A. Stephen Morse

About

A. Stephen Morse is a prominent researcher whose work spans robotics, computer vision, and nonlinear control systems, with particular expertise in visual servoing, adaptive control, and the navigation of uncertain dynamical systems. His most celebrated contributions lie at the intersection of vision and robotics: his foundational work on stereo vision-based hand-eye coordination, beginning with his highly cited 1995 paper (174 citations), established rigorous frameworks for positioning robot manipulators using dual-camera visual feedback without requiring precise system calibration. This thread continued through multiple influential studies, culminating in sophisticated treatments of uncalibrated stereo systems and exponentially stable visual servoing. Beyond robotics, Morse made significant strides in adaptive and logic-based control, developing systematic design procedures for nonlinear output-feedback systems and pioneering supervisory switching strategies for nonholonomic mobile robots operating under parametric uncertainty — work that attracted over 100 citations each. His edited volume "The Confluence of Vision and Control" (1998, 99 citations) further solidified his role in shaping an entire research community. Collectively, Morse's contributions have advanced both the theoretical foundations and practical implementation of intelligent autonomous systems, making his scholarship essential reading for students and researchers in control engineering and robotics alike.

Research Focus

Key Achievements

Top Papers

1. 1
   Robot hand-eye coordination based on stereo vision

   174 citations · 1995
2. 2
   Adaptive output-feedback control of a class of nonlinear systems

   114 citations · 2002
3. 3
   Logic-based switching control of a nonholonomic system with parametric modeling uncertainty

   110 citations · 1999
4. 4
   The confluence of vision and control

   99 citations · 1998
5. 5
   Robot feedback control based on stereo vision: towards calibration-free hand-eye coordination

   70 citations · 2002
6. 6
   Towards the supervisory control of uncertain nonholonomic systems

   62 citations · 1999
7. 7
   What Tasks can be Performed with an Uncalibrated Stereo Vision System?

   33 citations · 1999
8. 8
   Task re-encoding in vision-based control systems

   15 citations · 2002
9. 9
   Task specification and monitoring for uncalibrated hand/eye coordination

   10 citations · 2003
10. 10
    Exponentially stable positioning of a rigid robot using stereo vision

    8 citations · 2003

Key Collaborators

Contact & Links