Jo~ao P. Hespanha, Maria Prandini
We consider games where a pursuer is trying to catch an evader that is moving randomly in a certain region. The pursuer has available different resources, i.e., teams of agents with different...
Jo~ao P. Hespanha, Stephan Bohacek
In this paper we determine routing polices for a data transmission network that are robust with respect to attempts of packet interception by an adversary. This problem is formulated as a zero-sum...
Stability of Switched Systems with Average Dwell-Time (2007)
Jo Ao, Jo~ao P. Hespanha, A. Stephen Morse
It is shown that switching among stable linear systems results in a stable system provided that switching is "slow-on-the-average." In particular, it is proved that exponential stability is...
This paper deals with the problem of driving the position of a point-robot to a goal point, using measurements provided by a single camera. The camera can be moved to compensate for the ambiguity in...
Switching Between Stabilizing Controllers (2000)
João P. Hespanha, Jo~ao P. Hespanha, A. Stephen Morse
This paper deals with the problem of switching between several linear time-invariant (LTI) controllers|all of them capable of stabilizing a specic LTI process|in such a way that the stability of the...
Probabilistic Pursuit-Evasion Games: A One-Step Nash Approach (2000)
João P. Hespanha, Jo~ao P. Hespanha, Maria Prandini, Shankar Sastry
This paper addresses the control of a team of autonomous agents pursuing a smart evader in a nonaccurately mapped terrain. By describing this problem as a partial information Markov game, we are able...
Deception in Non-Cooperative Games with Partial Information (2000)
João P. Hespanha, Yusuf S. Ateskan, Huseyin H. Kizilocak, Jo~ao P. Hespanha
In this paper we explore how deception can be used by rational players in the context of non-cooperative stochastic games with partial information. We show that, when one of the players can...
Probabilistic Pursuit-Evasion Games: A One-Step Nash Approach (2000)
João P. Hespanha, Jo~ao P. Hespanha, Maria Prandini, Shankar Sastry
This paper addresses the control of a team of autonomous agents pursuing a smart evader in a non-accurately mapped terrain. By describing the problem as a partial information Markov game, we are able...
Towards the supervisory control of uncertain nonholonomic systems (1999)
Jo~ao P. Hespanha, Daniel Liberzon, A. Stephen Morse
This paper is concerned with control of nonholonomic systems in the presence of parametric modeling uncertainties. The specific problem considered is that of parking a wheeled mobile robot of...
Stability of switched systems: a Lie-algebraic condition (1999)
Daniel Liberzon, Jo~ao P. Hespanha, A. Stephen Morse
We present a sufficient condition for asymptotic stability of a switched linear system in terms of the Lie algebra generated by the individual matrices. Namely, if this Lie algebra is solvable, then...
Stability of Switched Systems with Average Dwell-Time (1999)
João P. Hespanha, Jo~ao P. Hespanha, A. Stephen Morse
It is shown that switching among stable linear systems results in a stable system provided that switching is \slow-on-the-average." In particular, it is proved that exponential stability is...
Stability of Switched Systems with Average Dwell-Time (1999)
João P. Hespanha, Jo~ao P. Hespanha, A. Stephen Morse
It is shown that switching among stable linear systems results in a stable system provided that switching is "slow-on-the-average." In particular, it is proved that exponential stability is...
Multiple-Agent Probabilistic Pursuit-Evasion Games (1999)
João P. Hespanha, Jo~ao P. Hespanha, Hyoun Jin Kim, Shankar Sastry
In this paper we develop a probabilistic framework for pursuit-evasion games. We propose a "greedy" policy to control a swarm of autonomous agents in the pursuit of one or several evaders....
Towards the Supervisory Control of Uncertain Nonholonomic Systems (1999)
João P. Hespanha, Jo~ao P. Hespanha, Daniel Liberzon, A. Stephen Morse
this paper is to demonstrate that a promising alternative to conventional adaptive control for nonholonomic systems is provided by the supervisory control techniques which have been developed for...
Supervisory Control Of Integral-Input-To-State Stabilizing Controllers (1999)
João P. Hespanha, Jo~ao P. Hespanha, A. Stephen Morse
A high-level supervisor, employing switching and logic, is proposed to orchestrate the switching between a family of candidate controllers into feedback with an imprecisely modeled process so as to...
Towards the Supervisory Control of Uncertain Nonholonomic Systems (1999)
João P. Hespanha, Jo~ao P. Hespanha, Daniel Liberzon, A. Stephen Morse
This paper is concerned with control of nonholonomic systems in the presence of parametric modeling uncertainties. The specific problem considered is that of parking a wheeled mobile robot of...
Multiple-Agent Probabilistic Pursuit-Evasion Games (1999)
João P. Hespanha, Jo~ao P. Hespanha, Hyoun Jin Kim, Shankar Sastry
In this paper we develop a probabilistic framework for pursuit-evasion games. We propose a "greedy" policy to control a swarm of autonomous agents in the pursuit of one or several evaders....
Towards the Supervisory Control of Uncertain Nonholonomic Systems (1999)
João P. Hespanha, Jo~ao P. Hespanha, Daniel Liberzon, A. Stephen Morse
this paper is to demonstrate that a promising alternative to conventional adaptive control for nonholonomic systems is provided by the supervisory control techniques which have been developed for...
Supervisory Control of Families of Noise Suppressing Controllers (1998)
Shogo Fujii, João P. Hespanha, Jo~ao P. Hespanha, A. Stephen Morse
This paper describes a high-level "supervisor" capable of switching into feedback with a single-input/singleoutput (SISO), linear time-invariant (LTI) process a sequence of linear...
Scale-Independent Hysteresis Switching (1998)
João P. Hespanha, Jo~ao P. Hespanha, A. Stephen Morse
. This paper introduces a new switching logic inspired by the hysteresis switching logic considered in [7, 11]. The new logic also uses hysteresis to prevent chatter, but unlike its predecessor in...
Task Re-Encoding In Vision-Based Control Systems (1997)
Wen-Chung Chang, Jo~ao P. Hespanha, A. S. Morse, Gregory D. Hager
Feedback control systems employing video cameras as sensors have been studied in the robotics community for many years. An especially interesting feature of such systems is that both the process...
Eigenfaces vs. Fisherfaces: Recognition Using Class Specific Linear Projection (1996)
Peter N. Belhumeur, João P. Hespanha, Jo~ao P. Hespanha, David J. Kriegman
. We develop a face recognition algorithm which is insensitive to gross variation in lighting direction and facial expression. Taking a pattern classification approach, we consider each pixel in an...
Stabilization of Nonholonomic Integrators via Logic-Based Switching (1996)
João P. Hespanha, Jo~ao P. Hespanha, A. Stephen Morse
This paper explains how to stabilize a "nonholonomic integrator" using a hybrid control law employing switching and logic. Results concerning asymptotic stability and exponential...
Logic-Based Switching Control of a Nonholonomic System With Parametric Modeling Uncertainty
João P. Hespanha, Jo~ao P. Hespanha, Daniel Liberzon, A. Stephen Morse
This paper is concerned with control of nonholonomic systems in the presence of parametric modeling uncertainty. The specific problem considered is that of parking a wheeled mobile robot of unicycle...
Stability of switched systems: a Lie-algebraic condition
Daniel Liberzon Jo, Jo~ao P. Hespanha, A. Stephen Morse
We present a sufficient condition for asymptotic stability of a switched linear system in terms of the Lie algebra generated by the individual matrices. Namely, if this Lie algebra is solvable, then...
Stability of switched systems: a Lie-algebraic condition
Daniel Liberzon, João P. Hespanha, Jo~ao P. Hespanha, A. Stephen Morse
We present a sufficient condition for asymptotic stability of a switched linear system in terms of the Lie algebra generated by the individual matrices. Namely, if this Lie algebra is solvable, then...
Logic-Based Switching Control of a Nonholonomic System With Parametric Modeling Uncertainty
João P. Hespanha, Jo~ao P. Hespanha, Daniel Liberzon, A. Stephen Morse
This paper is concerned with control of nonholonomic systems in the presence of parametric modeling uncertainties. The specific problem considered is that of parking a wheeled mobile robot of...