BelabbasMohamed-Ali (M.-A.) Belabbas

PhD, Applied Mathematics, Harvard University

Associate Professor
Electrical and Computer Engineering Department
Coordinated Science Laboratory
University of Illinois at Urbana-Champaign

Contact: CSL 166
1308 W Main St
Urbana, IL 61801
Phone: 217 300 1742
belabbas [at] illinois [dot] edu

Office hours: by appointment.

Motion planning


ECE 470/AE 482/ME 446: Introduction to Robotics (Fall 2018)

ECE 486: Linear Systems (Fall 2013, Fall 2014, Fall 2015, Spring 2017, Fall 2017)

ECE 555: Stochastic Control (Spring 2013, Spring 2015, Spring 2017)

ECE 598MAB: Geometric Control (Spring 2014, Spring 2016, Spring 2018)

ECE 515: Linear Systems (Fall 2015)

ECE 517: Nonlinear and adaptive control (Fall 2017)


Papers and preprints


  • Motion Planning for Non-holonomic Systems via the Heat Flow: theory and algorithms, with S. Liu, in preparation
  • Controlling and stabilizing a rigid formation using a few agents, with X. Chen and T. Başar. Under review (SICON)
  • Graph theory and the design of sparse distributed systems, Preprint,  A. Kirkoryan and  M.-A. Belabbas.    pdf  bibtex



  • On the Optimal Design of Low Frequency Actuators, with A. Kirkoryan, CDC18
  • Graph Theory in Systems and Control, with D. Zelazo and M. Mesbahi, CDC18
  • New Method for Motion Planning for Non-holonomic Systems using Partial Differential Equations, with S. Liu,  ACC2017pdf
  • Controlling a rigid formation from a triangle, with X. Chen and T. Başar, CDC2016. pdf
  • Optimal sensor and actuator placement with sparsity constraints, MTNS2016
  • Cluster Consensus over Strongly Connected Voltage Graphs, with X. Chen and  T. Başar, MTNS2016
  • Controllability of formations over directed graphs, with X. Chen and T.Başar, CDC2015
  • Consensus with Linear Objective Maps, with  X. Chen and T. Başar, CDC2015
  • Stability and Convergence Rate of Discrete-Time Altafini’s Model: A Graphical Approach,  with J. Liu, X. Chen, T.Başar, CDC2015
  • Formation Control with Triangulated Laman Graphs, with X. Chen and T.Başar, CDC2015
  • Distributed local stabilization in formation control, with M. Lorenzen, ECC2014 pdf bibtex
  • Undirected rigid formations are problematic, with S. Mou, A.S. Morse  and BDO Anderson, CDC2014
  • Decentralized stabilization with symmetric topologies, with  A. Kirkoryan, CDC2014
  • Algorithms for sparse stable systems, CDC2014    pdf  bibtex
  • Decentralized design with localized objective in formation control, ACC2013   pdf  bibtex    slides
  • Robustness issues with undirected formations,  with  S. Mou, A.S. Morse and B.D.O. Anderson, CDC2012   pdf  bibtex
  • On global feedback stabilization in decentralized formation control,  CDC2011.  pdf  bibtex
  • Factorizations and partial contractions of nonlinear systems,  with J.JS Slotine, ACC2012.    pdf  bibtex
  • Spectral clustering for multiclass Erdos-Renyi graphs, ICASSP2010     pdf  bibtex
  • On Sparse Representations of Linear Operators and the Approximation of Matrix Products, with P.J. Wolfe, CISS2008    pdf  bibtex
  • Fast Low-Rank Approximation for Covariance Matrices, with P.J. Wolfe, CAMSAP2007
  • Input-output Hamiltonian systems and neural signal processing, with R. Brockett, CDC2006  pdf  bibtex



Xudong Chen (Postdoctoral fellow) => Assistant Professor at CU Boulder


Artur Kirkoryan (PhD Student, Mathematics)


Aristomenis Tsopelakos (PhD Student, ECE)

Shenyu Liu (PhD Student, ECE)

Ivan Abraham (PhD Student, MechSE)


James Schmidt (MSc Student, ECE)

Aristomenis Tsopelakos (MSc Student, ECE)

Xuandong Xu (MSc student, ECE, graduated Spring 2015)

Yuan Yao (MSc student, ECE,  graduated Spring 2015)

Tao Yang (MSc Student, ECE, graduated Spring 2015)