Emmanuel Collins
Dr. Emmanuel G. Collins was appointed the ninth dean of the J. B. Speed School of Engineering by the U of L Board of Trustees on May 17, 2018.
Collins most recently was the John H. Seely Professor and Chair of the Department of Mechanical Engineering, College of Engineering, Florida A&M University-Florida State University (FAMU-FSU). He was also founder and director of that institution’s Center for Intelligent Systems, Control and Robotics.
During his 23 years at FAMU-FSU, Collins was an engaged faculty member and administrator. Prior to his current positions, he served in roles that included engineering professor, associate chair of graduate studies and college director of graduate student recruitment, a role focused on the matriculation and retention of STEM graduate students from underrepresented minorities.
Collins holds bachelor’s degrees from Morehouse College and the Georgia Institute of Technology and, from Purdue University, a master’s degree in mechanical engineering and a doctoral degree in aeronautics and astronautics.
Collins was elected Fellow of the American Society of Mechanical Engineers, and is a senior member of the Institute of Electrical and Electronics Engineers, and a member of Tau Beta Pi Engineering Honor Society, Phi Beta Kappa honor society, and Pi Tau Sigma international honor society for mechanical engineers.
Education
- Ph.D. in Astronautics and Aeronautics, Purdue University, 1987
Publications
Journal Articles
- Shi, D., ., Collins Jr., E., G. & Dunlap, D., . (2007). Robot navigation in cluttered 3-D environments using preference-based fuzzy behaviors. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 37(6), 1486-1499
- Zhang, K., ., Collins Jr., E., G. & Barbu, A., . (2013). An Efficient Stochastic Clustering Auction for Heterogeneous Robotic Collaborative Teams. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 72(3-4), 541-558
- Lu, L., ., Ordonez, C., ., Collins Jr., E., G., Coyle, E., . & Palejiya, D., . (2011). Terrain surface classification with a control mode update rule using a 2D laser stripe-based structured light sensor. ROBOTICS AND AUTONOMOUS SYSTEMS, 59(11), 954-965
- Reese, B., M. & Collins Jr., E., G. (2016). A graph search and neural network approach to adaptive nonlinear model predictive control. ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE, 55, 250-268
- Reese, B., M., Collins Jr., E., G., Fernandez, E., . & Alvi, F., S. (2016). Nonlinear Adaptive Approach to Microjet-Based Flow Separation Control. AIAA JOURNAL, 54(10), 3002-3014
- Ordonez, C., ., Gupta, N., ., Reese, B., ., Seegmiller, N., ., Kelly, A., . & Collins Jr., E., G. (2017). Learning of skid-steered kinematic and dynamic models for motion planning. ROBOTICS AND AUTONOMOUS SYSTEMS, 95, 207-221
- Zhang, D., A., Li, H., . & Collins, E., G. (2006). Digital anti-windup PI controllers for variable-speed motor drives using FPGA and stochastic theory. IEEE TRANSACTIONS ON POWER ELECTRONICS, 21(5), 1496-1501
- Ordonez, C., ., Collins Jr., E., G., Selekwa, M., F. & Dunlap, D., D. (2008). The virtual wall approach to limit cycle avoidance for unmanned ground vehicles. ROBOTICS AND AUTONOMOUS SYSTEMS, 56(8), 645-657
- Collins Jr., E., G. & Homaifar, A., . (2007). HBCUs in control - Control programs at historically black colleges and universities. IEEE CONTROL SYSTEMS MAGAZINE, 27(4), 106-112
- Zhang, K., ., Collins Jr., E., G. & Shi, D., . (2012). Centralized and Distributed Task Allocation in Multi-Robot Teams via a Stochastic Clustering Auction. ACM TRANSACTIONS ON AUTONOMOUS AND ADAPTIVE SYSTEMS, 7(2)
- Coyle, E., J., Roberts, R., G., Collins Jr., E., G. & Barbu, A., . (2014). Synthetic data generation for classification via uni-modal cluster interpolation. AUTONOMOUS ROBOTS, 37(1), 27-45
- Chuy Jr., O., Y., Collins Jr., E., G., Sharma, A., . & Kopinsky, R., . (2017). Using Dynamics to Consider Torque Constraints in Manipulator Planning With Heavy Loads. JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 139(5)
- DuPont, E., M., Moore, C., A., Collins Jr., E., G. & Coyle, E., . (2008). Frequency response method for terrain classification in autonomous ground vehicles. AUTONOMOUS ROBOTS, 24(4), 337-347
- Wang, L., ., Collins Jr., E., G. & Li, H., . (2011). Optimal Design and Real-Time Control for Energy Management in Electric Vehicles. IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, 60(4), 1419-1429
- Austin, M., P., Harper, M., Y., Brown, J., M., Collins, E., G. & Clark, J., E. (2020). Navigation for Legged Mobility: Dynamic Climbing. IEEE TRANSACTIONS ON ROBOTICS, 36(2), 537-544
- Yu, W., ., Chuy Jr., O., Y., Collins Jr., E., G. & Hollis, P., . (2010). Analysis and Experimental Verification for Dynamic Modeling of A Skid-Steered Wheeled Vehicle. IEEE TRANSACTIONS ON ROBOTICS, 26(2), 340-353
- Selekwa, M., F., Dunlap, D., D., Shi, D., . & Collins Jr., E., G. (2008). Robot navigation in very cluttered environments by preference-based fuzzy behaviors. ROBOTICS AND AUTONOMOUS SYSTEMS, 56(3), 231-246
- Donate, A., ., Liu, X., . & Collins Jr., E., G. (2011). Efficient Path-Based Stereo Matching With Subpixel Accuracy. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 41(1), 183-195
- Gupta, N., ., Ordonez, C., . & Collins Jr., E., G. (2017). Dynamically feasible, energy efficient motion planning for skid-steered vehicles. AUTONOMOUS ROBOTS, 41(2), 453-471
- Shill, J., J., Collins Jr., E., G., Coyle, E., . & Clark, J., . (2015). Tactile surface classification for limbed robots using a pressure sensitive robot skin. BIOINSPIRATION & BIOMIMETICS, 10(1)
- Caldwell, C., V., Collins, E., G. & Palanki, S., . (2006). Integrated guidance and control of AUVs using shrinking horizon model predictive control. OCEANS 2006, VOLS 1-4, 982-+
- Caldwell, C., V., Dunlap, D., D. & Collins Jr., E., G. (2010). Motion Planning for an Autonomous Underwater Vehicle via Sampling Based Model Predictive Control. OCEANS 2010
- Chung, I., ., Liu, W., ., Cartes, D., A., Collins Jr., E., G. & Moon, S., . (2010). Control Methods of Inverter-Interfaced Distributed Generators in a Microgrid System. IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, 46(3), 1078-1088
- Chung, I., ., Liu, W., ., Leng, S., ., Cartes, D., A. & Collins Jr., E., G. (2009). Robust Controller Design for Inverter-Interfaced Distributed Generators Considering Islanded Operation of a Microgrid. 2009 IEEE ENERGY CONVERSION CONGRESS AND EXPOSITION, VOLS 1-6, 958-965
- Chuy Jr., O., ., Collins Jr., E., G., Yu, W., . & Ordonez, C., . (2009). Power Modeling of a Skid Steered Wheeled Robotic Ground Vehicle. ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, 1305-1310
- Chuy, O., ., Collins, E., G., Ordonez, C., ., Candiotti, J., ., Wang, H., . & Cooper, R., . (2014). Slip Mitigation Control for an Electric Powered Wheelchair. 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 333-338
- Collins Jr., E., G. & Coyle, E., J. (2008). Vibration-based terrain classification using surface profile input frequency responses. 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, 3276-3283
- Collins, E., G., Selekwa, M., F., Walker, R., B. & Palanki, S., . (2006). A stacked model structure for off-line parameter variation estimation in multi-equilibria nonlinear systems. EUROPEAN JOURNAL OF CONTROL, 12(4), 353-364
- Coyle, E., ., Collins Jr., E., G. & Lu, L., . (2010). Updating Control Modes Based on Terrain Classification. 2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 4417-4423
- Coyle, E., ., Collins Jr., E., G. & Roberts, R., G. (2011). Speed Independent Terrain Classification Using Singular Value Decomposition Interpolation. 2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
- Curry, T., D. & Collins Jr., E., G. (2006). Application of robust l(1) fault detection and isolation to an industrial benchmark using a genetic algorithm. 2006 IEEE CONFERENCE ON COMPUTER-AIDED CONTROL SYSTEM DESIGN, VOLS 1 AND 2, 149-156
- Donate, A., ., Wang, Y., ., Liu, X., . & Collins, E., . (2008). Efficient and Accurate Subpixel Path Based Stereo Matching. 19TH INTERNATIONAL CONFERENCE ON PATTERN RECOGNITION, VOLS 1-6, 46-+
- DuPont, E., M., Roberts, R., G., Selekwa, M., F., Moore, C., A. & Collins, E., G. (2005). Online terrain classification for mobile robots. PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2005, PTS A AND B, 1643-1648
- Dunlap, D., ., Yu, W., ., Collins Jr., E., G. & Caldwell, C., V. (2011). Motion Planning for Steep Hill Climbing. 2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
- Dunlap, D., D., Caldwell, C., V. & Collins Jr., E., G. (2010). Nonlinear Model Predictive Control Using Sampling and Goal-Directed Optimization. 2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, 1349-1356
- Harper, M., ., Pace, J., ., Gupta, N., ., Ordonez, C., . & Collins Jr., E., G. (2017). Kinematic Modeling of a RHex-type Robot Using a Neural Network. UNMANNED SYSTEMS TECHNOLOGY XIX, 10195
- Harper, M., Y., Nicholson, J., V., Collins Jr., E., G., Pusey, J., . & Clarke, J., E. (2019). Energy Efficient Navigation for Running Legged Robots. 2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 6770-6776
- Kopinsky, R., ., Sharma, A., ., Gupta, N., ., Ordonez, C., ., Collins, E., . & Barber, D., . (2016). Human guidance of mobile robots in complex 3D environments using smart glasses. UNMANNED SYSTEMS TECHNOLOGY XVIII, 9837
- Lu, L., ., Ordonez, C., ., Collins Jr., E., G. & DuPont, E., M. (2009). Terrain Surface Classification for Autonomous Ground Vehicles Using a 2D Laser Stripe-Based Structured Light Sensor. 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2174-2181
- Ordonez, C., . & Collins Jr., E., G. (2008). Rut detection for mobile robots. PROCEEDINGS OF THE 40TH SOUTHEASTERN SYMPOSIUM ON SYSTEM THEORY, 334-337
- Ordonez, C., ., Alicea, R., ., Rothrock, B., ., Ladyko, K., ., Harper, M., ., Karumanchi, S., ., Matthies, L., . & Collins, E., . (2018). Modeling and Traversal of Pliable Materials for Tracked Robot Navigation. UNMANNED SYSTEMS TECHNOLOGY XX, 10640
- Ordonez, C., ., Chuy Jr., O., Y., Collins Jr., E., G. & Liu, X., . (2009). Rut Tracking and Steering Control for Autonomous Rut Following. 2009 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS (SMC 2009), VOLS 1-9, 2775-+
- Ordonez, C., ., Chuy Jr., O., Y., Collins Jr., E., G. & Liu, X., . (2011). Laser-Based Rut Detection and Following System for Autonomous Ground Vehicles. JOURNAL OF FIELD ROBOTICS, 28(2), 158-179
- Ordonez, C., ., Gupta, N., ., Chuy Jr., O., . & Collins Jr., E., G. (2013). Momentum Based Traversal of Mobility Challenges for Autonomous Ground Vehicles. 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 752-759
- Ordonez, C., ., Gupta, N., ., Collins Jr., E., G., Clark, J., E. & Johnson, A., M. (2012). POWER MODELING OF THE XRL HEXAPEDAL ROBOT AND ITS APPLICATION TO ENERGY EFFICIENT MOTION PLANNING. ADAPTIVE MOBILE ROBOTICS, 689-696
- Ordonez, C., ., Gupta, N., ., Yu, W., ., Chuy, O., . & Collins Jr., E., G. (2013). MODELING OF SKID-STEERED WHEELED ROBOTIC VEHICLES ON SLOPED TERRAINS. PROCEEDINGS OF THE ASME 5TH ANNUAL DYNAMIC SYSTEMS AND CONTROL DIVISION CONFERENCE AND JSME 11TH MOTION AND VIBRATION CONFERENCE, DSCC 2012, VOL 3, 91-99
- Ordonez, C., ., Shill, J., ., Johnson, A., ., Clark, J., . & Collins, E., . (2013). Terrain Identification for RHex-type Robots. UNMANNED SYSTEMS TECHNOLOGY XV, 8741
- Pace, J., ., Harper, M., ., Ordonez, C., ., Gupta, N., ., Sharma, A., . & Collins Jr., E., G. (2017). Experimental Verification of Distance and Energy Optimal Motion Planning on a Skid-Steered Platform. UNMANNED SYSTEMS TECHNOLOGY XIX, 10195
- Reese, B., M. & Collins Jr., E., G. (2017). Learning a Cost-to-Goal Estimate for Fast Model Predictive Optimization Based on Graph Search. 2017 AMERICAN CONTROL CONFERENCE (ACC), 5038-5044
- Sharma, A., ., Gupta, N., . & Collins Jr., E., G. (2011). Energy efficient path planning for skid-steered autonomous ground vehicles. UNMANNED SYSTEMS TECHNOLOGY XIII, 8045
- Sharma, A., ., Ordonez, C., . & Collins Jr., E., G. (2014). Robust Sampling-Based Trajectory Tracking for Autonomous Vehicles. 2014 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS (SMC), 3446-3451
- Shi, D., ., Collins Jr., E., G., Donate, A., ., Liu, X., ., Goldiez, B., . & Dunlap, D., . (2008). Human-aware robot motion planning with velocity constraints. PROCEEDINGS OF THE 2008 INTERNATIONAL SYMPOSIUM ON COLLABORATIVE TECHNOLOGIES AND SYSTEMS: CTS 2008, 490-497
- Shi, D., ., Dunlap, D., . & Collins Jr., E., G. (2007). A comparison between a fuzzy behavioral algorithm and a vector polar histogram algorithm for mobile robot navigation. 2007 INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, 342-+
- Shi, D., ., Mi, H., ., Collins, E., G. & Wu, J., . (2020). An Indoor Low-Cost and High-Accuracy Localization Approach for AGVs. IEEE ACCESS, 8, 50085-50090
- Shill, J., J., Collins Jr., E., G., Coyle, E., . & Clark, J., . (2014). Terrain Identification on a One-Legged Hopping Robot using High-Resolution Pressure Images. 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 4723-4728
- Yu, W., ., Chuy Jr., O., ., Collins Jr., E., G. & Hollis, P., . (2009). Dynamic Modeling of a Skid-Steered Wheeled Vehicle with Experimental Verification. 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 4212-+
- Zhang, K., ., Collins Jr., E., G. & Barbu, A., . (2012). An Efficient Stochastic Clustering Auction for Heterogeneous Robot Teams. 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 4806-4813
- Zhang, K., ., Collins Jr., E., G., Shi, D., ., Liu, X., . & Chuy Jr., O., . (2009). A Stochastic Clustering Auction (SCA) for Centralized and Distributed Task Allocation in Multi-agent Teams. DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 8, 345-+
- Zhang, K., ., Collins, E., G. & Barbu, A., . (2010). A Novel Stochastic Clustering Auction for Task Allocation in Multi-Robot Teams. IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 3300-3307
More about Emmanuel Collins
J. B. Speed Building 221
J. B. Speed School of Engineering
Louisville, Kentucky 40292