Personal Page of Greg Fricke at Duke University

I am a PhD candidate in the Robotics and Manufacturing Automation Laboratory (RAMA Lab) in the Pratt School of Engineering at Duke University, under the advisement of Prof. Devendra P. Garg. My committee consists of Prof. Devendra Garg (Co-Chair and Advisor), Prof. Earl Dowell (Co-Chair), Prof. Michael Gustafson II, Prof. Josiah Knight, and Prof. W. Neal Simmons.
My research focus is the application of Random Graph Theory to estimation and control problems in collective and swarm robotics in the presence of sensing, actuation, and communication uncertainty.

I completed my Master of Science degree in Mechanical Engineering at Duke University in 2009 (defended April 3, conferred May 10).
I completed my Bachelor of Science degree in Engineering and Applied Science (with Mechanical Concentration) from Caltech in 2000 under the advisement of Prof. Joel Burdick

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Downloads

Curriculum Vitae: [PDF]
Resume: [PDF]

Publications

Peer-Reviewed Journal Articles:

J2. W. Busch, R.W. Twigg, B. Moore, B. Martsberger, J. Jung, I. Pruteanu-Malinici, S. Kennedy, G. K. Fricke, R. L. Clark, U. Ohler, P. N. Benfey.
A microfluidic device for automated high throughput live imaging of gene expression.
Nature Methods, [ONLINE] 30 Sept 2012, [PRINT] Nov 2012, Vol. 9, Iss. 11, pp. 1101-1106.

J1. Guoxian Zhang, Gregory K. Fricke and Devendra P. Garg. Spill perimeter detection and Surveillance via distributed swarming agents.
ASME/IEEE Trans. Mechatronics. [ONLINE] 12 September 2011. [PRINT] Feb 2013, Vol. 18, Iss. 1, pp. 121-129.

Peer-Reviewed Conference Papers:

C10. G. K. Fricke, K. M. Lieberman, and D. P. Garg. Swarm formations under nonholonomic and numerosity constraints.
In Proceedings of 2012 ASME Dynamic Systems and Controls Conference (DSCC2012). Ft. Lauderdale, FL. 17-19 Oct 2012.
Session Best Paper, ThCT4.

C9. K. M. Lieberman, G. K. Fricke, and D. P. Garg. Decentralized Control of multi-agent escort formation via Morse potential function.
In Proceedings of 2012 ASME Dynamic Systems and Controls Conference (DSCC2012). Ft. Lauderdale, FL. 17-19 Oct 2012.

C8. B. W. Rogers, G. K. Fricke, and D. P. Garg. Aggregation and Rendezvous in an Unbounded Domain without a Shared Coordinate System.
In Proceedings of 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011). Orlando, FL, 12-15 Dec 2011.

C7. G. K. Fricke, B. W. Rogers, and D. P. Garg. On the stability of swarm consensus under noisy control.
In Proceedings of 2011 ASME Dynamic Systems and Controls Conference (DSCC2011). Arlington, VA, 31 Oct - 2 Nov 2011.

C6. G. Zhang, D. P. Garg, and G. K. Fricke. Hazardous spill perimeter detection and monitoring via multiple autonomous mobile robotic agents.
In Proceedings of ASME Dynamics Systems and Control Conference (DSCC2010). Cambridge, MA. 13-15 Sep 2010.

C5. G. K. Fricke, G. Zhang, A. W. Caccavale, S. W. Li, and D. P. Garg. An intelligent sensing network of distributed swarming agents for perimeter detection and surveillance.
In Proceedings of ASME Dynamics Systems and Control Conference (DSCC2010). Cambridge, MA. 13-15 Sep 2010.

C4. G. K. Fricke, A. W. Caccavale, and D. P. Garg. Mobile Sensor Frame Mapping via Vision and Laser Scan Matching.
In Proceedings of the International Symposium on Resilient Control Systems (ISRCS2010). Idaho Falls, ID. 10-12 Aug, 2010.

C3. G. K. Fricke, and D. P. Garg. Discrimination and Tracking of Individual Agents in a Swarm of Robots.
In Proceedings of American Control Conference (ACC2010). Baltimore, MD. 30 Jun - 2 Jul, 2010.
Session Best Paper(ThA11)

C3. G. K. Fricke, D. Milutinović, and D. P. Garg. Robotic pose estimation via an adaptive Kalman Filter using state-varying noise.
In Proceedings of IASTED Robotics and Automation International Conference (RA2009). Cambridge, MA, 2-4 Nov 2009.

C2. G. K. Fricke, D. Milutinović, and D. P. Garg. Sensing and estimation on a modular testbed for swarm robotics.
In Proceedings of ASME Dynamics Systems and Control Conference (DSC2009). Hollywood, CA. 12-14 Oct 2009.

C1. Paul W. Kervin, Daron L. Nishimoto, Paul F. Sydney, John L. Africano, Vicki Soo Hoo, David L. Talent, Gregory J. Fricke [sic], Amor F. Angara, Daniel G. O'Connell and Brian M. Africano.
Raven concept applied to asteroid and satellite surveillance.
In Proc. SPIE 3355, 735. Kona, HI. 26 Mar 1998. DOI:10.1117/12.316839.

Theses:

T2. Gregory Kealoha Fricke. Distributed Control of Heterogenous Mobile Robotic Agents in the Presence of Uncertainties.
Ph.D. Dissertation, Duke University. In Progress.

T1. Gregory Kealoha Fricke. Tracking, Identification, and Odometry Calibration of a Multi-Agent Swarm System.
Master's Thesis, Duke University. Defended 3 Apr 2009. [PDF]

Patents:

P2. Benfey, Philip N., Richard W. Twigg, III, Robert L. Clark, Jr., Scott Joseph Kennedy, Gregory Kealoha Fricke. Plant Growth and Imaging Devices and Related Methods and Computer Program Products.
US Patent 8,312,673. 20 Nov 2012.

P1. Benfey, Philip N., Richard W. Twigg, III, Robert L. Clark, Jr., Scott Joseph Kennedy, Gregory Kealoha Fricke. Plant Growth and Imaging Devices and Related Methods and Computer Program Products.
US Patent 7,937,891. 10 May 2011.


Teaching Experience


EGR123L: Dynamics. Teaching Assistant, Lab Supervisor.
Spring 2009, Prof. Kenneth C. Hall, Duke University.

EGR123L: Dynamics. Teaching Assistant.
Spring 2008, Prof. Earl H. Dowell, Duke University.

ME70: Introduction to Kinematics. Teaching Assistant.
Spring 2000, Prof. Gregory T. Smedley, California Institute of Technology.


Contact Info


gregory.fricke(at)duke(dot)edu
Khepera Lab - Hudson 030D - (919) 660-5407
Robotics And Manufacturing Automation (RAMA) Lab - Hudson 029G - (919) 660-5296
Ground Robot and Aerial Vehicle Experimental Lab (GRAVEL) - Hudson 029I - (919) 660-5283
Page last modified 13 Sept 2014.

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