Papers
From VaVMURI

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, CDCECC11, submitted.
 Converse Results on Existence of Sum of Squares Lyapunov Functions Amir Ali Ahmadi, Pablo A. Parrilo, CDCECC11, 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. 365389, 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 713729.
 Load balancing for multirobot 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 CyberPhysical Systems, 2011.
 C. Pilotto, PhD Thesis: Systematic Design and Formal Verification of MultiAgent Systems, May 2011
 TreeStructured Statistical Modeling via Convex Optimization James Saunderson, Venkat Chandrasekaran, Pablo A. Parrilo, Alan S. Willsky, CDCECC11, submitted.
 An Optimal Controller Architecture for PosetCausal Systems Parikshit Shah, Pablo A. Parrilo, CDCECC11, submitted.
 FaultTolerant Controller Design with Applications in Power Systems and Synthetic Biology, Somayeh Sojoudi, Javad Lavaei and Richard M Murray. 2011 American Control Conference (ACC).
 Decentralized MultiAgent 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 LocalGlobal 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.
 Ranksparsity 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 LocalGlobal 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 MultiRobot 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. 5771.
 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
 H2Optimal Decentralized Control over Posets: A State Space Solution for StateFeedback, 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 SOSconvex, 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 SOSconvex, 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 SensorDriven 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 EventDriven 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 NonWellMixed Reaction Networks, N. Napp, D. Thorsley and E. Klavins. Proceedings of the American Control Conference, 2009.
 Constrained Consensus and Optimization in MultiAgent Networks, Angelia Nedic, Asuman Ozdaglar, Pablo A. Parrilo. IEEE T. Automatic Control, 2009 (to appear).
 On Equilibria of MessagePassing 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 ControlTheoretic 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
 Nonmonotonic 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 goalbased 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 69, 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.
 Nondeterministic 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 DiscreteEvent Systems Under Unreliable Observations, David Thorsley, TaeSic 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):14111417, 2008.
 Approximation of the joint spectral radius using sum of squares. P. Parrilo and A. Jadbabaie. Linear Algebra and Its Applications, 428(10):23852402, 2008.
2007
 MultiAgent Collaboration in Adversarial Environments, K. Mani Chandy and Michel Charpentier. Submitted, 2007 Principles of Distributed Computing (PODC 2007).
 Verification Procedure for Generalized Goalbased 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 GoalBased 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 GoalBased Control Programs, Julia M.B. Braman and Richard M. Murray. Tech. Rep. California Institute of Technology. [CaltechCDSTR:2007.001].
 Safety Verification of Fault Tolerant Goalbased 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):255312, 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):6170, 2007.
 Recent research in cooperative control of multivehicle systems, Richard M Murray. Journal of Dynamic Systems, Measurement and Control, 129(5):571583, 2007.
2006
 Computations on TimeVarying Sensor Networks, K. Mani Chandy, Michel Charpentier and Concetta Pilotto. Submitted, 2007 International Conference on Information Processing in Sensor Networks (IPSN).
 SelfSimilar 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(23):210225, 2006.
 A grammatical approach to selforganizing robotic systems, E. Klavins, R. Ghrist and D. Lipsky. IEEE Transactions on Automatic Control, 51(6):949962, 2006.