• BS, Mechanical Engineering, New Mexico State University, 1997
• BS, Physics, New Mexico State University, 1997
• MS, Mechanical Engineering, University of Illinois at Urbana-Champaign, 1999
• Ph D, Mechanical Engineering, University of Illinois at Urbana-Champaign, 2002

Journal Articles

J. Glunt, J. Siefert, Herschel Pangborn and Sean N Brennan, 2023, "Challenges in Integrating Low-level Path Following and High-level Path Planning Over Polytopic Maps", International Federation of Automatic Control, IFAC-PapersOnline, 56, (3), pp. Pages 19-24

L. Gao, J. Mitrovich, C. Beal, W. Bai, S. Maddipatla, C. Chen, K. Jerath, H. Haeri, L. Sinanaj and Sean N Brennan, 2023, "Boxes-based Representation and Data Sharing of Road Surface Friction for CAVs", Data Science for Transportation., 5, (2), pp. 10 pages

J. Pentzer, Sean N Brennan and K. Reichard, 2022, "On-line estimation of power model parameters for skid-steer robots with applications in mission energy use prediction", Journal of Field Robotics, 1, (1), pp. 1-20

C. Earnhardt, B. Groelke, J. Borek, E. Pelletier, Sean N Brennan and C. Vermillion, 2022, "Cooperative Exchange-Based Platooning using Predicted Fuel-Optimal Operation of Heavy-Duty Vehicles", IEEE Transactions on Intelligent Transportation Systems

E. Pelletier, W. Bai, M. Alvarez, J. Borek, S. Boyle, C. Earnhardt, L. Gao, S. Geyer, C. Grahm, B. Groelke, M. Magee, K. Palmeter, M. Rodriguez, C. Xu, Hosam Kadry Fathy, M. Naghnaeian, Stephanie Stockar, C. Vermillion and Sean N Brennan, 2021, "In-Vehicle Validation of Heavy-Duty Vehicle Fuel Savings via a Hierarchical Predictive Online Controller", SAE International Journal of Advanced and Current Practice in Mobility, 3, (4), pp. 2159-2169

K. Wolkowicz, R. Leary, Jason Zachary Moore and Sean N Brennan, 2021, "Statistical Determination of Decision-Making Regions for Branching Paths: An Algorithm with a Wheelchair Assistance Application", January, (1), pp. 5 pages

Michael Robinson and Sean N Brennan, 2020, "At what cost? How planned collisions with pedestrians may save lives", Accident Analysis and Prevention, Volume 141

Christopher Monaco and Sean N Brennan, 2020, "RADARODO: Ego-motion Estimation from Doppler and Spatial Data in RADAR Images", 5, (3), pp. 6 pages

C. Xu, B. Groelke, M. Alvarez, C. Earnhardt, J. Borek, E. Pelletier, S. Boyle, B. Huynh, M. Wahba, S. Geyer, C. Grahm, M. Magee, K. Palmeter, M. Naghnaeian, Sean N Brennan, Stephanie Stockar, C. Vermillion and Hosam Kadry Fathy, 2020, "Engine-in-the-loop Study of A Hierarchical Predictive Online Controller for Connected and Automated Heavy-duty Vehicles", pp. 6

C. Beal and Sean N Brennan, 2020, "Modeling and Friction Estimation for Automotive Steering Torque at Very Low Speeds", Vehicle System Dynamics, pp. 30 pages

C. Beal and Sean N Brennan, 2019, "Friction Detection from Stationary Steering Maneuvers", Vehicle System Dynamics, pp. 30 pages

K. Jerath, Sean N Brennan and C. Lagoa, 2018, "Bridging the gap between sensor noise modeling and sensor characterization", Measurement, 116, pp. 350-366

M. Rothenberger, J. Safi, J. Anstrom, Ji Liu, Sean N Brennan and H. Fathy, 2017, "Improving Lithium-Ion Battery Pack Diagnostics by Optimizing the Internal Allocation of Demand Current for Parameter Identifiability", ASME Journal of Dynamic Systems Measurement and Control, 139, (8), pp. 13

Clifford J Lissenden, S. Choi, H. Cho, Arthur T Motta, K. Hartig, X. Xiao, S. Le Berre, Sean N Brennan, Karl M Reichard, R. Leary, B. McNelly and I. Jovanovic, 2017, "Toward Robotic Inspection of Dry Storage Casks for Spent Nuclear Fuel", J. Pressure Vessel Technology, 139, (3), pp. 8

Nicolas Ochoa-Lleras, Sean N Brennan, Dennis J Murphy, Jennifer Klena, Philip M Garvey and Henry J Sommer, 2017, "Assessing Perceptions and Alerts of Tractor Instabilty", Chemical Engineering Transactions, 58, pp. 7-12

N. Ochoa-Lleras, Sean N Brennan, Murphy Dennis, M. Klena, P. Garvey and Henry J Sommer, 2016, "Development of an open-source tractor driving simulator for tractor stability tests", Journal of Agricultural Safety and Health, 22, (4), pp. 227-246

P. Stankiewicz, A. Brown and Sean N Brennan, 2015, "Preview horizon analysis for vehicle rollover prevention using the zero-moment point", ASME Journal of Dynamic Systems, Measurement, and Control, 137, (9), pp. 091002

A. Brown and Sean N Brennan, 2015, "Lateral vehicle state and environment estimation using temporally previewed mapped lane features", IEEE Transactions on Intelligent Transportation Systems, 16, (3), pp. 1601-1608

A. Brown and Sean N Brennan, 2015, "Simulating vehicle dynamics on both design plans and LIDAR-scanned road geometry to guide highway design policy", Journal of Transportation Research, Part C: Emerging Technologies., 50, pp. 28-36

D. Torbic, E. Donnell, Sean N Brennan, A. Brown, M. O'Laughlin and K. Bauer, 2015, "Superelevation design for sharp horizontal curves on steep grades", Transportation Research Record: Journal of the Transportation Research Board, 2436, pp. 81-91

A. Whalen, Sean N Brennan, T. Sauer and S. Schiff, 2015, "Observability and controllability of neuronal network motifs", Physical Review X, 5, (1), pp. 011005-01 to 011005-18

K. Jerath, A. Ray, Sean N Brennan and V. V. Gayah, 2015, "Dynamic prediction of vehicle cluster distribution in mixed traffic: A statistical mechanics-inspired method", IEEE Transactions on Intelligent Transportation Systems, 16, (5), pp. 11

M. Keske, A. Brown and Sean N Brennan, 2015, "Low-order modeling of vehicle impacts upon boulders embedded in cohesionless soil", International Journal of Impact Engineering, 75, pp. 88-99

Sean N Brennan and M. Beattie-Moss, 2014, "Will Americans accept self-driving cars?"

J. Pentzer, Sean N Brennan and K. Reichard, 2014, "Model-based prediction of skid-steer robot kinematics using on-line estimation of track instantaneous centers of rotation", Journal of Field Robotics, 31, (3), pp. 455-476

E. Laftchiev, C. Lagoa and Sean N Brennan, 2014, "Vehicle localization using in-vehicle pitch data and dynamical models", IEEE Transactions on Intelligent Transportation Systems, 16, (1), pp. 206-220

A. Brown and Sean N Brennan, 2014, "On the required complexity of vehicle dynamic models for use in simulation-based highway design", International Journal of Safety Research, 49, (1), pp. 105-115

P. Vemulapalli, V. Monga and Sean N Brennan, 2013, "Robust extrema filters for time-series data analysis", IEEE Transactions on Pattern Analysis and Machine Intelligence, 35, (6), pp. 8

K. Jerath and Sean N Brennan, 2012, "Analytical prediction of self-organized traffic jams as a function of increasing ACC penetration", IEEE Transactions on Intelligent Transportation Systems, 13, (4), pp. 11

D. Logan, J. Pentzer, Sean N Brennan and K. Reichard, 2012, "Comparing batteries to generators as power sources for use with mobile robotics", International Journal of Power Sources, 212, pp. 130-138

T. Simpson, A. Bobuk, L. Slingerland, Sean N Brennan, D. Logan and K. Reichard, 2012, "From user requirements to commonality specifications: An integrated approach to product family design", Res. Eng. Design, 23, pp. 141-153

S. Lapapong, A. Brown, K. Swanson and Sean N Brennan, 2012, "Zero-moment point determination of worst case maneuvers leading to vehicle wheel lift", International Journal of Vehicle System Dynamics, 50, pp. 24

J. Stine, B. Hamblin, Sean N Brennan and E. Donnell, 2010, "Analyzing the influence of median cross-section design on highway safety using vehicle dynamics simulations", Accident Analysis and Prevention, 42, (5), pp. 8

J. Yutko, K. Jerath and Sean N Brennan, 2010, "A failure rate analysis of complex vehicles", International Journal of Heavy Vehicle Dynamics, 17, (1), pp. 23

S. Lapapong, V. Gupta, E. Callejas and Sean N Brennan, 2009, "Fidelity of using scaled vehicles for chassis dynamic studies", Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility, 47, (11), pp. 31

M. Petersheim and Sean N Brennan, 2009, "Scaling of hybrid-electric vehicle powertrain components for hardware-in-the-loop simulation", Mechatronics, 8, (1), pp. 1-13

Sean N Brennan and B. McGinnis, 2008, "Highway medians", Vehicle Dynamics International, 4, pp. 52-53

H. Hailu and Sean N Brennan, 2008, "Reduction in the number of gain-scheduling parameters using dimensional transformation", ASME Transactions on Dynamic Systems, Measurement, and Control, 130, (3), pp. 6

V. Mehta, F. Gandhi and Sean N Brennan, 2008, "Experimentally verified optimal serpentine gait and hyper-redundancy of a rigid-link snake robot", IEEE Transactions on Robotics, 24, (2), pp. 348-360

V. Gupta and Sean N Brennan, 2008, "Vehicle state estimation using vision and inertial measurements", Journal of Field Robotics, 25, (3), pp. 181-202

A. Dean and Sean N Brennan, 2008, "A low-order dynamic model of a tracked robot inclusive of nonlinear slip", International Journal of Heavy Vehicle Systems, 15, (2), pp. 327-355

Sean N Brennan, J. Buckland, U. Christen, K. Fischbach, I. Haskara and I. Kolmanovsky, 2007, "Editorial to special issue on control applications in automotive engineering", IEEE Transactions on Control Systems Technology, 13, (3), pp. 403-405

Sean N Brennan and A. Alleyne, 2005, "Dimensionless robust control with application to vehicles", IEEE Transactions on Control Systems Technology, 13, (4), pp. 624-630

Sean N Brennan and A. Alleyne, 2004, "Real-time identification of vehicle chassis dynamics using a novel reparameterization based on sensitivity invariance", International Journal of Adaptive Control and Signal Processing: Special Issue on Automotive Applications, 18, (2), pp. 103-123

A. Alleyne, Sean N Brennan, B. Rasmussen, R. Zhang and Y. Zhang, 2003, "Controls and experiments: Lessons learned", IEEE Control Systems Magazine, 23, (5), pp. 20-34

Sean N Brennan and A. Alleyne, 2001, "Robust scalable vehicle control via non-dimensional vehicle dynamics", Vehicle System Dynamics, 36, (4-5), pp. 255-277

Sean N Brennan and A. Alleyne, 2001, "Using a scale testbed: Controller design and evaluation", IEEE Control Systems Magazine, 21, (3), pp. 15-26

Sean N Brennan and A. Alleyne, 2000, "The Illinois Roadway Simulator: A mechatronic testbed for vehicle dynamics and control", IEEE/ASME Transactions on Mechatronic Systems, 5, (4), pp. 349-359

M. Lieberman, C. Bragg and Sean N Brennan, 1998, "Determining gravimetric bark content in cotton with machine vision", Textile Research Journal, 68, (2), pp. 94-104

A. Dean, R. Martini and Sean N Brennan, , "Terrain-based road vehicle localization using particle filters", International Journal of Vehicle System Dynamics, 48, (8), pp. 1209-1223

Conference Proceedings

Rinith Pakal, N. Kathiriya, Hossein Haeri, Satya Maddipatla, Kshitij Jerath, Craig Beal, Sean N Brennan and Cindy Chen, 2023, "Distributed Edge Computing System for Vehicle Communication", pp. 8

J. Mitrovich, S. Maddipatla, L. Gao, Sukran Ilgin Guler, C. Beal and Sean N Brennan, 2023, "Analysis of Friction Utilization Within a Roadway Network Using Simulated Vehicle Trajectories", pp. 6 pages

J. Glunt, J. Siefert, Herschel Pangborn and Sean N Brennan, 2023, "Challenges in Integrating Low-level Path Following and High-level Path Planning Over Polytopic Maps", pp. 6 pages

Stephen Harnett, Sean N Brennan, Karl M Reichard, Jesse Pentzer, Seth Tau and David Gorsich, 2023, "Determining A Direction- And Position-Agnostic Occupancy Probability And Occupancy Ratio From Maps of Obstacle Fields For Ground Vehicle Navigation", pp. 6 pages

Stephen Harnett, Sean N Brennan, Karl M Reichard, Jesse Pentzer, Seth Tau and David Gorsich, 2023, "Estimation and Comparison of the Distance Costs of Routing Around or Through All Obstacles in Mapped Obstacle Fields", pp. 6 pages

Stephen Harnett, Sean N Brennan, Karl M Reichard, Jesse Pentzer, Seth Tau and David Gorsich, 2022, "Path-Free Estimation of Navigation Distance Using Obstacle Shape Statistics and Density", pp. 6 pages

W. Bai, S. Maddipatla, E. Pelletier, L. Gao and Sean N Brennan, 2022, "Determining Region of Influence of Ego-Vehicle on Roadways for Vehicle Decision Making", pp. 6 pages

L. Gao, C. Beal, W. Bai, S. Maddipatla, C. Chen, K. Jerath, H. Haeri, L. Sinanaj and Sean N Brennan, 2022, "Boxes-based Representation and Data Sharing of Road Surface Friction for CAVs", pp. 10 pages

S. Maddipatla, H. Haeri, K. Jerath and Sean N Brennan, 2021, "Fast Allan Variance (FAVAR) and Dynamic Fast Allan Variance (D-FAVAR) Algorithms for both Regularly and Irregularly Sampled Data", pp. 6 pages

L. Gao, W. Bai, R. Leary, K. Varadarajan and Sean N Brennan, 2021, "ROS Integration of External Vehicle Motion Simulations with an AIMSUN Traffic Simulator as a Tool to Assess CAV Impacts on Traffic", pp. 6 pages

Lorina Sinanaj, Hossein Haeri, Liming Gao, Satya Prasad Maddipatla, Cindy Chen, Kshitij Jerath, Craig Beal and Sean N Brennan, 2021, "Allan Variance-based Granulation Technique for Large Temporal Databases", Proceedings of the 13th International Joint Conference on Knowledge Discovery, Knowledge Engineering and Knowledge Management (IC3K 2021), 3, pp. 17-28

W. Bai, E. Pelletier, G. Zhou and Sean N Brennan, 2021, "An In-Vehicle Speed Advisories HMI for Driving Safety and Fuel Economy Improvement", pp. 7 pages

Liming Gao, Craig Beal, Daniel Fescenmyer and Sean N Brennan, 2021, "Analytical Longitudinal Speed Planning for CAVs with Previewed Road Geometry and Friction Constraints", pp. 6 pages

Siu Ling Leung and Sean N Brennan, 2021, "A New Approach to Equip Students to Solve 21st-Century Global Challenges: Integrated Problem-Based Mechanical Engineering Laboratory", pp. 6 pages

L. Gao, S. Maddipatla, C. Beal, K. Jerath, C. Chen, L. Sinanaj, H. Haeri and Sean N Brennan, 2021, "A Micro-Simulation Framework for Studying CAVs Behavior and Control Utilizing a Traffic Simulator, Chassis Simulation, and a Shared Roadway Friction Database", New Orleans, LA, pp. 1650-1655

S. Maddipatla and Sean N Brennan, 2021, "Synchronization and Feedback Loop Integration of a Non-real Time Microscopic Traffic Simulation with a Real-time Driving Simulator using Model Based Prediction", New Orleans, LA, pp. 8 pages

W. Bai, J. Borek, L. Gao, C. Vermillion and Sean N Brennan, 2021, "Determining the region of influence of a signalized traffic intersection by analysis of heavy-duty diesel vehicle fuel consumption", New Orleans, LA, pp. 8 pages

V. Gruning, J. Pentzer, Sean N Brennan and Karl M Reichard, 2020, "Energy-Aware Path Planning for Skid-Steer Robots Operating on Hilly Terrain", American Control Conference, Proceedings of the 2020 American Control Conference

S. Tau, Sean N Brennan, Karl M Reichard, J. Pentzer and D. Gorsich, 2020, "Increasing Efficiency of Grid Free Path Planning by Bounding the Path-Planning Search Region", American Control Conference, Proceedings of the 2020 American Control Conference

C. Beal and Sean N Brennan, 2019, "Modeling and Friction Estimation for Automotive Steering Torque at Very Low Speeds", pp. 9 pages

E. Pelletier and Sean N Brennan, 2019, "Diesel Engine Characterization and Performance Scaling via Brake Specific Fuel Consumption Map Dimensional Analysis", pp. 8 pages

K. Varadarajan, R. Leary, E. Pelletier, M. Wahba and Sean N Brennan, 2019, "Analyzing the Effects of Geometric Lane Constraints on RADAR-based Sensing of Available Vehicle Headway using Mapped Lane Geometry and Camera Registration of Lane Position", pp. 8 pages

K. Wolkowicz, R. Leary, Jason Zachary Moore and Sean N Brennan, 2019, "Real-Time Path-based Fusion of Spatial Databases with Temporal Control Inputs for Assistive Operation of Wheelchairs", pp. 8 pages

K. Wolkowicz, R. Leary, Jason Zachary Moore and Sean N Brennan, 2019, "Statistical Determination of Decision-Making Regions for Branching Paths: An Algorithm with a Wheelchair Assistance Application", pp. 8 pages

C. Xu, B. Groelke, M. Alvarez, C. Earnhardt, J. Borek, E. Pelletier, S. Boyle, B. Huynh, M. Wahba, S. Geyer, C. Grahm, M. Magee, K. Palmeter, M. Naghnaeian, Sean N Brennan, Stephanie Stockar, C. Vermillion and Hosam Kadry Fathy, 2019, "Engine-in-the-loop Study of A Hierarchical Predictive Online Controller for Connected and Automated Heavy-duty Vehicles", pp. 6

Nick Dow, Stefan Topper, Sean N Brennan and Matthew B Parkinson, 2019, "Assessment of Speed Choice during High Speed Horizontal Curves Evaluating Driver Familiarity and Engagement", The Transportation Research Board of the National Academies of Science, pp. 15 pages

J. Bracken, Sean N Brennan, Ian VanSant, Clifford J Lissenden and Karl M Reichard, 2018, "Nuclear Storage Cask Inspection Robotics as a Case Study in System Design Challenges", pp. 10 pages

Matthew Ng and Sean N Brennan, 2018, "Mechanical Performance Analysis of ULTEM 9085 in a Heated, Irradiated Environment", pp. 6 pages

K. Blundi, K. Wolkowicz and Sean N Brennan, 2018, "A Model-Based Approach for Predicting the Yaw-rate of a Wheelchair Using Joystick Steering Inputs", pp. 6 pages

T Baum, K. Wolkowicz, J. Chobot and Sean N Brennan, 2018, "Negative Obstacle Detection Using LiDAR Sensors for Robotic Wheelchair", 2018 ASME Dynamic Systems and Control Conference, October 3rd, 2018, Atlanta GA, USA, pp. 10 pages

Christopher Monaco and Sean N Brennan, 2018, "Ego-Motion Estimate Corruption due to Violations of the Range Flow Constraint", 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Madrid, Spain, pp. 6 pages

Christopher Monaco, Sean N Brennan and Kurt Hacker, 2018, "Doppler Velocity Log Placement Effects on Autonomous Underwater Vehicle Navigation Accuracy", pp. 6 pages

V. Vohra, M. Wahba, G. Akarslan, Rui Ni and Sean N Brennan, 2018, "An Examination of Vehicle Spacing to Reduce Aerodynamic Drag in Truck Platoons", pp. 6

M. Wahba and Sean N Brennan, 2018, "Developing an Operational Testing Ground for Autonomous and Connected Vehicles", pp. 5

R. Leary and Sean N Brennan, 2018, "Region of Attraction of a Real-time Vehicle Pose Estimator Using Monocular Vision And Lane Marker Maps", pp. 6

M. Alvarez, C. Xu, M. Rodriguez, A. Al-Mamun, M. Wahba, Sean N Brennan and Hosam Kadry Fathy, 2018, "Reducing Road Vehicle Fuel Consumption by Exploiting Connectivity and Automation: A Literature Survey", pp. 6

Ting Xu and Sean N Brennan, 2018, "Collision-Free CAV Navigation for Two Cars at Four-Way Non-Signalized Intersections", pp. 7 pages

Ting Xu and Sean N Brennan, 2018, "Cooperative Driving for Two Vehicles at Four-way Non-Signalized Intersections", Penn State University, pp. 6 pages

Matthew Ng and Sean N Brennan, 2018, "Mechanical Performance Analysis of ULTEM 9085 in a Heated, Irradiated Environment", pp. 6 pages

P. Arora and Sean N Brennan, 2017, "Development of User-guided Automatic Generation of Random Highway Scenarios for Driving Simulator Applications", 2017 Roadside Safety and Simulation International Conference, The Hague, Netherlands, pp. 10

M. Robinson and Sean N Brennan, 2017, "Geometrically Derived Distance-Optimal Trajectories Using a Point-Mass Model for Pedestrian Avoidance", 2017 Roadside Safety and Simulation International Conference, The Hague, Netherlands, pp. 10

I. Shekhawat, D. Corbin, Eric T Donnell and Sean N Brennan, 2017, "Automatic identification of hazardous roadside conditions", 2017 Roadside Safety and Simulation International Conference, The Hague, Netherlands, pp. 10

M. Wahba, R. Leary, J. Safi, Nicolas Ochoa-Lleras and Sean N Brennan, 2016, "A ROS-Simulink real-time communication bridge using UDP with a driver-in-the-loop application", ASME 2016 Dynamic Systems and Control Conference, DSCC2016-9693, pp. 7

R. Leary and Sean N Brennan, 2016, "Region of attraction for a vehicle pose estimator utilizing monocular vision and lane marker maps", 2016 ASME Dynamic Systems and Control Conference, pp. 7

C. Miller, K. Wolkowicz, J. Safi and Sean N Brennan, 2016, "State of charge estimation for an electric wheelchair using a fuel guage model", 2016 ASME Dynamic Systems and Control Conference, pp. 8 pages

J. Pentzer, J. Safi, Sean N Brennan and Karl M Reichard, 2016, "On-line estimation of skid-steer instantaneous centers of rotation in GPS-denied environments", Journal of Field Robotics, Proceedings of the 2016 International Society for Terrain Vehicle Systems, 8th Americas Regional Conference

P. Arora, D. Corbin and Sean N Brennan, 2016, "Variable-sensitivity road departure warning system based on static, mapped, near-road threats", 2016 IEEE Intelligent Vehicles Symposium

H. Yang, Derek McBlane, Christina Boyd, C. Beal and Sean N Brennan, 2016, "Vehicle road departure detection using anomalies in dynamics", American Control Conference (ACC), pp. 6314-6319

B. McNelly, R. Leary, Sean N Brennan and Karl M Reichard, 2016, "Characterizing successful robotic insertion and removal from a dry storage cask using peg-like jamming and wedging analysis", ASME 2016 Pressure Vessels and Piping Conference, 6B: Materials and Fabrication, pp. 10

Clifford J Lissenden, S. Choi, H. Cho, Arthur T Motta, K. Hartig, X. Xiao, S. Le Berre, Sean N Brennan, Karl M Reichard, R. Leary, B. McNelly and I. Jovanovic, 2016, "Robotic inspection of dry storage casks for spent nuclear fuel", ASME 2016 Pressure Vessels and Piping Conference, 6B: Materials and Fabrication, pp. 10

A. Whalen, Sean N Brennan, T. Sauer and S. Schiff, 2016, "Effects of symmetry on the structural controllability of neural networks", American Control Conference, pp. 6

J. Pentzer, Karl M Reichard and Sean N Brennan, 2016, "Energy-based path planning for skid-steer vehicles operating in areas with mixed surface types", 2016 American Control Conference, pp. 6

P. Stankiewicz, N. Ochoa-Lleras and Sean N Brennan, 2015, "Vehicle rollover prevention using the zero-moment point in an LQR output regulator", Proceedings of the 2015 ASME Dynamic Systems and Control Conference, pp. 10

A. Trezza, N. Virani, K. Wolkowicz, J. Moore and Sean N Brennan, 2015, "Indoor mapping and localization for a smart wheelchair using measurements of ambient magnetic fields", ASME Dynamic Systems and Control Conference, pp. 10

M. Wahba and Sean N Brennan, 2015, "MPC-based energy management of a parallel hybrid electric vehicle using terrain information", Proceedings of the 2015 ASME Dynamic Systems and Control Conference, pp. 8

A. Whalen, Sean N Brennan, T. Sauer and S. Schiff, 2015, "Structural controllability with symmetry", 7th International IEEE EMBS Conference on Neural Engineering, pp. 6

N. Ochoa-Lleras, Murphy Dennis and Sean N Brennan, 2015, "Experimental determination of operator perception of tractor instability", 3rd International Conference on Safety, Health and Welfare in Agriculture, Agro-food and Forestry Systems (Ragusa), pp. 294-301

K. Jerath and Sean N Brennan, 2015, "Identification of locally influential agents in self-organizing multi-agent systems", Proceedings of the 2015 American Control Conference, pp. 335-340

J. Safi, J. Anstrom, Sean N Brennan and H. Fathy, 2014, "Differential diagnostics for lithium ion battery cells connected in series", ASME Dynamic Systems and Control Conference, pp. 6

K. Jerath, V. Gayah and Sean N Brennan, 2014, "Influential subspaces of connected vehicles in highway traffic", TRB Committee on Traffic Flow Theory and Characteristics Symposium, pp. 9

N. Ochoa-Lleras, A. A. Brown, Sean N Brennan, P. M. Garvey, H. J. Sommer and D. J. Murphy, 2014, "Development of an open-source immersive tractor driving simulator", American Society of Agricultural and Biological Engineers Annual International Meeting, pp. 4

K. Jerath, A. Ray, Sean N Brennan and V. Gayah, 2014, "Statistical mechanics-inspired framework for studying the effects of mixed traffic flows on highway congestion", American Control Conference, pp. 5402-5407

D. Torbic, E. Donnell, Sean N Brennan, A. Brown, M. O'Laughlin and K. Bauer, 2014, "Superelevation design for sharp horizontal curves on steep grades", Transportation Research Board Annual Conference, pp. 20

J. Safi, M. Beeney, M. Kehs, J, Anstrom, Sean N Brennan and H. Fathy, 2014, "Improving SOC accuracy using collective estimation for lithium ion battery cells in series", American Control Conference, pp. 254-259

E. Laftchiev, C. Lagoa and Sean N Brennan, 2014, "Multi-attribute data dynamics discontinuity identification: A probabilistic approach using linear modeling", 53rd Annual IEEE Conference on Decision and Control, pp. 5666-5673

J. Pentzer, Sean N Brennan and K. Reichard, 2014, "On-line estimation of vehicle motion and power model parameters for skid-steer robot energy use prediction", American Control Conference, pp. 2786-2791

P. Stankiewicz, A Brown and Sean N Brennan, 2014, "Open-loop vehicle collision avoidance and rollover prevention using previewed zero-moment point", American Control Conference, pp. 3207-3212

E. Laftchiev, C. Lagoa and Sean N Brennan, 2014, "Robust data map design using chance constraint optimization", American Control Conference, pp. 4573-4580

A. Brown and Sean N Brennan, 2014, "Temporal preview estimation for design of a low cost lane-following system using a forward-facing monocular camera", IEEE Intelligent Vehicles Symposium, pp. 1457-1462

J. Pentzer, Sean N Brennan and K. Reichard, 2014, "The use of unicycle robot control strategies for skid-steer robots through the ICR kinematic mapping", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3201-3206

E. Laftchiev, C. Lagoa and Sean N Brennan, 2013, "Robust map design by outlier point selection for terrain-based vehicle localization", IEEE Conference on Decision and Control, pp. 3366-3371

A. Brown and Sean N Brennan, 2013, "Comparison of field measurements of vehicle dynamics to simulations using both design plans and LIDAR-scanned road geometry", Road Safety and Simulation International Conference, pp. 14

A. Brown and Sean N Brennan, 2013, "Analysis of simulation model complexity for predicting vehicle skidding for 3D geometric design of roadways", Road Safety and Simulation International Conference, pp. 14

P. Stankiewicz, A. Brown and Sean N Brennan, 2013, "Determination of minimum state preview time to prevent vehicle rollover", ASME Dynamic Systems and Control Conference, pp. 8

A. Brown and Sean N Brennan, 2013, "Global and local frameworks for vehicle state estimation using temporally previewed mapped lane features", IEEE IV Workshop on Environment Perception and Navigation for Intelligent Vehicles, pp. 127-133

K. Swanson, A. Brown, Sean N Brennan and C. LaJambe, 2013, "Extending driving simulator capabilities toward hardware-in-the-loop testbeds and remote vehicle interfaces", IEEE IV Workshop on Environment Perception and Navigation for Intelligent Vehicles, pp. 115-120

H. Pangborn, Sean N Brennan and K. Reichard, 2013, "Development and applications of a robot tracking system for NIST test methods", IEEE Systems and Information Engineering Design Symposium (SIEDS), pp. 70-75

E. Laftchiev, C. Lagoa and Sean N Brennan, 2012, "Terrain-based vehicle localization from real-time data using dynamical models", IEEE Conference on Decision and Control, pp. 3366-3371

E. O'Hare, D. Linzell, Z. Rado and Sean N Brennan, 2012, "Development of shallow foundation streetscape vehicular anti-ram (SVAR) systems through modeling and testing", 83rd Shock and Vibration Symposium, pp. 11

L. Reese, T. Qiu, D. Linzell, Z. Rado and Sean N Brennan, 2012, "Development of landscape vehicular anti-ram systems through computational and experimental methods", 83rd Shock and Vibration Symposium, pp. 18

P. Vemulapalli, G. Ledva, Sean N Brennan and K. Reichard, 2012, "Pattern matching of in-vehicle acceleration time-series data", Dynamic Systems and Control Conference, pp. 761-770

M. Barnes and Sean N Brennan, 2012, "Simulation, design, and verification of an electrified bicycle energy model", Proceedings of the 2012 Dynamic Systems and Control Conference, pp. 875-880

A. Brown and Sean N Brennan, 2012, "Model-based vehicle state estimation using previewed road geometry and noisy sensors", Proceedings of the 2012 Dynamic Systems and Control Conference, pp. 591-600

Sean N Brennan, 2012, "GPS-free terrain-based vehicle tracking on road networks", American Control Conference, pp. 307-311

M. Montenbruck and Sean N Brennan, 2012, "Monitoring delayed systems using the Smith Predictor", Proceedings of the American Control Conference, pp. 6235 - 6239

J. Pentzer and Sean N Brennan, 2012, "Investigation of the effect of continuously variable transmissions on ground robot powertrain efficiency", American Control Conference, pp. 4245 - 4250

P. Vemulapalli, V. Monga and Sean N Brennan, 2012, "Optimally robust extrema filters for time series data", American Control Conference, pp. 2189 - 2195

A. Whalen, Sean N Brennan, T. Sauerx and S. Schiff, 2012, "Observability of neuronal network motifs", 46th Annual Conference Information Sciences and Systems (CISS), pp. 1-5

T. Varunjikar, P. Vemulapalli and Sean N Brennan, 2011, "Multi-body vehicle dynamics simulation based on measured 3D terrain data", Road Safety and Simulation Conference, pp. 10

S. Lapapong, A. Brown and Sean N Brennan, 2011, "Frequency characteristics and explanation of notches seen in frequency responses of vehicles", 2nd TSME International Conference on Mechanical Engineering, pp. 6

S. Kadetotad, P. Vemulapalli, Sean N Brennan and C. Lagoa, 2011, "Terrain-aided localization using feature-based particle filtering", Proceedings of the 2011 ASME Dynamic Systems and Control Conference (DSCC), pp. 725-731

K. Jerath and Sean N Brennan, 2011, "GPS-free terrain-based vehicle tracking performance as a function of inertial sensor characteristics", Proceedings of the 2011 ASME Dynamic Systems and Control Conference (DSCC), pp. 367-374

S. Lapapong and Sean N Brennan, 2011, "A novel comparative approach to evaluate vehicle rollover propensity", 22nd International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD 2011), pp. 6

A. Brown and Sean N Brennan, 2011, "Measuring vehicle roll, tire camber, and camber coefficient using LIDAR", 22nd International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD 2011), pp. 6

A. Brown, S. Lapapong, K. Swanson and Sean N Brennan, 2011, "Modeling of planar vehicle dynamics during gradual tire deflation", 22nd International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD 2011)

P. Vemulapalli, A. Dean and Sean N Brennan, 2011, "Pitch-based vehicle localization using time series subsequence matching with multi-scale extrema features", American Control Conference, pp. 2405-2410

T. Simpson, K. Reichard and Sean N Brennan, 2011, "An integrated approach to platform-based engineering with application to a family of unmanned ground vehicles", Systems 2020 Conference

T. W. Simpson, Sean N Brennan, L. A. Slingerland, A. Bobuk, D. Logan and K. Reichard, 2010, "From user requirements to commonality specifications: An integrated approach to product family design", 13th AIAA/ISSMO Multidisciplinary Analysis & Optimization Conference, pp. 14

K. Jerath and Sean N Brennan, 2010, "Adaptive cruise control: Towards higher traffic flows, at the cost of increased susceptibility to congestion", 10th International Symposium on Advanced Vehicle Control, pp. 6

S. Lapapong, A. Brown and Sean N Brennan, 2010, "Experimental validation of terrain-aware rollover prediction for ground vehicles using the zero-moment point method", 10th International Symposium on Advanced Vehicle Control. (2010 AVEC), pp. 6

A. Dean, J. Langelaan and Sean N Brennan, 2010, "Improvements in terrain-based road vehicle localization by initializing an unscented Kalman filter using particle filters", American Control Conference, pp. 6

S. Lapapong and Sean N Brennan, 2010, "Terrain-aware rollover prediction for ground vehicles using the zero-moment point method", American Control Conference, pp. 7

A. Dean and Sean N Brennan, 2009, "Terrain-based road vehicle localization on multi-lane highways", American Control Conference, pp. 707-712

C. Rogan, J. Anstrom and Sean N Brennan, 2009, "Power and energy management for heavy tactical vehicles", Joint Service Power Expo

P. Vemulapalli and Sean N Brennan, 2009, "Design and testing of a terrain mapping system for median slope measurement", Transportation Research Board of the National Academy of Science, pp. 20

K. Reichard, T. Simpson, C. Rogan, J. Merenich, Sean N Brennan and E. Crow, 2008, "Design and development of a family of explosive ordinance disposal (EOD) robots", SPIE European Defense and Security Conference

A. Dean, P. Vemulapalli and Sean N Brennan, 2008, "Highway evaluation of terrain-aided localization using particle filters", Dynamic Systems and Control Conference, pp. 1139-1145

M. Petersheim and Sean N Brennan, 2008, "Scaling of hybrid electric vehicle powertrain components for hardware-in-the-loop simulation", Multi-Systems Conference

M. Petersheim, Sean N Brennan, C. LaJambe and F. Brown, 2008, "Important visual cues for driver speed perception in virtual driving environments", 4th International Conference on Traffic & Transport Psychology (ICTTP)

A. Dean and Sean N Brennan, 2008, "Terrain-based road vehicle localization using particle filters", American Control Conference, pp. 236-241

V. Gupta and Sean N Brennan, 2007, "Vehicle state estimation using vision and inertial measurements", Fifth IFAC Symposium on Advances in Automotive Control, pp. 65-70

Sean N Brennan, 2007, "Mechatronics and systems instruction across graduate, undergraduate, and research applications using rapidly reconfigurable hardware", Proceedings of the 2007 ASEE Annual Conference and Exhibition

B. Hamblin and Sean N Brennan, 2007, "Lessons learned from matching experimental data to low-order models of vehicle behavior", Proceedings of the 2007 ASME IMECE

B. Hamblin and Sean N Brennan, 2007, "Utilization of vehicle dynamic simulations as predictors of highway safety", Proceedings of the 2007 ASME IMECE, pp. IMECE2007- 42195

M. D. Petersheim, S. P. Clewell, Sean N Brennan, C. M. LaJambe, M. El-Gindy and F. M. Brown, 2006, "Development of a driving simulator for human-vehicle interaction studies", 9th Int Symp on Heavy Vehicles, Weights, & Dimensions, pp. 121-130

B. Hamblin, R. Martini, J. Cameron and Sean N Brennan, 2006, "Low-order modeling of vehicle roll dynamics", Proceedings of the 2006 American Control Conference, pp. 8

H. Hailu and Sean N Brennan, 2006, "The vehicle autopilot: Simultaneous robust control through parametric adaptation", Proceedings of the 2006 ASME IMECE, pp. 137-144

J. Cameron and Sean N Brennan, 2005, "A comparative, experimental study of model suitability to describe vehicle rollover dynamics for control design", Proceedings of the 2005 ASME IMECE, pp. 405-414

H. Hailu and Sean N Brennan, 2005, "Simplifying robust control designs of parametric uncertain systems using dimensional transforms", Proceedings of the 2005 ASME IMECE, pp. 77-83

H. Hailu and Sean N Brennan, 2005, "Use of dimensional analysis to reduce the parametric space for gain-scheduling", American Control Conference, pp. 598-603

A. Nirakh, Sean N Brennan and F. Gandhi, 2005, "An implicit model for snake robot locomotion and gait optimization", Proceedings of the 2005 ASME IMECE, pp. 1733-1742

J. Cameron and Sean N Brennan, 2004, "Low cost vehicle guidance and automation strategies for crash testing: A vehicle dynamics analysis", 7th Annual PTI Transportation Conference

E. Ozatay, B. Zile, J. Anstrom and Sean N Brennan, 2004, "Power distribution control coordinating ultracapacitors and batteries for electric vehicles", American Control Conference, 5, pp. 4716-4721

C. Robinson, D. Block, Sean N Brennan, F. Bullo and J. Cortes, 2004, "Nonsmooth analysis and sonar-based implementation of distributed coordination algorithms", IEEE Conference on Robotics and Automation, 3, pp. 3000-3005

Sean N Brennan, 2004, "Similarity conditions for comparing closed-loop vehicle roll and pitch dynamics", American Control Conference, pp. 3393-3398

Sean N Brennan, 2003, "Dimensionless sensitivity methods for the identification of vehicle chassis dynamics", ASME IMECE

Sean N Brennan and A. Alleyne, 2003, "Generalized H-infinity vehicle control utilizing dimensional analysis", American Control Conference, pp. 3774-3780

Sean N Brennan and A. Alleyne, 2002, "H-infinity vehicle control using non dimensional perturbation measures", American Control Conference, pp. 2534-2539

Sean N Brennan and A. Alleyne, 2001, "Integrated vehicle control via coordinated steering and wheel torque inputs", American Control Conference, Arlington, VA, pp. 7-12

Sean N Brennan and A. Alleyne, 2000, "Robust stabilization of a generalized vehicle, a nondimensional approach", Proceedings of the 5th International Symposium on Advanced Vehicle Control (AVEC), Ann Arbor, MI

Sean N Brennan and A. Alleyne, 1999, "A scaled testbed for vehicle control: The IRS", IEEE International Conference on Control Applications, Kohala Coast, HI, pp. 327-332

Sean N Brennan and A. Alleyne, 1999, "Driver assisted yaw rate control", American Controls Conference, San Diego, CA, pp. 1679-1704

Sean N Brennan, M. DePoorter and A. Alleyne, 1998, "The Illinois Roadway Simulator—A hardware-in-the-loop testbed for vehicle dynamics and control", American Control Conference, Philadelphia, PA, pp. 493-497

M. DePoorter, Sean N Brennan and A. Alleyne, 1998, "Driver assisted control strategies: Theory and experiment", ASME International Mechanical Engineering Congress and Exposition, Anaheim, CA, pp. 721-728

N. Aukland, H. Hardee, A. Wehr, Sean N Brennan and P. Lees, 1997, "An examination of the metallic bonding of a clad material and two gold plating systems under constant force fretting conditions", Proceedings of the Forty-Third IEEE Holm Conference on Electrical Contacts, Seattle, WA, pp. 7-19

Clifford J Lissenden, Arthur T Motta, Sean N Brennan, Karl M Reichard, I. Jovanovic, T. Knight and J. Popovics, , "Development of robotic multisensor inspection system for used nuclear fuel canisters", American Nuclear Society 2017 Conference, pp. 4

K. Blundi, K. Wolkowicz and Sean N Brennan, , "A Model-Based Approach for Predicting the Yaw-rate of a Wheelchair Using Joystick Steering Inputs", 2018 CERS, Penn State University, pp. 6 pages

K. Wolkowicz, Robert Leary, Jason Zachary Moore and Sean N Brennan, , "Discriminating Spatial Intent from Noisy Joystick Signals for Wheelchair Path Planning and Guidance", pp. 6 pages

Robert Leary and Sean N Brennan, , "Extracting Geometric Road Centerline and Lane Edges from Single-scan LiDAR Intensity using Optimally-Filtered Extrema Features", Copenhagen, Denmark, pp. 6 pages

J. Bracken, Sean N Brennan, Clifford J Lissenden, Timothy W Simpson, Ian VanSant, Karl M Reichard and Matthew Ng, , "Change Propagation During Prototyping: A Case Study of a Robotic Inspection System For Dry Nuclear Waste Storage Casks", pp. 10 pages

Nick Dow, Stefan Topper, Sean N Brennan and Matthew B Parkinson, , "A Baseline Experiment for the Effect of Virtual Immersion on Vehicle Passenger Risk Perception"

S. Tau, Sean N Brennan, Karl M Reichard, J. Pentzer and D. Gorsich, , "The Effects of Obstacle Dimensional Uncertainty on Path Planning in Cluttered Environments", pp. 8 pages

• March 2017 - December 2020, "Maximizing Fuel Economy through Real-Time, Collaborative, and Predictive Co-Optimization of Routing, Speed, and Powertrain Control," (Sponsor: Energy Advanced Research Projects Agency).

• October 2011 - September 2017, "Penn State GATE Center of Excellence: In-Vehicle, High-Power Energy Storage Technologies," (Sponsor: National Energy Technology Laboratory (USDOE)).

• Best Student Paper in Conference, 13th International Conference on Knowledge Management and Information Systems, July 2021

• Winner of "gold medal" for student paper, 2021 Modeling, Estimation and Control Conference, July 2021

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