John Baillieul, Ph.D.

Photo of John Baillieul


Ph.D., Harvard University

phone: (617) 353-9848
office: 110 Cummington Mall, ENG 323

Research Interests

Robotics * Control of mechanical systems * Mathematical system theory * Information-based control theory

Professor Baillieul focuses on robotics, the control of mechanical systems, and mathematical system theory. His work in the late 1980′s led to seminal papers on motion planning for kinematically redundant manipulators. Earlier work on nonlinear optimal control theory foreshadowed much of the current literature on singular Riemannian geometry. Current research focuses on extending and applying principles from nonlinear control theory to complex mechanical systems composed of interconnected rigid and elastic components.

Dr. Baillieul has developed a laboratory system for experiments involving real-time control of mechanical systems, research fundamental to the design of lightweight, high-performance manipulator arms and other advanced robotic devices. He also investigates geometric effects in nonlinear rotational mechanics, with potential applications in stabilization and vibration suppression in rotating machinery, and the theory of control and motion planning for mechanical systems with relatively few actuators for the control of a large number of degrees of freedom.

A Fellow of the IEEE, he is the former editor-in-chief of the IEEE Transactions on Automatic Control. He is also affiliated with Boston University’s Center for Information and Systems Engineering (CISE).

Selected Publications
  •  ”Saliency Based Control in Random Feature Networks,” Submitted to the 53rd IEEE Conference on Decision and Control , Los Angeles, December, 2014 (with Zhaodan Kong). E-print available:
  •  ”Algorithmic Approaches to Artistic Movement,” Submitted to the 53rd IEEE Conference on Decision and Control , Los Angeles, December, 2014 (with Kayhan  Ozcimder,).163.
  •  ”Control of Smart Building Dynamic Consumer Preferences for Ecient Regulation Service,” Submitted to the 53rd IEEE Conference on Decision and Control , Los Angeles, December, 2014 (with Bowen Zhang and Michael Caramanis). E-print available:
  •  ”Communication and Control Protocols for Load Networks in the Smart Grid,” To Appear in Proceedings of IFAC 2014 (with Bowen Zhang).
  •  ”Perception and Steering Control in Paired Bat Flight,” To appear in Proceedings of IFAC 2014 (with Zhaodan Kong, Kayhan  Ozcimder, Nathan W. Fuller). Available from
  •  ”Dancing Robots: The Control Theory of Communication Through Movement,” in Controls and Art: Inquiries at the Intersection of the Subjective and the Objective , Amy LaViers and Magnus Egerstedt, Eds., pp. 51-72, January, 2014, Springer, ISBN: 978-3-319-03903-9 (Print) 978-3-319-03904-6 (Online).
  •  ”A Novel Packet Switching Framework ‘with Binary Information in Demand Side Management.” In Proceedings of the 52nd IEEE Conference on Decision and Control,  pp. 4957-4963 (with Bowen Zhang).
  •  ”A Two Level Feedback System to Provide Regulation Reserve.” In Proceedings of the 52nd IEEE Conference on Decision and Control,  Florence, Italy, December 10-13, 2013, pp. 4322-4328 (with Bowen Zhang).