An Error Bound for the Sensor Scheduling Problem (2009)
Zhang, Wei, Hu, Jianghai, Vitus, Michael P
The sensor scheduling problem tries to select one out of multiple available sensors at each time step to minimize a weighted sum of all the estimation errors over a certain time horizon. The problem...
A Study of the Discrete-Time Switched LQR Problem (2009)
Zhang, Wei, Hu, Jianghai, Abate, Alessandro
This paper studies the discrete-time switched LQR (DSLQR) problem based on a dynamic programming approach. One contribution of this paper is the analytical characterization of both the value function...
Stabilizing Switched Linear Systems With Unstabilizable Subsystems (2009)
Zhang, Wei, Hu, Jianghai, Abate, Alessandro
Abstract This paper studies the exponential stabilization problem for discrete-time switched linear systems based on a control-Lyapunov function approach. A number of versions of converse...
Optimal Sojourn Time Control within an Interval 1 (2008)
In this paper we study the problem of find optimal feedback control that can keep an agent within an interval for at least a certain amount of expected time with the least energy. The dynamics of the...
A Probabilistic Approach to Aircraft Conflict Detection (2008)
Maria Pr, Jianghai Hu, John Lygeros, Shankar Sastry
Abstract—Conflict detection and resolution schemes operating at the mid-range and short-range level of the air traffic management process are discussed. Probabilistic models for predicting the...
A STUDY OF ASYMPTOTIC HOLONOMIC EFFICIENCY PROBLEM ∗ (2008)
Abstract. In this paper we study an asymptotic version of the holonomic efficiency problem originated in the study of swimming microorganism. Given a horizontal distribution on a vector bundle, the...
Jason Ridenour, Student Member, Jianghai Hu, Nathaniel Pettis, Student Member
Abstract — In this paper, a method for reducing the power consumption in a pipeline of streaming data is presented. The pipeline is divided into multiple stages and buffer memories are inserted...
Analysis of a Class of Distributed Randomized Algorithms on Randomly Changing Network Graphs (2007)
Dynamical connection graph changes are inherent in networks such as peer-to-peer networks, wireless ad hoc networks, and wireless sensor networks. Considering the influence of the frequent graph...
Optimal Dynamic Buffer Management Using Optimal Control of Hybrid Systems (2007)
This paper studies a dynamic buffer management problem with one buffer inserted between two interacting components. The component to be controlled is assumed to have multiple power modes...
Optimal Multi-Agent Coordination under Tree Formation Constraints (2007)
The optimal multi-agent coordination problem tries to find the motions for a group of agents that start from a set of initial positions and end at a set of destination positions with the least energy...
Conjugate points in formation constrained optimal multi-agent coordination: A case study (2006)
Jianghai Hu, Maria Prandini, Claire Tomlin
Abstract. In this paper, an optimal coordinated motion planning problem for multiple agents subject to constraints on the admissible formation patterns is formulated. Solutions to the problem are...
S.: Aircraft conflict prediction in the presence of a spatially correlated wind field (2005)
Jianghai Hu, Maria Pr, Shankar Sastry
Abstract—In this paper, the problem of automated aircraft conflict prediction is studied for two-aircraft midair encounters. A model is introduced to predict the aircraft positions along some...
Modeling Subtilin Production in Bacillus subtilis Using Stochastic Hybrid Systems (2004)
Jianghai Hu, Wei-chung Wu, Shankar Sastry
Abstract. The genetic network regulating the biosynthesis of subtilin in Bacillus subtilis is modeled as a stochastic hybrid system. The continuous state of the hybrid system is the concentrations of...
Multi-agent coordination : theory and applications / (2003)
Thesis (Ph. D. in Engineering-Electrical Engineering and Computer Sciences)--University of California, Berkeley, Fall 2003.
How should a snake turn on ice: a case study of the asymptotic isoholonomic problem (2003)
Jianghai Hu, Slobodan N. Simić, Shankar Sastry
problem
Optimal coordinated motions of multiple agents moving on a plane (2003)
Jianghai Hu, Maria Prandini, Shankar Sastry
Abstract. We address the problem of optimal coordinated motions of multiple agents moving in the same planar region. The agents ’ motions must satisfy a separation constraint throughout the...
On optimal collision avoidance and formation switching on Riemannian manifolds / (2002)
Thesis (M.A. in Mathematics)--University of California, Berkeley, Fall 2002.
Optimal Coordinated Maneuvers for ThreeDimensional Aircraft Conflict Resolution (2002)
Jianghai Hu, Maria Prandini, Arnab Nilim, Shankar Sastry
In this paper, we study the problem of designing optimal coordinated maneuvers for multiple aircraft conflict resolution. We propose an energy function to select among all the conflict-free maneuvers...
Symmetry reduction of a class of hybrid systems (2002)
Abstract. The optimal control problem for a class of hybrid systems (switched Lagrangian systems) is studied. Some necessary conditions of the optimal solutions of such a system are derived based on...
Hybrid geodesics as optimal solutions to the collision-free motion planning problem (2001)
Jianghai Hu, Maria Pr, Karl Henrik Johansson, Shankar Sastry
Abstract. In this paper we address the problem of designing energy minimizing collision-free maneuvers for multiple agents moving on a plane. We show that the problem is equivalent to that of finding...
Optimal collision avoidance and formation switching on Riemannian manifolds (2001)
In this paper the problems of optimal collision avoidance and optimal formation switching for multiple agents moving on a Riemannian manifold are studied. It is assumed that the underlying manifold...
Towards a Theory of Stochastic Hybrid Systems (2000)
Jianghai Hu, John Lygeros, Shankar Sastry
Abstract. In this paper, we present a scheme of stochastic hybrid system which introduces randomness to the deterministic framework of the traditional hybrid systems by allowing the flow inside each...
Optimal maneuver for multiple aircraft conflict resolution: A braid point of view (2000)
In this paper, we study conflict resolution for multiple aircraft encounter situations on a plane. First, the homotopy types of resolution maneuvers for n aircraft encounters are classified according...
Optimal maneuver for multiple aircraft conflict resolution: A braid point of view (2000)
In this paper, we study conflict resolution for multiple aircraft encounter situations on a plane. First, the homotopy types of resolution maneuvers for n aircraft encounters are classified according...
Optimal Maneuver for Multiple Aircraft Conflict Resolution: A Braid Point of View (2000)
Jianghai Hu, Maria Prandini, Shankar Sastry
In this paper, we study conflict resolution for multiple aircraft encounter situations on a plane. First, the homotopy types of resolution maneuvers for n aircraft encounters are classified according...
Aircraft conflict prediction and resolution using Brownian motion (1999)
Jianghai Hu, John Lygeros, Maria Pr, Shankar Sastry
The probability of conflict between two aircraft is cal-culated by modeling aircraft motion as a determinis-tic trajectory plus a (scaled) Brownian motion pertur-bation. In this formalism, the...
A Probabilistic Framework for Highway Safety Analysis (1999)
Jianghai Hu, John Lygeros, Maria Prandini, Shankar Sastry
Brownian motion is used to model the uncertainty in the motion of cars on a highway. The probability of collision of two adjacent cars within a fixed horizon is calculated and its implications are...