Publications

4. Buchanan, B., Dear, Kelly, S. D., T., Travers, M., and Choset, H., (2021) The Geometric Structure of Externally Actuated Planar Locomoting Systems in Ambient Media. arXiv Preprint. (download)

3. Buchanan, B., Travers, M., Choset, H., and Kelly, S. D., (2020) Stability and Control of Chaplygin Beanies Coupled to a Platform Through Nonholonomic Constraints. ASME 2020 Dynamic Systems and Control Conference (download)

2. Dear, T., Buchanan, B., Abrajan-Guerrero, R., Kelly, S. D., Travers, M., & Choset, H. (2020). Locomotion of a multi-link non-holonomic snake robot with passive joints. International Journal of Robotics Research, 39(5), 598–616.(download)

1. Buchanan, B. (2020) “Mechanics and Control of Coupled Interactions in Ambient Media,” Master’s Thesis, Carnegie Mellon University, Pittsburgh, PA (download)

Conference Presentations

Buchanan, B. (2019, May). Modeling and Dynamics of Planar Swimmers Coupled through Wake Vorticity. Presentation given at the 2019 SIAM Conference on Applications of Dynamical Systems (DS19)

Buchanan, B., Travers, M. Choset, H., Kelly S. (2020, October). Stability and Control of Chaplygin Beanies Coupled to a Platform Through Nonholonomic Constraints. Presentation given at the ASME 2020 Dynamic Systems and Control Conference