Papers

From VaVMURI

Contents 1 2011 2 2010 3 2009 4 2008 5 2007 6 2006

This page contains information on papers that have been written during the MURI project. They are listed by the year in which they have appeared (or will appear).

2011

• A Globally Asymptotically Stable Polynomial Vector Field with no Polynomial Lyapunov Function Amir Ali Ahmadi, Miroslav Krstic, Pablo A. Parrilo, CDC-ECC11, submitted.

• Converse Results on Existence of Sum of Squares Lyapunov Functions Amir Ali Ahmadi, Pablo A. Parrilo, CDC-ECC11, submitted.

• Convex graph invariants Venkat Chandrasekaran, Pablo A. Parrilo, Alan S. Willsky. Submitted, 2011.

• The Convex Geometry of Linear Inverse Problems V. Chandrasekaran, B. Recht, P.A. Parrilo, and A.S. Willsky. Submitted, 2011.

• Model checking with bounded context switching, Gerard J. Holzmann and Mihai Florian. Formal Aspects of Computing, Vol. 23, Issue 3, p. 365-389, 2011.

• A Compositional Framework for Programming Stochastically Interacting Robots, N. Napp and E. Klavins, The International Journal of Robotics Research, May 2011 vol. 30 no. 6 713-729.

• Load balancing for multi-robot construction, N. Napp and E. Klavins. 2011 International Conference on Robotics and Automation (ICRA) (to appear).

• Distributed Synthesis of Control Protocols for Smart Camera Networks, Necmiye Ozay, Ufuk Topcu, Tichakorn Wongpiromsarn, Richard M Murray. ACM/IEEE Second International Conference on Cyber-Physical Systems, 2011.

• C. Pilotto, PhD Thesis: Systematic Design and Formal Verification of Multi-Agent Systems, May 2011

• Tree-Structured Statistical Modeling via Convex Optimization James Saunderson, Venkat Chandrasekaran, Pablo A. Parrilo, Alan S. Willsky, CDC-ECC11, submitted.

• An Optimal Controller Architecture for Poset-Causal Systems Parikshit Shah, Pablo A. Parrilo, CDC-ECC11, submitted.

• Fault-Tolerant Controller Design with Applications in Power Systems and Synthetic Biology, Somayeh Sojoudi, Javad Lavaei and Richard M Murray. 2011 American Control Conference (ACC).

• Decentralized Multi-Agent Optimization via Dual Decomposition, Hakan Terelius, Ufuk Topcu, Richard M Murray. IFAC World Congress, 2011.

• J. White PhD Thesis: Applying Formal Methods to Distributed Systems Using Local-Global Relations

• TuLiP: A Software Toolbox for Receding Horizon Temporal Logic Planning, Tichakorn Wongpiromsarn, Ufuk Topcu, Necmiye Ozay, Huan Xu, Richard M Murray. International Conference on Hybrid Systems: Computation and Control (HSCC), 2011.

2010

• On the Equivalence of Algebraic Conditions for Convexity and Quasiconvexity of Polynomials, A.A. Ahmadi, P.A. Parrilo. Conference on Decision and Control (CDC), 2010.

• Flows and Decompositions of Games: Harmonic and Potential Games, Ozan Candogan, Ishai Menache, Asuman Ozdaglar and Pablo A. Parrilo. Mathematics of Operations Research, to appear, 2011.

• Rank-sparsity incoherence for matrix decomposition, V. Chandrasekaran, S. Sanghavi, P.A. Parrilo, A. Willsky. SIAM Journal on Optimization, to appear, 2011.

• Latent Variable Graphical Model Selection via Convex Optimization, V. Chandrasekaran, P. A. Parrilo, and A. S. Willsky, 2010.

• The Impact of Sense and Response Systems, K. M Chandy. IEEE Internet Computing, 2010

• Verification of Distributed Systems with Local-Global Predicates, K. M. Chandy, B. Go, S. Mitra, C. Pilotto, J. White. Journal of Formal Aspects of Computing, 2010 (to appear)

• SCALE: source code analyzer for locating error, Mihai Florian. Master's thesis, California Institute of Technology, 2010.

• Feedback Control for Compositional Multi-Robot Construction, N. Napp and E. Klavins. Conference on Decision and Control, 2010 (submitted)

• Setpoint Regulation for Stochastically Interacting Robots, N. Napp, S. Burden, and E. Klavins, Autonomous Robotics, Vol. 30, No. 1. Sep. 2010. pp. 57--71.

• Robust by Composition: Programs for Multi Robot Systems, N. Napp and E. Klavins. International Conference on Robotics and Automation (ICRA), 2010

• Approximating Stochastic Biochemical Processes With Wasserstein Pseudometrics, D. Thorsley and E. Klavins. IET Systems Biology, 2010.

• Consensus on Asynchronous Communication Networks in Presence of External Input, C. Pilotto, J. White, K.M. Chandy. Conference on Decision and Control (CDC), 2010.

• Verification of Faulty Message Passing Systems with Continuous State Space in PVS, C. Pilotto, J. White. Second NASA Formal Methods Symposium, March 2010

• H2-Optimal Decentralized Control over Posets: A State Space Solution for State-Feedback, P. Shah, P.A. Parrilo. Conference on Decision and Control (CDC), 2010.

• Structure of Extreme Correlated Equilibria, N. Stein, P.A.Parrilo, A. Ozdaglar. 2010 (submitted)

• Correlated equilibria in continuous games: Characterization and computation, N. Stein, P.A. Parrilo, A. Ozdaglar. Games and Economic Behavior, 2010 (in press)

• Unfreezing the Robot: Navigation in Dense, Interacting Crowds, Peter Trautman and Andreas Krause. International Conference on Intelligent Robots and Systems (IROS), 2010 (submitted)

• Receding Horizon Temporal Logic Planning, Tichakorn Wongpiromsarn, Ufuk Topcu, Richard M Murray. IEEE Transactions on Automatic Control, 2010 (Submitted)

• Automatic Synthesis of Robust Embedded Control Software, Tichakorn Wongpiromsarn, Ufuk Topcu, Richard M Murray. AAAI Spring Symposium on Embedded Reasoning: Intelligence in Embedded Systems, 2010 (To appear)

• Receding Horizon Control for Temporal Logic Specifications, Tichakorn Wongpiromsarn, Ufuk Topcu, Richard M Murray. International Conference on Hybrid Systems: Computation and Control (HSCC), 2010

• Verification of Periodically Controlled Hybrid Systems: Application to An Autonomous Vehicle, Tichakorn Wongpiromsarn, Sayan Mitra, Richard M Murray, Andrew Lamperski. ACM Transactions on Embedded Computing Systems, 2010 (to appear)

2009

• A convex polynomial that is not SOS-convex, A.A. Ahmadi, P.A. Parrilo. Mathematical Programming, 2009 (submitted).
• Sum of Squares and Polynomial Convexity, Amir Ali Ahmadi, Pablo A. Parrilo. Conference on Decision and Control (CDC), 2009 (submitted).

• A convex polynomial that is not SOS-convex, Amir Ali Ahmadi, Pablo A. Parrilo. Mathematical Programming, 2009 (submitted).

• Control Program Verification for a Sample Titan Aerobot Mission, Julia M B Braman, Richard M Murray. AIAA Infotech@Aerospace Conference and Exhibit, 2009.

• Probabilistic Safety Analysis of Sensor-Driven Hybrid Automata, Julia M B Braman, Richard M Murray. International Conference on Hybrid Systems: Computation and Control, 2009 (submitted).

• Guaranteeing Convergence of Distributed Systems: From Specification to Implementation via Refinenement, K. M. Chandy, B. Go, S. Mitra, C. Polotto, and J. White. Submitted Formal Aspects of Computing, 2009.

• Specifications and Architectures of Federated Event-Driven Systems, K.M. Chandy, and M. Olson. AAAI Spring Symposium on Intelligent Complex Event Processing, 2009.

• Setpoint Regulation for Stochastically Interacting Robots, N. Napp, S. Burden and E. Klavins. Robotics: Science and Systems V. MIT Press. 2009.

• Hidden Markov Models for Non-Well-Mixed Reaction Networks, N. Napp, D. Thorsley and E. Klavins. Proceedings of the American Control Conference, 2009.

• Constrained Consensus and Optimization in Multi-Agent Networks, Angelia Nedic, Asuman Ozdaglar, Pablo A. Parrilo. IEEE T. Automatic Control, 2009 (to appear).

• On Equilibria of Message-Passing Games, C. Pilotto, K. M. Chandy. Distributed Computing, 2009 (submitted).

• A Poset framework to model decentralized control problems, Parikshit Shah, Pablo A. Parrilo. Conference on Decision and Control (CDC), 2009 (submitted).

• Correlated Equilibria in Continuous Games: Characterization and Computation, Noah D. Stein, Pablo A. Parrilo, Asuman Ozdaglar. Games and Economic Behavior, 2009 (submitted).

• Diagnosis of rare events in systems described by the chemical master equation, D. Thorsley. Hybrid Systems: Computation and Control, 2009 (submitted).

• A Theory of Approximation for Stochastic Biochemical Networks, D. Thorsley and E. Klavins. In Control-Theoretic Approaches in Systems Biology. Eds. B. Ingalls and P. Iglesias. MIT Press, 2009.

• Periodically Controlled Hybrid Systems: Verifying A Controller for An Autonomous Vehicle, Tichakorn Wongpiromsarn, Sayan Mitra, Richard M Murray, Andrew Lamperski. Hybrid Systems: Computation and Control, 2009.

• Receding Horizon Temporal Logic Planning for Dynamical Systems, Tichakorn Wongpiromsarn, Ufuk Topcu, Richard M Murray. Conference on Decision and Control (CDC), 2009

2008

• Non-monotonic Lyapunov functions for stability of discrete time nonlinear and switched systems. A. A. Ahmadi and P. A. Parrilo. In Proc. IEEE Control and Decision Conference, 2008. To appear

• Safety verification of fault tolerant goal-based control programs with estimation uncertainty. J. M. B. Braman and R. M. Murray. In Proc. American Control Conference, 2008.

• Towards Verified Distributed Software Through Refinement of Formal Archetypes, K. M. Chandy, B. Go, S. Mitra, and J. White. Second IFIP Working Conference on Verified Software: Workshop on Experiments. October 6-9, 2008.

• Convergence Verification: From Shared Memory to Partially Synchronous Systems, K. M. Chandy, S. Mitra, C. Pilotto. Proceedings of the 6th International Conference on Formal Modeling and Analysis of Timed Systems (FORMATS`08) , 2008.

• Networked Sensing Systems for Detecting People Carrying Radioactive Material, K. M. Chandy, C. Pilotto, R. McLean. Fifth International IEEE Conference on Networked Sensing Systems (INSS), 2008.

• Non-deterministic reconfiguration of tree formations. J.-M. McNew and E. Klavins. In Proc. American Control Conference, 2008.

• A formalized theory for verifying convergence and stability of automata in PVS. S. Mitra and K. M. Chandy. In International Conference on Theorem Proving in Higher Order Logics, 2008. To appear.

• Polynomial stochastic games via sum of squares optimization. P. Shah and P. A. Parrilo. IEEE Transactions on Automatic Control, 2008.

• A partial order approach to decentralized control. P. Shah and P. A. Parrilo. In Proc. IEEE Control and Decision Conference, 2008. To appear.

• Distributed Estimation and Control For Stochastically Interacting Robots, F. Shaw and E. Klavins. 2008 Conference on Decision and Control.

• Model reduction of stochastic processes using Wasserstein pseudometrics. D. Thorsley and E. Klavins. In Proc. American Control Conference, 2008.

• Diagnosability of Stochastic Discrete-Event Systems Under Unreliable Observations, David Thorsley, Tae-Sic Yoo, and Humberto E. Garcia. In Proc. American Control Conference, 2008.

• Distributed mission and contingency management for the DARPA Urban Challenge. T. Wongpiromsarn and R. M. Murray. In International Workshop on Intelligent Vehicle Control Systems, 2008.

• Structured semidefinite programs for the control of symmetric systems, R. Cogill, S. Lall and P. A. Parrilo. Automatica, 44(5):1411-1417, 2008.

• Approximation of the joint spectral radius using sum of squares. P. Parrilo and A. Jadbabaie. Linear Algebra and Its Applications, 428(10):2385-2402, 2008.

2007

• Multi-Agent Collaboration in Adversarial Environments, K. Mani Chandy and Michel Charpentier. Submitted, 2007 Principles of Distributed Computing (PODC 2007).

• Verification Procedure for Generalized Goal-based Control Programs, Julia M.B. Braman, Richard M. Murray and Michel D. Ingham. AIAA Infotech@Aerospace, May 2007.

• Safety Verification of a Fault Tolerant Reconfigurable Autonomous Goal-Based Robotic Control System, Julia M.B. Braman, Richard M. Murray, and David A. Wagner. To appear, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

• Conversion and Verification Procedure for Goal-Based Control Programs, Julia M.B. Braman and Richard M. Murray. Tech. Rep. California Institute of Technology. [CaltechCDSTR:2007.001].

• Safety Verification of Fault Tolerant Goal-based Control Programs with Estimation Uncertainty, Julia M.B. Braman and Richard M. Murray. 2007 American Control Conference (ACC).

• Solving coverage problems with embedded graph grammars. J.-M. McNew, E. Klavins, and M. Egerstedt. In Workshop on Hybrid Systems: Computation and Control, 2007.

• Layering as optimization decomposition: A mathematical theory of network architectures, M. Chiang, S. H. Low, A. R. and J. Doyle. Proceedings of the IEEE, 95(1):255-312, 2007.

• UAV as a Reliable Wingman: A Flight Demonstration, S Waydo, J Hauser, R Bailey, E Klavins and R M Murray. IEEE transactions on control systems technology, 15(4):680 - 688, 2007.

• Symbolic planning and control of robot motion - Finding the missing pieces of current methods and ideas, C. Belta, A. Bicchi, M. Egerstedt, E. Frazzoli, E. and G. Pappas. IEEE Robotics and Automation Magazine, 14(1):61-70, 2007.

• Recent research in cooperative control of multivehicle systems, Richard M Murray. Journal of Dynamic Systems, Measurement and Control, 129(5):571-583, 2007.

2006

• Computations on Time-Varying Sensor Networks, K. Mani Chandy, Michel Charpentier and Concetta Pilotto. Submitted, 2007 International Conference on Information Processing in Sensor Networks (IPSN).

• Self-Similar Algorithms for Dynamic Distributed Systems, K. Mani Chandy and Michel Charpentier. To appear, 2007 International Conference on Distributed Computing Systems (ICDCS).

• A PTAS for the minimization of polynomials of fixed degree over the simplex, E. de Klerk, M. Laurent and P. A. Parrilo. Theoretical Computer Science, 361(2-3):210-225, 2006.

• A grammatical approach to self-organizing robotic systems, E. Klavins, R. Ghrist and D. Lipsky. IEEE Transactions on Automatic Control, 51(6):949-962, 2006.