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.
• 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.
• 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.
• S. S. Sastry, Nonlinear Systems: Analysis, Stability, and Control, Interdisciplinary Applied Mathematics; v. 10, New York: Springer, 1999.
• S. S. Sastry, Nonlinear Systems: Analysis, Stability, and Control, Interdisciplinary Applied Mathematics, Vol. 10, New York, NY: Springer, 1999.
• 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.
• 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.
• 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.
• 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.
• R. M. Murray, Z. Li, and S. S. Sastry, A Mathematical Introduction to Robotic Manipulation, Boca Raton: CRC Press, 1994.
• R. M. Murray, Z. Li, and S. S. Sastry, A Mathematical Introduction to Robotic Manipulation, Boca Raton, FL: CRC Press, 1994.
• 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.
• 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, 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.
• 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.

Articles in journals or magazines

• 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, "Invited Paper: Tracking and coordination of multiple agents using sensor networks: System design, algorithms and experiments," Proc. IEEE, vol. 95, no. 1, pp. 234-254, Jan. 2007.
• 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, 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.
• 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.
• B. Sinopoli, L. Schenato, M. Franceschetti, K. Poolla, M. Jordan, and S. S. Sastry, "Kalman filtering with intermittent observations," IEEE Trans. Automatic Control, 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.
• 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.
• 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," Proc. IEEE, vol. 91, no. 1, pp. 198-211, Jan. 2003.
• C. Tomlin, J. Lygeros, and S. S. Sastry, "Invited Paper: A game theoretic approach to controller design for hybrid systems," 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.
• 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, 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.

Articles in conference proceedings

• 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. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2007), Piscataway, NJ: IEEE Press, 2007, pp. 971-978.
• 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.
• 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.
• T. Roosta, M. Meingast, and S. S. Sastry, "Distributed reputation system for tracking applications in sensor networks," in Proc. 2006 3rd Intl. Conf. on Mobile and Ubiquitous Systems - Workshops, Piscataway, NJ: IEEE Press, 2006, pp. 462-469.
• A. Ames, H. Zheng, R. Gregg, and S. S. Sastry, "Is there Life after Zeno? Taking Executions past the Breaking (Zeno) Point," in Proceedings of the American Control Conference (ACC), 2006.
• 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 Robitics and Automation (INRA '06), Piscataway, NJ: IEEE Press, 2006, pp. 3 pg.
• 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," in IEEE ICRA 2006, 2006.
• 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. 2005 27th Annual Intl. Conf. of the IEEE Engineering in Medicine and Biology Society, Piscataway, NJ: IEEE Press, 2005, pp. 3931-3934.
• S. Oh, S. J. Russell, and S. S. Sastry, "Markov chain Monte Carlo data association for general multiple-target tracking problems," in Proc. 2004 43rd IEEE Conf. on Decision and Control, Vol. 1, Piscataway, NJ: IEEE Press, 2004, pp. 735-742.

Technical Reports

• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.