The TerraSwarm Research Center

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This is a large consortium project led by UC Berkeley as part of the TerraSwarm Research Center (TSRC). This page primarily describes the work done in Richard Murray's group.

Current participants:

Previous participants:

  • Marcella Gomez
  • Scott Livingston*
  • Ivan Papusha
  • Vasu Raman

The TerraSwarm Research Center (TSRC) aims to enable the simple, reliable, and secure deployment of a multiplicity of advanced distributed sense-control-actuate applications on shared, massively distributed, heterogeneous, and mostly uncoordinated swarm platforms through an open and universal systems architecture.

As new sensing, actuation and data subsystems are added and removed from TerraSwarm Systems, command and control systems must take into the current capabilities to insure that system safety is maintained and performance is optimized. Work at Caltech is focused on the development of architectures and algorithms for specification, design of correct-by-contruction protocols that identify and make use of highly dynamic, networked-based resources to accomplish a task and are capable of providing safe operation based on assume/gaurantee contracts provided by individual subsystems. To manage the complexity of the overall protocol synthesis, we will exploit the structure of assume/gaurantee constructs that provide appropriate separation of concerns and explore the use of incremental techniques that can provide rapid synthesis based on the current system solution. Caltech is also supporting the demonstration the technologies developed on joint demonstration platforms devloped by other members of the TSRC.


  • Exploiting distributed localization techniques, we will develop controllers that form and update belief states about the environment without prior detailed models
    • As components move, appear, or disappear, command and control systems must adapt to use currently available services while maintaining system safety and performance.
    • We will develop architectures and algorithms for specification and design of correct-by-construction protocolsthat identify and make use of highly dynamic, networked-based resources to accomplish a task.
    • Safe operation will be ensured using assume/guarantee contracts provided by individual subsystems. A key challenge will be to manage the complexity of protocol synthesis.
  • Define specific applications for use as test cases of TerraSwarm Systems, and perform preliminary analyses of their feasibility. Subsequent years will be devoted to prototyping, deploying, adapting, and testing these applications.


  • Vasu Raman, Mattias Falt, Tichakorn Wongpiromsarn, Richard Murray. Online Horizon Selection in Receding Horizon Temporal Logic Planning, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015.
  • Vasu Raman, Alexandre Donze, Dorsa Sadigh, Richard Murray, Sanjit A. Seshia. Reactive Synthesis from Signal Temporal Logic Specifications, Submitted to International Conference on Hybrid Systems: Computation and Control (HSCC), 2015.
  • Vasu Raman, Eric Wolff. Mixed-Integer Linear Programming for Planning with Temporal Logic Tasks [Position Paper], AAAI-15 Workshop on Planning, Search, and Optimization, 2015.
  • Ioannis Filippidis, Richard Murray. Strategy-Driven Partitioning into Switching Modes for Piecewise-Affine Systems with Continuous Environments, 53rd IEEE Conference on Decision and Control, IEEE, 15, December, 2014.
  • Marcella Gomez, Wubing B. Qin, Gabor Orosz, Richard Murray. Exact Stability Analysis of Discrete-Time Linear Systems with Stochastic Delays, American Control Conference 2014, June, 2014.
  • Pierluigi Nuzzo, Huan Xu, Necmiye Ozay, John B. Finn, Alberto Sangiovanni-Vincentelli, Richard Murray, Alexandre Donze, Sanjit A. Seshia. A Contract-Based Methodology for Aircraft Electric Power System Design, IEEE Access, March 2014.
  • Ivan Papusha, Eugene Lavretsky, Richard Murray. Collaborative System Identification via Parameter Consensus, American Control Conference 2014, 2014.
  • Vasu Raman, Alexandre Donze, Mehdi Maasoumy, Richard Murray, Alberto Sangiovanni-Vincentelli, Sanjit A. Seshia. Model Predictive Control with Signal Temporal Logic Specifications, 2014 IEEE 53rd Annual Conference on Decision and Control (CDC), 2014.
  • Quentin Maillet, Huan Xu, Necmiye Ozay, Richard Murray. Dynamic State Estimation in Distributed Aircraft Electric Control Systems via Adaptive Submodularity, Conference on Decisions and Controls, IEEE, 10, December, 2013.