ModelBased Design and Qualification of Complex Systems: Difference between revisions
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This is a joint project with [http://crossgroup.caltech.edu/index.html Michael Cross] and [http://www.cmp.caltech.edu/refael/ Gil Refael], funded by Boeing.  
{ width=100%  { width=100%  
 valign=top   valign=top  
 width=   width=40%  Participants:  
* David Alderson (CDS postdoc, NPS)  
* {{Julia Braman}}  
* {{Andrea Censi}}  
* Lijun Chen (CDS PhD, postdoc)  
* Lars Cremean (ME PhD, Aerovironment)  
* Stefano di Cairano (Visiting student, U. Siena)  
* [http://www.cds.caltech.edu/~doyle John Doyle]  
* Noel du Toit (Postdoc, CDS)  
* Michael Epstein (PhD student, ME)  
* Dennice Gayme (PhD student, CDS)  
* {{Shou Han}}  
* Tamas Keviczky (postdoc, CDS)  
* Dimitry Kogan (CDS MS)  
* Oleg Kogan (PhD student, Physics)  
 width=40%  <br>  
* Tony Lee (PhD student, Physics)  
* Lun Li (PhD student, EE)  
* Scott Livingston  
* Alfred Martinez (PhD student, CDS)  
* Stephen Prajna (CDS PhD)  
* {{Dominic Rizzo}}  
* Demetri Spanos (PhD student, CDS)  
* Heywood Tam (PhD student, Physics)  
* {{Ufuk Topcu}}  
* {{Pete Trautman}}  * {{Pete Trautman}}  
* {{Johan Ugander}}  
*  * Fei Wang (EE PhD; on leave)  
*  * Eric Wolff*  
* {{Nok Wongpiromsarn}}  
  
__TOC__  
}  }  
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and demonstrations of modelbased design strategies for complex  and demonstrations of modelbased design strategies for complex  
systems. This activity is broken up into three broad themes:  systems. This activity is broken up into three broad themes:  
* <p>''  * <p>''Systems Modeling Theory and Practice:'' Development of modeling and analysis tools, with emphasis on hierarchies of simulations that can be used for verification and testing at different levels of fidelity. A key issue is the development of multiple simulations that can be combined to form high fidelity models while at the same time being used in simpler combinations for rapid testing of higher level functions (where highly detailed models are too large or too slow to allow exploration of the relevant design space). </p>  
* <p>''  * <p> ''Engineering Implementation:'' Apply analysis and methods in robustyetfragile behavior and multiscale modeling to specific engineering systems of systems that will provide an evaluation of the efficacy of both the framework and the tools toward applications. Two specific testbeds are being used for this purpose: the Caltech multivehicle wireless testbed (MVWT) and the Caltech autonomous vehicle testbed ("Alice").</p>  
* <p> ''  * <p> ''Multiscale Analysis of Complex Systems:'' Study novel approaches to multiscale analysis based on methodologies and techniques developed for physical dynamical systems. To develop the required methodologies and techniques we are focusing on an archetype complex system which may contain a multitude of scales, namely collections of disparate coupled nonlinear oscillators where each oscillator may have its own natural frequency. </p>  
== Publications ==  == Publications ==  
'''201112'''  
* On Synthesizing Robust Discrete Controllers under Modeling Uncertainty, Ufuk Topcu, Necmiye Ozay, Jun Liu, and Richard M. Murray. Submitted, 2012 International Conf on Hybrid Systems: Computation and Control (HSCC)  
* Synthesis of Switching Protocols from Temporal Logic Specifications, Jun Liu, Necmiye Ozay, Ufuk Topcu and Richard M. Murray. Submitted, 2012 American Control Conference.  
* Temporal Logic Control of Switched Affine Systems with an Application in Fuel Balancing, Petter Nilsson, Necmiye Özay, Ufuk Topcu and Richard M. Murray. Submitted, 2012 American Control Conference (ACC).  
* Robust Control of Uncertain Markov Decision Processes with Temporal Logic Specifications, Eric M. Wolff, Ufuk Topcu and Richard M. Murray. Submitted, 2012 American Control Conference (ACC).  
* Backtracking temporal logic synthesis for uncertain environments, Scott Livingston, Richard M. Murray and Joel W. Burdick. 2012 International Conference on Robotics and Automation (ICRA), submitted.  
'''201011'''  
* J. M. Braman and R. M. Murray, “Bisimulation conversion and verification procedure for goalbased control systems,” Formal Methods in System Design, vol. 38, no. 1, Feb. 2011.  
* Receding Horizon Temporal Logic Planning, Tichakorn Wongpiromsarn, Ufuk Topcu, Richard M Murray. IEEE Transactions on Automatic Control, 2010.  
* {{otm11cdc}}  
* {{otwm11iccps}}  
* H. KressGazit, T. Wongpiromsarn, and U. Topcu, “Correct, Reactive, HighLevel Robot Control,” Robotics & Automation Magazine, IEEE, vol. 18, no. 3, pp. 65–74, 2011.  
* U. Topcu, L. J. Lucas, H. Owhadi, and M. Ortiz, “Rigorous uncertainty quantification without integral testing,” Reliability Engineering & System Safety, vol. 96, no. 9, pp. 1085–1091, Sep. 2011.  
'''200910'''  
* D. Gayme, ''A robust control approach to understanding nonlinear mechanisms in shear flow turbulence''. PhD thesis, Control and Dynamical Systems, Caltech, 2010.  
* D. Gayme, B. McKeon, A. Papachristodoulou, B. Bamieh and J. C. Doyle, "A streamwise constant model of turbulence in plane Couette flow". ''Journal of Fluid Mechanics'', 2010 (submitted).  
* Shuo Han, Andrea Censi, Andrew D. Straw, and Richard M. Murray, "A bioplausible design for visual pose stabilization", International Conference on Intelligent Robots and Systems (IROS), 2010 (to appear).  
* Peter Trautman and Andreas Krause, "Unfreezing the Robot: Navigation in Dense, Interacting Crowds". International Conference on Intelligent Robots and Systems, 2010 (to appear).  
* Ufuk Topcu, T. Sullivan, M. McKerns, and H. Owhadi, "Uncertainty quantification via codimensionone partitioning". ''International Journal on Numerical Methods in Engineering'', 2010 (submitted)  
* Ufuk Topcu, L. Lucas, H. Owhadi, and M. Ortiz, "Rigorous uncertainty quantification without integral testing". ''Reliability Engineering and System Safety'', 2010 (submitted).  
* Nok Wongpiromsarn, Sayan Mitra, Richard M. Murray, and Andrew Lamperski. "Verification of Periodically Controlled Hybrid Systems: Application to An Autonomous Vehicle". ''ACM Transactions in Embedded Computing Systems (ACM TECS), Special Issue on the Verification of CyberPhysical Software Systems'' (accepted).  
* Nok Wongpiromsarn, Ufuk Topcu, and Richard M. Murray. "Receding Horizon Temporal Logic Planning". ''IEEE Transactions on Automatic Control'' (submitted).  
* Nok Wongpiromsarn, Ufuk Topcu and Richard M. Murray, "Automatic synthesis of robust embedded control software". Proceedings of the AAAI 2010 Spring Symposium on Embedded Reasoning: Intelligence in Embedded Systems.  
* Nok Wongpiromsarn, Ufuk Topcu and Richard M. Murray, "Receding horizon control for temporal logic specifications". Proceedings of the International Conference on Hybrid Systems: Computation and Control (HSCC), 2010.  
* Nok Wongpiromsarn, Ufuk Topcu and Richard M. Murray, "Receding horizon temporal logic planning for dynamical systems". Conference on Decision and Control (CDC), 2009.  
* Ufuk Topcu, Andrew Packard and Richard M. Murray, "Compositional stability analysis based on dual decomposition". Conference Decision and Control (CDC), 2009.  
'''200809'''  
* Julia M B Braman, Richard M Murray, "Automatic Conversion Software for the Safety Verification of GoalBased Control Programs." International Conference on Software Engineering, 2009 (submitted).  
* Julia M B Braman, Richard M Murray, "Control Program Verification for a Sample Titan Aerobot Mission." AIAA Infotech@Aerospace Conference, 2009 (submitted).  
* Julia M B Braman, Richard M Murray, "Probabilistic Safety Analysis of SensorDriven Hybrid Automata." International Conference on Hybrid Systems: Computation and Control, 2009 (submitted).  
* Tichakorn Wongpiromsarn, Sayan Mitra, Richard M. Murray, Andrew Lamperski, Verification of Periodically Controlled Hybrid Systems: Application to An Autonomous Vehicle. ACM Transactions in Embedded Computing Systems (ACM TECS), Special Issue on the Verification of CyberPhysical Software Systems (submitted).  
* Tichakorn Wongpiromsarn, Ufuk Topcu, Richard M. Murray, Receding Horizon Temporal Logic Planning for Dynamical Systems. Conference on Decision and Control (CDC), 2009 (submitted).  
* Tichakorn Wongpiromsarn, Sayan Mitra, Richard M. Murray, Andrew Lamperski, [http://www.cds.caltech.edu/~murray/papers/2008r_wmml09hscc.html Periodically Controlled Hybrid Systems: Verifying A Controller for An Autonomous Vehicle]. International Conference on Hybrid Systems: Computation and Control, 2009.  
* Tichakorn Wongpiromsarn, Sayan Mitra, Richard M. Murray, Andrew Lamperski, [http://resolver.caltech.edu/CaltechCDSTR:2008.003 Periodically Controlled Hybrid Systems: Verifying A Controller for An Autonomous Vehicle]. CDS Technical Report, California Institute of Technology, 2008.  
'''200708'''  
* Julia M B Braman, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008f_bm08cdc.html Failure Probability of Verifiable Goalbased Control Programs due to State Estimation Uncertainty]. Conference on Decision and Control, 2008 (submitted).  
* Julia M B Braman, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007u_bm07cds.html Conversion and Verification Procedure for GoalBased Control Programs]. CDS Technical Report, California Institute of Technology, 2007.  
* Julia M B Braman, Richard M Murray, David A Wagner, [http://www.cds.caltech.edu/~murray/papers/2007t_bmw07iros.html Safety Verification of a Fault Tolerant Reconfigurable Autonomous GoalBased Robotic Control System]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007  
* Julia M B Braman, Richard M Murray, Michel D Ingham, [http://www.cds.caltech.edu/~murray/papers/2007s_bmi07infotech.html Verification Procedure for Generalized Goalbased Control Programs]. AIAA Infotech@Aerospace Conference and Exhibit, 2007.  
* Julia M B Braman, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007n_bm08acc.html Safety Verification of Fault Tolerant Goalbased Control Programs with Estimation Uncertainty]. American Control Conference, 2008 (to appear).  
* Julia M B Braman, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007i_bm08iros.html Automatic Conversion Software for the Safety Verification of Goalbased Control Programs]. Proceedings of the International Conference on Intelligent Robots and Systems, 2008 (submitted).  
* Joel W Burdick, Noel duToit, Andrew Howard, Christian Looman, Jeremy Ma, Richard M Murray and Tichakorn Wongpiromsarn, [http://gc.caltech.edu/media/papers/dgc07final.pdf Sensing, Navigation and Reasoning Technologies for the DARPA Urban Challenge], DARPA Urban Challenge Final Report, 2007.  
* L. Chen, S. H. Low and J. C. Doyle, "Contention Control: A Gametheoretic Approach". Proceedings of IEEE CDC, December 2007.  
* L. Chen, T. Cui, S. H. Low and J. C. Doyle, "A GameTheoretic Model for Medium Access Control". Proceedings of International Wireless Internet Conference, October 2007.  
* T. Cui, L. Chen, T. Ho, S. Low and L. Andrew, "Opportunistic Source Coding for Data Gathering in Wireless Sensor Networks,". Proceedings of IEEE Conference on Mobile Adhoc and Sensor Systems, October 2007.  
* T. Cui, L. Chen and T. Ho, "Distributed Optimization in Wireless Networks Using Broadcast Advantage". Proceedings of IEEE CDC, December 2007.  
* T. Cui, L. Chen and T. Ho, "Optimization Based Rate Control for Multicast with Network Coding: A Multipath Formulation". Proceedings of IEEE CDC, December 2007.  
* T. Cui, T. Ho and L. Chen, "Distributed Minimum Cost Multicasting with Lossless Source Coding and Network Coding". Proceedings of IEEE CDC, December 2007.  
* T. Cui, L. Chen and T. Ho, "Energy Efficient Opportunistic Network Coding for Wireless Networks". Proceedings of IEEE Infocom, April 2008.  
* Noel E DuToit, Tichakorn Wongpiromsarn, Joel W Burdick, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008c_dwbm08ivcs.html Situational Reasoning for Road Driving in an Urban Environment]. International Workshop on Intelligent Vehicle Control Systems (IVCS), 2008 (to appear).  
* Michael Epstein, Ling Shi, Abhishek Tiwari, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008i_estm08automatica.html Probabilistic Performance of State Estimation Across a Lossy Network]. Automatica, 2008 (to appear).  
* Michael Epstein, Ling Shi, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007w_esm07cdc.html Estimation schemes for networked control systems using UDPlike communication]. Conference on Decision and Control (CDC), 3945  3951, 2007.  
* Michael Epstein, Kevin Lynch, Karl Henrik Johansson, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007p_eljm08ifac.html Using Hierarchical Decomposition to Speed Up Average Consensus]. International Federation of Automatic Control (IFAC) World Congress, 2008 (to appear).  
* Oleg Kogan, J. L. Rogers, Gil Refael, and M. C. Cross, "Renormalization group method for predicting frequency clusters in a chain of nearestneighbor Kuramoto oscillators", 2008 (in preparation).  
* Tichakorn Wongpiromsarn, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008h_wm08cdc.html Formal Verification of an Autonomous Vehicle System]. Conference on Decision and Control, 2008 (submitted).  
* Tichakorn Wongpiromsarn, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008d_wm08ivcs.html Distributed Mission and Contingency Management for the DARPA Urban Challenge]. International Workshop on Intelligent Vehicle Control Systems (IVCS), 2008 (to appear).  
'''200607'''  
* D. Alderson and L. Li. [http://www.cds.caltech.edu/~lun/publications/PRE06.pdf On the Diversity of Graph with Highly Variable Connectivity]. ''Physical Review E'', 2007.  
* F. Borrelli and T. Keviczky. Distributed LQR design for identical dynamically decoupled systems. ''IEEE Trans. Automatic Control'', 2007, submitted.  
<!  
* J. M. B. Braman, D. A. Wagner and R. M. Murray. [http://www.cds.caltech.edu/~murray/papers/2006m_bwm07icra.html Fault Tolerance of a Reconfigurable Autonomous GoalBased Robotic Control System]. 2007 International Confeerence on Robotics and Automation (ICRA), 2007.  
>  
* L. Chen, T. Ho, S. H. Low, M. Chiang and J. C. Doyle, Optimization Based Rate Control for Multicast with Network Coding, Proceedings of IEEE Infocom, 2007.  
* L. B. Cremean, T. B. Foote, J. H. Gillula, G. H. Hines, D. Kogan, K. L. Kriechbaum, J. C. Lamb, J. Leibs, L. Lindzey, C. E. Rasmussen, A. D. Stewart, J. W. Burdick, and R. M. Murray. {{htdb2005t_cre+06jfrAlice: An informationrich autonomous vehicle for highspeed desert navigation}}. ''Journal of Field Robotics'', 2007.  
* T. Cui, T. Ho and L. Chen, On Distributed Distortion Optimization for Correlated Sources with Network Coding, Proceedings of IEEE ISIT, 2007.  
* T. Cui, L. Chen and T. Ho, Opportunistic Source Coding for Data Gathering in Wireless Sensor Networks, technical report, 2007.  
* J.C. Delvenne, H. Sandberg, and J. C. Doyle. Thermodynamics of Linear Systems. In ''Proceedings of the European Control Conference'', 2007.  
* D. Gayme, "Streamwise Constant Model of Turbulence Statistics in Plane Couette Flow". CDS Candidacy Report, May 2008.  
* D. Gayme, B. McKeon, A. Papachristodoulou, B. Bamieh and J.C. Doyle, "Streamwise Constant Model of Turbulence Statistics in Plane Couette Flow", Under preparation for journal submission, 2008.  
* H. Sandberg, J.C. Delvenne, and J. C. Doyle. The Statistical Mechanics of FluctuationDissipation and Measurement Back Action. In ''Proceedings of the American Control Conference'', 2007.  
* H. Sandberg, J.C. Delvenne, and J. C. Doyle. LinearQuadraticGaussian Heat Engines. Submitted, 2007.  
* H. Sandberg and R. M. Murray. FrequencyWeighted Model Reduction with Applications to Structured Models. In ''Proceedings of the American Control Conference'', 2007.  
* J. Wang, L. Li, S. H. Low, and J. C. Doyle. Crosslayer optimization in tcp/ip networks. ''IEEE/ACM Transactions on Networking'', 13(3), 2006.  
'''200506'''  
* D. Alderson, L. Li, W. Willinger, and J. C. Doyle. Understanding Internet topology: Principles, models, and validation. ''IEEE/ACM Transactions on Networking'', 13(6), 2005.  
* D. Alderson and W. Willinger. A contrasting look at selforganization in the Internet and nextgeneration communication networks. ''IEEE Communications Magazine'', July 2005.  
* L. Chen, S. H. Low, M. Chiang, and J. C. Doyle. Crosslayer congestion control, routing and scheduling design in ad hoc wireless networks. In ''Proceedings of IEEE Infocom'', 2006.  
* L. Chen, S. H. Low, and J. C. Doyle. Joint congestion control and media access control design for wireless ad hoc networks. In ''Proceedings of IEEE Infocom'', 2005.  
* L. Chen, S. H. Low and J. C. Doyle, Random Access Game and Medium Access Control Design, submitted, technical report, 2006.  
* J. C. Doyle, D. Alderson, L. Li, S. Low, M. Roughan, S. Shalunov, R. Tanaka, and W. Willinger. The ``robust yet fragile'' nature of the Internet. ''Proceedings of the National Academy of Sciences'', 102(41):1449714502, 2005.  
* D. Gayme, J. C Doyle, S. Prajna, A. Papachristodoulou, and Maryam Fazel. Optimization based methods for determining basins of attraction in the logistic map and set membership in the mandelbrot set. Preprint, 2006.  
* D. Gayme, M. Fazel, and J. C. Doyle. Sos proofs of invariant regions in the logistic map. In ''Proc. IEEE Control and Decision Conference'', 2006. Submitted.  
* S. Glavaski, A. Papachristodoulou, and K. Ariyur. Safety verification of controlled advanced life support system using barrier certificates. In ''Hybrid Systems: Computation and Control'', 2005.  
* D. Kogan. Realtime path planning through optimization methods. Master's thesis, California Institute of Technology, 2005.  
* L. Li, D. Alderson, J. C. Doyle and W. Willinger. [http://www.cds.caltech.edu/~lun/publications/IM06.pdf Towards a Theory of ScaleFree Graphs: Definition, Properties, and Implications]. ''Internet Mathematics'' 2(4), p 431523, Mar. 2006.  
* L. Li, D. Alderson, W. Willinger and J. C. Doyle. [http://www.cds.caltech.edu/~lun/publications/sigcomm04.pdf A FirstPrinciples Approach to Understanding the Internet's Routerlevel Topology]. Proceedings of ACM Sigcomm, 2004,  
* S. H. Low, J. C. Doyle, L. Li, A. Tang, J. Wang, Optimization Model of Internet Protocols, Proceedings of ACM Sigmetrics, June 2005.  
* S. Prajna and A. Jadbabaie. Safety verification of hybrid systems using barrier certificates. In ''Hybrid Systems: Computation and Control'', 2004.  
* S. Prajna and A. Jadbabaie. Methods for safety verification of timedelay systems. In ''Proceedings of the IEEE Conference on Decision and Control'', 2005.  
* S. Prajna, A. Jadbabaie, and G. J. Pappas. Stochastic safety verification using barrier certificates. In ''Proceedings of the IEEE Conference on Decision and Control'', 2004.  
* S. Prajna, A. Papachristodoulou, P. J. Seiler, and P. A. Parrilo. SOSTOOLS  Sum of Squares Optimization Toolbox, User's Guide. Available at http://www.cds.caltech.edu/sostools and http://www.mit.edu/~parrilo/sostools, 2002, 2004.  
* S. Prajna and A. Rantzer. On the necessity of barrier certificates. In ''Proceedings of the IFAC World Congress'', 2005.  
* S. Prajna and A. Rantzer. Primaldual tests for safety and reachability. In ''Hybrid Systems: Computation and Control''. SpringerVerlag, 2005.  
== Reports ==  
* [[Media:boeing_reportmay08.pdfAnnual report, May 2007 to April 2008]]  
* [[Media:boeing_reportmar06.pdfAnnual report, January 2005 to March 2006]]  
* [[Media:boeing_reportapr06.pdfAnnual report, March 2006 to April 2007]]  
== Software ==  
* SOSTOOLS  
== Related Activities ==  
* [[Connections II]]  Workshop on Foundations of Network Science (Caltech, August 2006)  
* [http://www.cds.caltech.edu/~murray/VaVmuri V&V MURI]  Specification, Design and Verification of Distributed Embedded Systems (AFOSR MURI)  
* [[Workshop: Specification and Verification of Embedded Systems]]  (Caltech, October 2008)  
* [[Caltech Workshop on Verification and Validation]]  September 2324, 2009  
[[Category:Completed projects]]  
{{#set: agency=Boeing  end date = 2011}} 
Latest revision as of 02:43, 26 November 2015
This is a joint project with Michael Cross and Gil Refael, funded by Boeing.
Participants:


Objectives
The broad goal of this project is to develop new theory, algorithms and demonstrations of modelbased design strategies for complex systems. This activity is broken up into three broad themes:
Systems Modeling Theory and Practice: Development of modeling and analysis tools, with emphasis on hierarchies of simulations that can be used for verification and testing at different levels of fidelity. A key issue is the development of multiple simulations that can be combined to form high fidelity models while at the same time being used in simpler combinations for rapid testing of higher level functions (where highly detailed models are too large or too slow to allow exploration of the relevant design space).
Engineering Implementation: Apply analysis and methods in robustyetfragile behavior and multiscale modeling to specific engineering systems of systems that will provide an evaluation of the efficacy of both the framework and the tools toward applications. Two specific testbeds are being used for this purpose: the Caltech multivehicle wireless testbed (MVWT) and the Caltech autonomous vehicle testbed ("Alice").
Multiscale Analysis of Complex Systems: Study novel approaches to multiscale analysis based on methodologies and techniques developed for physical dynamical systems. To develop the required methodologies and techniques we are focusing on an archetype complex system which may contain a multitude of scales, namely collections of disparate coupled nonlinear oscillators where each oscillator may have its own natural frequency.
Publications
201112
 On Synthesizing Robust Discrete Controllers under Modeling Uncertainty, Ufuk Topcu, Necmiye Ozay, Jun Liu, and Richard M. Murray. Submitted, 2012 International Conf on Hybrid Systems: Computation and Control (HSCC)
 Synthesis of Switching Protocols from Temporal Logic Specifications, Jun Liu, Necmiye Ozay, Ufuk Topcu and Richard M. Murray. Submitted, 2012 American Control Conference.
 Temporal Logic Control of Switched Affine Systems with an Application in Fuel Balancing, Petter Nilsson, Necmiye Özay, Ufuk Topcu and Richard M. Murray. Submitted, 2012 American Control Conference (ACC).
 Robust Control of Uncertain Markov Decision Processes with Temporal Logic Specifications, Eric M. Wolff, Ufuk Topcu and Richard M. Murray. Submitted, 2012 American Control Conference (ACC).
 Backtracking temporal logic synthesis for uncertain environments, Scott Livingston, Richard M. Murray and Joel W. Burdick. 2012 International Conference on Robotics and Automation (ICRA), submitted.
201011
 J. M. Braman and R. M. Murray, “Bisimulation conversion and verification procedure for goalbased control systems,” Formal Methods in System Design, vol. 38, no. 1, Feb. 2011.
 Receding Horizon Temporal Logic Planning, Tichakorn Wongpiromsarn, Ufuk Topcu, Richard M Murray. IEEE Transactions on Automatic Control, 2010.
 Distributed Power Allocation for Vehicle Management Systems, Necmiye Ozay, Ufuk Topcu and Richard M. Murray. IEEE Conference on Decision and Control (CDC), 2011.
 Distributed Synthesis of Control Protocols for Smart Camera Networks, Necmiye Ozay, Ufuk Topcu, Tichakorn Wongpiromsarn, Richard M. Murray. ACM/IEEE Second International Conference on CyberPhysical Systems, 2011.
 H. KressGazit, T. Wongpiromsarn, and U. Topcu, “Correct, Reactive, HighLevel Robot Control,” Robotics & Automation Magazine, IEEE, vol. 18, no. 3, pp. 65–74, 2011.
 U. Topcu, L. J. Lucas, H. Owhadi, and M. Ortiz, “Rigorous uncertainty quantification without integral testing,” Reliability Engineering & System Safety, vol. 96, no. 9, pp. 1085–1091, Sep. 2011.
200910
 D. Gayme, A robust control approach to understanding nonlinear mechanisms in shear flow turbulence. PhD thesis, Control and Dynamical Systems, Caltech, 2010.
 D. Gayme, B. McKeon, A. Papachristodoulou, B. Bamieh and J. C. Doyle, "A streamwise constant model of turbulence in plane Couette flow". Journal of Fluid Mechanics, 2010 (submitted).
 Shuo Han, Andrea Censi, Andrew D. Straw, and Richard M. Murray, "A bioplausible design for visual pose stabilization", International Conference on Intelligent Robots and Systems (IROS), 2010 (to appear).
 Peter Trautman and Andreas Krause, "Unfreezing the Robot: Navigation in Dense, Interacting Crowds". International Conference on Intelligent Robots and Systems, 2010 (to appear).
 Ufuk Topcu, T. Sullivan, M. McKerns, and H. Owhadi, "Uncertainty quantification via codimensionone partitioning". International Journal on Numerical Methods in Engineering, 2010 (submitted)
 Ufuk Topcu, L. Lucas, H. Owhadi, and M. Ortiz, "Rigorous uncertainty quantification without integral testing". Reliability Engineering and System Safety, 2010 (submitted).
 Nok Wongpiromsarn, Sayan Mitra, Richard M. Murray, and Andrew Lamperski. "Verification of Periodically Controlled Hybrid Systems: Application to An Autonomous Vehicle". ACM Transactions in Embedded Computing Systems (ACM TECS), Special Issue on the Verification of CyberPhysical Software Systems (accepted).
 Nok Wongpiromsarn, Ufuk Topcu, and Richard M. Murray. "Receding Horizon Temporal Logic Planning". IEEE Transactions on Automatic Control (submitted).
 Nok Wongpiromsarn, Ufuk Topcu and Richard M. Murray, "Automatic synthesis of robust embedded control software". Proceedings of the AAAI 2010 Spring Symposium on Embedded Reasoning: Intelligence in Embedded Systems.
 Nok Wongpiromsarn, Ufuk Topcu and Richard M. Murray, "Receding horizon control for temporal logic specifications". Proceedings of the International Conference on Hybrid Systems: Computation and Control (HSCC), 2010.
 Nok Wongpiromsarn, Ufuk Topcu and Richard M. Murray, "Receding horizon temporal logic planning for dynamical systems". Conference on Decision and Control (CDC), 2009.
 Ufuk Topcu, Andrew Packard and Richard M. Murray, "Compositional stability analysis based on dual decomposition". Conference Decision and Control (CDC), 2009.
200809
 Julia M B Braman, Richard M Murray, "Automatic Conversion Software for the Safety Verification of GoalBased Control Programs." International Conference on Software Engineering, 2009 (submitted).
 Julia M B Braman, Richard M Murray, "Control Program Verification for a Sample Titan Aerobot Mission." AIAA Infotech@Aerospace Conference, 2009 (submitted).
 Julia M B Braman, Richard M Murray, "Probabilistic Safety Analysis of SensorDriven Hybrid Automata." International Conference on Hybrid Systems: Computation and Control, 2009 (submitted).
 Tichakorn Wongpiromsarn, Sayan Mitra, Richard M. Murray, Andrew Lamperski, Verification of Periodically Controlled Hybrid Systems: Application to An Autonomous Vehicle. ACM Transactions in Embedded Computing Systems (ACM TECS), Special Issue on the Verification of CyberPhysical Software Systems (submitted).
 Tichakorn Wongpiromsarn, Ufuk Topcu, Richard M. Murray, Receding Horizon Temporal Logic Planning for Dynamical Systems. Conference on Decision and Control (CDC), 2009 (submitted).
 Tichakorn Wongpiromsarn, Sayan Mitra, Richard M. Murray, Andrew Lamperski, Periodically Controlled Hybrid Systems: Verifying A Controller for An Autonomous Vehicle. International Conference on Hybrid Systems: Computation and Control, 2009.
 Tichakorn Wongpiromsarn, Sayan Mitra, Richard M. Murray, Andrew Lamperski, Periodically Controlled Hybrid Systems: Verifying A Controller for An Autonomous Vehicle. CDS Technical Report, California Institute of Technology, 2008.
200708
 Julia M B Braman, Richard M Murray, Failure Probability of Verifiable Goalbased Control Programs due to State Estimation Uncertainty. Conference on Decision and Control, 2008 (submitted).
 Julia M B Braman, Richard M Murray, Conversion and Verification Procedure for GoalBased Control Programs. CDS Technical Report, California Institute of Technology, 2007.
 Julia M B Braman, Richard M Murray, David A Wagner, Safety Verification of a Fault Tolerant Reconfigurable Autonomous GoalBased Robotic Control System. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007
 Julia M B Braman, Richard M Murray, Michel D Ingham, Verification Procedure for Generalized Goalbased Control Programs. AIAA Infotech@Aerospace Conference and Exhibit, 2007.
 Julia M B Braman, Richard M Murray, Safety Verification of Fault Tolerant Goalbased Control Programs with Estimation Uncertainty. American Control Conference, 2008 (to appear).
 Julia M B Braman, Richard M Murray, Automatic Conversion Software for the Safety Verification of Goalbased Control Programs. Proceedings of the International Conference on Intelligent Robots and Systems, 2008 (submitted).
 Joel W Burdick, Noel duToit, Andrew Howard, Christian Looman, Jeremy Ma, Richard M Murray and Tichakorn Wongpiromsarn, Sensing, Navigation and Reasoning Technologies for the DARPA Urban Challenge, DARPA Urban Challenge Final Report, 2007.
 L. Chen, S. H. Low and J. C. Doyle, "Contention Control: A Gametheoretic Approach". Proceedings of IEEE CDC, December 2007.
 L. Chen, T. Cui, S. H. Low and J. C. Doyle, "A GameTheoretic Model for Medium Access Control". Proceedings of International Wireless Internet Conference, October 2007.
 T. Cui, L. Chen, T. Ho, S. Low and L. Andrew, "Opportunistic Source Coding for Data Gathering in Wireless Sensor Networks,". Proceedings of IEEE Conference on Mobile Adhoc and Sensor Systems, October 2007.
 T. Cui, L. Chen and T. Ho, "Distributed Optimization in Wireless Networks Using Broadcast Advantage". Proceedings of IEEE CDC, December 2007.
 T. Cui, L. Chen and T. Ho, "Optimization Based Rate Control for Multicast with Network Coding: A Multipath Formulation". Proceedings of IEEE CDC, December 2007.
 T. Cui, T. Ho and L. Chen, "Distributed Minimum Cost Multicasting with Lossless Source Coding and Network Coding". Proceedings of IEEE CDC, December 2007.
 T. Cui, L. Chen and T. Ho, "Energy Efficient Opportunistic Network Coding for Wireless Networks". Proceedings of IEEE Infocom, April 2008.
 Noel E DuToit, Tichakorn Wongpiromsarn, Joel W Burdick, Richard M Murray, Situational Reasoning for Road Driving in an Urban Environment. International Workshop on Intelligent Vehicle Control Systems (IVCS), 2008 (to appear).
 Michael Epstein, Ling Shi, Abhishek Tiwari, Richard M Murray, Probabilistic Performance of State Estimation Across a Lossy Network. Automatica, 2008 (to appear).
 Michael Epstein, Ling Shi, Richard M Murray, Estimation schemes for networked control systems using UDPlike communication. Conference on Decision and Control (CDC), 3945  3951, 2007.
 Michael Epstein, Kevin Lynch, Karl Henrik Johansson, Richard M Murray, Using Hierarchical Decomposition to Speed Up Average Consensus. International Federation of Automatic Control (IFAC) World Congress, 2008 (to appear).
 Oleg Kogan, J. L. Rogers, Gil Refael, and M. C. Cross, "Renormalization group method for predicting frequency clusters in a chain of nearestneighbor Kuramoto oscillators", 2008 (in preparation).
 Tichakorn Wongpiromsarn, Richard M Murray, Formal Verification of an Autonomous Vehicle System. Conference on Decision and Control, 2008 (submitted).
 Tichakorn Wongpiromsarn, Richard M Murray, Distributed Mission and Contingency Management for the DARPA Urban Challenge. International Workshop on Intelligent Vehicle Control Systems (IVCS), 2008 (to appear).
200607
 D. Alderson and L. Li. On the Diversity of Graph with Highly Variable Connectivity. Physical Review E, 2007.
 F. Borrelli and T. Keviczky. Distributed LQR design for identical dynamically decoupled systems. IEEE Trans. Automatic Control, 2007, submitted.
 L. Chen, T. Ho, S. H. Low, M. Chiang and J. C. Doyle, Optimization Based Rate Control for Multicast with Network Coding, Proceedings of IEEE Infocom, 2007.
 L. B. Cremean, T. B. Foote, J. H. Gillula, G. H. Hines, D. Kogan, K. L. Kriechbaum, J. C. Lamb, J. Leibs, L. Lindzey, C. E. Rasmussen, A. D. Stewart, J. W. Burdick, and R. M. Murray. Alice: An informationrich autonomous vehicle for highspeed desert navigation. Journal of Field Robotics, 2007.
 T. Cui, T. Ho and L. Chen, On Distributed Distortion Optimization for Correlated Sources with Network Coding, Proceedings of IEEE ISIT, 2007.
 T. Cui, L. Chen and T. Ho, Opportunistic Source Coding for Data Gathering in Wireless Sensor Networks, technical report, 2007.
 J.C. Delvenne, H. Sandberg, and J. C. Doyle. Thermodynamics of Linear Systems. In Proceedings of the European Control Conference, 2007.
 D. Gayme, "Streamwise Constant Model of Turbulence Statistics in Plane Couette Flow". CDS Candidacy Report, May 2008.
 D. Gayme, B. McKeon, A. Papachristodoulou, B. Bamieh and J.C. Doyle, "Streamwise Constant Model of Turbulence Statistics in Plane Couette Flow", Under preparation for journal submission, 2008.
 H. Sandberg, J.C. Delvenne, and J. C. Doyle. The Statistical Mechanics of FluctuationDissipation and Measurement Back Action. In Proceedings of the American Control Conference, 2007.
 H. Sandberg, J.C. Delvenne, and J. C. Doyle. LinearQuadraticGaussian Heat Engines. Submitted, 2007.
 H. Sandberg and R. M. Murray. FrequencyWeighted Model Reduction with Applications to Structured Models. In Proceedings of the American Control Conference, 2007.
 J. Wang, L. Li, S. H. Low, and J. C. Doyle. Crosslayer optimization in tcp/ip networks. IEEE/ACM Transactions on Networking, 13(3), 2006.
200506
 D. Alderson, L. Li, W. Willinger, and J. C. Doyle. Understanding Internet topology: Principles, models, and validation. IEEE/ACM Transactions on Networking, 13(6), 2005.
 D. Alderson and W. Willinger. A contrasting look at selforganization in the Internet and nextgeneration communication networks. IEEE Communications Magazine, July 2005.
 L. Chen, S. H. Low, M. Chiang, and J. C. Doyle. Crosslayer congestion control, routing and scheduling design in ad hoc wireless networks. In Proceedings of IEEE Infocom, 2006.
 L. Chen, S. H. Low, and J. C. Doyle. Joint congestion control and media access control design for wireless ad hoc networks. In Proceedings of IEEE Infocom, 2005.
 L. Chen, S. H. Low and J. C. Doyle, Random Access Game and Medium Access Control Design, submitted, technical report, 2006.
 J. C. Doyle, D. Alderson, L. Li, S. Low, M. Roughan, S. Shalunov, R. Tanaka, and W. Willinger. The ``robust yet fragile nature of the Internet. Proceedings of the National Academy of Sciences, 102(41):1449714502, 2005.
 D. Gayme, J. C Doyle, S. Prajna, A. Papachristodoulou, and Maryam Fazel. Optimization based methods for determining basins of attraction in the logistic map and set membership in the mandelbrot set. Preprint, 2006.
 D. Gayme, M. Fazel, and J. C. Doyle. Sos proofs of invariant regions in the logistic map. In Proc. IEEE Control and Decision Conference, 2006. Submitted.
 S. Glavaski, A. Papachristodoulou, and K. Ariyur. Safety verification of controlled advanced life support system using barrier certificates. In Hybrid Systems: Computation and Control, 2005.
 D. Kogan. Realtime path planning through optimization methods. Master's thesis, California Institute of Technology, 2005.
 L. Li, D. Alderson, J. C. Doyle and W. Willinger. Towards a Theory of ScaleFree Graphs: Definition, Properties, and Implications. Internet Mathematics 2(4), p 431523, Mar. 2006.
 L. Li, D. Alderson, W. Willinger and J. C. Doyle. A FirstPrinciples Approach to Understanding the Internet's Routerlevel Topology. Proceedings of ACM Sigcomm, 2004,
 S. H. Low, J. C. Doyle, L. Li, A. Tang, J. Wang, Optimization Model of Internet Protocols, Proceedings of ACM Sigmetrics, June 2005.
 S. Prajna and A. Jadbabaie. Safety verification of hybrid systems using barrier certificates. In Hybrid Systems: Computation and Control, 2004.
 S. Prajna and A. Jadbabaie. Methods for safety verification of timedelay systems. In Proceedings of the IEEE Conference on Decision and Control, 2005.
 S. Prajna, A. Jadbabaie, and G. J. Pappas. Stochastic safety verification using barrier certificates. In Proceedings of the IEEE Conference on Decision and Control, 2004.
 S. Prajna, A. Papachristodoulou, P. J. Seiler, and P. A. Parrilo. SOSTOOLS  Sum of Squares Optimization Toolbox, User's Guide. Available at http://www.cds.caltech.edu/sostools and http://www.mit.edu/~parrilo/sostools, 2002, 2004.
 S. Prajna and A. Rantzer. On the necessity of barrier certificates. In Proceedings of the IFAC World Congress, 2005.
 S. Prajna and A. Rantzer. Primaldual tests for safety and reachability. In Hybrid Systems: Computation and Control. SpringerVerlag, 2005.
Reports
 Annual report, May 2007 to April 2008
 Annual report, January 2005 to March 2006
 Annual report, March 2006 to April 2007
Software
 SOSTOOLS
Related Activities
 Connections II  Workshop on Foundations of Network Science (Caltech, August 2006)
 V&V MURI  Specification, Design and Verification of Distributed Embedded Systems (AFOSR MURI)
 Workshop: Specification and Verification of Embedded Systems  (Caltech, October 2008)
 Caltech Workshop on Verification and Validation  September 2324, 2009