001, pp 862-867.
  38. H.G. Tanner and K.J. Kyriakopoulos, "Position and Force Control by Reaction Compensation," Proc. of the 2001 IEEE Intl. Con. on Robotics and Automation, May 21-26, Seoul, Korea, pp. 3926-3931
  39. H. Tanner, S. Loizou, K. Kyriakopoulos, K. Arvanitis and N. Sigrimis, "Coordinating the Motion of a Manipulator and a Mobile Base in Tree Environments," in Proc. of the 2nd IFAC/CIGR Intl. Workshop on Bio-Robotics, Information Technology and Intelligent Control for Bioproduction Systems, November 2000, Osaka, Japan, pp 73-78 .
  40. H. G. Tanner and K. J. Kyriakopoulos, "Nonholonomic Motion Planning for Mobile Manipulators," in Proc. of the 2000 IEEE Intl. Conf. on Robotics and Automation, San Francisco, April 2000, pp 1233-1238.
  41. H. G. Tanner and K. J. Kyriakopoulos, "Analysis of Deformable Object Handling," in Proc. of the 1999 Intl. Conf. on Robotics and Automation, Detroit, May 1999, pp. 2674-2679.
  42. H. G. Tanner, K. J. Kyriakopoulos and N.I. Krikelis, "Modeling of Multiple Mobile Manipulators Handling a Common Deformable Object," in Proc. of the 1st IFAC Workshop on Control Applications and Ergonomics in Agriculture, Athens, June 1998, pp. 295-301.
  43. H. G. Tanner and K.J. Kyriakopoulos, "Modeling of a Mobile Manipulator with the Use of Kane's Dynamic Equations," in Proc. of the 3rd IFAC Symposium on Intelligent Autonomous Vehicles, Madrid, 1998, pp 14-20.
  44. H. G. Tanner, K. J. Kyriakopoulos and N. I. Krikelis, "Nonholonomic Vehicle Navigation in Constrained Environments with Direct Use of Potential Fields," in Proc. 4th IEEE Mediterranean Symposium on New Directions in Control Theory and Applications, June 1996, Chania Greece.

SOCIETIES

IEEE Transactions on Automation Science and Engineering, Associate Editor, 2008-
IEEE Robotics and Automation Society Financial Activities Board, Member 2008-
IEEE Transactions on Mobile Computing, Steering Committee Member, 2008-
ASME Dynamical Systems and Control Technical Committee on Robotics, Member, 2008-
IEEE Robotics and Automation Magazine, Associate Technical Editor, 2005-2007.
IEEE Control Systems Society Conference Editorial Board, Associate Editor, 2004-2008
IEEE Robotics and Automation Society Conference Editorial Board, Associate Editor. 2007-2008


HONORS & AWARDS
IEEE Senior Member, 2008
UNM School of Engineering Junior Faculty Research Excellence Award, 2007
NSF Career Award, 2005.
Euron George Giralt PhD Award Finalist, 2001


COURSES TAUGHT
MEEG 624 Control of Dynamical Systems (scheduled)
ME 416/516 Applied Dynamics (at UNM)
ME 510 Nonlinear Modeling and Analysis (at UNM)
ME 480/580 Dynamic Systems Analysis (at UNM)
ME 380 Analysis and Design of Mechanical Control Systems (at UNM)
ME 581 Digital Control of Mechanical Systems (at UNM)



OTHER INFORMATION