S. Morgan

Papers

Total Citations

H-Index

About

S. Morgan has made pioneering contributions at the intersection of robotics motion planning and hybrid systems control, fundamentally advancing how complex, mixed discrete-continuous systems are analyzed and managed. Their most influential work, "Sampling-based planning, control and verification of hybrid systems" (2006, 75 citations), introduced a transformative approach that adapts classic robotics algorithms—particularly rapidly exploring random trees (RRTs) and probabilistic roadmaps (PRMs)—to solve standard nonlinear control problems. This landmark paper demonstrated how sampling-based methods could be repurposed for planning, control, and verification in hybrid systems, bridging a critical gap between robotics and control theory. Morgan’s research has had lasting impact, providing engineers and researchers with practical tools for tackling high-dimensional, constrained systems where traditional analytical methods fall short. By showing that motion planning algorithms can verify system properties and generate feasible trajectories, their work has influenced fields from autonomous vehicles to industrial automation. With 75 citations on this key paper alone, Morgan’s contributions continue to inspire new generations of researchers exploring sampling-based techniques for hybrid system verification and control.