Faculty Directory

Don Sofge is a Computer Scientist and Roboticist at the Naval Research Laboratory (NRL) with 32 years of experience in Artificial Intelligence, Machine Learning, and Control Systems R&D. He leads the Distributed Autonomous Systems Group in the Navy Center for Applied Research in Artificial Intelligence (NCARAI), where he develops nature-inspired computing paradigms to challenging problems in sensing, artificial intelligence, and control of autonomous robotic systems. He has served as PI/Co-PI on dozens of federally-funded R&D efforts, and has more than 170 refereed publications in robotics, artificial intelligence, machine learning, planning, sensing, control, and related disciplines, and one patent on virtual state estimation for semiconductor fabrication. His current research focuses on control of autonomous teams or swarms of heterogeneous robotic systems. He has served as an advisor on autonomous systems to DARPA, ONR, OSD, ARL, NSF, and NASA, as well as US representative on international TTCP and NATO technical panels on autonomous systems, and has participated as a member of the following Interagency Working Groups under the National Science and Technology Council (NSTC) Networking and Information Technology Research and Development (NITRD) Program: Intelligent Robotics and Autonomous Systems (IRAS) (formerly Robotics and Intelligent Systems), Machine Learning and Artificial Intelligence (MLAI), and AI R&D Ad Hoc Group. Mr. Sofge also occasionally serves as an Adjunct Faculty Member at the University of Maryland where he teaches graduate-level courses in Robotics. h-index: 20, citations > 2500

Autonomous Teams, Nature-inspired Computing, Machine Learning, Intelligent Control, Multiagent Planning, Trust in Autonomous Systems

ENSE698A (Autonomous Systems Engineering), Fall 2020

ENPM690 (Robot Learning), Spring 2020

ENPM808F (Robot Learning), Spring 2019

ENPM808F (Robot Learning), Fall 2017

ENPM808F (Robot Learning), Summer 2017

ENPM808F (Robot Learning), Fall 2016

 

 

 

 

 

Edited Books

B10.    Verification of Autonomous Systems.  Signe Redfield, Donald Sofge, John Sustersic, and Mae Seto (Editors). Springer Nature Switzerland AG, expected early 2021.  (in development)

B9.      Systems Engineering and Artificial Intelligence.  William F. Lawless, Ranjeev Mittu, Donald A. Sofge, Thomas Shortell, and Tom McDermott (Editors). Springer Nature Switzerland AG, expected early 2021. (in development)

B8.      Human-Machine Shared Contexts.  William F. Lawless, Ranjeev Mittu, and Donald A. Sofge (Editors), Elsevier Inc., 2020.

B7.      Artificial Intelligence for the Internet of Everything, 1^st Edition.  William F. Lawless, Ranjeev Mittu, Donald A. Sofge, Ira SS Moskowitz, and Stephen Russell (Editors), Academic Press (an imprint of Elsevier), 2019.

B6.      Computational Context: The Value, Theory and Application of Context with AI. William F. Lawless, Ranjeev Mittu, and Donald A. Sofge (Editors), CRC Press (a division of Taylor & Francis), 2018.

B5.      Autonomy and Artificial Intelligence: A Threat or Savior?   William F. Lawless, Ranjeev Mittu, Donald A. Sofge, and Stephen Russell (Editors), Springer International Publishing AG, 2017.

B4.      Robust Intelligence and Trust in Autonomous Systems.  Ranjeev Mittu, Donald A. Sofge, Alan Wagner, and William F. Lawless (Editors), Springer International Publishing AG, 2016.

B3.      Quantum Interaction, Proceedings of the Third Quantum Interaction Symposium (QI-2009).  Peter Bruza, Donald Sofge, William F. Lawless, Keith van Rijsbergen, and Matthias Klusch (Editors), LNAI5494, Springer, 2009.

B2.      Quantum Interaction, Proceedings of the Second Quantum Interaction Symposium (QI-2008).  Peter Bruza, William F. Lawless, Keith van Rijsbergen, Donald A. Sofge, and Bob Coecke (Editors), College Publications, UK, 2008.

B1.      Handbook of Intelligent Control: Neural, Fuzzy, and Adaptive Approaches.  David A. White and Donald A. Sofge (Editors), Van Nostrand Reinhold, 1992.

Edited Journal Special Issues

EJ5.     Autonomous Robots, Special Issue on Robot Communication Challenges: Real-world Problems, Systems, and Methods.  Michael Otte, Don Sofge,

              and  Robert  Fitch (Editors), Volume 44, No 1, Springer, January 2020.

EJ4.     AI Magazine, Successful Research in AI.  William F. Lawless, Ranjeev Mittu, Don Sofge, and Laura Hiatt, Guest Editors for the Special Section on Articles on Context II, Volume 40, Number 4, AAAI, Winter 2019.

EJ3.     AI Magazine AI and Context.  William F. Lawless, Ranjeev Mittu, Don Sofge, and Laura Hiatt, Guest Editors for Special Section on Articles on Context, Volume 40, Number 3, AAAI, Fall 2019.

EJ2.   Networked Cooperative Autonomous Systems.  Lorenzo Sabattini, Frank Ehlers, and Don Sofge (Editors), IEEE Transactions on Automation Science and Engineering, Volume 12, Number 3, ISSN 1545-5955, IEEE, July 2015.

EJ1.     Distributed Mobile Sensor Networks for Hazardous Applications.  Frank Ehlers, Don Sofge, Mandar Chitre, and John Potter (Editors), International Journal of Distributed Sensor Networks, Sage Publishing, 2012.

Book Chapters

BC20.  Cyber-(in)security, revisited: Proactive cyber-defenses, interdependence and autonomous human-machine teams (A-HMTs).  William F. Lawless, Ranjeev Mittu, Ira S. Moskowitz, Donald Sofge, and Stephen Russell. InAdversary-Aware Learning Techniques and Trends in Cybersecurity, Springer Nature Switzerland AG, 2020.

BC19.  Preface. William F. Lawless, Ranjeev Mittu, and Donald A. Sofge. Human-Machine Shared Contexts, Elsevier, 2020.

BC18.  Introduction. William F. Lawless, Ranjeev Mittu, and Donald A. Sofge. Human-Machine Shared Contexts, Elsevier, 2020.

BC17.  Preface.  William F. Lawless, Ranjeev Mittu, Donald A. Sofge, Ira S. Moskowitz, and Stephen Russell. Artificial Intelligence for the Internet of Everything, 1^st Edition, Academic Press (an imprint of Elsevier), 2019.

BC16.  Introduction.  William F. Lawless, Ranjeev Mittu, Donald A. Sofge, Ira S. Moskowitz, and Stephen Russell.  Artificial Intelligence for the Internet of Everything, 1^st Edition, Academic Press (an imprint of Elsevier), 2019.

BC15.  Preface.  William F. Lawless, Ranjeev Mittu, and Donald A. Sofge. Computational Context: The Value, Theory and Application of Context with AI, CRC Press, 2018.

BC14.  Introduction.  William F. Lawless, Ranjeev Mittu, and Donald A. Sofge. Computational Context: The Value, Theory and Application of Context with AI, CRC Press, 2018.

BC13.  Cyber-(in)Security, context and theory: Proactive Cyber-Defenses, Computational Context: The Value, Theory and Application of Context with AI.  William F. Lawless, Ranjeev Mittu, Ira S. Moskowitz, Donald Sofge, and Stephen Russell. CRC Press, 2018.

BC12.  Preface.  William F. Lawless, Ranjeev Mittu, Donald A. Sofge, and Stephen Russell.  Autonomy and Artificial Intelligence: A Threat or Savior?, Springer International Publishing AG, 2017.

BC11.  Introduction.  William F. Lawless, Ranjeev Mittu, Donald A. Sofge, and Stephen Russell. Autonomy and Artificial Intelligence: A Threat or Savior?, Chapter 1, Springer International Publishing AG, 2017.

BC10.  Evaluations: Autonomy and Artificial Intelligence: A Threat or Savior?  William F. Lawless and Donald A. Sofge.  Autonomy and Artificial Intelligence, Chapter 13, Springer International Publishing AG, 2017.

BC9.    Preface.  Ranjeev Mittu, Donald A. Sofge, Alan Wagner, and William F. Lawless.  Robust Intelligence and Trust in Autonomous Systems, Springer International Publishing AG, 2016.

BC8.    Introduction.  Ranjeev Mittu, Donald A. Sofge, Alan Wagner, and William F. Lawless.  Robust Intelligence and Trust in Autonomous Systems, Chapter 1, Springer International Publishing AG, 2016.

BC7.    The Intersection of Robust Intelligence and Trust: Hybrid Teams, Firms, and Systems. William F. Lawless and Donald A. Sofge.  Robust Intelligence and Trust in Autonomous Systems, Chapter 12, Springer International Publishing AG, 2016.

BC6.    Preface.  Peter Bruza, Donald Sofge, William F. Lawless, Keith van Rijsbergen, and Matthias Klusch.  Quantum Interaction, Proceedings of the Third Quantum Interaction Symposium (QI-2009), LNAI5494, Springer, 2009.

BC5.   Conservation of Information (COI): Geospatial and Operational Developments in E-Health and Telemedicine for Virtual and Rural Communities.  Max E. Stachura, Elena V. Astapova, Hui-Lien Tung, Donald A. Sofge, James Grayson, Margo Bergman, and Joseph Wood.  Handbook of Research on Developments in e-Health and Telemedicine, IGI Global, 2009.

BC4.   Applying an Organizational Uncertainty Principle: Semantic Web-Based Metrics.  Joseph Wood, Hui-Lien Tung, Tina Marshall-Bradley, Donald A. Sofge, James M. Grayson, Margo Bergman, and William F. Lawless.  Handbook of Research on Social Dimensions of Semantic Technologies and Web Services, IGI Global,  2009.

BC3.   An Approach to Intelligent Identification and Control of Nonlinear Dynamical Systems. Donald A. Sofge and David L. Elliott.  Neural Adaptive Control Technology, Chapter 9, World Scientific, pp. 265-284, 1996.

BC2.   Applied Learning: Optimal Control for Manufacturing.  Donald A. Sofge and David A. White, Handbook of Intelligent Control: Neural, Fuzzy, and Adaptive  Approaches, Chapter 9, New York: Van Nostrand Reinhold, pp. 259-282, 1992.

BC1.  Neural network based control for composite manufacturing. Donald A. Sofge and David A. White, Intelligent Processing of Materials,  New York: ASME Publications, 1990.

Journal and Magazine Articles

J28.     Auctions for Multi-Robot Task Allocation in Communication Limited Environments.  Michael Otte, Michael J. Kuhlman, and Donald A. Sofge.  In Autonomous Robots (Special Issue on Multi-Robot Systems), Volume 44, Issue 3-4, 547–584, Springer, 2020. DOI: https://doi.org/10.1007/s10514-019-09828-5

J27.     Swarm and Multi-agent Time-based A* Path Planning for Lighter-Than-Air Systems.  Jason Gibson, Tristan Schuler, Loy McGuire, Daniel Lofaro, and Donald Sofge. In Unmanned Systems Journal (Special Issue), Worldwide Scientific, 2020.

J26.     Guest editorial.  Michael Otte, Don Sofge, and Robert Fitch.  Special issue on robot communication challenges: real‐world problems, systems, and methods, In Autonomous Robots (Special issue on robot communication  challenges: real‐world problems, systems, and methods), Volume 44, Issue 1-2, Springer, 2020. DOI: https://doi.org/10.1007/s10514-019-09898-5

J25.     Introduction to Articles in the Special Issue: Artificial Intelligence (AI), Autonomy and Human-Machine Teams: Interdependence, Context, and Explainable AI.  William F. Lawless, Ranjeev Mittu, Don Sofge, and Laura Hiatt.  AI Magazine Special Issue on Computational Context, Volume 40 Number 3, AAAI, Fall 2019.

J24.     Reports of the AAAI 2019 Spring Symposium Series. Ioana Baldini, Clark Barrett, Antonio Chella, Carlos Cinelli, David Gamez, Leilani Gilpin, Knut Hinkelmann, Dylan Holmes, Takashi Kido, Murat Kocaoglu, William F. Lawless, Alessio Lomuscio, Jamie C. Macbeth, Andreas Martin, Ranjeev Mittu, Evan Patterson, Donald Sofge, Prasad Tadepalli, Keiki Takadama and Shomir Wilson. AI Magazine, 40(3), 59-66. 2019. https://doi.org/10.1609/aimag.v40i3.5181

J23.     AI Bookie: Will a Self-Authorizing AI-Based System Take Control from a Human Operator?  Donald Sofge, William F. Lawless, and Ranjeev Mittu.  AI Magazine, 40(3), 79-84, AAAI, Fall 2019. DOI: https://doi.org/10.1609/aimag.v40i3.5196 

J22.     Artificial Intelligence, Autonomy, and Human-Machine Teams – Interdependence, Context, and Explainable AI. William F. Lawless, Ranjeev Mittu, Don Sofge, and Laura Hiatt.  AI Magazine, 40(3), 5-13, AAAI, 2019. DOI: https://doi.org/10.1609/aimag.v40i3.2866

J21.     Extending the Life of Legacy Robots: MDS-Ach.  Daniel M. Lofaro, Magdalena Bugajska, and Donald Sofge.  In Advances in Science, Technology and Engineering Systems Journal, Vol. 4, No. 1, pp. 50-72, ASTES, 2019.

J20.     Motion Localization with Optic Flow for Autonomous Robot Teams and Swarms.  Andrew Massimino and Donald Sofge, Journal of Computer and Communications, Vol. 6, pp. 265-274, Scientific Research Publishing, 2018.

J19.     Multipass Target Search in Natural Environments.  Michael Kuhlman, Michael Otte, Donald Sofge, and Satyandra K. Gupta.  Sensors, MDPI (Multidisciplinary Digital Publishing Institute), 2017.

J18.     Competitive Target Search with Multi-Agent Teams: Symmetric and Asymmetric Communication Constraints.  Michael Otte, Michael Kuhlman, Donald Sofge.  Autonomous Robots, Springer, 2017.

J17.     AAAI Spring 2017 Symposium: Computational Context: Why It’s Important, What It Means, and Can It Be Computed?  William F. Lawless, Ranjeev Mittu, and Donald Sofge. AAAI SSS 2017 Summaries, AI Magazine, 2017.

J16.     Decision Forests for Machine Learning Classification of Large, Noisy Seafloor Feature Sets.  Ed Lawson, Denson Smith, Donald Sofge, Paul Elmore, and Fred Petry.  Journal of Computers & Geosciences, Elsevier, 2017.

J15.     Mobile Autonomous Navy Teams for Information Surveillance and Search (MANTISS), Donald Sofge, Michael Kuhlman, Nitin Sydney, Alex Wallar, and Keith Sullivan.  2015 NRL Review, 2016.

J14.     Downwash Detection and Avoidance with Small Quadrotor Helicopters.  Derrick Yeo, Nitin Sydney, Derek Paley, and Donald Sofge.  Journal of Guidance, Control, and Dynamics, AIAA, 2016.

J13.     Guest Editorial: Special Issue on Networked Cooperative Autonomous Systems.  Lorenzo Sabattini, Frank Ehlers, and Don Sofge.  IEEE Transactions on Automation Science and Engineering (T-ASE), Vol. 12, Issue 3, IEEE, July 2015.

J12.     Bistability, Nash Equilibria, Relatively Dark Collectives, and Social Physics: Modeling the Social Behavior of Teams.  William F. Lawless, Donald A. Sofge, Laurent Chaudron, and Olivier Bartheye.  Journal of Enterprise Information, Volume 5, Issue 4, pp. 241-274, Taylor and Francis, 2015. 

J11.     Physics-Inspired Motion Planning for Information-Theoretic Target Detection using Multiple Aerial Robots.  Nitin Sydney, Derek A. Paley, and Donald Sofge.  Autonomous Robots Journal, Springer, 2015.

J10.     Reactive Motion Planning for Unmanned Aerial Surveillance of Risk-Sensitive Areas.  Alex Wallar, Erion Plaku, and Donald A. Sofge.  IEEE Transactions on Automation Science and Engineering, 12.3 (2015): 783-785.

J9.       Robust Intelligence (RI) under uncertainty: Mathematical foundations of autonomous hybrid (human-machine-robot) teams, organizations and systems. William F. Lawless, James Llinas, Ranjeev Mittu, Don Sofge, Ciara Sibley, Joseph Coyne, and Stephen Russell.  Structure and Dynamics: eJournal of Anthropological and Related Sciences, 2013.

J8.       AAAI Spring 2012 Symposium: AI, The Fundamental Social Aggregation Challenge, and the Autonomy of Hybrid Agent Groups.  William F. Lawless, Don Sofge, Mark Klein, and Laurent Chaudron.  AI Magazine, 33(3), 109. 2012. https://doi.org/10.1609/aimag.v33i3.2428

J7.       Distributed Mobile Sensor Networks for Hazardous Applications, Editorial for International Journal of Distributed Sensor Networks, Frank Ehlers, Don Sofge, Mandar Chitre, and John Potter. Volume 2012, Article ID 970831, Hindawi Publishing Corporation, doi:10.1155/2012/970831, 2012.

J6.       AAAI Fall 2010 Symposium on Quantum Informatics, Reports of the AAAI 2010 Fall Symposia.  Roger Azevedo, Gautam Biswas, Dan Bohus, Ted Carmichael, Mark Finlayson, Mirsad Hadzikadic, Catherine Havasi, Eric Horvitz, Takayuki Kanda, Oluwasanmi Koyejo, William Lawless, Doug Lenat, Felipe Meneguzzi, Bilge Mutlu, Jean Oh, Roberto Pirrone, Antoine Raux, Donald Sofge, Gita Sukthankar, and Benjamin Van Durme.  AI Magazine, 32(1):93-100, ISSN 0738-4602, AAAI, Spring 2011.

J5.       Conservation of Information (COI): Reverse Engineering Dark Social Systems (DSS).  William F. Lawless, Stan Rifkin, Donald Sofge, Stephen H. Hobbs, Fjorentina Angjellari-Dajci, Laurent Chaudron, and Joseph Wood.  Structure and Dynamics: eJournal of Anthropological and Related Sciences, University of California eScholarship Repository, 2011.

J4.       Memory Based In-Situ Learning for Robots.  Patrick McDowell, Brian S. Bourgeois, Donald A. Sofge, and S. Sitharama Iyengar. Invited Article, IEEE Computer, Special Issue on Unmanned, Intelligent and Autonomous Vehicles, pp. 62-66, IEEE, Dec. 2006.

J3.       Collaborating with Humanoid Robots in Space.  Donald Sofge, Magdalena Bugajska, J. Gregory Trafton, Dennis Perzanowski, Scott Thomas, Marjorie Skubic, Samuel Blisard, Nicholas Cassimatis, Derek Brock, William Adams, and Alan Schultz.  International Journal of Humanoid Robotics, Volume 2, Number 2, pp. 181-201, World Scientific Publishing, June 2005.

J2.       Design and implementation of a Multi-Use Manipulator System to improve shipyard Manufacturing processes.  Donald Sofge, Lynn Vogel, Yuchi Huang, and John Wentz. Journal of Ship Production, 17, no. 3 (2001): 130-134.

J1.       NSF Workshop on Aerospace Applications of Neurocontrol.  Donald Sofge and David White.  IEEE Control Systems Magazine, April 1991, IEEE.

Refereed Conference Proceedings (including Workshop and Symposia) Papers

C73.    Cooperative Emergent Swarming through Deep Reinforcement Learning. Tony X. Lin, Daniel Lofaro, and Donald Sofge.  In Proceedings of the 16^th IEEE International Conference on Control & Automation (ICCA 2020), IEEE, 2020.

C72.    Case-Based Gesture Interface for Multiagent Formation Control. Divya Srivastava, Daniel Lofaro, Tristan Schuler, Donald Sofge, and David Aha.  In Proceedings of the 28^th International Conference on Case-Based Reasoning (2020 ICCBR), Springer Nature, 2020.

C71.    Set-Based State Estimation of Mobile Robots from Coarse Range Measurements. Tony X. Lin, Samuel Coogan, Donald Sofge, and Fumin Zhang. In Proceedings 2020 IEEE Conference on Control Technology and Applications (CCTA), IEEE, 2020.

C70.    Persistent Area Coverage for Swarms Utilizing Deployment Entropy with Potential Fields.  John D. Kelly, Daniel M. Lofaro, and Donald Sofge. In Proceedings 17th International Conference on Ubiquitous Robots (UR 2020), IEEE, 2020.

C69.    Bio-Inspired Distance Estimation Using the Self-Induced Acoustic Signature of a Motor-Propeller System.  Luke Calkins, Joseph Lingevitch, Loy McGuire, Jason Geder, Matthew Kelly, Michael M. Zavlanos, Donald Sofge, and Daniel Lofaro.  In Proceedings of International Conference on Robotics and Automation (ICRA 2020), IEEE, 2020.

C68.    Quorum Sensing Re-evaluation Algorithm for N-site Selection in Autonomous Swarms.  Shreeya Khurana and Donald Sofge. In Proceedings 12^th International Conference on Agents and Artificial Intelligence (ICAART 2020), SCITEPRESS, 2020.

C67.    Pursuit-Evasion with Decentralized Robotic Swarm in Continuous State Space and Action Space via Deep Reinforcement Learning.  Gurpreet Singh, Daniel M. Lofaro, and Donald Sofge. In Proceedings 12^thInternational Conference on Agents and Artificial Intelligence (ICAART 2020), SCITEPRESS, 2020.

C66.    Multi-agent Time-based Path Planning Using A* Implementation on Lighter-than-air Autonomous Agents.  Jason Gibson, Tristan Schuler, Loy McGuire, Daniel Lofaro, and Donald Sofge. In Proceedings of the 9^th IEEE International Conference on Cybernetics and Intelligent Systems, Robotics, Automation and Mechatronics (CIS-RAM 2019), IEEE, 2019.  (Received Best Application Paper Award)

C65.    Gesture-Based Interface for Multi-Agent and Swarm Formation Control.  Divya Srivastava, Daniel Lofaro, Tristan Schuler, Donald Sofge.  In Proceedings of SWARM 2019: The 3rd International Symposium on Swarm Behavior and Bio-Inspired Robotics,  IEEE, 2019.

C64.    A Study of Robotic Swarms and Emergent Behaviors using 25+ Real-World Lighter-Than-Air Autonomous Agents (LTA3).  Tristan Schuler, Daniel M. Lofaro, Loy McGuire, Alexandra Schroer, Tony Lin, and Donald Sofge.  In Proceedings of SWARM 2019: The 3rd International Symposium on Swarm Behavior and Bio-Inspired Robotics,  IEEE, 2019.

C63.    LPS: A Local Positioning System for Homogeneous and Heterogeneous Robot-Robot Teams, Robot-Human Teams, and Swarms.  Christopher Taylor, Colin Ward, Donald Sofge, and Daniel M. Lofaro. In Proceedings of the 16^th IEEE International Conference on Ubiquitous Robots (UR 2019), IEEE, 2019.

C62.    Optimizing Multiagent Area Coverage Using Dynamic Global Potential Fields.  Rahul Rajan, Michael Otte, and Donald Sofge.  In Proceedings of the 2018 IEEE Symposium Series on Computational Intelligence, IEEE, 2018.

C61.    Path Planning for Information Gathering with Lethal Hazards and No Communication.  Michael Otte and Donald Sofge. In Proceedings of the International Workshop on Algorithmic Foundations of Robotics (WAFR 2018), Springer Proc. in Robotics, 2018.

C60.    Extending the Life of Legacy Robots via MDS-Ach: A Real-Time, Process Based, Networked, Secure Middleware based on the x-Ach Methodology.  Daniel Lofaro, Magdalena Bugajska, and Donald Sofge.  In Proceedings of the 15^th Int’l Workshop on Advanced Motion Control (AMC2018), IEEE, 2018. 

C59.    On Humanoid Co-Robot Locomotion when Mechanically Coupled to a Human Partner.  Keitaro Nishimura, Magdalena Bugajska, Donald Sofge, Paul Oh, and Daniel Lofaro.  In Proceedings of the 15^th International Conference on Ubiquitous Robots (UR 2018), IEEE.

C58.    Stochastic optimization for autonomous vehicles with limited control authority. Dylan Jones, Geoffrey A. Hollinger, Michael J. Kuhlman, Donald A. Sofge, and Satyandra K. Gupta. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2395-2401. IEEE, 2018.

C57.    Terrain classification for autonomous vehicles using bat-inspired echolocation. Nathan Riopelle, Philip Caspers, and Donald Sofge. In 2018 International Joint Conference on Neural Networks (IJCNN), pp. 1-6. IEEE, 2018.

C56.    Multi-robot task allocation with auctions in harsh communication environments. Michael Otte, Michael Kuhlman, and Donald Sofge. In 2017 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), pp. 32-39. IEEE, 2017.

C55.    Wearable interactive display for the local positioning system (LPS). Daniel M. Lofaro, Christopher Taylor, Ryan Tse, and Donald Sofge. In Proceedings of the 19th ACM International Conference on Multimodal Interaction, pp. 522-523. 2017.

C54.    Novel Physicomimetic Bio-inspired Algorithm for Search and Rescue Applications.  Rahul Rajan, Michael Otte, and Donald Sofge.  In Proceedings 2017 IEEE Symposium Series on Computational Intelligence (IEEE SSCI 2017), IEEE, 2017.

C53.    A Comparison of Auction-Based Methods for Search and Rescue in Communication Limited Environments.  Michael Otte, Michael Kuhlman, and Donald Sofge.  In Proceedings of the International Symposium on Multi-Robot and Multi-Agent Systems (MRS2017), IEEE, 2017.

C52.    Autonomous UAV search planning with possibilistic inputs. Emily Grayson, Paul Elmore, Don Sofge, and Fred Petry. In Unmanned Systems Technology XIX, vol. 10195, p. 1019508. International Society for Optics and Photonics, 2017.

C51.    Maximizing mutual information for multipass target search in changing environments.  Michael J. Kuhlman, Michael W. Otte, Donald Sofge, and Satyandra K. Gupta. In IEEE International Conference on Robotics and Automation (ICRA), pp. 4383-4390. IEEE, 2017.

C50.    (Computational) Context. Why It’s Important, What It Means, and Can It Be Computed?  William F. Lawless, Ranjeev Mittu, and Donald Sofge.  AAAI Spring Symposium, AAAI, 2017.

C49.    Competitive two team target search game with communication symmetry and asymmetry.  Michael Otte, Michael Kuhlman, and Donald Sofge. In Algorithmic Foundations of Robotics XII, pp. 208-223. Springer, Cham, 2020.

C48.    Carbon monoxide plume detection with nanowire-based sensors mounted on an unmanned ground vehicle. Pehr E. Pehrsson, Christopher R. Field, Mark Hammond, Daniel Ratchford, Christopher N. Chervin, Don Sofge, Keith Sullivan, Debra R. Rolison, and Susan Rose-Pehrsson. In Proc. of the International Meeting for Chemical Sensors, 2016.

C47.    AI and the Mitigation of Human Error: A Thermodynamics of Teams. William Lawless and Donald Sofge.  AAAI Spring Symposium, AAAI, 2016.

C46.    Distributed Information-Theoretic Target Detection Using Physics-Inspired Motion Coordination.  Nitin Sydney and Donald Sofge.   In Proceedings of the 8th International Symposium on Resilient Control Systems, IEEE, 2015.

C45.    Onboard flow sensing for downwash detection and avoidance with a small quadrotor helicopter.  Derrick Yeo, Nitin Sydney, Derek A. Paley, and Donald Sofge.  In AIAA Guidance, Navigation, and Control Conference, p. 1769. 2015.

C44.    Stabilizing task-based omnidirectional quadruped locomotion with Virtual Model Control.  Michael J. Kuhlman, Joe Hays, Donald Sofge, and Satyandra K. Gupta. In 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 5171-5176. IEEE, 2015.

C43.    Fusing laser reflectance and image data for terrain classification for small autonomous robots. Keith Sullivan, Wallace Lawson, and Donald Sofge.  In 13th International Conference on Control Automation Robotics & Vision (ICARCV), pp. 1656-1661. IEEE, 2014.

C42.    Application of grazing-inspired guidance laws to autonomous information gathering. Thomas Apker, Shih-Yuan Liu, Donald Sofge, and J. Karl Hedrick.  In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3828-3833. IEEE, 2014.

C41.    A thermodynamics of teams: Towards a robust computational model of autonomous teams. William F. Lawless, Ira S. Moskowitz, Ranjeev Mittu, and Donald A. Sofge. In 2015 AAAI Spring Symposium Series. 2015.

C40.    Physics-aware informative coverage planning for autonomous vehicles. Michael J., Kuhlman, Petr Švec, Krishnanand N. Kaipa, Donald Sofge, and Satyandra K. Gupta. In 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 4741-4746. IEEE, 2014.

C39.    Recognition of Seafloor Features by Decision Tree Algorithms in Scenes of Gridded Sonar Data. Denson Smith, Wallace E. Lawson, Donald Sofge, Paul A. Elmore, Frederick E. Petry. 2014 Fall Meeting of the American Geophysical Union (AGU) Abstracts, American Geophysical Union, 2014.

C38.    The Intersection of Robust Intelligence and Trust: Hybrid Teams, Firms, and Systems.  William Lawless and Donald Sofge. AAAI Spring Symposia Series Symposium: The Intersection of Robust Intelligence and Trust in Autonomous Systems, AAAI, 2014.

C37.    Physics-Inspired Robotic Motion Planning for Cooperative Bayesian Target Detection.  Nitin Sydney, Derek A. Paley, and Donald Sofge. Robotic Science and Systems Workshop: Distributed Control and Estimation for Robotic Vehicle Networks, Springer, 2014.

C36.    Central Pattern Generator Based Omnidirectional Locomotion for Quadrupedal Robotics.  Kuhlman, Michael J., Joe Hays, Donald Sofge, and Satyandra K. Gupta.  Workshop on Real-time Motion Generation & Control, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2014.

C35.    A Planner for Autonomous Risk-Sensitive Coverage (PARCov) by a Team of Unmanned Aerial Vehicles.  Alex Wallar, Erion Plaku, and Donald A. Sofge.  2014 IEEE Symposium Series on Computational Intelligence, Symposium on Swarm Intelligence, IEEE, 2014.

C34.    Trust and Interdependence in Controlling Multi-Agent Multi-Tasking Autonomous Teams. William F. Lawless and Donald A. Sofge.  In 2013 AAAI Spring Symposium Series, 2013.

C33.    Social-Psychological Harmonic Oscillators in the Self-Regulation of Organizations and Systems:  The Social Physics of Nash Equilibria.  William F. Lawless and Donald A. Sofge.  QI-2012, June 2012.

C32.    Conservation of Information for Intelligent Systems: A New Approach to Systems of Human-Machine-Robotic Agents Operating Under Uncertainty.  William F. Lawless, Stan Rifkin, and Donald A. Sofge.  Advances in Quantum Theory, Linnaeus University, Sweden: American Institute of Physics (AIP), 2011.

C31.    Quorum Sensing for Collective Action and Decision-Making in Mobile Autonomous Teams.  Donald A. Sofge and William F. Lawless.  ICAART 2011 — Third International Conference on Agents and Artificial Intelligence, INSTICC Press, 2011.

C30.    Past point models: Physicomimetics on nonholonomic vehicles.  Thomas Apker, Jamie Lennon, Mitchell Potter, and Donald Sofge. In Infotech@ Aerospace 2011, p. 1630. 2011.

C29.    The Mathematics of Aggregation, Interdependence, Organizations and Systems of Nash Equilibria (NE): A Replacement for Game Theory.  William F. Lawless and Donald A. Sofge.  The Computational Social Science Society of America (CSSSA), 2011.

C28.    Tactile Sensor System Processing Based On K-means Clustering. Harry Chan-Maestas and Donald A. Sofge. In 2011 10th International Conference on Machine Learning and Applications and Workshops, vol. 1, pp. 287-292. IEEE, 2011.

C27.    An ab initio solution of interdependence: Social organization with first principles, William F. Lawless, Stan Rifkin, and Donald A. Sofge.  Advances in Quantum Theory, Linnaeus University, Sweden: American Institute of Physics (AIP), 2010.

C26.    Military Medical Department Research Centers. Joseph Wood, Mary M. Klote, Hui-Lien Tung, Max E. Stachura, Elena V. Astapova, Donald A. Sofge, James Grayson, and William F. Lawless.  In CENTERIS 2010-Conference on ENTERprise Information Systems, Viana do Castelo, Portugal. 2010. Communications in Computer and Information Science, vol 110. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16419-4_11

C25.    Long-Range Near-Optimal Path Planning for Gliders in Complex High-Energy Environments.  Donald A. Sofge and Julian S. Whitman.  2010 IEEE/OES Autonomous Underwater Vehicles (AUV), vol., no., pp.1, doi: 10.1109/AUV.2010.5779640, 2010.

C24.    Prospective Algorithms for Quantum Evolutionary Computation.  Donald A. Sofge. In Quantum Interaction, Proceedings of the Second Quantum Interaction Symposium (QI-2008), pp. 98-105, College Publications, UK, 2008.

C23.    A Survey of Quantum Programming Languages: History, Methods, and Tools.  Donald A. Sofge.  In Proceedings of the Second International Conference on Quantum, Nano, and Micro Technologies (ICQNM 2008), pp. 66-71, IEEE Computer Society, 2008.

C22.    A generalized graph-based method for engineering swarm solutions to multiagent problems. R. Paul Wiegand, Mitchell A. Potter, Donald A. Sofge, and William M. Spears. In Parallel Problem Solving from Nature-PPSN IX, pp. 741-750. Springer, Berlin, Heidelberg, 2006.

C21.    Toward a Framework for Quantum Evolutionary Computation.  Donald A. Sofge.  In Proceedings of the 2ndIEEE International Conference on Cybernetics and Intelligent Systems (CIS2006), pp. 678-682, IEEE Press, June 2006.

C20.    Effects of experience bias when seeding with prior results. Mitchell A. Potter, R. Paul Wiegand, H. Joseph Blumenthal, and Donald A. Sofge. In 2005 IEEE Congress on Evolutionary Computation, vol. 3, pp. 2730-2737. IEEE, 2005.

C19.    Toward multimodal human-robot cooperation and collaboration.  Dennis Perzanowski, Derek Brock, Magdalena Bugajska, Scott Thomas, Donald Sofge, William Adams, Marjorie Skubic, Sam Blisard, Nicholas Cassimatis, J. Gregory Trafton, and Alan Schultz. In AIAA 1st Intelligent Systems Technical Conference, p. 6366. 2004.

C18.    Cognitive tools for humanoid robots in space.  Donald Sofge, Dennis Perzanowski, Marjorie Skubic, Magdalena Bugajska, J. Gregory Trafton, Nicholas Cassimatis, Derek Brock, William Adams, and Alan Schultz. IFAC Proceedings Volumes 37, no. 6 (2004): 351-356.

C17.    Collaborating with a Dynamically Autonomous Cognitive Robot.  Donald Sofge, Dennis Perzanowski, Marjorie Skubic, J. Gregory Trafton, Magdalena Bugajska, Derek Brock, Nicholas Cassimatis, William Adams, and Alan Schultz. IFAC Proceedings Volumes 37, no. 7 (2004): 147-152.

C16.    Human-robot collaboration and cognition with an autonomous mobile robot. Donald Sofge, J. Gregory Trafton, Nicholas Cassimatis, Dennis Perzanowski, Magdalena Bugajska, William Adams, and Alan Schultz. InProceedings of the 8th Conference on Intelligent Autonomous Systems (IAS-8), pp. 80-87. 2004.

C15.    Achieving Collaborative Interaction with a Humanoid Robot.  Donald Sofge, Dennis Perzanowski, Marjorie Skubic, Magdalena Bugajska, Nicholas Cassimatis, J. Gregory Trafton, Derek Brock, William Adams, and Alan Schultz.  In Proceedings of the Second International Conference on Computational Intelligence, Robotics, and Autonomous Systems, Singapore, December 2003.

C14.    Challenges and Opportunities of Evolutionary Robotics.  Donald A. Sofge, Mitchell A. Potter, Magdalena D. Bugajska, and Alan C. Schultz.  In Proceedings of the Second International Conference on Computational Intelligence, Robotics, and Autonomous Systems, Singapore, December 2003.

C13.    Agent-based Multimodal Interface for Dynamically Autonomous Mobile Robots.  Donald Sofge, Magdalena Bugajska, William Adams, Dennis Perzanowski, and Alan Schultz.  In Proceedings of the 11^th International Conference on Advanced Robotics (ICAR2003), Volume 1, pp. 429-434, ICAR 2003, June 2003.

C12.    Evolutionary Robotics: From Behaviorism to Embodied Cognition.  Donald A. Sofge, Mitchell A. Potter, and Alan C. Schultz.  In Proceedings of the International Conference on Computer, Communications and Control Technologies (CCCT’03), pp. 496-502, International Institute of Informatics and Systemics, July 2003.

C11.    Evolutionary computational approaches to solving the multiple traveling salesman problem using a neighborhood attractor schema. Donald Sofge, Alan Schultz, and Kenneth De Jong. In Workshops on Applications of Evolutionary Computation, pp. 153-162. Springer, Berlin, Heidelberg, 2002.

C10.    A blended population approach to cooperative coevolution for decomposition of complex problems. Donald Sofge, Kenneth De Jong, and Alan Schultz. In Proceedings of the 2002 Congress on Evolutionary Computation. CEC'02 (Cat. No. 02TH8600), vol. 1, pp. 413-418. IEEE, 2002.

C9.      Using Genetic Algorithm Based Variable Selection to Improve Neural Network Models for Real-World Systems. Donald Sofge. In Proceedings 2002 International Conference on Machine Learning and Applications (ICMLA’02), CSREA Press, 2002. 

C8.      Recent advances in active damage interrogation.  James Dunne, Dale Pitt, Kevin Kilian, and Donald Sofge.  In 19th AIAA Applied Aerodynamics Conference, p. 1442. 2001.

C7.      Design, Implementation, and Cooperative Co-evolution of an Autonomous/Teleoperated Control System for a Serpentine Automated Waste Retrieval Manipulator.  Donald Sofge and Gerald Chiang.  American Nuclear Society 9^thInternational Topical Meeting on Robotics and Remote Systems, March 2001.

C6.      Improved Neural Modeling of Real-World Systems Using Genetic Algorithm Based Variable Selection.  Donald A. Sofge and David L. Elliott.  International Conference on Neural Networks and Brain (ICNN&B'98-Beijing), Beijing China, October 1998.

C5.      Local Area Damage Detection in Composite Structures Using Piezoelectric Transducers, Peter F. Lichtenwalner and Donald A. Sofge. Proceedings SPIE Symposium on Smart Structures and Materials, Vol. 3326, 1998.

C4.      Virtual Sensor Based Fault Detection and Classification on a Plasma Etch Reactor.  Donald A. Sofge.  The Second Joint Mexico-US International Workshop on Neural Networks and  Neurocontrol, Playa del Carmen, Quintana Roo Mexico, Aug. 1997.

C3.      Structural Health Monitoring Using Neural Network Based Vibrational System Identification, Donald A. Sofge. Proceedings Australia-New Zealand Conference on Intelligent Information Systems, 1994.

C2.       Differentiable CMAC models for on-line learning control. Donald A. Sofge and David A. White. In Proceedings of the 3rd Workshop on Neural Networks Academic Industrial NASA Defense (WNN 92), Auburn University, AL, Feb. 10-12, 1992.  (ISBN 1-56555-007-2)

C1.      Neural Network Based Process Control. Donald A. Sofge and David A. White.  In Proceedings 29th IEEE Conference on Decision and Control, Honolulu, HI, December 1990.

Abstracts, Posters, and Technical Notes

AP26.  Bio-inspired Echolocation Using Characteristics of Propeller System Acoustic Signature,  Joseph Lingivitch, William Calkins, Jason Geder, Donald Sofge, Daniel Lofaro, Loy McGuire, and Matthew Kelly. NRL Memorandum Report, NRL/MR/7160--20-10043, 27APR20. https://apps.dtic.mil/sti/pdfs/AD1100425.pdf

AP25.  Unsupervised Explainable Artificial Intelligence Architectures for Acoustic Sensing in Micro-air Vehicles. Ryan Kramer, Jason Geder, Joseph Lingivitch, William Calkins, Daniel Lofaro, Matthew Kelly, Loy McGuire, Andrew Evans, and Donald Sofge.  Fourth Annual NIWC Pacific Workshop on Naval Applications of Machine Learning (NAML), 2020.

AP24.  Tackling the Pursuit-Evasion Problem with the Actor-Critic Model-Free Multi-Agent Deep Deterministic Policy Gradient (MADDPG) method on a Decentralized Robotic Swarm in Continuous State Space and Action Space via Deep Reinforcement Learning.  Gurpreet Singh, Daniel M. Lofaro, and Donald Sofge. Fourth Annual NIWC Pacific Workshop on Naval Applications of Machine Learning (NAML), 2020.

AP23.  Hidden Markov Model Trained Gesture-Based Interface for Multiagent and Swarm Formation Control.  Divya Srivastava, Daniel Lofaro, Tristan Schuler, and Donald Sofge.  Fourth Annual NIWC Pacific Workshop on Naval Applications of Machine Learning (NAML), 2020.

AP22.  An Urgency-Dependent Quorum Sensing Algorithm for N-Site Selection in Autonomous Swarms.  Grace Cai and Donald Sofge.  In Proceedings of the International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2019), IFAAMAS, May 2019.  

AP21.  Reproducible Experimental Results of Swarming Behavior Using Mixed Reality.  Victoria Edwards, Ioana Triandaf, Chris Taylor, Loy McGuire, Donald Sofge, and Ira B. Schwartz.  ICRA 2019 Workshop on ‘Taking Reproducible Research in Robotics to the Mainstream’, IEEE, 2019.

AP20.  Multimodal Control of Lighter-Than-Air Agents.  Daniel M. Lofaro and Donald Sofge.  Extended Abstract for 20^th ACM International Conference on Multimodal Interaction (ICMI 2018) Demonstration Session, ACM, 2018.

AP19.  Reducing Cross Entropy to Not Cross Paths: Improving Multiagent Coordination.  Michael J. Kuhlman, Dylan Jones, Donald A. Sofge, and Satyandra K. Gupta.  Poster for Entropy 2018: From Physics to Information Sciences and Geometry, 2018.   

AP18.  Persistent Monitoring for Autonomous Surface Vessel Teams.  Michael J. Kuhlman, Donald A. Sofge, and Satyandra K. Gupta. NRL 5510 Technical Note, 2018.

AP17.  Shibboleth-based Trust Enhancement Between Humans and Humanoid Robots Using Gesture and Contact Focused Dialog.  Daniel Lofaro, Dylan Wallace, and Donald Sofge.  In Proceedings of the IEEE-RSJ International Conference on Intelligence Robots and Systems (IROS 2018), Workshop on Autonomous Dialogue Technologies in Symbiotic Human-Robot Interaction, IEEE, 2018.

AP16.  Experimental Setup and Approach for Co-Robot Locomotion when Mechanically Coupled to a Human Partner.  Daniel Lofaro, Keitaro Nishimura, Magdalena Bugajska, Jean Vaz, Paul Oh, and Donald Sofge.  In IEEE RAS International Conference on Humanoid Robots (IEEE Humanoids 2017), IEEE, 2017.

AP15.  BATSAVVi: Bio-inspired Adapted Techniques for Sensing, Actuation and Vocalization using Vibro-acoustics.  Ryan Kramer, Jason Geder, Donald Sofge, Andrew Evans, and Kirsty Small. UK/US Stocktake Meeting, 2018.

AP14.  Distributed Relative Localization Using Ultra-Wideband Ranging.  Christopher Taylor, Donald Sofge, and Daniel Lofaro.  Poster for 2017 International Conference on Intelligent Robots and Systems (IROS2017), IEEE, 2017. 

AP13.  The Performance of Auctions for Multi-Robot Task Allocation in Harsh Communication Environments.  Michael Otte, Michael Kuhlman, and Donald Sofge.  Poster for Robotics: Science and Systems, Workshop on Robot Communication in the Wild (RSS-2017), 2017.

AP12.  Central Pattern Generator-Based Omnidirectional Locomotion for Quadrupedal Robotics. Michael Kuhlman, Joseph Hays, Donald Sofge, and Satyandra K. Gupta. Poster for Smithsonian National Air and Space Museum Robotics Week, Smithsonian Air & Space Museum, April 3, 2015.

AP11.  Coordination Design.  Frank Ehlers, Lorenzo Sabattini, and Donald Sofge. Poster for 2015 Robotics: Science and Systems (RSS-2015) Principles of Multi-Robot Systems Workshop, Robotics: Science and Systems Foundation, 2015.

AP10.  Comparative Measures of Aggregated Uncertainty for IST Mission Support. Don Sofge, Paul Elmore, Fred Petry, and Ron Yager. In Proceedings of the IST/SET-126 Symposium on Information Fusion (Hard and Soft) for Intelligence, Surveillance & Reconnaissance (ISR), NATO IST/SET-126 Panel, May 2015.

AP9.    Mobile Autonomous Navy Teams for Information Surveillance and Search (MANTISS).  Donald Sofge, Nitin Sydney, Derek A. Paley, Thomas Apker, Keith Sullivan, and Michael Kuhlman.  Poster for Workshop onCrossing the Reality Gap: Control, Human Interaction and Cloud Technology for Multi- and Many-Robot Systems, 2014 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2014.

AP8.    Central Pattern Generator Based Omnidirectional Locomotion for Quadrupedal Robotics, Michael Kuhlman, Joseph Hays, Donald Sofge, and Satyandra K. Gupta. Poster for Workshop on Real-time Motion Generation & Control, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2014.

AP7.    Central Pattern Generator Based Gait Control for a Quadruped Robot. Michael J. Kuhlman and Donald Sofge.  Poster, Third Annual Karles Invitational Conference on Intelligent and Autonomous Systems Science and Technology, Naval Research Laboratory, 2014. 

AP6.    Chemical Plume Detection with SiN-VAPOR Sensor. Christopher Field, Benjamin Andrews, Daniel Ratchford, Christopher Chervin, Debra  Rolison, Pehr Pehrsson, Kim Goins, Keith Sullivan, and Donald Sofge.  Poster for Third Annual Karles Invitational Conference on Intelligent and Autonomous Systems Science and Technology, Naval Research Laboratory, Jan. 13-14, 2014. 

AP5.    Spectral Reflectance for Terrain Classification and Detecting Objects in Cluttered Environments. Keith Sullivan, Donald Sofge, and Wallace Lawson.  Poster for Third Annual Karles Invitational Conference on Intelligent and Autonomous Systems Science and Technology, Naval Research Laboratory, Jan. 13-14, 2014. 

AP4.    Physics-inspired Motion Planning for Bayesian Target Detection with Quadrotors. Derek A. Paley, Nitin Sydney, and Donald Sofge.  Poster for Third Annual Karles Invitational Conference on Intelligent and Autonomous Systems Science and Technology, Naval Research Laboratory, Jan. 13-14, 2014. 

AP3.    Addressing Mobility and Localization Constraints in Physicomimetics. Thomas Apker, Mitchell Potter, and Donald Sofge.  Workshop on Many-Robot Systems: Crossing the Reality Gap, IEEE International Conference on Robotics and Autonomation, IEEE, 2012.

AP2.    The physics of bistability in the organization and system control with an ab initio mathematical solution. William F. Lawless, Donald A. Sofge, Jean Erceau, and Laurent Chaudron.  Poster for Decade of the Mind VI(DOM-VI), 2010.

AP1.    Autonomous Route Planning and Navigation for UxV Teams. Donald Sofge and Max Harper. ONRG Workshop on Machine Intelligence for Autonomous Operations, ONRG, October 2009.

Patent

Virtual sensor based monitoring and fault detection/classification system and method for semiconductor processing equipment, U.S. Patent #5864773. Gabe Barna, Stephanie Butler, Donald Sofge, and David White, application filed Nov. 1, 1996, granted Jan. 26, 1999.