Shankar Sastry

Instrumenting Wireless Sensor Networks for (2008)

Abstract. The aim of this paper is to explore a linear geometric algorithm for recovering the three dimensional motion of a moving camera from image velocities. Generic similarities and differences...

Real-time Surveillance, Songhwai Oh, Phoebus Chen, Michael Manzo, Shankar Sastry

Abstract — This paper considers the problem of tracking an unknown number of targets using a wireless sensor network for surveillance. In particular, we consider the case in which each sensor...

Complete Characterization of Mixing Time for the Continuous Quantum Walk on the Hypercube with Markovian Decoherence Model (2008)

Drezgic, Milos, Hines, Andrew P., Sarovar, Mohan, Sastry, Shankar

The n-dimensional hypercube quantum random walk (QRW) is a particularily appealing example of a quantum walk because it has a natural implementation on a register on n qubits. However, any real...

A Priori Detection of Zeno Behavior in Communication Networks Modeled as Hybrid Systems (2008)

Ro Abate, Aaron D. Ames, Shankar Sastry

Abstract — In this paper, we show that the sufficient conditions for the existence of Zeno behavior in hybrid systems derived in [3] correctly predict such executions in a modeling instance of the...

Integrating Manual Dexterity with Mobility for Human-Scale Service Robotics The Case for Concentrated Research into Science and Technology Supporting Next-Generation Robotic Assistants Executive Summary 1 (2008)

Robert Ambrose, Christopher Atkeson, Oliver Brock, Rodney Brooks, Chris Brown, Joel Burdick, ...

This position paper argues that a concerted national effort to develop technologies for robotic service applications is critical and timely—targeting research on integrated systems for mobility and...

Fault-tolerant (2008)

Jesse Fern, Julia Kempe, Slobodan N. Simić, Shankar Sastry

quantum computation a dynamical systems approach

INTEGRITY CHECKER FOR WIRELESS SENSOR NETWORKS IN HEALTH CARE APPLICATIONS (2008)

Annarita Giani, Tanya Roosta, Shankar Sastry

Wireless sensor networks (WSN) for health care systems are used to transmit large amount of data collected from several physiological and environmental sensors. Because the information regarding the...

15th Triennial World Congress, Barcelona, Spain EMBEDDED SOFTWARE DESIGN AND SYSTEM INTEGRATION FOR ROTORCRAFT UAV USING PLATFORMS 1 (2008)

Benjamin Horowitz, Judith Liebman, Cedric Ma, T. John Koo, Shankar Sastry

Abstract: Automation control systems typically incorporate legacy code and components that were originally designed to operate independently. Furthermore, they operate under stringent safety and...

Generalized Performance of Concatenated Quantum Codes—A Dynamical Systems Approach (2008)

Jesse Fern, Julia Kempe, Slobodan N. Simić, Shankar Sastry

Abstract—We apply a dynamical systems approach to concatenation of quantum error correcting codes, extending and generalizing the results of Rahn et al. to both diagonal and nondiagonal channels....

Supervisors (2008)

Thomas Riisgaard Hansen, Shankar Sastry, Ruzena Bajcsy, Mike Eklund, Morten Kyng, Jakob Bardram

Abstract Geometric Models of Rolling-Shutter Cameras (2008)

Christopher Geyer, Marci Meingast, Shankar Sastry

Cameras with rolling shutters are becoming more common as low-power, low-cost CMOS sensors are being used more frequently in cameras. The rolling shutter means that not all scanlines are exposed over...

Multiple Aircraft Deconflicted Path Planning with Weather Avoidance Constraints (2008)

Jessica J. Pannequin, Ian M. Mitchell, Re M. Bayen, Hoam Chung, Shankar Sastry

We present a model predictive control based algorithm for aircraft motion planning that will apply to converging flows of aircraft going through convective weather in the en route airspace. The cost...

Instrumenting Wireless Sensor Networks for (2008)

Real-time Surveillance, Songhwai Oh, Phoebus Chen, Michael Manzo, Shankar Sastry

Abstract — This paper considers the problem of tracking an unknown number of targets using a wireless sensor network for surveillance. In particular, we consider the case in which each sensor...

Using Social Network Theory Towards Development of Wireless Ad hoc Network Trust ∗ (2008)

Sameer Pai, Tanya Roosta, Stephen Wicker, Shankar Sastry

The evolution and existence of stable trust relations have been studied extensively in the context of social theory. However, reputation systems or trust schemes have only been recently used in the...

Respectful Cameras: Detecting Visual Markers in Real-Time to Address Privacy Concerns ∗ (2008)

Jeremy Schiff, Marci Meingast, Deirdre K. Mulligan, Shankar Sastry, Ken Goldberg

Abstract — To address privacy concerns with digital video surveillance cameras, we propose a practical, real-time approach that preserves the ability to observe actions while obscuring individual...

DRAFT DRAFT DRAFT DRAFT DRAFT DRAFT DRAFT Do not distribute without written permission from the authors. DRAFT DRAFT DRAFT DRAFT DRAFT DRAFT DRAFT (2008)

Cory Sharp, Shawn Schaffert, Alec Woo, Naveen Sastry, Chris Karlof, Shankar Sastry, ...

We describe the design and implementation of PEG, a networked system of distributed sensor nodes that detects an uncooperative agent called the evader and assists an autonomous robot called the...

Hybrid Cotangent Bundle Reduction of Simple Hybrid Mechanical Systems with Symmetry (2008)

Respectful Cameras: Detecting Visual Markers in Real-Time to Address Privacy Concerns (2008)

Abstract — This paper begins by introducing the notion of a simple hybrid mechanical system, which generalizes mechanical systems to include unilateral constraints on the configuration space. From...

Jeremy Schiff, Marci Meingast, Deirdre K. Mulligan, Shankar Sastry, Ken Goldberg

Abstract — To address privacy concerns with digital video surveillance cameras, we propose a practical, real-time approach that preserves the ability to observe actions while obscuring individual...

Tracking on a Graph (2008)

Songhwai Oh, Shankar Sastry

This paper considers the problem of tracking objects with sparsely located binary sensors. Tracking with a sensor network is a challenging task due to the inaccuracy of sensors and difficulties in...

Multiview Geometry Revisited: A Differential Geometric Approach (2008)

Jana Kosecka, Yi Ma, Shankar Sastry

Multiview geometry has been traditionally developed in the framework of projective geometry, which is technically rather algebraic. In this paper, we show an alternative approach which uses notation...

Screw-based motion planning for bevel-tip flexible needles in 3d environments with obstacles (2008)

Vincent Duindam, Ron Alterovitz, Shankar Sastry, Ken Goldberg

Abstract — Bevel-tip flexible needles have greater mobility than straight rigid needles, and can be used to reach targets behind sensitive or impenetrable areas. Accurately planning and executing...

A PROBABILISTIC FRAMEWORK FOR AIRCRAFT CONFLICT DETECTION (2007)

Maria Pr, John Lygeros, Arnab Nilim, Shankar Sastry

We describe a general conflict detection/resolution scheme, focusing on the conflict detection component for a pair of aircraft flying at the same altitude. The proposed approach is formulated in a...

1 (2007)

Gerardo Lafferriere, Shankar Sastry

Abstract. Decidability results for the verification of hybrid systems consist of constructing special finite state quotients called bisimulations whose properties are equivalent to those of the...

z (2007)

Slobodan N. Simi'c, Karl Henrik Johansson, John Lygeros, Shankar Sastry

A problem of great interest in the control of hybrid systems is the design of least restrictive controllers for reachability specifications. Controller design typically uses game theoretic methods to...

y (2007)

We propose a framework for a geometric theory of hybrid systems. Given a deterministic, non-blocking hybrid system, we introduce the notion of its hybrifold with the associated hybrid flow on it....

Hybrid Systems: Modeling, Analysis Control (2007)

John Lygeros, Shankar Sastry

ication & Analysis (9 lectures) ffl Model checking ffl Deductive approaches ffl Lyapunov stability analysis ffl Verification tools ffl Benchmark problems 3. Control (9 lectures) ffl Reachability...

Euclidean Structure and Motion Recovery: Multi-Frame Constraints, Invariants and Algorithms (2007)

A Differential Geometric Approach to Camera Self-calibration (2007)

In this paper we study the problem of Euclidean structure and motion recovery from m-frames in the case of calibrated cameras. We formulate the problem in the "joint image space" and first...

Yi Ma, Jana Kosecka, Shankar Sastry

Camera self-calibration has been traditionally studied in the projective geometry framework. This paper provides an alternative approach using mostly linear algebra and some differential geometry. A...

Vision Guided Landing of an Unmanned Aerial Vehicle (2007)

Omid Shakernia, Yi Ma, Shankar Sastry

In this paper, we investigate the problem of using computer vision as a sensor to control the landing of an unmanned aerial vehicle (UAV). The vision problem we address is a differential version of...

Vision Guided Landing of an Unmanned Aerial Vehicle (2007)

Omid Shakernia, Yi Ma, Shankar Sastry

In this paper, we investigate the problem of using computer vision as a sensor to control the landing of an unmanned aerial vehicle (UAV). The vision problem we address is a differential version of...

Hybrid Controller Design for Multi-Agent Systems (2007)

DISTRIBUTED GRADIENT ESTIMATION USING RANDOM SENSOR NETWORKS (2007)

A design and verification methodology for hybrid dynamical systems, based on optimal control and game theory, is presented. The hybrid design is seen as a game between two players. One is the...

15th Triennial World Congress, Barcelona, Spain VISION-BASED DETECTION OF AUTONOMOUS VEHICLES FOR PURSUIT-EVASION GAMES 1 (2007)

Abstract. We present a distributed algorithm for estimating the gradient of an environmental scalar variable (such as temperature, the intensity of light, atmospheric pressure, etc.) using a random...

Unmanned Aerial Vehicles (UAV) and Unmanned Ground (2007)

Abstract: We present a vision-based algorithm for the detection of multiple autonomous vehicles for a pursuit-evasion game scenario. Our algorithm computes estimates of the pose of multiple moving...

René Vidal, Omid Shakernia, H. Jin Kim, David Hyunchul Shim, Shankar Sastry

Abstract — We consider the problem of having a team of

Straightening out rectangular di erential inclusions (2007)

A Hierarchical Approach to Probabilistic Pursuit-Evasion Games with Unmanned Ground and Aerial Vehicles 1 (2007)

z (2007)

Rene Vidal, Yi Ma, Shawn Hsu, Shankar Sastry

In this paper, we study the structure from motion problem as a constrained nonlinear least squares problem which minimizes the so called reprojection error subject to all constraints among multiple...

H. Jin, Kim René, Vidal David, H. Shim, Omid Shakernia, Shankar Sastry

We consider the problem of having a team of Unmanned Ground Vehicles (UGV) and Unmanned Aerial Vehicles (UAV) pursue a team of evaders while concurrently building a map in an unknown environment. We...

Camera Self-Calibration: Renormalization and Degeneracy Resolution for Kruppa's Equations (2007)

In this paper, we study general questions about the solvability of the Kruppa's equations and show that, in several special cases, the Kruppa's equations can be renormalized and become...

z (2007)

A Probabilistic Framework for Aircraft Conflict Detection (2007)

Computer Vision. The necessary and sucient conditions for being able to estimate scene structure, motion and camera calibration from a sequence of images are very rarely satised in practice. What...

Maria Pr, John Lygeros, Arnab Nilim, Shankar Sastry

In this paper we describe a general conflict detection/resolution scheme for a pair of aircraft flying at the same altitude, focusing on the conflict detection component. The proposed approach is...

EMBEDDED SOFTWARE DESIGN AND SYSTEM INTEGRATION FOR ROTORCRAFT UAV USING PLATFORMS (2007)

Control Algorithms for Soft Walls (2007)

Abstract: Automation control systems typically incorporate legacy code and components that were originally designed to operate independently. Furthermore, they operate under stringent safety and...

Adam Cataldo Research, Adam Cataldo, Edward Lee, Shankar Sastry, Second Reader

This paper focuses on the collision avoidance algorithms. We consider several controllers we have developed for simulation

Generalized Principal Component Analysis (GPCA) (2007)

Ren Vidal Yi, Yi Ma, Shankar Sastry

We propose an algebraic geometric approach to the problem of estimating a mixture of linear subspaces from sample data points, the so-called Generalized Principal Component Analysis (GPCA) problem....

An Approach to the Verification of the (2007)

John Lygeros, Shankar Sastry

Abstract. The Center-TRACON Automation System (CTAS) is a collection of planning and control software functions that generate landing schedules and advisories to assist air traffic controllers in...

On the Quantum Circuit Complexity Equivalence (2007)

Drezgic, Milos, Sastry, Shankar

Nielsen \cite{Nielsen05} recently asked the following question: "What is the minimal size quantum circuit required to exactly implement a specified $% \mathit{n}$-qubit unitary operation $U$, without...

Latency and connectivity analysis tools for wireless mesh networks (2007)

Phoebus Chen, Shankar Sastry

Abstract—There has been a recent rise in interest in building networked control systems over a wireless network, whether they be for robot navigation, multi-robot systems, or traditional industrial...

Unsupervised Segmentation of Natural Images via Lossy Data Compression (2007)

Allen Y. Yang, John Wright, Shankar Sastry, Yi Ma

In this paper, we cast natural-image segmentation as a problem of clustering texture features as multivariate mixed data. We model the distribution of the texture features using a mixture of Gaussian...

Motivation Problem Formulation ℓ 1-Minimization Classification Experiments Future Directions (2007)

Allen Y. Yang, Shankar Sastry, Yi Ma, John Wright, On-demand Surveillance, On-demand Surveillance

Integrated microphone, infrared, motion sensors. IEEE 802.15.4 protocal, 250 kbps. Figure: Next generation Berkeley wireless camera mote.

Convergence analysis of reweighted sum-product algorithms (2007)

Tanya Roosta, Martin J. Wainwright, Shankar Sastry

Markov random fields are designed to represent structured dependencies among large collections of random variables, and are well-suited to capture the structure of real-world signals. Many...

Convergence analysis of reweighted sum-product algorithms (2007)

Tanya Roosta, Martin J. Wainwright, Shankar Sastry

Many signal processing applications of graphical models require efficient methods for computing (approximate) marginal probabilities over subsets of nodes in the graph. The intractability of this...

Foundations of control and estimation over lossy networks (2007)

Luca Schenato, Bruno Sinopoli, Massimo Franceschetti, Kameshwar Poolla, Shankar Sastry

When data are transmitted to an estimation-control unit over a network, and control commands are issued to subsystems over the same network, both observation and control packets may be lost or...

Strategic and Tactical Decision-Making Under Uncertainty (2006)

Jordan, Michael I., Anantharam, Venkat, El Ghaoui, Laurent, Russell, Stuart, Sastry, Shankar, Koller, Daphne, ...

This report presents the final conclusions of the research on decision-making under uncertainty conducted by the investigators at the University of California at Berkeley, Stanford University, and...

Integrated Design and Analysis Tools for Software-Based Control Systems (2006)

Sastry, Shankar, Henzinger, Thomas, Lee, Edward

- Generalize recent results in "Reachability of objectives" in discrete probabilistic games to hybrid systems - Develop algorithms and tools for estimating safe/desired performance for multi-modal...

On the stability of zeno equilibria (2006)

Aaron D. Ames, Paulo Tabuada, Shankar Sastry

Abstract. Zeno behaviors are one of the (perhaps unintended) features of many hybrid models of physical systems. They have no counterpart in traditional dynamical systems or automata theory and yet...

On the stability of zeno equilibria (2006)

Aaron D. Ames, Paulo Tabuada, Shankar Sastry

Abstract. Zeno behaviors are one of the (perhaps unintended) features of many hybrid models of physical systems. They have no counterpart in traditional dynamical systems or automata theory and yet...

Error-bounds based stochastic approximations and simulations of hybrid dynamical systems (2006)

Ro Abate, Aaron D. Ames, Shankar Sastry

Abstract — This paper introduces, develops and discusses an integration-inspired methodology for the simulation and analysis of deterministic hybrid dynamical systems. When simulating hybrid...

Reachability analysis for controlled discrete time stochastic hybrid systems (2006)

Saurabh Amin, Ro Abate, Maria Pr, John Lygeros, Shankar Sastry

Abstract. A model for discrete time stochastic hybrid systems whose evolution can be influenced by some control input is proposed in this paper. With reference to the introduced class of systems, a...

Reachability analysis for controlled discrete time stochastic hybrid systems (2006)

Saurabh Amin, Ro Abate, Maria Pr, John Lygeros, Shankar Sastry

Abstract. A model for discrete time stochastic hybrid systems whose evolution can be influenced by some control input is proposed in this paper. With reference to the introduced class of systems, a...

The Concept of Deadlock and Livelock in Hybrid Control Systems (2006)

Segmentation of Natural Images via Lossy Data Compression (2006)

Allen Y. Yang, John Wright, Shankar Sastry, Yi Ma

In this paper, we cast natural-image segmentation as a problem of clustering texure features as multivariate mixed data. We model the distribution of the texture features using a mixture of Gaussian...

taxonomy of Security Attacks in Sensor Networks and Countermeasures (2006)

Tanya Roosta, Shiuhpyng Shieh, Shankar Sastry

Abstract — Ad-hoc sensor networks have become common over the past few years and the domain of their application is increasing widely. However, the security of these networks poses a great...

Experiments in instrumenting wireless sensor networks for real-time surveillance (2006)

Phoebus Chen, Songhwai Oh, Michael Manzo, Bruno Sinopoli, Cory Sharp, Kamin Whitehouse, ...

a large-scale, real-time, surveillance and control application on a wireless sensor network. The task was to track multiple human targets walking through a 5041 square meter sensor field and dispatch...

Radon-based Structure from Motion Without Correspondences (2005)

Makadia, Ameesh, Geyer, Christopher, Sastry, Shankar, Daniilidis, Kostas

We present a novel approach for the estimation of 3Dmotion directly from two images using the Radon transform. We assume a similarity function defined on the crossproduct of two images which assigns...

Geometric Models of Rolling-Shutter Cameras (2005)

Meingast, Marci, Geyer, Christopher, Sastry, Shankar

Cameras with rolling shutters are becoming more common as low-power, low-cost CMOS sensors are being used more frequently in cameras. The rolling shutter means that not all scanlines are exposed over...

A hierarchical multiple-target tracking algorithm for sensor networks (2005)

Songhwai Oh, Luca Schenato, Shankar Sastry

Abstract — Multiple-target tracking is a canonical application of sensor networks as it exhibits different aspects of sensor networks such as event detection, sensor information fusion, multi-hop...

Time synchronization attacks in sensor networks (2005)

Tanya Roosta, Mike Manzo, Shankar Sastry

In this chapter, we review time synchronization attacks in wireless sensor networks. We will first consider three of the main time synchronization protocols in sensor network in sections. In section...

New congestion control schemes over wireless networks: Stability analysis (2005)

Autonomous exploration in unknown urban environments for unmanned aerial vehicles (2005)

Abstract: This paper proposes two new congestion control schemes for packet switched wireless networks. Starting from the seminal work of Kelly (Kelly et al., Dec 1999), we consider the decentralized...

David H. Shim, Hoam Chung, H. Jin Kim, Shankar Sastry

In this paper, we present an autonomous exploration method for unmanned aerial vehicles in unknown urban environment. We address two major aspects of exploration- map building and obstacle avoidance-...

Characterization of zeno behavior in hybrid systems using homological methods (2005)

A hierarchical multiple-target tracking algorithm for sensor networks (2005)

Abstract — It is possible to associate to a hybrid system a single topological space–its underlying topological space. Simultaneously, every hybrid system has a graph as its indexing object–its...

Songhwai Oh, Shankar Sastry

Abstract — Multiple-target tracking is a canonical application of sensor networks as it exhibits different aspects of sensor networks such as event detection, sensor information fusion, multi-hop...

Information Technology for Assisted Living at Home: building a wireless infrastructure for assisted living (2005)

J. Mikael Eklund, Thomas Riisgaard Hansen, Jonathan Sprinkle, Shankar Sastry

Abstract — A heterogeneous wireless network to support a Home Health System is presented. This system integrates a set of smart sensors which are designed to provide health and security to the...

A homology theory for hybrid systems: Hybrid homology (2005)

S.: Aircraft conflict prediction in the presence of a spatially correlated wind field (2005)

Abstract. By transferring the theory of hybrid systems to a categorical framework, it is possible to develop a homology theory for hybrid systems: hybrid homology. This is achieved by considering the...

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...

moving targets can be used for surveillance of large areas. (2005)

Phoebus Chen, Student Member Ieee, Shankar Sastry, Fellow Ieee

Sensor networks that can rapidly locate, pursue and capture numerous

Using smart sensors and a camera phone to detect and verify the fall of elderly persons (2005)

Thomas Riisgaard Hansen, J. Mikael Eklund, Jonathan Sprinkle, Ruzena Bajcsy, Shankar Sastry

In this paper we present a fall detection system for elderly people. The core of the system is an intelligent sensor consisting of three accelerometers and a processor capable of analysing incoming...

Sufficient conditions for the existence of zeno behavior (2005)

Aaron D. Ames, Ro Abate, Shankar Sastry

Abstract — In this paper, sufficient conditions for the existence of Zeno behavior in a class of hybrid systems are given; these are the first sufficient conditions on Zeno of which the authors are...

Design and implementation of a sensor network system for vehicle tracking and autonomous interception (2005)

Cory Sharp, Shawn Schaffert, Alec Woo, Naveen Sastry, Chris Karlof, Shankar Sastry, ...

networked system of distributed sensor nodes that detects an uncooperative agent called the evader and assists an autonomous robot called the pursuer in capturing the evader. PEG requires services...

Information Technology for Assisted Living at Home: building a wireless infrastructure for assisted living (2005)

J. Mikael Eklund, Thomas Riisgaard Hansen, Jonathan Sprinkle, Shankar Sastry

Abstract — A heterogeneous wireless network to support a

Swarm Coordination for Pursuit Evasion Games Using Sensor Networks (2005)

Luca Schenato, Songhwai Oh, Shankar Sastry, P. Bose

In this work we consider the problem of pursuit evasion games (PEGs) where a group of pursuers is required to detect, chase and capture a group of evaders with the aid of a sensor network in minimum...

A Hierarchical Multiple-Target Tracking Algorithm for Sensor Networks (2005)

Songhwai Oh, Shankar Sastry

Multiple-target tracking is a canonical application of sensor networks as it exhibits different aspects of sensor networks such as event detection, sensor information fusion, multi-hop communication,...

Design and implementation of a sensor network system for vehicle tracking and autonomous interception (2005)

Cory Sharp, Shawn Schaffert, Alec Woo, Naveen Sastry, Chris Karlof, Shankar Sastry, ...

We describe the design and implementation of PEG, a networked system of distributed sensor nodes that detects an uncooperative agent called the evader and assists an autonomous robot called the...

Design and implementation of a sensor network system for vehicle tracking and autonomous interception (2005)

Cory Sharp, Shawn Schaffert, Alec Woo, Naveen Sastry, Chris Karlof, Shankar Sastry, ...

We describe the design and implementation of PEG, a networked system of distributed sensor nodes that detects an uncooperative agent called the evader and assists an autonomous robot called the...

A fully automated distributed multiple-target tracking and identity management algorithm (2005)

Songhwai Oh, Inseok Hwang, Shankar Sastry

In this paper, we consider the problem of tracking multiple targets and managing their identities in sensor networks. Each sensor is assumed to be able to track multiple targets, manage the...

Swarm coordination for pursuit evasion games using sensor networks (2005)

Luca Schenato, Songhwai Oh, Shankar Sastry

Abstract — In this work we consider the problem of pursuit evasion games (PEGs) where a group of pursuers is required to detect, chase and capture a group of evaders with the aid of a sensor...

A Scalable Real-Time Multiple-Target Tracking Algorithm for Sensor Networks (2005)

Songhwai Oh, Luca Schenato, Phoebus Chen, Shankar Sastry

Multiple-target tracking is a representative real-time application of sensor networks as it exhibits different aspects of sensor networks such as event detection, sensor information fusion, multi-hop...

et al., A Scalable Real-Time Multiple-Target Tracking Algorithm for Sensor Networks (2005)

Songhwai Oh, Luca Schenato, Phoebus Chen, Shankar Sastry

Multiple-target tracking is a representative real-time application of sensor networks as it exhibits different aspects of sensor networks such as event detection, sensor information fusion, multi-hop...

Generalized Performance of Concatenated Quantum Codes -- A Dynamical Systems Approach (2004)

Fern, Jesse, Kempe, Julia, Simic, Slobodan, Sastry, Shankar

We apply a dynamical systems approach to concatenation of quantum error correcting codes, extending and generalizing the results of Rahn et al. [1] to both diagonal and nondiagonal channels. Our...

GiPSi: An open source/open architecture software development framework for surgical simulation (2004)

Tolga G. Göktekin, M. Cenk Çavu¸so˘glu, Frank Tendick, Shankar Sastry

Abstract. In this paper we propose an open source/open architecture framework for developing organ level surgical simulations. Our goal is to facilitate shared development of reusable models, to...

Encoding Aerial Pursuit/Evasion Games with Fixed Wing Aircraft into a Nonlinear Model Predictive Tracking Controller (2004)

Jonathan Sprinkle, J. Mikael Eklund, H. Jin Kim, Shankar Sastry

have shown themselves to be highly capable in intelligence gathering, as well as a possible future deployment platform for munitions. Currently UAVs are supervised or piloted remotely, meaning that...

GiPSi: An open source/open architecture software development framework for surgical simulation (2004)

Tolga Gokce Goktekin, Murat Cenk Çavu¸so˘glu, Frank Tendick, Shankar Sastry

Abstract. In this paper we propose an open source/open architecture framework for developing organ level surgical simulations. Our goal is to facilitate shared development of reusable models, to...

Optimal Control for a class of Stochastic Hybrid Systems (2004)

Ling Shi, Ro Abate, Shankar Sastry

Abslmcf-In this paper, an optimal control problem over a “hybrid Markov Chain ” QMC) is studied. A MIC CM be thought of as a traditional MC with continuous time dynamics pertaining to each node;...

A sampling-based approach to nonparametric dynamic system identification and estimation (2004)

Songhwai Oh, Jin Kim, Shankar Sastry

Abstract — We propose a new probabilistic framework for nonparametric identification and estimation of dynamic systems. Under the parametric paradigm, a model of the system and a set of...

Affine hybrid systems (2004)

Rank conditions of the multiple view matrix (2004)

Abstract. Affine hybrid systems are hybrid systems in which the discrete domains are affine sets and the transition maps between discrete domains are affine transformations. The simple structure of...

Yi Ma, Kun Huang, Shankar Sastry

Abstract. Geometric relationships governing multiple images of points and lines and associated algorithms have been studied to a large extent separately in multiple view geometry. The previous...

Two-view multibody structure from motion (2004)

René Vidal, Yi Ma, Stefano Soatto, Shankar Sastry

Abstract. We present a geometric approach to 3-D motion estimation and segmentation of dynamic scenes containing multiple rigidly moving objects seen in two perspective views. We cast the problem in...

A sampling-based approach to nonparametric dynamic system identification and estimation (2004)

Songhwai Oh, Jin Kim, Shankar Sastry

Abstract — We propose a new probabilistic framework for nonparametric identification and estimation of dynamic systems. Under the parametric paradigm, a model of the system and a set of...

S.: Localization in dense random sensor networks (2004)

GiPSi: An Open Source/Open Architecture Software Development Framework for Surgical Simulation (2004)

Abstract. We propose a simple distributed learning algorithm for localization of nodes in dense random wireless sensor networks. We derive probabilistic error bounds, discuss the average complexity...

Tolga G. Göktekin, M. Cenk Cavusoglu, M. Cenk Çavu¸so˘glu, Frank Tendick, Shankar Sastry

In this paper we propose an open source/open architecture framework for developing organ level surgical simulations. Our goal is to facilitate shared development of reusable models, to accommodate...

GiPSi: An Open Source/Open Architecture Software Development Framework for Surgical Simulation (2004)

M. Cenk Cavusoglu, M. Cenk Çavus¸o˘glu, Tolga G. Göktekin, Frank Tendick, Shankar Sastry

In this paper we propose an open source/open architecture framework for developing organ level surgical simulations. Our goal is to facilitate shared development of reusable models, to accommodate...

Markov Chain Monte Carlo Data Association for General Multiple-Target Tracking Problems (2004)

Songhwai Oh, Stuart Russell, Shankar Sastry

In this paper, we consider the general multipletarget tracking problem in which an unknown number of targets appears and disappears at random times and the goal is to find the tracks of targets from...

Markov Chain Monte Carlo Data Association for General Multiple-Target Tracking Problems (2004)

Songhwai Oh, Stuart Russell, Shankar Sastry

In this paper, we consider the general multipletarget tracking problem in which an unknown number of targets appears and disappears at random times and the goal is to find the tracks of targets from...

A Sampling-based Approach to Nonparametric Dynamic System Identification and Estimation (2004)

Songhwai Oh, Jin Kim, Shankar Sastry

We propose a new probabilistic framework for nonparametric identification and estimation of dynamic systems. Under the parametric paradigm, a model of the system and a set of observations are given...

Autonomous Helicopter Flight (2004)

Via Reinforcement Learning, Andrew Y. Ng, H. Jin Kim, Michael I. Jordan, Shankar Sastry

Autonomous helicopter flight represents a challenging control problem, with complex, noisy, dynamics. In this paper, we describe a successful application of reinforcement learning to autonomous...

Inverted autonomous helicopter flight via reinforcement learning (2004)

Andrew Y. Ng, H. Jin Kim, Michael I. Jordan, Shankar Sastry

Autonomous helicopter flight represents a challenging control problem, with complex, noisy, dynamics. In this paper, we describe a successful application of reinforcement learning to autonomous...

GiPSi: An open source/open architecture software development framework for surgical simulation (2004)

Tolga G. Göktekin, In Collaboration, Frank Tendick, Shankar Sastry

In this paper we propose an open source/open architecture framework for developing organ level surgical simulations. Our goal is to facilitate shared development of reusable models, to accommodate...

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...

Two-view multibody structure from motion (2004)

René Vidal, Yi Ma, Stefano Soatto, Shankar Sastry

Abstract. We present an algebraic geometric approach to 3-D motion estimation and segmentation of multiple rigid-body motions from noise-free point correspondences in two perspective views. Our...

Minimum construction of two-qubit quantum operations (2003)

Zhang, Jun, Vala, Jiri, Sastry, Shankar, Whaley, K. Birgitta

Optimal construction of quantum operations is a fundamental problem in the realization of quantum computation. We here introduce a newly discovered quantum gate, B, that can implement any arbitrary...

Optimal quantum circuit synthesis from Controlled-U gates (2003)

Zhang, Jun, Vala, Jiri, Sastry, Shankar, Whaley, K. Birgitta

From a geometric approach, we derive the minimum number of applications needed for an arbitrary Controlled-Unitary gate to construct a universal quantum circuit. A new analytic construction procedure...

An algebraic geometric approach to the identification of a class of linear hybrid systems (2003)

René Vidal, Stefano Soatto, Yi Ma, Shankar Sastry

We propose an algebraic geometric solution to the identification of a class of linear hybrid systems. We show that the identification of the model parameters can be decoupled from the inference of...

How should a snake turn on ice: a case study of the asymptotic isoholonomic problem (2003)

Jianghai Hu, Slobodan N. Simić, Shankar Sastry

problem

Vision-Based Follow-the-Leader (2003)

Noah Cowan, Omid Shakernia, René Vidal, Shankar Sastry

Abstract — We consider the problem of having a group of nonholonomic mobile robots equipped with omnidirectional cameras maintain a desired leader-follower formation. Our approach is to translate...

Distributed environmental monitoring using random sensor networks (2003)

Controllability issues in flapping flight for biomimetic micro aerial vehicles (MAVs (2003)

Abstract. We present a distributed algorithm for environmental monitoring of a scalar field (such as temperature, intensity of light, atmospheric pressure, etc.) using a random sensor network. We...

Luca Schenato, Domenico Campolo, Shankar Sastry

Abslracl-In this a er we ex lore controllabilit in Wpping R ht for Micro Aeri8&hides (dAVs), inch-size rdots ca able oFautonomous Rght Differently from previous work, we focus on a MAV with very...

Hybrid System Design for Formations of Autonomous Vehicles (2003)

Shannon Zelinski, T. John Koo, Shankar Sastry

Cooperative control of multiple unmanned aerial vehicles (UAVs) poses significant theoretical and technical challenges. Recent advances in sensing, communication and computation enable the conduct of...

Generalized principal component analysis (GPCA (2003)

Continuous path planning with multiple constraints (2003)

Abstract—This paper presents an algebro-geometric solution to the problem of segmenting an unknown number of subspaces of unknown and varying dimensions from sample data points. We represent the...

Ian M. Mitchell, Shankar Sastry

A condensed version of this paper appears in the CDC 2003 proceedings. We examine the problem of planning a path through a low dimensional continuous state space subject to upper bounds on several...

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...

Generalized principal component analysis (GPCA (2003)

René Vidal, Yi Ma, Shankar Sastry

We propose an algebraic geometric approach to the problem of estimating a mixture of linear subspaces from sample data points, the so-called Generalized Principal Component Analysis (GPCA) problem....

A flight control system for aerial robots: Algorithms and experiments (2003)

David H. Shim, H. Jin Kim, Shankar Sastry

Abstract: This paper presents a flight control system designed as on-board intelligence for rotorcraft-based unmanned aerial vehicles (RUAVs). This hierarchical flight control system, endowed with...

Observability of linear hybrid systems (2003)

René Vidal, Ro Chiuso, Stefano Soatto, Shankar Sastry

Abstract. We analyze the observability of the continuous and discrete states of continuous-time linear hybrid systems. For the class of jumplinear systems, we derive necessary and sufficient...

Observability of linear hybrid systems (2003)

René Vidal, Ro Chiuso, Stefano Soatto, Shankar Sastry

Abstract. We analyze the observability of the continuous and discrete states of a class of continuous-time linear hybrid systems. We derive necessary and sufficient conditions that the structural...

Formation control of nonholonomic mobile robots with omnidirectional visual servoing and motion segmentation (2003)

René Vidal, Omid Shakernia, Shankar Sastry

Abstract — We consider the problem of having a team of nonholonomic mobile robots follow a desired leader-follower formation using omnidirectional vision. By specifying the desired formation in the...

Optimal segmentation of dynamic scenes from two perspective views (2003)

Structure from small baseline motion with central panoramic cameras (2003)

We present a novel algorithm for optimally segmenting dynamic scenes containing multiple rigidly moving objects. We cast the motion segmentation problem as a constrained nonlinear least squares...

Omid Shakernia, René Vidal, Shankar Sastry

In applications of egomotion estimation, such as real-time vision-based navigation, one must deal with the doubleedged sword of small relative motions between images. On one hand, tracking feature...

Vision-based Follow-the-Leader (2003)

Noah Cowan, Omid Shakernia, René Vidal, Shankar Sastry

We consider the problem of having a group of nonholonomic mobile robots equipped with omnidirectional cameras maintain a desired leader-follower formation. Our approach is to translate the formation...

Omnidirectional Egomotion Estimation From Back-projection Flow (2003)

Distributed Formation Control with Omnidirectional (2003)

The current state-of-the-art for egomotion estimation with omnidirectional cameras is to map the optical flow to the sphere and then apply egomotion algorithms for spherical projection. In this...

Vision Based Motion, René Vidal, Omid Shakernia, Shankar Sastry

We consider the problem of distributed leader-follower formation control for nonholonomic mobile robots equipped with central-panoramic cameras. By specifying the desired formation in the image...

Structure from Small Baseline Motion with Central Panoramic Cameras (2003)

Omid Shakernia, Rene Vidal, Shankar Sastry

In applications of egomotion estimation, such as real-time vision-based navigation, one must deal with the doubleedged sword of small relative motions between images. On one hand, tracking feature...

Multibody Motion Estimation and Segmentation from Multiple Central Panoramic Views (2003)

Omid Shakernia, Rene Vidal, Shankar Sastry

We present an algorithm for infinitesimal motion estimation and segmentation from multiple central panoramic views. We first show that the central panoramic optical flows corresponding to independent...

Omnidirectional Egomotion Estimation From Back-projection Flow (2003)

Generalized principal component analysis (GPCA (2003)

The current state-of-the-art for egomotion estimation with omnidirectional cameras is to map the optical flow to the sphere and then apply egomotion algorithms for spherical projection. In this...

Autonomous Helicopter Flight (2003)

Abstract—This paper presents an algebro-geometric solution to the problem of segmenting an unknown number of subspaces of unknown and varying dimensions from sample data points. We represent the...

Via Reinforcement Learning, Andrew Y. Ng, H. Jin Kim, Michael I. Jordan, Shankar Sastry

Autonomous helicopter flight represents a challenging control problem, with complex, noisy, dynamics. In this paper, we describe a successful application of reinforcement learning to autonomous...

Omnidirectional Egomotion Estimation From Back-projection Flow (2003)

Structure from Small Baseline Motion with Central Panoramic Cameras (2003)

The current state-of-the-art for egomotion estimation with omnidirectional cameras is to map the optical flow to the sphere and then apply egomotion algorithms for spherical projection. In this...

Distributed control applications within sensor networks (2003)

In applications of egomotion estimation, such as real-time vision-based navigation, one must deal with the doubleedged sword of small relative motions between images. On one hand, tracking feature...

Bruno Sinopoli, Courtney Sharp, Luca Schenato, Student Member, Student Member, ...

Sensor networks are gaining a central role in the research community. This paper addresses some of the issues arising from the use of sensor networks in control applications. Classical control theory...

Distributed environmental monitoring using random sensor networks (2003)

Generalized principal component analysis (GPCA (2003)

Abstract. We present a distributed algorithm for environmental monitoring of a scalar field (such as temperature, intensity of light, atmospheric pressure, etc.) using a random sensor network. We...

René Vidal, Yi Ma, Shankar Sastry

Abstract — This paper presents an algebro-geometric solution to the problem of segmenting an unknown number of subspaces of unknown and varying dimensions from sample data points. We represent the...

Exact two-qubit universal quantum circuit (2002)

Zhang, Jun, Vala, Jiri, Sastry, Shankar, Whaley, K. Birgitta

We provide an analytic way to implement any arbitrary two-qubit unitary operation, given an entangling two-qubit gate together with local gates. This is shown to provide explicit construction of a...

A geometric theory of non-local two-qubit operations (2002)

Zhang, Jun, Vala, Jiri, Whaley, K. Birgitta, Sastry, Shankar

We study non-local two-qubit operations from a geometric perspective. By applying a Cartan decomposition to su(4), we find that the geometric structure of non-local gates is a 3-Torus. We derive the...

A factorization method for 3D multi-body motion estimation and segmentation (2002)

René Vidal, Stefano Soatto, Shankar Sastry

We study the problem of estimating the motion of independently moving objects observed by a moving perspective camera. Given a set of image points and their optical flow in multiple frames, we show...

A distributed algorithm for localization in random wireless networks. submitted to Discrete Applied Mathematics (2002)

Impulse differential inclusions: A viability approach to hybrid systems (2002)

Abstract. We define a discrete model for a random wireless network, present a distributed algorithm for localization of its nodes, and provide probabilistic error and complexity bounds.

Jean-pierre Aubin, John Lygeros, Marc Quincampoix, Shankar Sastry, Nicolas Seube

Abstract. Impulse differential inclusions are introduced as a framework for modelling hybrid phenomena. Connections to standard problems in area of hybrid systems are discussed. Conditions are...

Two-view segmentation of dynamic scenes from the multibody fundamental matrix. TechniTwo-View Multibody Structure from Motion 25 cal Report, UCB/ERL M02/02 (2002)

René Vidal, Stefano Soatto, Shankar Sastry

We present a geometric approach to 3D motion segmentation of multiple moving objects seen in two perspective views. Our approach is based on the multibody epipolar constraint and its associated...

Model identification and attitude control scheme for a micromechanical flying insect (2002)

Xinyan Deng, Luca Schenato, Shankar Sastry

This paper describes recent development on the design of the flight control system for a Micromechanical Flying Insect (MFI), a 10-25mm (wingtip-to-wingtip) device capable of sustained autonomous...

Probabilistic pursuit-evasion games: Theory, implementation and experimental evaluation (2002)

René Vidal, Student Member, Omid Shakernia, Student Member, H. Jin Kim, Associate Member, ...

Abstract—We consider the problem of having a team of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) pursue a second team of evaders while concurrently building a map in an...

Impulse differential inclusions: A viability approach to hybrid systems (2002)

Jean-pierre Aubin, John Lygeros, Marc Quincampoix, Shankar Sastry, Nicolas Seube

Abstract—Impulse differential inclusions are introduced as a framework for modeling hybrid phenomena. Connections to standard problems in the area of hybrid systems are discussed. Conditions are...

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...

Hovering flight for a micromechanical flying insect: Modeling and robust control synthesis (2002)

Luca Schenato, Xinyan Deng, Shankar Sastry

Abstract: This paper describes recent results on the design and simulation of a flight control strategy for the Micromechanical Flying Insect (MFI), a 10-25mm (wingtipto-wingtip) device capable of...

Multiple view motion estimation and control for landing an unmanned aerial vehicle (2002)

Omid Shakernia, René Vidal, Courtney S. Sharp, Yi Ma, Shankar Sastry

We present a multiple view algorithm for vision based landing of an unmanned aerial vehicle. Our algorithm is based on our recent results in multiple view geometry which exploit the rank deficiency...

Distributed localization in wireless ad hoc networks (2002)

Hybrid limit cycles and hybrid Poincaré-Bendixon (2002)

We present a distributed algorithm for localization of nodes in a discrete model of a random ad hoc communication network. We compute the expected value of the position estimate, AS, and the...

Slobodan N. Simić, Karl Henrik Johansson, John Lygeros, Shankar Sastry

Abstract: We present two results about regular hybrid systems with no branching (Simić et al., 2000a). The first one provides a condition for asymptotic stability of hybrid closed orbits in terms of...

A factorization method for 3D multi-body motion estimation and segmentation (2002)

René Vidal, Stefano Soatto, Shankar Sastry

We study the problem of estimating the motion of independently moving objects observed by a moving perspective camera. Given a set of image points and their optical flow in multiple frames, we show...

Infinitesimal Motion Estimation from Multiple Central Panoramic Views (2002)

Omid Shakernia, Rene Vidal, Shankar Sastry

We present an algorithm for infinitesimal motion estimation from multiple central panoramic views. We first derive the optical flow equations for central panoramic cameras as a function of both pixel...

Embedded software design and system integration for rotorcraft UAV using platforms (2002)

Benjamin Horowitz, Judith Liebman, Cedric Ma, T. John Koo, Thomas A. Henzinger, Alberto Sangiovanni-vincentelli, ...

Abstract: Automation control systems typically incorporate legacy code and components that were originally designed to operate independently. Furthermore, they operate under stringent safety and...

Embedded Software Design And System (2002)

Integration For Rotorcraft, Benjamin Horowitz, Judith Liebman, Cedric Ma, T. John Koo, Thomas A. Henzinger, ...

Automation control systems typically incorporate legacy code and components that were originally designed to operate independently. Furthermore, they operate under stringent safety and timing...

Omnidirectional vision-based formation control (2002)

René Vidal, Omid Shakernia, Shankar Sastry

We consider the problem of distributed leader-follower formation control for nonholonomic mobile robots equipped with paracatadioptric cameras. Our approach is to translate the formation control...

Multiple View Motion Estimation and Control for Landing an Unmanned Aerial Vehicle (2002)

Omid Shakernia, Courtney S. Sharp, Rene Vidal, David H. Shim, Yi Ma, Shankar Sastry

We present a multiple view algorithm for vision based landing of an unmanned aerial vehicle. Our algorithm is based on our recent results in multiple view geometry which exploit the rank de ciency of...

Symmetry reduction of a class of hybrid systems (2002)

Jianghai Hu, Shankar Sastry

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...

Multi-Modal Control of Systems with Constraints (2001)

Koo, T. John, Pappas, George J, Sastry, Shankar

In multi-modal control paradigm, a set of controllers of satisfactory performance have already been designed and must be used. Each controller may be designed for a different set of outputs in order...

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)

Jianghai Hu, Shankar Sastry

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...

Mode switching synthesis for reachability specifications (2001)

T. John Koo, Shankar Sastry

Abstract. In many control applications, a specific set of output tracking controllers of satisfactory performance have already been designed and must be used. When such a collection of control modes...

Semi-decidable synthesis for triangular hybrid systems (2001)

Decidable and semi-decidable controller synthesis for classes of discrete time hybrid systems (2001)

Abstract. The algorithmic design of least restrictive controllers for hybrid systems that satisfy reachability specifications has received much attention recently. Despite the importance of...

René Vidal, Shawn Schaffert, Omid Shakernia, John Lygeros, Shankar Sastry

In this paper, we study classes of discrete time hybrid systems for which the classical algorithm for computing the maximal controlled invariant set and the least restrictive controller is computable...

Semi-decidable synthesis for triangular hybrid systems (2001)

Mode switching synthesis for reachability specifications (2001)

Abstract. The algorithmic design of least restrictive controllers for hybrid systems that satisfy reachability specifications has received much attention recently. Despite the importance of...

T. John Koo, Shankar Sastry

Abstract. In many control applications, a specific set of output tracking controllers of satisfactory performance have already been designed and must be used. When such a collection of control modes...

Optimization criteria and geometric algorithms for motion and structure estimation (2001)

Optimal Motion Estimation from Multiple Images by Normalized Epipolar Constraint (2001)

The prevailing efforts to study the standard formulation of motion and structure recovery have been recently focused on issues of sensitivity and and robustness of existing techniques. While many...

Yi Ma, René Vidal, Shawn Hsu, Shankar Sastry

In this paper, we study the structure from motion problem as a constrained nonlinear least squares problem which minimizes the so called reprojection error subject to all constraints among multiple...

Structural Stability of Hybrid Systems (2001)

Slobodan N. Simic, Karl H. Johansson, John Lygeros, Shankar Sastry

We study hybrid systems from a global geometric perspective as piecewise smooth dynamical systems. Based on an earlier work, we define the notion of the hybrifold as a single piecewise smooth state...

Hierarchically Consistent Control Systems (2000)

Pappas, George J, Lafferriere, Gerardo, Sastry, Shankar

Large-scale control systems typically possess a hierarchical architecture in order to manage complexity. Higher levels of the hierarchy utilize coarser models of the system, resulting from...

Towards a geometric theory of hybrid systems (2000)

Slobodan N. Simić, Karl Henrik Johansson, John Lygeros, Shankar Sastry

Abstract. We propose a framework for a geometric theory of hybrid systems. Given a deterministic, non-blocking hybrid system, we introduce the notion of its hybrifold with the associated hybrid flow...

Probabilistic pursuit-evasion games: A one-step Nash approach (2000)

Jok 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 informa-tion Markov game, we are...

Dynamical systems revisited: Hybrid systems with zeno executions (2000)

Jun Zhang, Karl Henrik Johansson, John Lygeros, Shankar Sastry

Abstract. Results from classical dynamical systems are generalized to hybrid dynamical systems. The concept of ω limit set is introduced for hybrid systems and is used to prove new results on...

Dynamical systems revisited: Hybrid systems with zeno executions (2000)

Jun Zhang, Karl Henrik, Johansson John Lygeros, Shankar Sastry

fzhangjun�johans�lygeros�sastryg�eecs.berkeley.edu Results from classical dynamical systems are generalized to hybrid dynamical systems. The con� cept of � limit set is introduced for...

NSFOCUS Security Advisory. Sun Solaris Xsun \-co" heap over (2000)

Yi Ma, Rene Vidal, Jana Kosecka, Shankar Sastry

In this paper, we study general questions about the solvability of the Kruppa equations and show that, in several special cases, the Kruppa equations can be renormalized and become linear. In...

Controlled Invariance of Discrete Time Systems (2000)

Rene Vidal, Shawn Schaffert, John Lygeros, Shankar Sastry

An algorithm for computing the maximal controlled invariant set and the least restrictive controller for discrete time systems is proposed. We show how the algorithm can be encoded using quantier...

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...

On the Global Controllability of Hybrid Systems: (2000)

Ekaterina S. Lemch, Shankar Sastry

In this paper we investigate the question of the global controllability posed for a class of control hybrid sys-tems. New sufficient conditions for the global control-lability are obtained in terms...

Linear differential algorithm for motion recovery: A geometric approach (2000)

Yi Ma, Jana Kosecka, Shankar Sastry

The aim of this paper is to explore a linear geometric algorithm for recovering the three dimensional motion of a moving camera from image velocities. Generic similarities and differences between the...

Control system design for rotorcraft-based unmanned aerial vehicles using time-domain system identification (2000)

David Hyunchul Shim, Hyoun Jin Kim, Shankar Sastry

This paper introduces the development of flight control system for rotorcraft-based unmanned aerial vehicle(RUAV). In this research, the linear time-invariant model valid for hover is sought. The...

NSFOCUS Security Advisory. Sun Solaris Xsun \-co" heap over (2000)

Hierarchically Consistent Control Systems (2000)

In this paper, we study general questions about the solvability of the Kruppa equations and show that, in several special cases, the Kruppa equations can be renormalized and become linear. In...

Gerardo Lafferriere, Shankar Sastry

Abstract—Large-scale control systems typically possess a hierarchical architecture in order to manage complexity. Higher levels of the hierarchy utilize coarser models of the system, resulting from...

Dynamical systems revisited: Hybrid systems with zeno executions (2000)

Jun Zhang, Karl Henrik Johansson, John Lygeros, Shankar Sastry

httr://www.eecs.berkeley.edu/~{zhangjtm,johans,lygeros,sastry} Abstract. Results from classical dynamical systems are generalized to hybrid dynamical systems. The concept of o hmit set is introduced...

Decidable controller synthesis for classes of linear systems (2000)

Hierarchically Consistent Control Systems (2000)

Abstract. A problem of great interest in the control of hybrid systems is the design of least restrictive controllers for reachability specifications. Controller design typically uses game theoretic...

George J. Pappas, Gerardo Lafferriere, Shankar Sastry

Abstract. Large scale control systems typically possess a hierarchical architecture in order to manage complexity. Higher levels of the hierarchy utilize coarser models of the system resulting by...

On the global controllability of hybrid systems: Hybrifolds and fountains (2000)

Ekaterina S. Lemch, Shankar Sastry

In this paper we investigate the question of the global controllability posed for a class of control hybrid systems. New su cient conditions for the global controllability are obtained in terms of...

Probabilistic pursuit-evasion games: A one-step Nash approach (2000)

Joao 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...

Linear differential algorithm for motion recovery: A geometric approach (2000)

Decidable controller synthesis for classes of linear systems (2000)

The aim of this paper is to explore a linear geometric algorithm for recovering the three dimensional motion of a moving camera from image velocities. Generic similarities and differences between the...

Probabilistic Pursuit-Evasion Games: A One-Step Nash Approach (2000)

Abstract. A problem of great interest in the control of hybrid systems is the design of least restrictive controllers for reachability specifications. Controller design typically uses game theoretic...

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...

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...

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...

Decidable Controller Synthesis for Classes of Linear Systems (2000)

Omid Shakernia, George J. Pappas, Shankar Sastry

A problem of great interest in the control of hybrid systems is the design of least restrictive controllers for reachability specifications.

Kruppa Equation Revisited: its Renormalization and Degeneracy (2000)

Yi Ma, René Vidal, Jana Kosecká, Shankar Sastry

In this paper, we study general questions about the solvability of the Kruppa equations and show that, in several special cases, the Kruppa equations can be renormalized and become linear. In...

Towards a Geometric Theory of Hybrid Systems (2000)

Slobodan N. Simic, Karl Henrik Johansson, Shankar Sastry, John Lygeros

this paper we present a unifying approach for treatment of hybrid systems. We define the notions of the hybrid manifold (or hybrifold) and hybrid flow, which enable us to study the hybrid system...

Towards a Geometric Theory of Hybrid Systems (2000)

Slobodan N. Simic, Karl Henrik Johansson, John Lygeros, Shankar Sastry

We propose a framework for a geometric theory of hybrid systems. Given a deterministic, non-blocking hybrid system, we introduce the notion of its hybrifold with the associated hybrid flow on it....

Hybrid Systems: Computation and Control. (1999)

Henzinger, Thomas A., Sastry, Shankar

This volume contains the proceedings of the First International Workshop on Hybrid Systems: Computation and Control, HSCC'98, organized April 13-15, 1998, at the University of California, Berkeley....

An introduction to hybrid systems modeling, analysis and control (1999)

John Lygeros, George Pappas, Shankar Sastry

Abstract. Hybrid systems combine discrete event and continuous time dynamics and can serve as models of large scale systems. We provide an overview of modeling, analysis, and controller synthesis...

A hierarchical hybrid system model and its simulation (1999)

Jie Liu, Xiaojun Liu, Bruno Sinopoli, Shankar Sastry, Edward A. Lee

This paper presents a hierarchical hybrid system modeling and simulation framework using the Ptolemy I1 environ-ment. Ptolemy I1 is a system-level design tool that supports the integration of...

Euclidean Reconstruction and Reprojection up to Subgroups (1999)

Randomized Algorithms for Probabilistic Aircraft Conflict Detection* (1999)

The necessary and sufficient conditions for being able to estimate scene structure, motion and camera calibration from a sequence of images are very rarely satisfied in practice. What exactly can be...

Maria Pr, John Lygeros, Arnab Nilim, Shankar Sastry

A mid-range conflict alerting system is proposed, based on a measure of criticality which directly takes into account the uncertainty in the prediction of the aircraft positions. The use of...

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...

Optimization Criteria, Sensitivity and Robustness of Motion and Structure Estimation (1999)

A formal approach to reactive system design: A UAV flight management system design example (1999)

Abstract. The prevailing efforts to study the standard formulation of motion and structure recovery have been recently focused on issues of sensitivity and robustness of existing techniques. While...

T. John Koo, Bruno Sinopoli, Alberto Sangiovanni-vincentelli, Shankar Sastry

This paper presents a formal methodology for the design, implementation and validation of reactive systems. The methodology has been applied to the design of a Flight Management Systems (FMS) for a...

A Lie Theoretic Approach To Structure And Motion In Computer Vision (1999)

Yi Ma, Omid Shakernia, Jana Kosecká, Shankar Sastry

: There has been an increasing interest in applying computer vision in robot control such as vision guided navigation, manipulation, and object recognition. A combination of a robot's rigid body...

Vision guided navigation for a nonholonomic mobile robot (1999)

Euclidean Reconstruction and Reprojection Up to Subgroups (1999)

Visual servoing, i.e. the use of the vision sensor in feedback control, has been of increasing interest. A fair amount of work has been done in applications in autonomous driving, manipulation,...

Yi Ma, Stefano Soatto, Jana Kosecka, Shankar Sastry

The necessary and sufficient conditions for being able to estimate scene structure, motion and camera calibration from a sequence of images are very rarely satisfied in practice. What exactly can be...

Euclidean Reconstruction and Reprojection Up to Subgroups (1999)

Yi Ma Stefano, Yi Ma, Stefano Soatto, Jana Kosecka, Shankar Sastry

The necessary and sufficient conditionsfor being able to estimate scene structure, motionand camera calibration from a sequence of images are very rarely satisfied in practice. What exactly can be...

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...

Controlled Invariance of Discrete Time Systems (1999)

René Vidal, Shawn Schaffert, John Lygeros, Shankar Sastry

. An algorithm for computing the maximal controlled invariant set and the least restrictive controller for discrete time systems is proposed. We show how the algorithm can be encoded using quantifier...

Randomized Algorithms for Probabilistic Aircraft Conflict Detection (1999)

Maria Prandini, John Lygeros, Arnab Nilim, Shankar Sastry

A mid-range conflict alerting system is proposed, based on a measure of criticality which directly takes into account the uncertainty in the prediction of the aircraft positions. The use of...

Controlled Invariance of Discrete Time Systems (1999)

René Vidal, Shawn Schaffert, John Lygeros, Shankar Sastry

An algorithm for computing the maximal controlled invariant set and the least restrictive controller for discrete time systems is proposed. We show how for discrete time linear systems the algorithm...

Simulation of Zeno Hybrid Automata (1999)

Karl Henrik Johansson, John Lygeros, Shankar Sastry, Karl Henrik, Johansson John, Lygeros Shankar Sastry, ...

Zeno hybrid automata are hybrid systems that can ex# hibit in#nitely many discrete transitions in a #nite time interval. Such automata arise due to modeling simpli# #cations and may deteriorate...

On the Existence of Executions of Hybrid Automata (1999)

John Lygeros, Karl Henrik Johansson, Karl Henrik, Shankar Sastry, Magnus Egerstedt

Necessary and sufficient conditions for hybrid automata to be non-blocking and deterministic (local existence and uniqueness of executions, respectively) are developed. The problem of global...

Towards a Geometric Theory of Hybrid Systems (1999)

Slobodan Simic, Karl Henrik Johansson, Shankar Sastry, John Lygeros

Given a deterministic, non-blocking hybrid system, we introduce the notion of its hybrid manifold (or hybrifold) with the associated hybrid flow on it. This enables us to study hybrid systems as...

Aircraft Conflict Prediction and Resolution using Brownian Motion (1999)

Jianghai Hu John, John Lygeros, Maria Pr, Shankar Sastry

The probability of conflict between two aircraft is calculated by modeling aircraft motion as a deterministic trajectory plus a (scaled) Brownian motion perturbation. In this formalism, the...

Camera Self-Calibration: Geometry and Algorithms (1999)

Yi Ma, René Vidal, Jana Kosecká, Shankar Sastry

In this paper, a geometric theory of camera self-calibration is developed. The problem of camera self-calibration is shown to be equivalent to the problem of recovering an unknown (Riemannian) metric...

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....

Controllers for Reachability Specifications for Hybrid Systems (1999)

John Lygeros, Claire Tomlin, Shankar Sastry

The problem of systematically synthesizing hybrid controllers which satisfy multiple control objectives is considered. We present a technique, based on the principles of optimal control, for...

Landing an Unmanned Air Vehicle: Vision Based Motion Estimation and Nonlinear Control (1999)

Omid Shakernia, Yi Ma, T. John Koo, T. John, Shankar Sastry

In this paper, we use computer vision as a feedback sensor in a control loop for landing an unmanned air vehicle (UAV) on a landing pad. The vision problem we address here is then a special case of...

On the Regularization of Zeno Hybrid Automata (1999)

Karl Henrik Johansson, Magnus Egerstedt, John Lygeros, Karl Henrik, Johansson Magnus, Egerstedt John Lygeros, ...

Fundamental properties of hybrid automata# such as existence and uniqueness of executions# are studied. Particular attention is devoted to Zeno hybrid automata# which are hybrid automata that take...

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....

Regularization Of Zeno Hybrid Automata (1999)

Karl Henrik Johansson, Magnus Egerstedt, John Lygeros, Shankar Sastry

. Hybrid automata that can exhibit infinitely many discrete transitions in finite time are studied. These are called Zeno hybrid automata and it is shown that they can be regularized, so that the...

Computing Controllers for Nonlinear Hybrid Systems (1999)

Euclidean Reconstruction and Reprojection Up to Subgroups (1999)

. We discuss a procedure for synthesizing controllers for safety specifications for hybrid systems. The procedure depends on the construction of the set of states of a continuous dynamical system...

Yi Ma, Stefano Soatto, Jana Kosecká, Shankar Sastry

The necessary and sufficient conditions for being able to estimate scene structure, motion and camera calibration from a sequence of images are very rarely satisfied in practice. What exactly, then,...

Euclidean Reconstruction and Reprojection up to Subgroups (1999)

Optimization Criteria, Sensitivity and Robustness of Motion and Structure Estimation (1999)

The necessary and sufficient conditionsfor being able to estimate scene structure, motion and camera calibration from a sequence of images are very rarely satisfied in practice. What exactly can be...

Computing controllers for nonlinear hybrid systems (1999)

The prevailing efforts to study the standard formulation of motion and structure recovery have been recently focused on issues of sensitivity and and robustness of existing techniques. While many...

A hierarchical hybrid system model and its simulation (1999)

Abstract. We discuss a procedure for synthesizing controllers for safety speci cations for hybrid systems. The procedure depends on the construction of the set of states of a continuous dynamical...

Jie Liu, Xiaojun Liu, Bruno Sinopoli, Shankar Sastry, Edward A. Lee

This paper presents a hierarchical hybrid system modeling and simulation framework using the Ptolemy II environment. Ptolemy II is a system-level design tool that supports the integration of multiple...

Hierarchical System for Multiple-Agent Scenarios (1998)

Kim, H. J., Shim, David H., Rashid, Shahid, Sastry, Shankar

This paper presents a hierarchical architecture for the coordination and control of autonomous agents performing intelligent team operations. Each team consisting of multiple aerial and ground...

Conflict resolution for air traffic management: A study in multi-agent hybrid systems (1998)

Claire Tomlin, Student Member, Student Member, Shankar Sastry

Abstract—Air Traffic Management (ATM) of the future allows for the possibility of free flight, in which aircraft choose their own optimal routes, altitudes, and velocities. The safe resolution of...

J. M. Schumacher, A. S. Morse, C. C. Pantelides, S. Sastry, John Lygeros, Claire Tomlin, ...

Guest Editors

Hybrid systems with finite bisimulations (1998)

Gerardo Lafferriere, Shankar Sastry

Abstract. The theory of formal verification is one of the main approaches to hybrid system analysis. Decidability questions for verification algorithms are obtained by constructing finite,...

Optimal Motion From Image Sequences: A Riemannian Viewpoint (1998)

2 1/2 D conflict resolution maneuvers for ATMS (1998)

Motion recovery from image correspondences is typically a problem of optimizing an objective function associated with the epipolar (or Longuet-Higgins) constraint. This objective function is defined...

Conflict resolution for air traffic management: A study in multi-agent hybrid systems (1998)

This work is motivated by the current trend in the Federal Aviation Administration to move towards decentralized Air Traffic Management Systems (ATMS), in which the aircraft operate in "free...

Hybrid systems with finite bisimulations (1998)

Air Traffic Management (ATM) of the future allows for the possibility of free flight, in which aircraft choose their own optimal routes, altitudes, and velocities. The safe and fair resolution of...

Gerardo Lafferriere, George J. Pappas, Shankar Sastry

Abstract. The theory of formal verification is one of the main approaches to hybrid system analysis. A unified approach to decidability questions for verification algorithms is obtained by the...

O-Minimal Hybrid Systems (1998)

Gerardo Lafferriere, George J. Pappas, Shankar Sastry

. A unified approach to decidability questions for verification algorithms of hybrid systems is obtained by the construction of a bisimulation. Bisimulations are finite state quotients whose...

Synthesizing Controllers for Nonlinear Hybrid Systems (1998)

Vision Guided Navigation for A Nonholonomic Mobile Robot (1998)

. Motivated by an example from aircraft conflict resolution we seek a methodology for synthesizing controllers for nonlinear hybrid automata. We first show how game theoretic methodologies developed...

Conflict Resolution for Air Traffic Management: a Study in Multi-Agent Hybrid Systems (1998)

Visual servoing, i.e. the use of the vision sensor in feedback control, has gained recently increased attention from researchers both in vision and control community. A fair amount of work has been...

Optimal Motion From Image Sequences: A Riemannian Viewpoint (1998)

Air Traffic Management (ATM) of the future allows for the possibility of free flight, in which aircraft choose their own optimal routes, altitudes, and velocities. The safe resolution of trajectory...

Yi Ma, Jana Kosecka, Shankar Sastry

Motion recovery from image correspondences is typically a problem of optimizing an objective function associated with the epipolar (or Longuet-Higgins) constraint. This objective function is defined...

Euclidean Structure and Motion From Image Sequences (1998)

Conflict Resolution for Air Traffic Management: A Study in Multi-Agent Hybrid Systems (1998)

In this report we address a problem of Euclidean structure and motion recovery from image sequences and propose a linear method for determining the Euclidean motion and structure information up to a...

Claire Tomlin, George J. Pappas, Shankar Sastry

Air Traffic Management (ATM) of the future allows for the possibility of free flight, in which aircraft choose their own optimal routes, altitudes, and velocities. The safe resolution of trajectory...

Subanalytic Stratifications and Bisimulations (1998)

Gerardo Lafferriere, George J. Pappas, Shankar Sastry

. Decidability results for the verification of hybrid systems consist of constructing special finite state quotients called bisimulations whose properties are equivalent to those of the original...

Aerodynamic Envelope Protection Using Hybrid Control (1998)

Synthesizing Controllers for Nonlinear Hybrid Systems (1998)

This paper presents the application of controller synthesis for hybrid systems to aerodynamic envelope protection and safe switching between flight modes. Each flight mode, which describes a...

Computer Vision. Euclidean Reconstruction and Reprojection Up to Subgroups (1998)

. Motivated by an example from aircraft conflict resolution we seek a methodology for synthesizing controllers for nonlinear hybrid automata. We first show how game theoretic methodologies developed...

Output Tracking Control Design of a Helicopter Model (1998)

The necessary and sufficient conditions for being able to estimate scene structure, motion and camera calibration from a sequence of images are very rarely satisfied in practice. What exactly can be...

Based On Approximate, T. John Koo, Shankar Sastry

In this paper, output tracking control of a helicopter model is investigated. The model is derived from Newton-Euler equations by assuming that the helicopter body is rigid. First, we show that for...

Vision Theory in Spaces of Constant Curvature (1998)

Yi Ma Shankar, Yi Ma, Shankar Sastry

In this paper, vision theory for Euclidean, spherical and hyperbolic spaces is studied in a uniform framework using differential geometry in spaces of constant curvature. It is shown that the...

A Design Framework For Hierarchical, Hybrid Control (1997)

Lygeros, John, Godbole, Datta N., Sastry, Shankar

In this research, the authors focus on the problem of designing hierarchical, hybrid controllers for large scale systems. An overview of the proposed design process is first given. A modeling...

Generation of conflict resolution maneuvers for air traffic management (1997)

Towards continuous abstractions of dynamical and control systems (1997)

We explore the use of distributed on-line motion planning algorithms for multiple mobile agents, in Air Traffic Management Systems (ATMS). The work is motivated by current trends in ATMS to move...

Noncooperative Conflict Resolution (1997)

Abstract. The analysis and design of large scale systems is usually an extremely complex process. In order to reduce the complexity of the analysis, simplified models of the original system, called...

Straightening out rectangular differential inclusions (1997)

Air Traffic Management Systems (ATMS) of the future allow for the possibility of Free Flight, in which aircraft choose their own optimal routes, altitude and speed. In a free flight environment, the...

George J. Pappas, Shankar Sastry

Abstract. In this paper, the classic straightening out theorem from differential geometry is used to derive necessary and sufficient conditions for locally converting rectangular differential...

Noncooperative Conflict Resolution (1997)

Claire Tomlin, George J. Pappas, Shankar Sastry

Next Generation Air Traffic Management will allow for the possibility of free flight, in which each aircraft chooses its own optimal route, altitude and speed. In a free flight environment, the...

Path Planning for Nonholonomic Systems with Drift (1997)

John-morten Godhavn, Andrea Balluchi, Lara Crawford, Shankar Sastry

In this paper we study nonholonomic systems with drift terms. The discussion is focused on a class of Lagrangian systems with a cyclic coordinate. An approach to open--loop path planning is...

Path Planning for Nonholonomic Systems with Drift (1997)

John-morten Godhavn, Andrea Balluchi, Lara Crawford, Shankar Sastry

In this paper we study nonholonomic systems with drift terms. The discussion is focused on a class of Lagrangian systems with a cyclic coordinate. An approach to open--loop path planning is...

A Design Framework for Hierarchical, Hybrid Control (1997)

Generation of Conflict Resolution Maneuvers for Air Traffic Management (1997)

Large scale systems are common in applications such as chemical process control, power generation and distribution and transportation systems, among others. Of particular interest are multi-agent,...

Jana Kosecka, Claire Tomlin, George Pappas, Shankar Sastry

We explore the use of distributed on-line motion planning algorithms for multiple mobile agents, in Air Traffic Management Systems (ATMS). The work is motivated by current trends in ATMS to move...

Motion Recovery From Image Sequences: Discrete Viewpoint vs. Differential Viewpoint (1997)

A design framework for hierarchical, hybrid control (1997)

The aim of this paper is to explore intrinsic geometric methods of recovering the three dimensional motion of a moving camera from a sequence of images. Generic similarities between the discrete...

John Lygeros, John Lygeros, Datta N. Godbole, Datta N. Godbole, Shankar Sastry, Shankar Sastry

The contents of this report reflect the views of the authors who are responsible for the facts and the accuracy of the data presented herein. The contents do not necessarily reflect the official...

Verified Hybrid Controllers for Automated Vehicles (1996)

A Verified Hybrid Controller for Automated Vehicles (1996)

The objective of an Automated Highway System (AHS) is to increase the safety and throughput of the existing highway infrastructure by introducing traffic automation. AHS is an example of a large...

Conflict Resolution for Multi-Agent Hybrid Systems (1996)

Considerable experimental and theoretical research has been carried out in an attempt to design an automated highway system that can provide more efficient utilization of the highways and at the same...

George J. Pappas, Claire Tomlin, Shankar Sastry

A conflict resolution architecture for multi-agent hybrid systems is presented. The agents are considered as players in a noncooperative, zero-sum dynamic game where the actions of other agents are...

Multiagent Hybrid System Design using Game Theory and Optimal Control (1996)

Hierarchical Hybrid Control: A Case Study (1995)

A methodology for designing hybrid controllers for large scale, multiagent systems is presented. Our approach is based on optimal control and game theory. The hybrid design is seen as a game between...

Godbole, Datta N., Lygeros, John, Sastry, Shankar

In this paper, a case study of the difficulties encountered in the design of hierarchical, hybrid control systems is presented. The Intelligent Vehicle Highway System (IVHS) architecture proposed for...

A Game Theoretic Approach to Hybrid System Design (1995)

A Game Theoretic Approach to Hybrid System Design (1995)

We present a design and verification methodology for hybrid dynamical systems. Our approach is based on optimal control and game theory. The hybrid design is seen as a game between two players. One...

Output Tracking for a Non-Minimum Phase Dynamic CTOL Aircraft Model (1995)

. We present a design and verification methodology for hybrid dynamical systems. Our approach is based on optimal control and game theory. The hybrid design is seen as a game between two players. One...

Claire Tomlin, John Lygeros, Luca Benvenuti, Shankar Sastry, Thank S. Devasia, J. Hauser, ...

A dynamic model for the longitudinal axis of a conventional takeoff and landing (CTOL) aircraft is presented. Non-minimum phase characteristics in this model result from the fact that the process of...

Hierarchical hybrid control: A case study (1994)

Datta N. Godbole, John Lygeros, Shankar Sastry, Datta N. Godbole, John Lygeros, Shankar Sastry

The contents of this report reflect the views of the authors who are responsible for the facts and the accuracy of the data presented herein. The contents do not necessarily reflect the official...

A Taxonomy of Replay Attacks", Paul Syverson (1994)