# Faculty Publications - S. Shankar Sastry

## Books

- Y. Ma, S. Soatto, J. Kosecka, and S. S. Sastry,
*An Invitation to 3-D Vision: From Images to Geometric Models*, Interdisciplinary Applied Mathematics: Imaging, Vision, and Graphics; v. 26, New York: Springer, 2004. [abstract] - Y. Ma, S. Soatto, J. Kosecka, and S. S. Sastry,
*An Invitation to 3-D Vision: From Images to Geometric Models*, Interdisciplinary Applied Mathematics: Imaging, Vision, and Graphics, Vol. 26, New York, NY: Springer, 2004. [abstract] - P. J. Antsaklis, M. Lemmon, W. Kohn, A. Nerode, and S. S. Sastry, Eds.,
*Hybrid Systems V*, Lecture Notes in Computer Science, v. 1567, Berlin; New York: Springer, 1999. [abstract] - S. S. Sastry,
*Nonlinear Systems: Analysis, Stability, and Control*, Interdisciplinary Applied Mathematics; v. 10, New York: Springer, 1999. [abstract] - S. S. Sastry,
*Nonlinear Systems: Analysis, Stability, and Control*, Interdisciplinary Applied Mathematics, Vol. 10, New York, NY: Springer, 1999. [abstract] - T. A. Henzinger and S. S. Sastry, Eds.,
*Hybrid Systems: Computation and Control*, Lecture Notes in Computer Science, v. 1386, Vol. 1386, Berlin, Germany: Springer-Verlag, 1998. [abstract] - J. Baillieul, S. S. Sastry, and H. J. Sussmann, Eds.,
*Essays on Mathematical Robotics*, The IMA Volumes in Mathematics and Its Applications; v. 104, New York: Springer, 1998. [abstract] - P. J. Antsaklis, W. Kohn, A. Nerode, and S. S. Sastry, Eds.,
*Hybrid Systems IV*, Lecture Notes in Computer Science, v. 1273, Berlin; New York: Springer, 1997. [abstract] - P. J. Antsaklis, W. Kohn, A. Nerode, and S. S. Sastry, Eds.,
*Hybrid Systems II*, Lecture Notes in Computer Science; v. 999, Berlin; New York: Springer, 1995. [abstract] - R. M. Murray, Z. Li, and S. S. Sastry,
*A Mathematical Introduction to Robotic Manipulation*, Boca Raton, FL: CRC Press, 1994. [abstract] - S. S. Sastry and M. Bodson,
*Adaptive Control: Stability, Convergence, and Robustness*, Prentice-Hall Information and System Sciences Series, Englewood Cliffs, NJ: Prentice Hall, 1989. [abstract] - S. S. Sastry and M. Bodson,
*Adaptive Control: Stability, Convergence, and Robustness*, Prentice Hall Information and System Sciences Series, Englewood Cliffs, NJ: Prentice Hall, 1989.

## Book chapters or sections

- A. Abate, A. D'Innocenzo, M. D. Di Benedetto, and S. S. Sastry, "Markov set-chains as abstractions of stochastic hybrid systems," in
*Hybrid Systems: Computation and Control. Proc. 11th Intl. Workshop (HSCC 2008)*, M. Egerstedt and B. Mishra, Eds., Lecture Notes in Computer Science, Vol. 4981, Berlin, Germany: Springer-Verlag, 2008, pp. 1-15. - A. Abate, M. Prandini, J. Lygeros, and S. S. Sastry, "Approximation of general stochastic hybrid systems by switching diffusions with random hybrid jumps," in
*Hybrid Systems: Computation and Control. Proc. 11th Intl. Workshop (HSCC 2008)*, M. Egerstedt and B. Mishra, Eds., Lecture Notes in Computer Science, Vol. 4981, Berlin, Germany: Springer-Verlag, 2008, pp. 598-601. - A. D. Ames, R. D. Gregg, E. D. B. Wendel, and S. S. Sastry, "On the geometric reduction of controlled three-dimensional bipedal robotic walkers," in
*Lagrangian and Hamiltonian Methods for Nonlinear Control 2006: Proc. 3rd IFAC Workshop*, F. Bullo and K. Fujimoto, Eds., Lecture Notes in Control and Information Sciences, Vol. 366, Berlin, Germany: Springer-Verlag, 2007, pp. 183-196. - C. L. Harmon, P. Ahammad, A. Hammonds, R. Weiszmann, S. E. Celniker, S. S. Sastry, and G. M. Rubin, "Comparative analysis of spatial patterns of gene expression in Drosophila melanogaster imaginal discs," in
*Research in Computational Molecular Biology: Proc. 11th Annual Intl. Conf. (RECOMB 2007)*, T. Speed and H. Huang, Eds., Lecture Notes in Bioinformatics, Vol. 4453, Berlin, Germany: Springer-Verlag, 2007, pp. 533-547. - S. S. Sastry, "Networked Embedded Systems: From Sensor Webs to Cyber-Physical Systems (Keynote Address)," in
*Hybrid Systems: Computation and Control. Proc. 10 Intl. Workshop (HSCC 2007)*, G. Buttazzo, A. Bemporad, and A. Bicchi, Eds., Lecture Notes in Computer Science, Vol. 4416, Berlin, Germany: Springer-Verlag, 2007, pp. 1-1. - A. Abate, S. Amin, M. Prandini, J. Lygeros, and S. S. Sastry, "Computational approaches to reachability analysis of stochastic hybrid systems," in
*Hybrid Systems: Computation and Control. Proc. 10th Intl. Conf. (HSCC 2007)*, A. Bemporad, A. Bicchi, and G. Buttazzo, Eds., Lecture Notes in Computer Science, Vol. 4416, Berlin, Germany: Springer-Verlag, 2007, pp. 4-17. [abstract] - T. Roosta, M. Manzo, and S. S. Sastry, "Time synchronization attacks in sensor networks," in
*Secure Localization and Time Synchronization for Wireless Sensor and Ad Hoc Networks*, R. Poovendran, C. Wang, and S. Roy, Eds., Advances in Information Security, Vol. 30, New York, NY: Springer Science+Business Media, LLC, 2007, pp. 325-345. - A. D. Ames, A. L. Sangiovanni-Vincentelli, and S. S. Sastry, "Homogeneous semantics preserving deployments of heterogeneous networks of embedded systems," in
*Networked Embedded Sensing and Control: Workshop Proc. (NESC 2005)*, P. J. Antsaklis and P. Tabuada, Eds., Lecture Notes in Control and Information, Vol. 331, Berlin, Germany: Springer-Verlag, 2006, pp. 127-154. - S. Amin, A. Abate, M. Prandini, J. Lygeros, and S. S. Sastry, "Reachability analysis for controlled discrete time stochastic hybrid systems," in
*Hybrid Systems: Computation and Control. Proc. 9th Intl. Workshop (HSCC 2006)*, J. Hespanha and A. Tiwari, Eds., Lecture Notes in Computer Science, Vol. 3927, Berlin, Germany: Springer-Verlag, 2006, pp. 49-63. - A. D. Ames, P. Tabuada, and S. S. Sastry, "On the stability of Zeno equilibria," in
*Hybrid Systems: Computation and Control. Proc. 9th Intl. Conf. (HSCC 2006)*, J. Hespanha and A. Tiwari, Eds., Lecture Notes in Computer Science, Vol. 3927, Berlin, Germany: Springer-Verlag, 2006, pp. 34-48. - A. Y. Ng, H. J. Kim, M. Jordan, and S. S. Sastry, "Autonomous helicopter flight via reinforcement learning," in
*Advances in Neural Information Processing Systems 16: Proc. 17th Annual Conf. (NIPS 2003)*, S. Thrun, L. K. Saul, and B. Schoelkopf, Eds., Advances in Neural Information Processing Systems, Vol. 16, Cambridge, MA: MIT Press, 2004, pp. 799-806. - T. G. Goktekin, M. C. Cavusoglu, F. Tendick, and S. S. Sastry, "GiPSi: An open source/open architecture software development framework for surgical simulation," in
*Medical Simulation: Proc. Intl. Symp. (ISMS 2004)*, S. Cotin and D. Metaxas, Eds., Lecture Notes in Computer Science, Vol. 3078, Berlin, Germany: Springer-Verlag, 2004, pp. 240-248. - A. D. Ames and S. S. Sastry, "Affine hybrid systems," in
*Hybrid Systems: Computation and Control. Proc. 7th Intl. Workshop (HSCC 2004)*, R. Alur and G. J. Pappas, Eds., Lecture Notes in Computer Science, Vol. 2993, Berlin, Germany: Springer-Verlag, 2004, pp. 16-31. - J. Wu, W. Wu, and S. S. Sastry, "Modeling subtilin production in Bacillus subtilis using stochastic hybrid systems," in
*Hybrid Systems: Computation and Control. Proc. 7th Intl. Workshop (HSCC 2004)*, R. Alur and G. J. Pappas, Eds., Lecture Notes in Computer Science, Vol. 2993, Berlin, Germany: Springer-Verlag, 2004, pp. 417-431. - S. N. Simic and S. S. Sastry, "Distributed environmental monitoring using random sensor networks," in
*Information Processing in Sensor Networks: Proc. 2nd Intl. Workshop (IPSN 2003)*, F. Zhao and L. Guibas, Eds., Lecture Notes in Computer Science, Vol. 2634, Berlin, Germany: Springer-Verlag, 2003, pp. 582-592. - R. Vidal, A. Chiuso, S. Soatto, and S. S. Sastry, "Observability of linear hybrid systems," in
*Hybrid Systems: Computation and Control: Proc. 16th Intl. Workshop (HSCC 2003)*, O. Maler and A. Pnueli, Eds., Lecture Notes in Computer Science, Vol. 2623, Berlin, Germany: Springer-Verlag, 2003, pp. 526-539. - T. J. Koo, J. Liebman, C. Ma, B. Horowitz, A. L. Sangiovanni-Vincentelli, and S. S. Sastry, "Platform-based embedded software design for multi-vehicle multi-modal systems," in
*Embedded Software: Proc. 2nd Intl. Conf. (EMSOFT 2002)*, A. L. Sangiovanni-Vincentelli and J. Sifakis, Eds., Lecture Notes in Computer Science, Vol. 2491, Berlin, Germany: Springer-Verlag, 2002, pp. 32-45. - M. A. Horton, A. Broad, M. Grimmer, K. Pister, S. S. Sastry, T. Rosenbury, and N. A. Whitaker, "Deployment ready multimode micropower wireless sensor networks for intrusion detection, classification, and tracking," in
*Sensors, and Command, Control, Communications, and Intelligence (C3I): Technologies for Homeland Defense and Law Enforcement*, E. M. Carapezza, Ed., Proceeding of SPIE, Vol. 4708, Bellingham, WA: SPIE -- Society of Photo-Optical Instrumentation Engineers, 2002, pp. 290-295. - J. Hu and S. S. Sastry, "Symmetry reduction of a class of hybrid systems," in
*Hybrid Systems: Computation and Control. Proc. 5th Intl. Workshop (HSCC 2002)*, N. Titterton and M. R. Greenstreet, Eds., Lecture Notes in Computer Science, Vol. 2289, Berlin, Germany: Springer-Verlag, 2002, pp. 267-280. - T. J. Koo and S. S. Sastry, "Bisimulation based hierarchical system architecture for single-agent multi-modal systems," in
*Hybrid Systems: Computation and Control. Proc. 5th Intl. Workshop (HSCC 2002)*, C. Tomlin and M. R. Greenstreet, Eds., Lecture Notes in Computer Sicne, Vol. 2289, Berlin, Germany: Springer-Verlag, 2002, pp. 281-293. - Y. Ma, O. Shakernia, J. Kosecka, and S. S. Sastry, "A Lie theoretic approach to structure and motion in computer vision," in
*Proc. 14th IFAC World Congress (IFAC 1999)*, H. F. Chen, D. Z. Cheng, and J. F. Zhang, Eds., IFAC Proceedings, Oxford, UK: Pergamon Press, 1999, pp. 545-550. - C. Tomlin, J. Lygeros, and S. S. Sastry, "Computation of controllers for nonlinear hybrid systems," in
*Proc. 14th IFAC World Congress (IFAC 1999)*, H. F. Chen, D. Z. Cheng, and J. F. Zhang, Eds., IFAC Proceedings, Vol. E, Oxford, UK: Pergamon Press, 1999, pp. 19-24. - A. Bicchi, A. Marigo, G. Pappas, M. Prandini, G. Parlangeli, C. Tomlin, and S. S. Sastry, "Decentralized air traffic management systems: Performance and fault tolerance," in
*Motion Control (MC 1998): Proc. IFAC Workshop*, D. Georges, O. Sename, L. Dugard, and C. Canudas de Wit, Eds., IFAC Proceedings, Kidlington, UK: Elsevier Science, 1999, pp. 259-264. - J. Lygeros, D. N. Godbole, and S. S. Sastry, "Optimal control approach to multiagent, hierarchical system verification," in
*Proceedings of the 13th World Congress International Federation of Automatic Control: Identification II, Discrete Event Systems*, J. J. Gertler, J. B. Cruz Jr., M. Peshkin, H. F. Chen, B. Wahlberg, and G. Olsder, Eds., IFAC Proceedings, Vol. J, Oxford, UK: Pergamon Press, 1998, pp. 389-394. - C. Tomlin, G. J. Pappas, J. Kosecka, J. Lygeros, and S. S. Sastry, "Advanced air traffic automation: A case study in distributed decentralized control," in
*Control Problems in Robotics and Automation: Invited Papers from the Intl. Workshop on Control Problems in Robotics and Automation--Future Directions*, B. Siciliano and K. P. Valavanis, Eds., Lecture Notes in Control and Information Sciences, Vol. 230, Berlin, Germany: Springer-Verlag, 1998, pp. 261-295. - S. R. Burgett, R. T. Bush, S. S. Sastry, and C. H. Séquin, "Mechanical design synthesis from sparse, feature-based input," in
*Smart Structures and Materials 1995: Mathematics and Control in Smart Structures*, V. V. Varadan, Ed., Proceedings of SPIE, Vol. 2442, Bellingham, WA: SPIE -- Society of Photo-Optical Instrumentation Engineeers, 1995, pp. 280-291. - G. Burgio, M. D. Di Benedetto, and S. S. Sastry, "Adaptive linearization by dynamic state feedback: A case study," in
*Nonlinear Control Systems Design 1992. Selected Papers from the 2nd IFAC Symp.*, M. Fliess, Ed., IFAC Symposia Series, Oxford, UK: Pergamon Press, 1993, pp. 203-208. - S. S. Sastry and R. Montgomery, "The structure of optimal control for a steering problem," in
*Nonlinear Control Systems Design 1992. Selected Papers from the 2nd IFAC Symp.*, M. Fliess, Ed., IFAC Symposia Series, Oxford, UK: Pergamon Press, 1993, pp. 135-140. - R. M. Murray, G. Walsh, and S. S. Sastry, "Stabilization and tracking for nonholonomic control systems using time-varying state feedback," in
*Nonlinear Control Systems Design 1992. Selected Papers from the 2nd IFAC Symp.*, M. Fliess, Ed., IFAC Symposia Series, Oxford, UK: Pergamon Press, 1993, pp. 109-114. - S. S. Sastry, "The effects of small noise on nonlinear dynamical systems," in
*Bridge between Control Science and Technology: Proc. 9th Triennial IFAC World Congress*, J. Gertler and L. Keviczky, Eds., Oxford, UK: Pergamon Press, 1985, pp. 1543-1547. - S. S. Sastry, J. E. Marsden, and P. J. Holmes, "Dyamical Systems and Invariant Manifolds," in
*New Approaches to Nonlinear Problems in Dynamics: Proc. Engineering Foundation Conf.*, P. J. Holmes, Ed., Philadelphia, PA: SIAM Press, 1980, pp. 3-25.

## Articles in journals or magazines

- J. Ding, J. Sprinkle, C. Tomlin, S. S. Sastry, and J. L. Paunicka, "Reachability Calculations for Vehicle Safety during Manned/Unmanned Vehicle Interaction,"
*AIAA J. Guidance, Control and Dynamics*, Jan. 2011. [abstract] - E. Lobaton, R. Vasudevan, R. Bajcsy, and S. S. Sastry, "A distributed topological camera network representation for tracking applications,"
*Trans. Img. Proc.*, vol. 19, pp. 2516--2529, Oct. 2010. - A. Yang, M. Gastpar, R. Bajcsy, and S. S. Sastry, "Distributed Sensor Perception via Sparse Representation,"
*pieee*, vol. 98, no. 6, pp. 1077-1088, June 2010. - A. Y. Yang, M. Gastpar, R. Bajcsy, and S. S. Sastry, "Distributed Sensor Perception via Sparse Representation,"
*Proceedings of the IEEE*, vol. 98, no. 6, pp. 1077-1088, June 2010. [abstract] - E. Guenterberg, A. Y. Yang, H. Ghasemzadeh, R. Jafari, R. Bajcsy, and S. S. Sastry, "A method for extracting temporal parameters based on hidden Markov models in body sensor networks with inertial sensors,"
*Trans. Info. Tech. Biomed.*, vol. 13, pp. 1019--1030, Nov. 2009. - A. Abate, M. Prandini, J. Lygeros, and S. S. Sastry, "Probabilistic reachability and safety for controlled discrete time stochastic hybrid systems,"
*Automatica*, vol. 44, no. 11, pp. 2724-2734, Nov. 2008. - T. G. Roosta, M. Wainwright, and S. S. Sastry, "Convergence analysis of reweighted sum-product algorithms,"
*IEEE Trans. Signal Processing*, vol. 56, no. 9, pp. 4293-4305, Sep. 2008. - C. Yeo, P. Ahammad, K. Ramchandran, and S. S. Sastry, "High-speed action recognition and localization in compressed domain videos,"
*IEEE Trans. Circuits and Systems for Video Technology*, vol. 18, no. 8, pp. 1006-1015, Aug. 2008. - S. Pai, S. Bermudez, S. B. Wicker, M. Meingast, T. Roosta, S. S. Sastry, and D. K. Mulligan, "Transactional confidentiality in sensor networks,"
*IEEE Security & Privacy*, vol. 6, no. 4, pp. 28-35, July 2008. - A. Y. Yang, J. Wright, Y. Ma, and S. S. Sastry, "Unsupervised segmentation of natural images via lossy data compression,"
*Computer Vision and Image Understanding*, vol. 110, no. 2, pp. 212-225, May 2008. - S. Oh, I. Hwang, and S. S. Sastry, "Distributed multitarget tracking and identity management,"
*AIAA J. Guidance, Control, and Dynamics*, vol. 31, no. 1, pp. 12-29, Jan. 2008. - J. Sztipanovits, J. Bay, L. Rohrbough, S. S. Sastry, D. C. Schmidt, N. Whitaker, D. Wilson, and D. Winter, "Escher: A new technology transitioning model,"
*Computer*, vol. 40, no. 3, pp. 90-92, March 2007. - L. Schenato, B. Sinopoli, M. Franceschetti, K. Poolla, and S. S. Sastry, "Foundations of control and estimation over lossy networks,"
*Proc. IEEE*, vol. 95, no. 1, pp. 163-187, Jan. 2007. - S. Oh, L. Schenato, P. Chen, and S. S. Sastry, "Tracking and coordination of multiple agents using sensor networks: System design, algorithms and experiments (Invited Paper),"
*Proc. IEEE*, vol. 95, no. 1, pp. 234-254, Jan. 2007. - D. H. Shim, H. Chung, and S. S. Sastry, "Conflict-free navigation in unknown urban environments,"
*IEEE Robotics & Automation Magazine*, vol. 13, no. 3, pp. 27-33, Sep. 2006. - X. Deng, L. Schenato, W. C. Wu, and S. S. Sastry, "Flapping flight for biomimetic robotic insects: Part I--System modeling,"
*IEEE Trans. Robotics*, vol. 22, no. 4, pp. 776-788, Aug. 2006. - X. Deng, L. Schenato, and S. S. Sastry, "Flapping flight for biomimetic robotic insects: Part II--Flight control design,"
*IEEE Trans. Robotics*, vol. 22, no. 4, pp. 789-803, Aug. 2006. - R. Vidal, Y. Ma, S. Soatto, and S. S. Sastry, "Two-view multibody structure from motion,"
*Intl. J. Computer Vision: Special Issue on Vision and Modelling of Dynamic Scenes*, vol. 68, no. 1, pp. 7-25, June 2006. - J. Fern, J. Kempe, S. N. Simic, and S. S. Sastry, "Generalized performance of concatenated quantum codes--A dynamical systems approach,"
*IEEE Trans. Automatic Control*, vol. 51, no. 3, pp. 448-459, March 2006. - R. Vidal, Y. Ma, and S. S. Sastry, "Generalized principal component analysis (GPCA),"
*IEEE Trans. Pattern Analysis and Machine Intelligence*, vol. 27, no. 12, pp. 1945-1959, Dec. 2005. - J. Hu, M. Prandini, and S. S. Sastry, "Aircraft conflict prediction in the presence of a spatially correlated wind field,"
*IEEE Trans. Intelligent Transporation Systems*, vol. 6, no. 3, pp. 326-340, Sep. 2005. - R. Vidal, O. Shakernia, and S. S. Sastry, "Following the flock [formation control],"
*IEEE Robotics and Automation Magazine: Special Issue on Panoramic Robotics*, vol. 11, no. 4, pp. 14-20, Dec. 2004. - Y. Ma, K. Huang, R. Vidal, J. Kosecka, and S. S. Sastry, "Rank conditions on the multiple-view matrix,"
*Intl. J. Computer Vision*, vol. 59, no. 2, pp. 115-137, Sep. 2004. - B. Sinopoli, L. Schenato, M. Franceschetti, K. Poolla, M. Jordan, and S. S. Sastry, "Kalman filtering with intermittent observations,"
*IEEE Trans. Automatic Control: Special Issue on Sensor Networks*, vol. 49, no. 9, pp. 1453-1464, Sep. 2004. - J. Zhang, J. Vala, S. S. Sastry, and K. B. Whaley, "Minimum construction of two-qubit quantum operations,"
*Physical Review Letters*, vol. 93, no. 2, pp. 020502/1-4, July 2004. - J. Zhang, J. Vala, S. S. Sastry, and K. B. Whaley, "Optimal quantum circuit synthesis from controlled-unitary gates,"
*Physical Review A (Atomic, Molecular, and Optical Physics)*, vol. 69, no. 4, pp. 042309-1-6, April 2004. - R. Bajcsy, A. D. Joseph, V. Paxson, D. Tygar, S. S. Sastry, and other DETER/EMIST Members, "Cyber defense technology networking and evaluation,"
*Communications of the ACM Special Issue: Emerging Technologies for Homeland Security*, vol. 47, no. 3, pp. 58-61, March 2004. - L. Schenato, W. C. Wu, and S. S. Sastry, "Attitude control for a micromechanical flying insect via sensor output feedback,"
*IEEE Trans. Robotics and Automation*, vol. 20, no. 1, pp. 93-106, Feb. 2004. - J. Hu, M. Prandini, and S. S. Sastry, "Optimal coordinated motions of multiple agents moving on a plane,"
*SIAM J. Control and Optimization*, vol. 42, no. 2, pp. 637-668, 2003. - B. Sinopoli, C. Sharp, L. Schenato, S. Schaffert, and S. S. Sastry, "Distributed control applications within sensor networks (Invited Paper),"
*Proc. IEEE*, vol. 91, no. 8, pp. 1235-1246, Aug. 2003. - J. Zhang, J. Vala, S. S. Sastry, and K. B. Whaley, "Exact two-qubit universal quantum circuit,"
*Physical Review Letters*, vol. 91, no. 2, pp. 027903-1-4, July 2003. - J. Zhang, J. Vala, S. S. Sastry, and K. B. Whaley, "Geometric theory of nonlocal two-qubit operations,"
*Physical Review A (Atomic, Molecular, and Optical Physics)*, vol. 67, no. 4, pp. 042313-1-18, April 2003. - J. Lygeros, K. H. Johansson, S. N. Simic, J. Zhang, and S. S. Sastry, "Dynamical properties of hybrid automata,"
*IEEE Trans. Automatic Control*, vol. 48, no. 1, pp. 2-17, Jan. 2003. - S. S. Sastry, J. Sztipanovits, R. Bajcsy, and H. Gill, "Guest Editors' Introduction to Special Issue: Scanning the Issue,"
*Proc. IEEE: Special Issue on Modeling and Design of Embedded Software*, vol. 91, no. 1, pp. 3-10, Jan. 2003. - B. Horowitz, J. Liebman, C. Ma, T. J. Koo, A. L. Sangiovanni-Vincentelli, and S. S. Sastry, "Platform-based embedded software design and system integration for autonomous vehicles (Invited Paper),"
*Proc. IEEE*, vol. 91, no. 1, pp. 198-211, Jan. 2003. - R. Vidal, O. Shakernia, H. J. Kim, D. H. Shim, and S. S. Sastry, "Probabilistic pursuit-evasion games: Theory, implementation, and experimental evaluation,"
*IEEE Trans. Robotics and Automation*, vol. 18, no. 5, pp. 662-669, Oct. 2002. - J. Hu, M. Prandini, and S. S. Sastry, "Optimal coordinated maneuvers for three-dimensional aircraft conflict resolution,"
*J. Guidance, Control, and Dynamics*, vol. 25, no. 5, pp. 888-900, Sep. 2002. - C. Tomlin, J. Lygeros, and S. S. Sastry, "A game theoretic approach to controller design for hybrid systems (Invited Paper),"
*Proc. IEEE*, vol. 88, no. 7, pp. 949-970, July 2000. - M. C. Cavusoglu, F. Tendick, M. Cohn, and S. S. Sastry, "A laparoscopic telesurgical workstation,"
*IEEE Trans. Robotics and Automation*, vol. 15, no. 4, pp. 728-739, Aug. 1999. - Y. Ma, J. Kosecka, and S. S. Sastry, "Vision guided navigation for a nonholonomic mobile robot,"
*IEEE Trans. Robotics and Automation*, vol. 15, no. 3, pp. 521-536, June 1999. - J. M. Godhavn, A. Balluchi, L. S. Crawford, and S. S. Sastry, "Steering of a class of nonholonomic systems with drift terms,"
*Automatica*, vol. 35, no. 5, pp. 837-847, May 1999. - J. Lygeros, C. Tomlin, and S. S. Sastry, "Controllers for reachability specifications for hybrid systems,"
*Automatica*, vol. 35, no. 3, pp. 349-370, March 1999. - C. Tomlin and S. S. Sastry, "Switching through singularities,"
*Systems and Control Letters*, vol. 35, no. 3, pp. 145-154, Oct. 1998. - C. Tomlin, G. J. Pappas, and S. S. Sastry, "Conflict resolution for air traffic management: A study in multiagent hybrid systems,"
*IEEE Trans. Automatic Control*, vol. 43, no. 4, pp. 509-521, April 1998. - F. Tendick, S. S. Sastry, R. S. Fearing, and M. Cohn, "Applications of micromechatronics in minimally invasive surgery,"
*IEEE/ASME Trans. Mechatronics*, vol. 3, no. 1, pp. 34-42, March 1998. - C. Tomlin and S. S. Sastry, "Bounded tracking for non-minimum phase nonlinear systems with fast zero dynamics,"
*Intl. J. Control*, vol. 68, no. 4, pp. 819-847, Nov. 1997. - S. S. Sastry, M. Cohn, and F. Tendick, "Milli-robotics for remote, minimally invasive surgery,"
*Robotics and Autonomous Systems*, vol. 21, no. 3, pp. 305-316, Sep. 1997. - D. Tilbury, O. J. Sordalen, L. Bushnell, and S. S. Sastry, "A multisteering trailer system: Conversion into chained form using dynamic feedback,"
*IEEE Trans. Robotics and Automation*, vol. 11, no. 6, pp. 808-818, Dec. 1995. - L. G. Bushnell, D. M. Tilbury, and S. S. Sastry, "Steering three-input nonholonomic systems: The fire truck example,"
*Intl. J. Robotics Research*, vol. 14, no. 4, pp. 366-381, Aug. 1995. - M. B. Cohn, L. S. Crawford, J. M. Wendlandt, and S. S. Sastry, "Surgical applications of milli-robots,"
*J. Robotic Systems*, vol. 12, no. 6, pp. 401-416, June 1995. - D. N. Godbole and S. S. Sastry, "Approximate decoupling and asymptotic tracking for MIMO systems,"
*IEEE Trans. Automatic Control*, vol. 40, no. 3, pp. 441-450, March 1995. - G. C. Walsh and S. S. Sastry, "On reorienting linked rigid bodies using internal motions,"
*IEEE Trans. Robotics and Automation*, vol. 11, no. 1, pp. 139-146, Feb. 1995. - R. M. Murray and S. S. Sastry, "Nonholonomic motion planning: Steering using sinusoids,"
*IEEE Trans. Automatic Control*, vol. 38, no. 5, pp. 700-716, May 1993. - A. Isidori, S. S. Sastry, P. V. Kokotovic, and C. I. Byrnes, "Singularly perturbed zero dynamics of nonlinear systems,"
*IEEE Trans. Automatic Control*, vol. 37, no. 10, pp. 1625-1631, Oct. 1992. - A. A. Cole, P. Hsu, and S. S. Sastry, "Dynamic control of sliding by robot hands for regrasping,"
*IEEE Trans. Robotics and Automation*, vol. 8, no. 1, pp. 42-52, Feb. 1992. - R. M. Murray, D. C. Deno, K. Pister, and S. S. Sastry, "Control primitives for robot systems,"
*IEEE Trans. Systems, Man and Cybernetics*, vol. 22, no. 1, pp. 183-193, Jan. 1992. - S. S. Sastry and A. Isidori, "Adaptive control of linearizable systems,"
*IEEE Trans. Automatic Control*, vol. 34, no. 11, pp. 1123-1131, Nov. 1989. - A. B. A. Cole, J. E. Hauser, and S. S. Sastry, "Kinematics and control of multifingered hands with rolling contact,"
*IEEE Trans. Automatic Control*, vol. 34, no. 4, pp. 398-404, April 1989. - S. S. Sastry and P. V. Kokotovic, "Feedback linearization in the presence of uncertainties,"
*Intl. J. Adaptive Control and Signal Processing*, vol. 2, no. 4, pp. 327-346, Dec. 1988. - J. E. Mason, E. W. Bai, L. C. Fu, M. Bodson, and S. S. Sastry, "Analysis of adaptive identifiers in the presence of unmodeled dynamics: Averaging and tuned parameters,"
*IEEE Trans. Automatic Control*, vol. 33, no. 10, pp. 969-976, Oct. 1988. - Z. Li and S. S. Sastry, "Task-oriented optimal grasping by multifingered robot hands,"
*IEEE J. Robotics and Automation*, vol. 4, no. 1, pp. 32-44, Feb. 1988. - E. W. Bai, L. C. Fu, and S. S. Sastry, "Averaging analysis for discrete time and sampled data adaptive systems,"
*IEEE Trans. Circuits and Systems*, vol. 35, no. 2, pp. 137-148, Feb. 1988. - J. J. Craig, P. Hsu, and S. S. Sastry, "Adaptive control of mechanical manipulators,"
*Intl. J. Robotics Research*, vol. 6, no. 2, pp. 16-28, Aug. 1987. - E. W. Bai and S. S. Sastry, "Global stability proofs for continuous-time indirect adaptive control schemes,"
*IEEE Trans. Automatic Control*, vol. 32, no. 6, pp. 537-543, June 1987. - E. W. Bai and S. S. Sastry, "Adaptive stabilization of sampled systems,"
*Systems and Control Letters*, vol. 8, no. 5, pp. 389-395, May 1987. - B. E. Paden and S. S. Sastry, "A calculus for computing Filippov's differential inclusion with application to the variable control of robot manipulators,"
*IEEE Trans. Circuits and Systems*, vol. CAS34, no. 1, pp. 73-82, Jan. 1987. - S. Boyd and S. S. Sastry, "Necessary and sufficient conditions for parameter convergence in adaptive control,"
*Automatica*, vol. 22, no. 6, pp. 629-639, Nov. 1986. - E. W. Bai and S. S. Sastry, "Discrete-time adaptive control utilizing prior information,"
*IEEE Trans. Automatic Control*, vol. 31, no. 8, pp. 779-782, Aug. 1986. - E. W. Bai and S. S. Sastry, "Parameter identification using prior information,"
*Intl. J. Control*, vol. 44, no. 2, pp. 455-473, Aug. 1986. - R. Silva-Madriz and S. S. Sastry, "Multiple time scales for nonlinear systems,"
*Circuits, Systems, and Signal Processing*, vol. 5, no. 1, pp. 153-169, March 1986. - Z. Li and S. S. Sastry, "Conditioned invariant subspaces, disturbance decoupling and solution of rational matrix equations,"
*Intl. J. Control*, vol. 43, no. 1, pp. 91-108, Jan. 1986. - A. K. Packard and S. S. Sastry, "Solving rational matrix equations in the state space with applications to computer-aided control-system design,"
*Intl. J. Control*, vol. 43, no. 1, pp. 65-90, Jan. 1986. - E. W. Bai and S. S. Sastry, "Persistency of excitation, sufficient richness and parameter convergence in discrete time adaptive control,"
*Systems and Control Letters*, vol. 6, no. 3, pp. 153-163, Aug. 1985. - F. M. A. Salam and S. S. Sastry, "Dynamics of the forced Josephson junction circuit: The regions of chaos,"
*IEEE Trans. Circuits and Systems*, vol. CAS32, no. 8, pp. 784-796, Aug. 1985. - R. Silva-Madriz and S. S. Sastry, "Input-output description of linear systems with multiple time-scales,"
*Intl. J. Control*, vol. 40, no. 4, pp. 699-721, Oct. 1984. - M. Coderch, A. S. Willsky, S. S. Sastry, and D. A. Castanon, "Hierarchical aggregation of linear systems with multiple time scales,"
*IEEE Trans. Automatic Control*, vol. 28, no. 11, pp. 1017-1030, Nov. 1983. - S. S. Sastry, "The effects of small noise on implicitly defined nonlinear dynamical systems,"
*IEEE Trans. Circuits and Systems*, vol. 30, no. 9, Pt. 2, pp. 651-663, Sep. 1983. - J. J. Slotine and S. S. Sastry, "Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators,"
*Intl. J. Control*, vol. 38, no. 2, pp. 465-492, Aug. 1983. - M. Coderch, A. S. Willsky, S. S. Sastry, and D. A. Castanon, "Hierarchical aggregation of singularly perturbed finite state Markov processes,"
*Stochastics*, vol. 8, no. 4, pp. 259-289, July 1983. - S. S. Sastry and C. A. Desoer, "The robustness of controllability and observability of linear time-varying systems,"
*IEEE Trans. Automatic Control*, vol. AC-27, no. 4, pp. 933-939, Aug. 1982. - S. S. Sastry and C. A. Desoer, "Jump behavior of circuits and systems,"
*IEEE Trans. Circuits and Systems*, vol. CAS28, no. 12, pp. 1109-1124, Dec. 1981.

## Articles in conference proceedings

- D. Sadigh, E. Kim, S. Coogan, S. S. Sastry, and S. A. Seshia, "A Learning Based Approach to Controller Synthesis of Markov Decision Processes for Linear Temporal Logic Specifications," in
*53rd IEEE Conference on Decision and Control*, 2014. - L. J. Ratliff, S. A. Burden, and S. S. Sastry, "Characterization and Computation of Local Nash Equilibria in Continuous Games," in
*Proceedings of the 51st Annual Allerton Conference on Communication, Control, and Computing*, 2013. - L. J. Ratliff, S. Coogan, D. Calderone, and S. S. Sastry, "Pricing in linear-quadratic dynamic games," in
*Proceedings of the 50th Annual Allerton Conference on Communication, Control, and Computing*, 2012, pp. 1798-1805. - S. Burden, H. Gonzalez, R. Vasudevan, R. Bajcsy, and S. S. Sastry, "Numerical integration of hybrid dynamical systems via domain relaxation," in
*Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on*, 2011, pp. 3958 -3965. - S. Burden, S. Revzen, and S. S. Sastry, "Dimension reduction near periodic orbits of hybrid systems," in
*Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on*, 2011, pp. 6116 -6121. - H. Gonzalez, R. Vasudevan, M. Kamgarpour, S. S. Sastry, R. Bajcsy, and C. Tomlin, "A descent algorithm for the optimal control of constrained nonlinear switched dynamical systems," in
*Proceedings of the 13th ACM international conference on Hybrid systems: computation and control*, HSCC '10, New York, NY, USA: ACM, 2010, pp. 51--60. - H. G. citeKey, R. Vasudevan, M. Kamgarpour, S. S. Sastry, R. Bajcsy, and C. Tomlin, "A numerical method for the optimal control of switched systems," in
*CDC*, 2010, pp. 7519-7526. - A. B. Godbehere and S. S. Sastry, "Stabilization of Planar Switched Linear Systems Using Polar Coordinates," in
*Hybrid Systems: Computation and Control*, 2010. - A. Y. Yang, S. Iyengar, S. S. Sastry, R. Bajcsy, P. Kuryloski, and R. Jafari, "Distributed segmentation and classification of human actions using a wearable sensor network," in
*in Proceedings of the CVPR Workshop on Human Communicative Behavior Analysis*, 2008. - B. Zhu and S. S. Sastry, "Data fusion assurance for the Kalman filter in uncertain networks," in
*Proc. 4th Intl. Conf. on Information Assurance and Security (IAS 2008)*, M. Rak, A. Abraham, and V. Casola, Eds., Los Alamitos, CA: IEEE Computer Society, 2008, pp. 115-119. - M. Meingast, M. Kushwaha, S. Oh, X. Koutsoukos, A. Ledeczi, and S. S. Sastry, "Fusion-based localization for a heterogeneous camera network," in
*Proc. 2nd ACM/IEEE Intl. Conf. on Distributed Smart Cameras (ICDSC 2008)*, Piscataway, NJ: IEEE Press, 2008, pp. 8 pg. - P. Chen, P. Ahammad, C. boyer, S. I. Huang, L. Lin, E. Lobaton, M. meingast, S. Oh, S. Wang, P. Yan, A. Y. Yang, C. Yeo, L. C. Chang, D. Tygar, and S. S. Sastry, "CITRIC: A low-bandwidth wireless camera network platform," in
*Proc. 2nd ACM/IEEE Intl. Conf. on Distributed Smart Cameras (ICDSC 2008)*, Piscataway, NJ: IEEE Press, 2008, pp. 10 pg. - M. Kushwaha, I. Amundson, P. Volgyesi, P. Ahammad, G. Simon, X. Koutsoukos, A. Ledeczi, and S. S. Sastry, "Multi-modal target tracking using heterogeneous sensor networks," in
*Proc. 17th Intl. Conf. on Computer Communications and Networks (ICCCN 2008)*, Piscataway, NJ: IEEE Press, 2008, pp. 8 pp. - A. Y. Yang, S. Iyengar, S. S. Sastry, R. Bajcsy, P. Kuryloski, and R. Jafari, "Distributed segmentation and classification of human actions using a wearable motion sensor network," in
*Proc. 2008 IEEE Computer Society Conf. on Computer Vision and Pattern Recognition Workshops (CVPRW '08)*, Piscataway, NJ: IEEE Press, 2008, pp. 8 pg. - A. A. Cardenas, S. Amin, and S. S. Sastry, "Secure control: Towards survivable cyber-physical systems," in
*Proc. 28th Intl. Conf. on Distibuted Computing Systems Workshops (ICDCS '08)*, Los Alamitos, CA: IEEE Computer Society, 2008, pp. 495-500. - V. Duindam, R. Alterovitz, S. S. Sastry, and K. Goldberg, "Screw-based motion planning for bevel-tip flexible needles in 3D environments with obstacles," in
*Proc. 2008 IEEE Intl. Conf. on Robotics and Automation (ICRA '08): Towards Autonomous Agriculture of Tomorrow Half-Day Workshop*, Piscataway, NJ: IEEE Press, 2008, pp. 2483-2488. - T. Roosta, W. Liao, W. Teng, and S. S. Sastry, "Testbed implementation of a secure flooding time synchronization protocol," in
*Proc. 2008 IEEE Wireless Communications and Networking Conf. (WCNC '08)*, Piscataway, NJ: IEEE Press, 2008, pp. 3157-3162. - R. Vasudevan, P. Ahammad, S. S. Sastry, and R. Bajcsy, "Single trial multicomponent ERP estimation via nonparametric entropy (Poster Abstract)," in
*Proc. 5th Computational and Systems Neuroscience Meeting (Cosyne 2008)*, 2008, pp. 92-92. - A. Giani, T. Roosta, and S. S. Sastry, "Integrity checker for wireless sensor networks in health care applications," in
*Proc. 2nd Intl. Conf. on Pervasive Computing Technologies for Healthcare (PervasiveHealth 2008)*, Piscataway, NJ: IEEE Press, 2008, pp. 135-138. - S. Amin, A. M. Bayen, L. El Ghaoui, and S. S. Sastry, "Robust feasibility for control of water flow in a reservoir-canal system," in
*Proc. 46th IEEE Conf. on Decision and Control (CDC 2007)*, Piscataway, NJ: IEEE Press, 2007, pp. 1571-1577. - A. Abate, A. Tiwari, and S. S. Sastry, "Box invariance for biologically-inspired dynamical systems," in
*Proc. 46th IEEE Conf. on Decision and Control (CDC 2007)*, Piscataway, NJ: IEEE Press, 2007, pp. 5162-5167. - A. D. Ames, A. Abate, and S. S. Sastry, "Sufficient conditions for the existence of Zeno behavior in a class of nonlinear hybrid systems via constant approximations," in
*Proc. 46th IEEE Conf. on Decision and Control (CDC 2007)*, Piscataway, NJ: IEEE Press, 2007, pp. 4033-4038. - T. Roosta, S. Pai, P. Chen, S. S. Sastry, and S. Wicker, "Inherent security of routing protocols in ad-hoc and sensor networks," in
*Proc. 2007 IEEE Global Telecommunications Conf. (GLOBECOM '07)*, Piscataway, NJ: IEEE Press, 2007, pp. 1273-1278. - V. Duindam and S. S. Sastry, "Geometric motion estimation and control for robotic-assisted beating-heart surgery," in
*Proc. IEEE/RSJ Intl. Intelligent Robots and Systems Conf. (IROS 2007)*, Piscataway, NJ: IEEE Press, 2007, pp. 871-876. - J. Schiff, M. Meingast, D. K. Mulligan, S. S. Sastry, and K. Goldberg, "Respectful cameras: Detecting visual markers in real-time to address privacy concerns," in
*Proc. 2007 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS '07)*, Piscataway, NJ: IEEE Press, 2007, pp. 971-978. - P. Ahammad, C. Yeo, K. Ramchandran, and S. S. Sastry, "Unsupervised discovery of action hierarchies in large collections of activity videos," in
*Proc. 9th IEEE Workshop on Multimedia Signal Processing (MMSP 2007)*, Piscataway, NJ: IEEE Press, 2007, pp. 410-413. - M. Meingast, S. Oh, and S. S. Sastry, "Automatic camera network localization using object image tracks," in
*Proc. 11th IEEE Intl. Conf. on Computer Vision (ICCV 2007)*, Piscataway, NJ: IEEE Press, 2007, pp. 2386-2393. - S. S. Sastry, "The Engineering and Societal Impact of Embedded and Autonomous Systems: Beyond Sensor Webs (Plenary Lecture)," in
*Proc. 2007 IEEE Intl. Conf. on Automation Science and Engineering (CASE '07)*, Piscataway, NJ: IEEE Press, 2007, pp. nil96-nil96. - J. J. Pannequin, A. M. Bayen, I. M. Mitchell, H. Chung, and S. S. Sastry, "Multiple aircraft deconflicted path planning with weather avoidance constraints," in
*Proc. AIAA Guidance, Navigation and Control Conf.*, Reston, VA: American Institute of Aeronautics and Astronautics, Inc., 2007, pp. 16 pg. - B. Zhu, B. Sinopoli, K. Poolla, and S. S. Sastry, "Estimation over wireless sensor networks," in
*Proc. 2007 American Control Conf. (ACC '07)*, Dayton, OH: American Automatic Control Council, 2007, pp. 2732-2737. - D. H. Shim and S. S. Sastry, "An evasive maneuvering algorithm for UAVs in see-and-avoid situations," in
*Proc. 2007 American Control Conf. (ACC '07)*, Dayton, OH: American Automatic Control Council, 2007, pp. 3886-3891. - S. Oh and S. S. Sastry, "Approximate estimation of distributed networked control systems," in
*Proc. 2007 American Control Conf. (ACC '07)*, Dayton, OH: American Automatic Control Council, 2007, pp. 997-1002. - A. Vehkaoja, M. Zakrzewski, J. Lekkala, S. Iyengar, R. Bajcsy, S. Glaser, S. S. Sastry, and R. Jafari, "A resource optimized physical movement monitoring scheme for environmental and on-body sensor networks," in
*Proc. 1st ACM SIGMOBILE Intl. Workshop on Systems and Networking Support for Healthcare and Assisted Living (HealthNet '07)*, New York, NY: The Association for Computing Machinery, Inc., 2007, pp. 64-66. - R. Jafari, R. Bajcsy, S. Glaser, B. Gnade, M. Sgroi, and S. S. Sastry, "Platform design for health-care monitoring applications," in
*Proc. Joint Workshop on High Confidence Medical Devices, Software, and Systems and Medical Device Plug-and-Play Interoperability (HCMDSS-MDPnP 2007)*, Los Alamitos, CA: IEEE Computer Society, 2007, pp. 88-94. - S. Pai, T. Roosta, S. Wicker, and S. S. Sastry, "Using social network theory towards development of wireless ad hoc network trust," in
*Proc. 21st Intl. Conf. on Advanced Information Networking Applications Workshops (AINAW-2007)*, Los Alamitos, CA: IEEE Computer Society, 2007, pp. 443-450. - T. Templeton, D. H. Shim, C. Geyer, and S. S. Sastry, "Autonomous vision-based landing and terrain mapping using an MPC-controlled unmanned rotorcraft," in
*Proc. 2007 IEEE Intl. Conf. on Robotics and Automation (ICRA '07)*, Piscataway, NJ: IEEE Press, 2007, pp. 1349-1356. - T. Roosta, M. Wainwright, and S. S. Sastry, "Convergence analysis of reweighted sum-product algorithms," in
*Proc. IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP 2007)*, Vol. 2, Piscataway, NJ: IEEE Press, 2007, pp. 541-544. - B. Sinopoli, L. Schenato, M. Franceschetti, K. Poolla, and S. S. Sastry, "Optimal linear LQG control over lossy networks without packet acknowledgment," in
*Proc. 45th IEEE Decision and Control Conf. (CDC 2006)*, Piscataway, NJ: IEEE Press, 2006, pp. 392-397. - A. Abate, S. Amin, M. Prandini, J. Lygeros, and S. S. Sastry, "Probabilistic reachability and safe sets computation for discrete time stochastic hybrid systems," in
*Proc. 45th IEEE Decision and Control Conf. (CDC 2006)*, Piscataway, NJ: IEEE Press, 2006, pp. 258-263. - P. Chen and S. S. Sastry, "Pursuit controller performance guarantees for a lifeline pursuit-evasion game over a wireless sensor network," in
*Proc. 45th IEEE Conf. on Decision and Control (CDC 2006)*, Piscataway, NJ: IEEE Press, 2006, pp. 691-696. - S. Oh and S. S. Sastry, "Distributed networked control system with lossy links: State estimation and stabilizing communication control," in
*Proc. 45th IEEE Conf. on Decision and Control (CDC 2006)*, Piscataway, NJ: IEEE Press, 2006, pp. 1942-1947. - A. D. Ames and S. S. Sastry, "Hybrid geometric reduction of hybrid systems," in
*Proc. 2006 45th IEEE Conf. on Decision and Control*, Piscataway, NJ: IEEE Press, 2006, pp. 923-929. - C. Yeo, P. Ahammad, K. Ramchandran, and S. S. Sastry, "Compressed domain real-time action recognition," in
*Proc. 8th IEEE Workshop on Multimedia Signal Processing (MMSP 2006)*, Piscataway, NJ: IEEE Press, 2006, pp. 33-36. - M. Meingast, T. Roosta, and S. S. Sastry, "Security and privacy issues with health care information technology," in
*Proc. 28th Annual IEEE Engineering in Medicine and Biology Society Intl. Conf. (EMBS 2006)*, Piscataway, NJ: IEEE Press, 2006, pp. 5453-5458. - T. Roosta, M. Meingast, and S. S. Sastry, "Distributed reputation system for tracking applications in sensor networks," in
*Proc. 3rd Annual Intl. Conf. on Mobile and Ubiquitous Systems: Networking & Services (MobiQuitous 2006)*, Piscataway, NJ: IEEE Press, 2006, pp. 462-469. - C. Geyer, T. Templeton, M. Meingast, and S. S. Sastry, "The recursive multi-frame planar parallax algorithm," in
*Proc. 3rd Intl. Symp. on 3D Data Processing, Visualization, and Transmission (3DPVT 2006)*, M. Pollefeys and K. Daniilidis, Eds., Los Alamitos, CA: IEEE Computer Society, 2006, pp. 17-24. - A. D. Ames and S. S. Sastry, "Hybrid Routhian reduction of Lagrangian hybrid systems," in
*Proc. 2006 American Control Conf. (ACC '06)*, Piscataway, NJ: IEEE Press, 2006, pp. 2640-2645. - A. D. Ames, H. Zheng, R. D. Gregg, and S. S. Sastry, "Is there life after Zeno? Taking executions past the breaking (Zeno) point," in
*Proc. 2006 American Control Conf. (ACC '06)*, Piscataway, NJ: IEEE Press, 2006, pp. 2652-2657. - A. Abate, A. D. Ames, and S. S. Sastry, "A priori detection of Zeno behavior in communication networks modeled as hybrid systems," in
*Proc. 2006 American Control Conf. (ACC '06)*, Piscataway, NJ: IEEE Press, 2006, pp. 3340-3345. - A. Abate, A. D. Ames, and S. S. Sastry, "Error bounds based stochastic approximations and simulations of hybrid dynamical systems," in
*Proc. 2006 American Control Conf. (ACC '06)*, Piscataway, NJ: IEEE Press, 2006, pp. 4742-4747. - A. D. Ames and S. S. Sastry, "Hybrid cotangent bundle reduction of simple hybrid mechanical systems with symmetry," in
*Proc. 2006 American Control Conf. (ACC '06)*, Piscataway, NJ: IEEE Press, 2006, pp. 2646-2651. - S. Oh, P. Chen, M. Manzo, and S. S. Sastry, "Instrumenting wireless sensor networks for real-time surveillance," in
*Proc. 2006 IEEE Intl. Conf. on Robotics and Automation (ICRA '06)*, Piscataway, NJ: IEEE Press, 2006, pp. 3128-3133. - P. W. Chen, S. Oh, M. Manzo, B. Sinopoli, C. Sharp, K. Whitehouse, G. Tolle, J. Jeong, P. Dutta, J. Hui, S. Shaffert, S. Kim, J. Taneja, B. X. Zhu, T. G. Roosta, M. Howard, D. E. Culler, and S. S. Sastry, "Experiments in instrumenting wireless sensor networks for real-time surveillance (Video)," in
*Proc. 2006 IEEE Intl. Conf. on Robotics and Automation (ICRA '06)*, Piscataway, NJ: IEEE Press, 2006, pp. 3 pg. [abstract] - J. M. Eklund, T. R. Hansen, J. Sprinkle, and S. S. Sastry, "Information technology for assisted living at home: Building a wireless infrastructure for assisted living," in
*Proc. 27th Annual IEEE Engineering in Medicine and Biology Society Intl. Conf. (EMBS 2005)*, Piscataway, NJ: IEEE Press, 2005, pp. 3931-3934. - M. C. Cavusoglu, J. Rotella, W. S. Newman, S. Choi, J. Ustin, and S. S. Sastry, "Control algorithms for active relative motion cancelling for robotic assisted off-pump coronary artery bypass graft surgery," in
*Proc. 12th Intl. Conf. on Advanced Robotics (ICAR 2005)*, Piscataway, NJ: IEEE Press, 2005, pp. 431-436. - A. Makadia, C. Geyer, S. S. Sastry, and K. Daniilidis, "Radon-based structure from motion without correspondences," in
*Proc. 2005 IEEE Computer Society Conf. on Computer Vision and Pattern Recognition (CVPR '05)*, C. Schmid, S. Soatto, and C. Tomasi, Eds., Vol. 1, Los Alamitos, CA: IEEE Computer Society, 2005, pp. 796-803. - A. D. Ames and S. S. Sastry, "Characterization of Zeno behavior in hybrid systems using homological methods," in
*Proc. 2005 American Control Conf. (ACC '05)*, Vol. 2, Evanston, IL: American Automatic Control Council, 2005, pp. 1160-1165. - B. Sinopoli, L. Schenato, M. Franceschetti, K. Poolla, and S. S. Sastry, "Optimal control with unreliable communication: The TCP case," in
*Proc. 2005 American Control Conf. (ACC '05)*, Vol. 5, Evanston, IL: American Automatic Control Council, 2005, pp. 3354-3359. - J. M. Eklund, J. Sprinkle, and S. S. Sastry, "Implementing and testing a nonlinear model predictive tracking controller for aerial pursuit/evasion games on a fixed wing aircraft," in
*Proc. 2005 American Control Conf. (ACC '05)*, Vol. 3, Evanston, IL: American Automatic Control Council, 2005, pp. 1509-1514. - J. Sprinkle, J. M. Eklund, and S. S. Sastry, "Deciding to land a UAV safely in real time," in
*Proc. 2005 American Control Conf. (ACC '05)*, Vol. 5, Evanston, IL: American Automatic Control Council, 2005, pp. 3506-3511. - S. Oh and S. S. Sastry, "A polynomial-time approximation algorithm for joint probabilistic data association," in
*Proc. 2005 American Control Conf. (ACC '05)*, Vol. 2, Evanston, IL: American Automatic Control Council, 2005, pp. 1283-1288. - A. Abate, A. D. Ames, and S. S. Sastry, "Stochastic approximations of hybrid systems," in
*Proc. 2005 American Control Conf. (ACC '05)*, Vol. 3, Evanston, IL: American Automatic Control Council, 2005, pp. 1557-1562. - J. Sprinkle, R. Miller, O. Shakernia, and S. S. Sastry, "Using the hybrid systems interchange format to input design models to verification and validation tools," in
*Proc. 2005 IEEE Aerospace Conf.*, Piscataway, NJ: IEEE Press, 2005, pp. 2937-2942. - L. Shi, A. Abate, and S. S. Sastry, "Optimal control for a class of stochastic hybrid systems," in
*Proc. 43rd IEEE Conf. on Decision and Control (CDC 2004)*, Vol. 2, Piscataway, NJ: IEEE Press, 2004, pp. 1842-1847. - J. Sprinkle, J. M. Eklund, H. J. Kim, and S. S. Sastry, "Encoding aerial pursuit/evasion games with fixed wing aircraft into a nonlinear model predictive tracking controller," in
*Proc. 43rd IEEE Conf. on Decision and Control (CDC 2004)*, Vol. 3, Piscataway, NJ: IEEE Press, 2004, pp. 2609-2614. - M. Meingast, C. Geyer, and S. S. Sastry, "Vision based terrain recovery for landing unmanned aerial vehicles," in
*Proc. 43rd IEEE Conf. on Decision and Control (CDC 2004)*, Vol. 2, Piscataway, NJ: IEEE Press, 2004, pp. 1670-1675. - A. D. Ames and S. S. Sastry, "Blowing up affine hybrid systems," in
*Proc. 43rd IEEE Conf. on Decision and Control (CDC 2004)*, Vol. 1, Piscataway, NJ: IEEE Press, 2004, pp. 473-478. - B. Sinopoli, L. Schenato, M. Franceschetti, K. Poolla, and S. S. Sastry, "Time varying optimal control with packet losses," in
*Proc. 43rd IEEE Conf. on Decision and Control (CDC 2004)*, Vol. 2, Piscataway, NJ: IEEE Press, 2004, pp. 1938-1943. - S. Oh, S. J. Russell, and S. S. Sastry, "Markov chain Monte Carlo data association for general multiple-target tracking problems," in
*Proc. 43rd IEEE Conf. on Decision and Control (CDC 2004)*, Vol. 1, Piscataway, NJ: IEEE Press, 2004, pp. 735-742. - S. Oh, J. Kim, and S. S. Sastry, "A sampling-based approach to nonparametric dynamic system identification and estimation," in
*Proc. 2004 American Control Conf. (ACC '04)*, Vol. 1, Evanston, IL: American Automatic Control Council, 2004, pp. 873-879. - I. M. Mitchell and S. S. Sastry, "Continuous path planning with multiple constraints," in
*Proc. 42nd IEEE Conf. on Decision and Control (CDC 2003)*, Vol. 5, Piscataway, NJ: IEEE Press, 2003, pp. 5502-5507. - J. Hu, S. N. Simic, and S. S. Sastry, "How should a snake turn on ice: A case study of the asymptotic isoholonomic problem," in
*Proc. 42nd IEEE Conf. on Decision and Control (CDC 2003)*, Vol. 3, Piscataway, NJ: IEEE Press, 2003, pp. 2908-2913. - D. H. Shim, H. J. Kim, and S. S. Sastry, "Decentralized nonlinear model predictive control of multiple flying robots," in
*Proc. 42nd IEEE Conf. on Decision and Control (CDC 2003)*, Vol. 4, Piscataway, NJ: IEEE Press, 2003, pp. 3621-3626. - J. Hu, M. Prandini, and S. S. Sastry, "Probabilistic safety analysis in three dimensional aircraft flight," in
*Proc. 42nd IEEE Conf. on Decision and Control (CDC 2003)*, Vol. 5, Piscataway, NJ: IEEE Press, 2003, pp. 5335-5340. - S. Zelinski, T. J. Koo, and S. S. Sastry, "Hybrid system design for formations of autonomous vehicles," in
*Proc. 42nd IEEE Conf. on Decision and Control (CDC 2003)*, Vol. 1, Piscataway, NJ: IEEE Press, 2003, pp. 1-6. - A. Antoniades, H. J. Kim, and S. S. Sastry, "Pursuit-evasion strategies for teams of multiple agents with incomplete information," in
*Proc. 42nd IEEE Conf. on Decision and Control (CDC 2003)*, Vol. 1, Piscataway, NJ: IEEE Press, 2003, pp. 756-761. - L. Schenato, D. Campolo, and S. S. Sastry, "Controllability issues in flapping flight for biomimetic micro aerial vehicles (MAVs)," in
*Proc. 42nd IEEE Conf. on Decision and Control (CDC 2003)*, Vol. 6, Piscataway, NJ: IEEE Press, 2003, pp. 6441-6447. - R. Vidal, S. Soatto, Y. Ma, and S. S. Sastry, "An algebraic geometric approach to the identification of a class of linear hybrid systems," in
*Proc. 42nd IEEE Conf. on Decision and Control (CDC 2003)*, Vol. 1, Piscataway, NJ: IEEE Press, 2003, pp. 167-172. - B. Sinopoli, L. Schenato, M. Franceschetti, K. Poolla, M. Jordan, and S. S. Sastry, "Kalman filtering with intermittent observations," in
*Proc. 42nd IEEE Intl. Conf. on Decision and Control (CDC 2003)*, Vol. 1, Piscataway, NJ: IEEE Press, 2003, pp. 701-708. - O. Shakernia, R. Vidal, and S. S. Sastry, "Multibody motion estimation and segmentation from multiple central panoramic views," in
*Proc. 2003 IEEE Intl. Conf. on Automation and Control (ICRA '03)*, Vol. 1, Piscataway, NJ: IEEE Press, 2003, pp. 571-576. - R. Vidal, O. Shakernia, and S. S. Sastry, "Formation control of nonholonomic mobile robots with omnidirectional visual servoing and motion segmentation," in
*Proc. 2003 IEEE Intl. Conf. on Robotics and Automation (ICRA '03)*, Vol. 1, Piscataway, NJ: IEEE Press, 2003, pp. 584-589. - S. Zelinski, T. J. Koo, and S. S. Sastry, "Optimization-based formation reconfiguration planning for autonomous vehicles," in
*Proc. 2003 IEEE Intl. Conf. on Robotics and Automation (ICRA '03)*, Vol. 3, Piscataway, NJ: IEEE Press, 2003, pp. 3758-3763. - X. Deng, L. Schenato, and S. S. Sastry, "Model identification and attitude control for a micromechanical flying insect including thorax and sensor models," in
*Proc. 2003 IEEE Intl. Conf. on Robotics and Automation (ICRA '03)*, Vol. 1, Piscataway, NJ: IEEE Press, 2003, pp. 1152-1157. - R. Vidal, Y. Ma, and S. S. Sastry, "Generalized principal component analysis (GPCA)," in
*Proc. 2003 IEEE Computer Society Conf. on Computer Vision and Pattern Recognition (CVPR '03)*, Vol. 1, Los Alamitos, CA: IEEE Computer Society, 2003, pp. 621-628. - R. Vidal and S. S. Sastry, "Optimal segmentation of dynamic scenes from two perspective views," in
*Proc. 2003 IEEE Computer Society Conf. on Computer Vision and Pattern Recognition (CVPR '03)*, Vol. 2, Los Alamitos, CA: IEEE Computer Society, 2003, pp. 281-286. - J. Hu and S. S. Sastry, "Optimal sojourn time control within an interval," in
*Proc. 2003 American Control Conf. (ACC '03)*, Vol. 4, Evanston, IL: American Control Council, 2003, pp. 3478-3483. - R. Vidal and S. S. Sastry, "Segmentation of dynamic scenes from image intensities," in
*Proc. Workshop on Motion and Video Computing (MOTION 2002)*, Los Alamitos, CA: IEEE Computer Society, 2002, pp. 44-49. - O. Shakernia, R. Vidal, and S. S. Sastry, "Infinitesimal motion estimation from multiple central panoramic views," in
*Proc. Workshop on Motion and Video Computing (MOTION 2002)*, Los Alamitos, CA: IEEE Computer Society, 2002, pp. 229-234. - X. Deng, L. Schenato, and S. S. Sastry, "Model identification and attitude control scheme for a micromechanical flying insect," in
*Proc. 7th Intl. Conf. on Control, Automation, Robotics and Vision (ICARCV 2002)*, Vol. 2, Piscataway, NJ: IEEE Press, 2002, pp. 1007-1012. - L. Schenato, W. C. Wu, and S. S. Sastry, "Attitude control for a micromechanical flying insect via sensor output feedback," in
*Proc. 7th Intl. Conf. on Control, Automation, Robotics and Vision (ICARCV 2002)*, Vol. 2, Piscataway, NJ: IEEE Press, 2002, pp. 1031-1036. - H. J. Kim, D. H. Shim, and S. S. Sastry, "Flying robots: Modeling, control and decision making," in
*Proc. 2002 IEEE Intl. Conf. on Robotics and Automation (ICRA '02)*, Vol. 1, Piscataway, NJ: IEEE Press, 2002, pp. 66-71. - O. Shakernia, R. Vidal, C. S. Sharp, Y. Ma, and S. S. Sastry, "Multiple view motion estimation and control for landing an unmanned aerial vehicle," in
*Proc. 2002 IEEE Intl. Conf. on Robotics and Automation (ICRA '02)*, Vol. 3, Piscataway, NJ: IEEE Press, 2002, pp. 2793-2798. - H. J. Kim, D. H. Shim, and S. S. Sastry, "Nonlinear model predictive tracking control for rotorcraft-based unmanned aerial vehicles," in
*Proc. 2002 American Control Conf. (ACC '02)*, Vol. 5, Evanston, IL: American Automatic Control Council, 2002, pp. 3576-3581. - A. Nilim, J. Hu, M. Prandini, and S. S. Sastry, "Optimal coordinated maneuvers for three dimensional aircraft conflict resolution," in
*Proc. AIAA Guidance, Navigation, and Control Conf. and Exhibit*, Reston, VA: American Institute of Aeronautics and Astronautics, 2001. - C. S. Sharp, O. Shakernia, and S. S. Sastry, "A vision system for landing an unmanned aerial vehicle," in
*Proc. 2001 IEEE Intl. Conf. on Robotics and Automation (ICRA '01)*, Vol. 2, Piscataway, NJ: IEEE Press, 2001, pp. 1720-1727. - J. Liu, X. Liu, T. J. Koo, B. Sinopoli, S. S. Sastry, and E. A. Lee, "A hierarchical hybrid system model and its simulation," in
*Proc. 38th IEEE Conf. on Decision and Control (CDC 1999)*, Vol. 4, Piscataway, NJ: IEEE Press, 1999, pp. 3508-3513. - J. Hu, J. Lygeros, M. Prandini, and S. S. Sastry, "A probabilistic framework for highway safety analysis," in
*Proc. 38th IEEE Conf. on Decision and Control (CDC 1999)*, Vol. 4, Piscataway, NJ: IEEE Press, 1999, pp. 3734-3739. - M. Egerstedt, K. Johansson, J. Lygeros, and S. S. Sastry, "Behavior based robotics using regularized hybrid automata," in
*Proc. 38th IEEE Conf. on Decision and Control (CDC 1999)*, Vol. 4, Piscataway, NJ: IEEE Press, 1999, pp. 3400-3405. - K. H. Johansson, J. Lygeros, S. S. Sastry, and M. Egerstedt, "Simulation of Zeno hybrid automata," in
*Proc. 38th IEEE Conf. on Decision and Control (CDC 1999)*, Vol. 4, Piscataway, NJ: IEEE Press, 1999, pp. 3538-3543. - J. Lygeros, K. H. Johansson, S. S. Sastry, and M. Egerstedt, "On the existence of executions of hybrid automata," in
*Proc. 38th IEEE Conf. on Decision and Control (CDC 1999)*, Vol. 3, Piscataway, NJ: IEEE Press, 1999, pp. 2249-2254. - M. Prandini, J. Lygeros, A. Nilim, and S. S. Sastry, "Randomized algorithms for probabilistic aircraft conflict detection," in
*Proc. 38th IEEE Conf. on Decision and Control (CDC 1999)*, Vol. 3, Piscataway, NJ: IEEE Press, 1999, pp. 2444-2449. - T. J. Koo and S. S. Sastry, "Differential flatness based full authority helicopter control design," in
*Proc. 38th IEEE Conf. on Decision and Control (CDC 1999)*, Vol. 2, Piscataway, NJ: IEEE Press, 1999, pp. 1982-1987. - J. P. Hespanha, H. J. Kim, and S. S. Sastry, "Multiple-agent probabilistic pursuit-evasion games," in
*Proc. 38th IEEE Conf. on Decision and Control (CDC 1999)*, Vol. 3, Piscataway, NJ: IEEE Press, 1999, pp. 2432-2437. - J. Hu, J. Lygeros, M. Prandini, and S. S. Sastry, "Aircraft conflict prediction and resolution using Brownian motion," in
*Proc. 38th IEEE Conf. on Decision and Control (CDC 1999)*, Vol. 3, Piscataway, NJ: IEEE Press, 1999, pp. 2438-2443. - O. Shakernia, Y. Ma, T. J. Koo, J. Hespanha, and S. S. Sastry, "Vision guided landing of an unmanned air vehicle," in
*Proc. 38th IEEE Conf. on Decision and Control (CDC 1999)*, Vol. 4, Piscataway, NJ: IEEE Press, 1999, pp. 4143-4148. - C. Tomlin, J. Lygeros, and S. S. Sastry, "Controller synthesis for hybrid systems: The Hamilton-Jacobi approach," in
*Hybrid Systems and AI: Modeling Analysis and Control of Discrete Plus Continuous SystemsProc. AAAI Spring Symposium*, G. Biswas and S. McIlraith, Eds., AAAI Spring Symposia, Menlo Park, CA: AAAI Press, 1999, pp. 192-197. - J. Lygeros, C. Tomlin, and S. S. Sastry, "Multi-objective hybrid controller synthesis: Least restrictive controls," in
*Proc. 36th IEEE Conf. on Decision and Control (CDC 1997)*, Vol. 1, New York, NY: IEEE, 1997, pp. 127-132. - Y. Ma, J. Kosecka, and S. S. Sastry, "Vision guided navigation for a nonholonomic mobile robot," in
*Proc. 36th IEEE Conf. on Decision and Control (CDC 1997)*, Vol. 3, New York, NY: IEEE, 1997, pp. 3069-3074. - G. Pappas, C. Tomlin, J. Lygeros, D. Godbole, and S. S. Sastry, "A next generation architecture for air traffic management systems," in
*Proc. 36th IEEE Conf. on Decision and Control (CDC 1997)*, Vol. 3, New York, NY: IEEE, 1997, pp. 2405-2410. - C. Tomlin, G. J. Pappas, and S. S. Sastry, "Noncooperative conflict resolution," in
*Proc. 36th IEEE Conf. on Decision and Control (CDC 1997)*, Vol. 2, New York, NY: IEEE, 1997, pp. 1816-1821. - C. Tomlin and S. S. Sastry, "Switching through singularities," in
*Proc. 36th IEEE Conf. on Decision and Control (CDC 1997)*, Vol. 1, New York, NY: IEEE, 1997, pp. 1-6. - M. C. Cavusoglu, J. Yan, and S. S. Sastry, "A hybrid system approach to contact stability and force control in robotic manipulators," in
*Proc. 12th IEEE Intl Symp. on Intelligent Control (ISIC 1997)*, K. Ciliz and Y. Istefanopulos, Eds., New York, NY: IEEE, 1997, pp. 143-148. - J. Lygeros, D. N. Godbole, and S. S. Sastry, "Multiagent hybrid system design using game theory and optimal control," in
*Proc. 35th IEEE Conf. on Decision and Control (CDC 1996)*, Vol. 2, New York, NY: IEEE, 1996, pp. 1190-1195. - J. Lygeros, D. N. Godbole, and S. S. Sastry, "A verified hybrid controller for automated vehicles," in
*Proc. 35th IEEE Conf. on Decision and Control (CDC 1996)*, Vol. 2, New York, NY: IEEE, 1996, pp. 2289-2294. - J. M. Wendlandt and S. S. Sastry, "Recursive workspace control of multibody systems: A planar biped example," in
*Proc. 35th IEEE Conf. on Decision and Control (CDC 1996)*, Vol. 3, New York, NY: IEEE, 1996, pp. 3575-3580. - C. Tomlin and S. S. Sastry, "Bounded tracking for nonminimum phase nonlinear systems with fast zero dynamics," in
*Proc. 35th IEEE Conf. on Decision and Control (CDC 1996)*, Vol. 2, New York, NY: IEEE, 1996, pp. 2058-2063. - G. J. Pappas, C. Tomlin, and S. S. Sastry, "Conflict resolution for multi-agent hybrid systems," in
*Proc. 35th IEEE Conf. on Decision and Control (CDC 1996)*, Vol. 2, New York, NY: IEEE, 1996, pp. 1184-1189. - K. H. Chiang, B. L. Evans, W. T. Huang, F. Kovac, E. A. Lee, D. G. Messerschmitt, H. J. Reekie, and S. S. Sastry, "Real-time DSP for sophomores," in
*Proc. 1996 IEEE Conf. on Acoustics, Speech, and Signal Processing (ICASSP '96)*, Vol. 2, New York, NY: IEEE, 1996, pp. 1097-1100. - S. S. Sastry, G. Meyer, C. Tomlin, J. Lygeros, D. Godbole, and G. Pappas, "Hybrid control in air traffic management systems," in
*Proc. 34th IEEE Conf. on Decision and Control (CDC 1995)*, Vol. 2, New York, NY: IEEE, 1995, pp. 1478-1483. - C. Tomlin, J. Lygeros, L. Benvenuti, and S. S. Sastry, "Output tracking for a non-minimum phase dynamic CTOL aircraft model," in
*Proc. 34th IEEE Conf. on Decision and Control (CDC 1995)*, Vol. 2, New York, NY: IEEE, 1995, pp. 1867-1872. - L. S. Crawford and S. S. Sastry, "Biological motor control approaches for a planar diver," in
*Proc. 34th IEEE Conf. on Decision and Control (CDC 1995)*, Vol. 4, New York, NY: IEEE, 1995, pp. 3881-3886. - A. Bicchi, D. Prattichizzo, and S. S. Sastry, "Planning motions of rolling surfaces," in
*Proc. 34th IEEE Conf. on Decision and Control (CDC 1995)*, Vol. 3, New York, NY: IEEE, 1995, pp. 2812-2817. - D. N. Godbole, J. Lygeros, and S. S. Sastry, "Hierarchical hybrid control: An IVHS case study," in
*Proc. 33rd IEEE Conf. on Decision and Control (CDC 1994)*, Vol. 2, New York, NY: IEEE, 1994, pp. 1592-1597. - D. Tilbury and S. S. Sastry, "On Goursat normal forms, prolongations, and control systems," in
*Proc. 33rd IEEE Conf. on Decision and Control (CDC 1994)*, Vol. 2, New York, NY: IEEE, 1994, pp. 1797-1802. - G. C. Walsh, R. Montgomery, and S. S. Sastry, "Optimal path planning on matrix Lie groups," in
*Proc. 33rd IEEE Conf. on Decision and Control (CDC 1994)*, Vol. 2, New York, NY: IEEE, 1994, pp. 1258-1263. - J. M. Wendlandt and S. S. Sastry, "Design and control of a simplified Stewart platform for endoscopy," in
*Proc. 33rd IEEE Conf. on Decision and Control (CDC 1994)*, Vol. 1, New York, NY: IEEE, 1994, pp. 357-362. - G. C. Walsh, R. Montgomery, and S. S. Sastry, "Orientation control of the dynamic satellite," in
*Proc. 1994 American Control Conf. (ACC '94)*, Vol. 1, Evanston, IL: American Automatic Control Council, 1994, pp. 138-142. - D. Tilbury, R. M. Murray, and S. S. Sastry, "Trajectory generation for the N-trailer problem using Goursat normal form," in
*Proc. 32nd IEEE Conf. on Decision and Control (CDC 1993)*, Vol. 2, New York, NY: IEEE, 1993, pp. 971-977. - A. Sarti, G. Walsh, and S. S. Sastry, "Steering left-invariant control systems on matrix Lie groups," in
*Proc. 32nd IEEE Conf. on Decision and Control (CDC 1993)*, Vol. 4, New York, NY: IEEE, 1993, pp. 3117-3121. - L. Bushnell, D. Tilbury, and S. S. Sastry, "Extended Goursat normal forms with applications to nonholonomic motion planning," in
*Proc. 32nd IEEE Conf. on Decision and Control (CDC 1993)*, Vol. 4, New York, NY: IEEE, 1993, pp. 3447-3452. - D. N. Godbole and S. S. Sastry, "Approximate decoupling and asymptotic tracking for MIMO systems," in
*Proc. 32nd IEEE Conf. on Decision and Control (CDC 1993)*, Vol. 3, New York, NY: IEEE, 1993, pp. 2754-2759. - K. Hollerbach, R. M. Murray, and S. S. Sastry, "An experimental study of hierarchical control laws for grasping and manipulation using a two-fingered planar hand," in
*Proc. 1992 IEEE Intl. Conf. on Robotics and Automation (ICRA '92)*, Vol. 3, Los Alamitos, CA: IEEE Computer Society, 1992, pp. 2770-2775. - D. C. Deno, R. M. Murray, K. Pister, and S. S. Sastry, "Fingerlike biomechanical robots," in
*Proc. 1992 IEEE Intl. Conf. on Robotics and Automation (ICRA '92)*, Vol. 1, Los Alamitos, CA: IEEE Computer Society, 1992, pp. 566-572. - G. C. Walsh and S. S. Sastry, "On reorienting linked rigid bodies using internal motions," in
*Proc. 30th IEEE Conf. on Decision and Control (CDC 1991)*, Vol. 2, New York, NY: IEEE, 1991, pp. 1190-1195. - R. M. Murray and S. S. Sastry, "Steering nonholonomic systems in chained form," in
*Proc. 30th IEEE Conf. on Decision and Control (CDC 1991)*, Vol. 2, New York, NY: IEEE, 1991, pp. 1121-1126. - R. M. Murray and S. S. Sastry, "Steering nonholonomic systems using sinusoids," in
*Proc. 29th IEEE Conf. on Decision and Control (CDC 1990)*, Vol. 4, New York, NY: IEEE, 1990, pp. 2097-2101. - D. C. Deno, R. M. Murray, K. Pister, and S. S. Sastry, "Control primitives for robot systems," in
*Proc. 1990 IEEE Intl. Conf. on Robotics and Automation (ICRA '90)*, Vol. 3, Los Alamitos, CA: IEEE Computer Society, 1990, pp. 1866-1871. - S. S. Sastry and Z. Li, "Robot motion planning with nonholonomic constraints," in
*Proc. 28th IEEE Conf. on Decision and Control (CDC 1989)*, Vol. 1, New York, NY: IEEE, 1989, pp. 211-216. - J. Hauser, S. S. Sastry, and P. Kokotovic, "Nonlinear control via approximate input-output linearization: The ball and beam example," in
*Proc. 28th IEEE Conf. on Decision and Control (CDC 1989)*, Vol. 3, New York, NY: IEEE, 1989, pp. 1987-1993. - A. A. Cole, P. Hsu, and S. S. Sastry, "Dynamic regrasping by coordinated control of sliding for a multifingered hand," in
*Proc. 1989 IEEE Intl. Conf. on Robotics and Automation (ICRA '89)*, Washington, DC: IEEE Computer Society, 1989, pp. 781-786. - Z. Li, J. F. Canny, and S. S. Sastry, "On motion planning for dextrous manipulation. I. The problem formulation," in
*Proc. 1989 Intl. Conf. on Robotics and Automation (ICRA '89)*, Washington, DC: IEEE Computer Society, 1989, pp. 775-780. - R. M. Murrary and S. S. Sastry, "Control experiments in planar manipulation and grasping," in
*Proc. 1989 IEEE Intl. Conf. on Robotics and Automation (ICRA '89)*, Vol. 1, Washington, DC: IEEE Computer Society, 1989, pp. 624-629. - N. Nordstrom and S. S. Sastry, "Persistency of excitation in possibly unstable continous time systems and parameter convergence in adaptive identification," in
*Adaptive Systems in Control and Signal Processing: Proc. 2nd IFAC Workshop (ASCSP 1986)*, K. J. Astrom and B. Wittenmark, Eds., Oxford, UK: Pergamon Press, 1987, pp. 347-352. - I. M. Y. Mareels, D. O. Anderson, R. R. Bitmead, M. Bodson, and S. S. Sastry, "Revisiting the MIT rule for adaptive control," in
*Adaptive Systems in Control and Signal Processing: Proc. 2nd IFAC Workshop*, K. J. Astrom and B. Wittenmark, Eds., Oxford, UK: Pergamon Press, 1987, pp. 161-166. [abstract] - P. Hsu and S. S. Sastry, "The effect of discretized feedback in a closed loop system," in
*Proc. 26th IEEE Conf. on Decision and Control (CDC 1987)*, Vol. 1, New York, NY: IEEE, 1987, pp. 1518-1523. - J. E. Mason, E. W. Bai, L. C. Fu, M. Bodson, and S. S. Sastry, "Analysis of adaptive identifiers in the presence of unmodelled dynamics: Averaging and tuned parameters," in
*Proc. 26th IEEE Conf. on Decision and Control (CDC 1987)*, Vol. 1, New York, NY: IEEE, 1987, pp. 360-365. - E. Kappos and S. S. Sastry, "Lyapunov controllability and global optimal control," in
*Proc. 25th IEEE Conf. on Decision and Control (CDC 1986)*, Vol. 1, New York, NY: IEEE, 1986, pp. 973-974. - L. C. Fu, E. W. Bai, and S. S. Sastry, "Averaging analysis for discrete time and sampled data adaptive systems," in
*Proc. 25th IEEE Conf. on Decision and Control (CDC 1986)*, Vol. 1, New York, NY: IEEE, 1986, pp. 1411-1416. - B. E. Paden and S. S. Sastry, "A calculus for computing Filippov's differential inclusion with application to the variable structure control of robot manipulators," in
*Proc. 25th IEEE Conf. on Decision and Control (CDC 1986)*, Vol. 1, New York, NY: IEEE, 1986, pp. 578-582. - E. W. Bai and S. S. Sastry, "Adaptive control of partially known systems," in
*Proc. 1986 American Control Conf. (ACC '86)*, New York, NY: IEEE, 1986, pp. 103-108. - S. Behtash and S. S. Sastry, "Stabilization of nonlinear systems with degenerate linearization," in
*Proc. 1986 IEEE Intl. Symp. on Circuits and Systems (ISCAS '86)*, New York, NY: IEEE, 1986, pp. 912-915. - J. J. Craig, P. Hsu, and S. S. Sastry, "Adaptive control of mechanical manipulators," in
*Proc. 1986 IEEE Intl. Conf. on Robotics and Automation (ICRA '86)*, Vol. 3, Washington, DC: IEEE Computer Society, 1986, pp. 190-195. - S. S. Sastry and B. E. Paden, "Nonlinear systems and control problems in robotics," in
*Proc. 1985 Intl. Symp. on Circuits and Systems (ISCAS '85)*, New York, NY: IEEE, 1985, pp. 167-170. - M. Bodson and S. S. Sastry, "Exponential convergence and robustness margins in adaptive control (Invited Paper)," in
*Proc. 23rd IEEE Conf. on Decision and Control (CDC 1984)*, Vol. 2, New York, NY: IEEE, 1984, pp. 1282-1285. - R. Silva-Madriz and S. S. Sastry, "Time domain models for multiple time scale linear systems," in
*Proc. 23rd IEEE Conf. on Decision and Control (CDC 1984)*, Vol. 1, New York, NY: IEEE, 1984, pp. 283-288. - S. Boyd and S. S. Sastry, "Necessary and sufficient conditions for parameter convergence in adaptive control," in
*Proc. 1984 American Control Conf. (ACC '84)*, New York, NY: IEEE, 1984, pp. 1584-1587. - F. M. A. Salam and S. S. Sastry, "The complete dynamics of the forced Josephson junction circuit: The regions of chaos," in
*Proc. 1984 IEEE Intl. Symp. on Circuits and Systems (ISCAS '84)*, New York, NY: IEEE, 1984, pp. 860-864. - J. J. Slotine and S. S. Sastry, "Tracking control of non-linear systems using sliding surfaces with application to robot manipulators," in
*Proc. 1983 Intl. Conf. on Systems, Man and Cybernetics (SMC '83)*, New York, NY: IEEE, 1984, pp. 668-671. - S. S. Sastry, "Asymptotic behavior of stochastic dynamical systems (Invited Paper)," in
*Proc. 22nd IEEE Conf. on Decision and Control (CDC 1983)*, Vol. 2, New York, NY: IEEE, 1983, pp. 727-730. - J. J. Slotine and S. S. Sastry, "Robustness issues in the sliding control of non-linear systems (Invited Paper)," in
*Proc. 22nd IEEE Conf. on Decision and Control (CDC 1983)*, Vol. 3, New York, NY: IEEE, 1983, pp. 1125-1127. - J. Krause, M. Athans, S. S. Sastry, and L. Valavani, "Robustness studies in adaptive control (Invited Paper)," in
*Proc. 22nd IEEE Conf. on Decision and Control (CDC 1983)*, Vol. 2, New York, NY: IEEE, 1983, pp. 977-981. - J. J. Slotine and S. S. Sastry, "Tracking control of non-linear systems using sliding surfaces with application to robot manipulators," in
*Proc. 1983 American Control Conf. (ACC '83)*, New York, NY: IEEE, 1983, pp. 132-135. - M. Coderch, A. S. Willsky, S. S. Sastry, and D. A. Castanon, "Hierarchical aggregation of linear systems with multiple time scales," in
*Proc. 1982 IEEE Intl. Large Scale Systems Symp.*, New York, NY: IEEE, 1982, pp. 381-385. - O. Hijab and S. S. Sastry, "Singular perturbation, state aggregation, and nonlinear filtering (Invited Paper)," in
*Proc. 20th IEEE Conf. on Decision and Control including the Symp. on Adaptive Processes*, Vol. 2, New York, NY: IEEE, 1981, pp. 590-593. - M. Coderch, A. S. Willsky, S. S. Sastry, and D. A. Castanon, "Hierarchical aggregation of linear systems with multiple time scales (Invited Paper)," in
*Proc. 20th IEEE Conf. on Decision and Control (CDC '81) including the Symp. on Adaptive Processes*, Vol. 2, New York, NY: IEEE, 1981, pp. 930-935. - S. S. Sastry, C. A. Desoer, and P. Varaiya, "Jump behavior of circuits and systems (Invited Paper)," in
*Proc. 20th IEEE Conf. on Decision and Control (CDC '81) including the Symp. on Adaptive Processes*, Vol. 3, New York, NY: IEEE, 1981, pp. 1043-1047. - S. S. Sastry and C. A. Desoer, "Asymptotic unbounded root loci -- Formulae and computation," in
*Proc. 20th IEEE Conf. on Decision and Control (CDC '81) including the Symp. on Adaptive Processes*, Vol. 1, New York, NY: IEEE, 1981, pp. 120-122. - S. S. Sastry, C. A. Desoer, and P. Varaiya, "Jump behavior of circuits and systems," in
*Proc. 24th Midwest Symp. on Circuits and Systems (MWSCAS 1981)*, S. Karni, Ed., North Hollywood, CA: Western Periodicals, 1981, pp. 539-543. - A. Arapostathis, S. S. Sastry, and P. Varaiya, "On the solutions of the load flow equation in power systems," in
*Proc. 19th IEEE Conf. on Decision and Control including the Symp. on Adaptive Processes*, Vol. 1, New York, NY: IEEE, 1980, pp. 152-153. - A. Arapostathis, S. S. Sastry, and P. Varaiya, "Bifurcation analysis of the load flow equations (Invited Paper)," in
*Proc. 19th IEEE Conf. on Decision and Control including the Symp. on Adaptive Processes*, Vol. 2, New York, NY: IEEE, 1980, pp. 641-644. - S. S. Sastry and C. A. Desoer, "The robustness of controllability and observability of linear time-varying systems with application to the emergency control of power systems," in
*Proc. 1980 IEEE Intl. Symp. on Circuits and Systems (ISCAS '80)*, Vol. 2, New York, NY: IEEE, 1980, pp. 698-701.

## Technical Reports

- I. Konstantakopoulos, C. J. Spanos, and S. S. Sastry, "Social Game for Building Energy Efficiency: Utility Learning, Simulation, Analysis and Incentive Design," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2015-3, Feb. 2015. [abstract]
- D. Sadigh, E. Kim, S. Coogan, S. S. Sastry, and S. A. Seshia, "A Learning Based Approach to Control Synthesis of Markov Decision Processes for Linear Temporal Logic Specifications," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2014-166, Sep. 2014. [abstract]
- A. Gupta, G. Schwartz, C. Langbort, S. S. Sastry, and T. Basar, "A Three-Stage Colonel Blotto Game with Applications to Cyber-Physical Security," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2014-19, March 2014. [abstract]
- D. Sadigh, K. Driggs Campbell, A. A. A. Puggelli, W. Li, V. Shia, R. Bajcsy, A. L. Sangiovanni-Vincentelli, S. S. Sastry, and S. A. Seshia, "Data-Driven Probabilistic Modeling and Verification of Human Driver Behavior," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2013-197, Dec. 2013. [abstract]
- W. Li, D. Sadigh, S. S. Sastry, and S. A. Seshia, "Synthesis for Human-in-the-Loop Control Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2013-134, July 2013. [abstract]
- C. P. Lam, A. Yang, E. Elhamifar, and S. S. Sastry, "Geometric Image Segmentation via Multiscale TILT Clustering," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2013-132, July 2013. [abstract]
- A. Aswani, H. Gonzalez, S. S. Sastry, and C. Tomlin, "Statistical Results on Filtering and Epi-convergence for Learning-Based Model Predictive Control," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2011-153, Dec. 2011. [abstract]
- S. Burden, S. Revzen, and S. S. Sastry, "Dimension Reduction Near Periodic Orbits of Hybrid Systems: Appendix," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2011-100, Sep. 2011. [abstract]
- D. Singaraju, R. Tron, E. Elhamifar, A. Yang, and S. S. Sastry, "On the Lagrangian Biduality of Sparsity Minimization Problems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2011-70, June 2011.
- N. Naikal, A. Yang, and S. S. Sastry, "Informative Feature Selection for Object Recognition via Sparse PCA," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2011-27, April 2011. [abstract]
- H. Gonzalez, R. Vasudevan, M. Kamgarpour, S. S. Sastry, R. Bajcsy, and C. Tomlin, "A Descent Algorithm for the Optimal Control of Constrained Nonlinear Switched Dynamical Systems: Appendix," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2010-9, Jan. 2010. [abstract]
- E. J. Lobaton, P. Ahammad, and S. S. Sastry, "Algebraic Approach for Recovering Topology in Distributed Camera Networks," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2009-4, Jan. 2009. [abstract]
- P. Kuryloski, A. Giani, R. Giannantonio, K. Gilani, R. Gravina, V. Seppa, E. Seto, V. Shia, C. Wang, P. Yan, A. Yang, J. Hyttinen, S. S. Sastry, S. Wicker, and R. Bajcsy, "DexterNet: An Open Platform for Heterogeneous Body Sensor Networks and Its Applications," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2008-174, Dec. 2008. [abstract]
- P. W. Chen, P. Ahammad, C. Boyer, S. Huang, L. Lin, E. J. Lobaton, M. L. Meingast, S. Oh, S. Wang, P. Yan, A. Yang, C. Yeo, L. Chang, D. Tygar, and S. S. Sastry, "CITRIC: A Low-Bandwidth Wireless Camera Network Platform," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2008-50, May 2008. [abstract]
- A. Yang, R. Jafari, P. Kuryloski, S. Iyengar, S. S. Sastry, and R. Bajcsy, "Distributed Segmentation and Classification of Human Actions Using a Wearable Motion Sensor Network," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2007-143, Dec. 2007. [abstract]
- H. Chung, E. Polak, and S. S. Sastry, "On the Off-Label Use of Outer Approximations: An External Active Set Strategy," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2007-127, Oct. 2007. [abstract]
- T. Roosta, M. Wainwright, and S. S. Sastry, "Convergence Analysis of Reweighted Sum-Product Algorithms," UC Berkeley, Department of Statistics, Tech. Rep. UCB/STAT-07-737, Aug. 2007.
- A. Y. Yang, J. Wright, Y. Ma, and S. S. Sastry, "Feature Selection in Face Recognition: A Sparse Representation Perspective," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2007-99, Aug. 2007. [abstract]
- M. L. Meingast, S. Pai, S. Wicker, and S. S. Sastry, "Privacy in Camera Networks: a Technical Perspective," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2007-94, July 2007. [abstract]
- E. Polak, H. Chung, and S. S. Sastry, "An External Active-Set Strategy for Solving Optimal Control Problems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2007-90, July 2007. [abstract]
- P. W. Chen and S. S. Sastry, "Latency and Connectivity Analysis Tools for Wireless Mesh Networks," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2007-87, June 2007. [abstract]
- A. Y. Yang, J. Wright, S. S. Sastry, and Y. Ma, "Unsupervised Segmentation of Natural Images via Lossy Data Compression," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2006-195, Dec. 2006. [abstract]
- A. Abate, A. Tiwari, and S. S. Sastry, "The concept of Box Invariance for biologically-inspired dynamical systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2006-185, Dec. 2006. [abstract]
- A. Abate, A. D'Innocenzo, G. Pola, M. D. Di Benedetto, and S. S. Sastry, "The Concept of Deadlock and Livelock in Hybrid Control Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2006-181, Dec. 2006. [abstract]
- P. Ahammad, R. Bajcsy, and S. S. Sastry, "A Framework for Characterization and Comparison of Event Related Neuronal Activity," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2006-128, Oct. 2006. [abstract]
- S. Oh, S. J. Russell, and S. S. Sastry, "Markov chain Monte Carlo data association for multiple-target tracking," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M05/19, June 2005.
- M. Chen, A. Abate, A. Zakhor, and S. S. Sastry, "Stability and Delay Consideration for Flow Control over Wireless Networks," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M05/14, April 2005.
- S. Oh, L. Schenato, P. Chen, and S. S. Sastry, "A Scalable Real Time Multiple-Target," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M05/9, Feb. 2005.
- X. Deng, L. Schenato, W. C. Wu, and S. S. Sastry, "Flapping Flight for Biomimetic Robotic Insects - Part I: System Modeling," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M04/35, 2004.
- X. Deng, S. Schenato, and S. S. Sastry, "Flapping Flight for Biomimetic Robotic Insects - Part II: Flight Control Design," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M04/34, 2004.
- D. Campolo, L. Schenato, E. Guglielmelli, and S. S. Sastry, "A Lyapunov-Based Approach to Control of Mechanical Systems with Periodic Forcing Inputs," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M04/33, 2004.
- S. Oh and S. S. Sastry, "A Hierarchical Multiple Target Tracking Algorithm for Sensor Networks," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M04/1, 2004.
- R. Vidal, Y. Ma, and S. S. Sastry, "Generalized Principal Component Analysis (GPCA): Subspace Clustering by Polynomial Factorization, Differentiation, and Division," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M03/36, 2003.
- I. Mitchell and S. S. Sastry, "Continuous Path Planning with Multiple Constraints," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M03/34, 2003.
- B. Sinopoli, L. Schenato, M. Franceschetti, K. Poolla, M. Jordan, and S. S. Sastry, "Kalman Filtering with Intermittent Observations," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M03/15, 2003.
- R. Vidaland, S. Soatto, S. S. Sastry, and M. V. P. Kruger, "An Algebraic Geometric Approach to the Identification of Linear Hybrid Systems. Tomography as a Metrology Technique for Semiconductor Manufacturing," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M03/10, 2003.
- S. Simic and S. S. Sastry, "Distributed Localization in Wireless Ad Hoc Networks," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M02/26, 2002.
- S. Simic and S. S. Sastry, "Distributed Gradient Estimation Using Random Sensor Networks," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M02/25, 2002.
- R. Vidal, Y. Ma, and S. S. Sastry, "Generalized Principal Component Analysis(GPCA)," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M02/15, 2002.
- R. Vidal, Y. Ma, S. Soatto, and S. S. Sastry, "Two-View Multibody Structure from Motion," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M02/11, 2002.
- R. Vidal, S. Soatto, and S. S. Sastry, "A Factorization Method for 3D Multi-Body Motion Estimation and Segmentation," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M02/3, 2002.
- R. Vidal, S. Soatto, and S. S. Sastry, "Two-View Segmentation of Dynamic Scenes from the Multibody Fundamental Matrix," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M02/2, 2002.
- J. Hespanha, M. Prandini, and S. S. Sastry, "Probabilistic Pursuit-Evasion Games: A One-Step Nash Approach," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M00/45, 2000.
- S. Simic, K. Johansson, S. S. Sastry, and J. Lygeros, "Towards a Geometric Theory of Hybrid Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M00/3, 2000.
- R. Vidal, S. Schaffert, J. Lygeros, and S. S. Sastry, "Controlled Invariance of Discrete Time Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M99/65, 1999.
- Y. Ma, R. Vidal, S. Hsu, and S. S. Sastry, "Optimal Motion Estimation from Multiple Images by Normalized Epipolar Constraint," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M99/59, 1999.
- J. Lygeros, S. S. Sastry, P. Arroyo, C. Cloet, G. Gomes, B. Horowitz, J. Nu, L. Munds, J. Mussachio, M. Ozaki, A. Nilim, C. Pinello, O. Shakernia, A. Sweet, B. Sinopoli, T. J. Koo, S. Rashid, H. J. Kim, S. Schaffert, R. Vidal, and J. Zhang, "Hybrid Systems: Modeling, Analysis and Control EECS 291E Lecture Notes and Class Projects," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M99/34, 1999.
- Y. Ma, J. Kosecka, and S. S. Sastry, "Optimization Criteria and Geometric Algorithms for Motion and Structure Estimation," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M99/33, 1999.
- Y. Ma, R. Vidal, J. Kosecka, and S. S. Sastry, "Camera Self-Calibration: Geometry and Algorithms," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M99/32, 1999.
- K. Johansson, M. Egerstedt, J. Lygeros, and S. S. Sastry, "On the Regulation of Zend Hybrid Automata," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M99/23, 1999.
- Y. Ma, J. Kosecka, and S. S. Sastry, "A Mathematical Theory of Camera Self- Calibration," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M98/64, 1998.
- S. Sekhavat and S. S. Sastry, "Towards an Automatic Air Traffic Controller," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M98/63, 1998.
- Y. Ma, J. Kosecka, and S. S. Sastry, "Euclidean Structure and Motion from Image Sequences," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M98/38, 1998.
- Y. Ma, J. Kosecka, and S. S. Sastry, "Optimal Motion from Image Sequences: A Riemannian Viewpoint," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M98/37, 1998.
- Y. Ma and S. S. Sastry, "Vision Theory in Spaces of Constant Curvature," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M98/36, 1998.
- G. Lafferriere, G. Pappas, and S. S. Sastry, "O-Minimal Hybrid Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M98/29, 1998.
- G. Pappas, G. Lafferriere, and S. S. Sastry, "Hierarchically Consistent Control Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M98/16, 1998.
- G. Lafferriere, G. Pappas, and S. S. Sastry, "Hybrid Systems with Finite Bisimulations," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M98/15, 1998.
- Y. Ma, J. Kosecka, and S. S. Sastry, "Motion Recovery from Image Sequences: Discrete Viewpoint vs. Differential Viewpoint," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M98/11, 1998.
- S. S. Sastry, D. Godbole, J. Malik, R. Sengupta, and O. Shakernia, "Interim Progress Report: Intelligent Control Architectures for Unmanned Air Vehicles," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M97/86, 1997.
- S. S. Sastry, "Tools for Nonlinear Control Systems Design Final Report on NAG2-243," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M97/83, 1997.
- G. Pappas, J. Lygeros, D. Tilbury, and S. S. Sastry, "Exterior Differential Systems in Control and Robotics," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M97/63, 1997.
- J. Lygeros, C. Tomlin, and S. S. Sastry, "Multi-Objective Hybrid Controller Synthesis," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M97/59, 1997.
- Y. Ma, J. Kosecka, and S. S. Sastry, "Vision Guided Navigation for a Nonholonomic Mobile Robot," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M97/42, 1997.
- C. Tomlin, G. Pappas, and S. S. Sastry, "Conflict Resolution for Air Traffic Management: A Study in Multi-Agent Hybrid Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M97/33, 1997.
- S. S. Sastry, A. Nerode, and Z. Manna, "An Integrated Approach to Intelligent Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M97/25, 1997.
- C. Tomlin, G. Pappas, J. Lygeros, D. Godbole, and S. S. Sastry, "A Next Generation Architecture for Air Traffic Management Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M97/7, 1997.
- J. Godhavn, A. Balluchi, L. Crawford, and S. S. Sastry, "Control of Nonholonomic Systems with Drift Terms," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M97/1, 1997.
- L. Crawford and S. S. Sastry, "Learning Controllers for Complex Behavioral Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M96/73, 1996.
- J. Tomlin and S. S. Sastry, "Switching Through Singularities," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M96/54, 1996.
- G. Pappas and S. S. Sastry, "Towards Continuous Abstractions of Dynamical and Control Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M96/53, 1996.
- C. Tomlin and S. S. Sastry, "Bounded Tracking for Nonminimum Phase Nonlinear Systems with Fast Zero Dynamics," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M96/46, 1996.
- C. Tomlin, G. Pappas, and S. S. Sastry, "Conflict Resolution for Air Traffic Management: A Case Study in Multi-Agent Hybrid Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M96/38, 1996.
- S. Burgett, S. S. Sastry, R. Bush, and C. Sequin, "Shape Synthesis From Sparse, Feature-Based Input," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M96/2, 1996.
- S. S. Sastry, G. Meyer, C. Tomlin, J. Lygeros, D. Godbole, and G. Pappas, "Hybrid Control in Air Traffic Management Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M95/82, 1995.
- J. Lygeros, D. Godbole, and S. S. Sastry, "A Game Theoretic Approach to Hybrid System Design," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M95/77, 1995.
- M. Cohn, L. Crawford, J. Wendlandt, and S. S. Sastry, "Surgical Applications of Milli-Robots," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M95/17, 1995.
- S. S. Sastry, "Advanced Topics in Adaptive and Nonlinear Control: Final Projects EECS 290B," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M95/8, 1995.
- D. Tilbury and S. S. Sastry, "On Goursat Normal Forms, Prolongations, and Control Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M94/16, 1994.
- D. Tilbury, O. Sordalen, L. Bushnell, and S. S. Sastry, "A Multi-Steering Trailer System: Conversion into Chained Form Using Dynamic Feedback," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M93/55, 1993. [abstract]
- G. Walsh, A. Sarti, and S. S. Sastry, "Algorithms for Steering on the Group of Rotations," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M93/44, 1993. [abstract]
- D. Tilbury, J. Laumond, R. Murray, S. S. Sastry, and G. Walsh, "Control Strategies for Mobile Robots with Trailers," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M93/23, 1993. [abstract]
- D. Tilbury, R. Murray, and S. S. Sastry, "Trajectory Generation for the N-Trailer Problem Using Goursat Normal Form," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M93/12, 1993. [abstract]
- D. Godbole and S. S. Sastry, "Approximate Decoupling and Asymptotic Tracking for MIMO Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M93/9, 1993. [abstract]
- L. Bushnell, D. Tilbury, and S. S. Sastry, "Steering Three-Input Chained Form Nonholonomic Systems Using Sinusoids: The Firetruck Example," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M92/107, 1992.
- D. Deno, K. Pister, R. Murray, and S. S. Sastry, "Finger-Like Biomechanical Robots," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M92/12, 1992.
- G. Walsh, D. Tilbury, S. S. Sastry, R. Murray, and J. Laumond, "Stabilization of Trajectories for Systems with Nonholonomic Constraints," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M92/11, 1992.
- K. Hollerbach, R. Murray, and S. S. Sastry, "An Experimental Study of Hierarchical Control Laws for Grasping and Manipulation Using a Two-Fingered Planar Hand," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M91/90, 1991.
- R. Murray and S. S. Sastry, "Nonholonomic Motion Planning: Steering Using Sinusoids," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M91/45, 1991.
- M. di Benedetto and S. S. Sastry, "Adaptive Linearization and Model Reference Control of a Class of MIMO Nonlinear Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M91/39, 1991.
- A. Isidori, S. S. Sastry, P. Kokotovic, and C. Byrnes, "Singularly Perturbed Zero Dynamics of Nonlinear Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M91/38, 1991.
- G. Walsh and S. S. Sastry, "On Reorienting Linked Rigid Bodies Using Internal Motions," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M91/35, 1991.
- D. Deno, R. Murray, K. Pister, and S. S. Sastry, "Control Primitives for Robot Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M90/39, 1990. [abstract]
- R. Murray and S. S. Sastry, "Grasping and Manipulation Using Multifingered Robot Hands," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M90/24, 1990. [abstract]
- J. Hauser, S. S. Sastry, and P. Kokotovic, "Nonlinear Control Via Approximate Input-Output Linearization: The Ball and Beam Example," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M89/95, 1989.
- A. Teel, R. Kadiyala, P. Kokotovic, and S. S. Sastry, "Indirect Techniques for Adaptive Input Output Linearization of Nonlinear Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M89/93, 1989.
- S. S. Sastry, J. Hauser, and P. Kokotovic, "Zero Dynamics of Regularly Perturbed Systems are Singularly Perturbed," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M89/54, 1989.
- Z. Li and S. S. Sastry, "A Unified Approach for the Control of Multifingered Robot Hands," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M89/19, 1989.
- Z. Li, J. F. Canny, and S. S. Sastry, "On Motion Planning for Dexterous Manipulation, Part I: The Problem Formulation," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M89/12, 1989.
- J. Hauser, S. S. Sastry, and G. Meyer, "Nonlinear Controller Design for Flight Control Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M88/76, 1988.
- A. Cole, P. Hsu, and S. S. Sastry, "Dynamic Regrasping by Coordinated Control of Sliding for a Multifingered Hand," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M88/66, 1988.
- P. Hsu and S. S. Sastry, "The Effect of Discretized Feedback in a Closed Loop System," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M87/87, 1987.
- A. Cole, J. Hauser, and S. S. Sastry, "Kinematics and Control of Multifingered Hands With Rolling Contact," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M87/85, 1987.
- Z. Li, P. Hsu, and S. S. Sastry, "On Grasping and Dynamic Coordination of Multifingered Robot Hands," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M87/63, 1987.
- S. S. Sastry, "Adaptive Control of Linearizable Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M87/53, 1987.
- J. Mason, E. Bai, L. Fu, M. Bodson, and S. S. Sastry, "Analysis of Adaptive Identifiers in the Presence of Unmodelled Dynamics: Averaging and Tuned Parameters," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M87/25, 1987.
- Z. Li and S. S. Sastry, "Hybrid Velocity/Force Control of a Robot Manipulator," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M87/9, 1987.
- L. Fu and S. S. Sastry, "Frequency Domain Synthesis of Optimal Inputs for Adaptive Identification and Control," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M87/3, 1987.
- E. Kappos and S. S. Sastry, "Global Lyapunov Function Theory," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M86/81, 1986.
- S. Behtash and S. S. Sastry, "Stabilization of Nonlinear Systems With Degenerate Linearization," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M86/71, 1986.
- E. Bai, L. Fu, and S. S. Sastry, "Averaging Analysis for Discrete Time and Sampled Data Adaptive Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M86/67, 1986.
- E. Bai and S. S. Sastry, "Adaptive Stabilization of Sampled Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M86/52, 1986.
- Z. Li and S. S. Sastry, "Task Oriented Optimal Grasping by Multifingered Robot Hands," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M86/43, 1986.
- N. Nordstrom and S. S. Sastry, "Persistency of Excitation in Possibly Unstable Continuous Time Systems and Parameter Convergence in Adaptive Identification," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M86/30, 1986.
- L. Fu and S. S. Sastry, "Slow Drift Instability in Model Reference Adaptive System--An Averaging Analysis," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M86/25, 1986.
- E. Bai and S. S. Sastry, "Global Stability Proofs for Continuous Time Indirect Adaptive Control Schemes," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M86/20, 1986.
- J. Craig, P. Hsu, and S. S. Sastry, "Adaptive Control of Mechanical Manipulators," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M86/3, 1986.
- E. Bai and S. S. Sastry, "Discrete Time Adaptive Control Utilizing Prior Information," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M85/94, 1985.
- M. Bodson, S. S. Sastry, B. Anderson, I. Mareels, and R. Bitmead, "Nonlinear Averaging Theorems, and the Determination of Parameter Convergence Rates in Adaptive Control," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M85/92, 1985.
- E. Bai and S. S. Sastry, "Parameter Identification Using Prior Information," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M85/81, 1985.
- B. Paden and S. S. Sastry, "Generalized Gradient Control Scheme for Robot Manipulators," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M85/50, 1985.
- S. S. Sastry, L. Fu, and M. Bodson, "New Stability Theorems for Averaging and Their Applications to the Convergence Analysis of Adaptive Identification and Control Schemes," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M85/21, 1985.
- Z. Li and S. S. Sastry, "Conditioned Invariant Subspaces, Disturbance Decoupling and Solutions of Rational Matrix Equations," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M85/20, 1985.
- A. Packard and S. S. Sastry, "Solving Rational Matrix Equations in the State Space with Applications to Computer Aided Control System Design," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M85/13, 1985.
- E. Bai and S. S. Sastry, "Persistency of Excitation, Sufficient Richness and Parameter Convergence in Discrete Time Adaptive Control," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M84/91, 1984.
- R. Silva-Madriz and S. S. Sastry, "Multiple Time Scales for Nonlinear Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M84/86, 1984.
- B. Paden and S. S. Sastry, "Geometric Interpretation of Manipulator Singularities," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M84/76, 1984.
- M. Bodson and S. S. Sastry, "Small Signal I/O Stability of Nonlinear Control Systems: Application to the Robustness of a MRAC Scheme," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M84/70, 1984.
- S. Boyd and S. S. Sastry, "Necessary and Sufficient Conditions for Parameter Convergence in Adaptive Control," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M84/25, 1984.
- R. Silva-Madriz and S. S. Sastry, "Input-Output Description of Linear Systems with Multiple Time Scales," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M83/77, 1983.
- F. Abdel Salam and S. S. Sastry, "The Complete Dynamics of the Forced Josephson Junction Circuit: The Regions of Chaos," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M83/69, 1983.
- S. S. Sastry, "Model Reference Adaptive Control-Stability, Parametric Convergence and Robustness," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M83/59, 1983.
- S. Boyd and S. S. Sastry, "Persistent Behavior, Sufficient Richness and Parameter Convergence in Adaptive Control," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M83/38, 1983.
- S. S. Sastry and C. A. Desoer, "Asymptotic unbounded root loci -- Formulae and computation," Massachusetts Institute of Technology, Laboratory for Information and Decision Systems, Tech. Rep. MIT-LIDS-P-1137, Aug. 1981.

## Ph.D. Theses

- M. Drezgich, "On Quantum Search, Experts and Geometry," S. S. Sastry and U. Vazirani, Eds., EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2013-186, Dec. 2013. [abstract]