# Faculty Publications - Claire Tomlin

## Books

- C. J. Tomlin and M. R. Greenstreet, Eds.,
*Hybrid Systems: Computation and Control*, Lecture Notes in Computer Science, Vol. 2289, Berlin, Heidelberg: Springer-Verlag, 2002. [abstract]

## Book chapters or sections

- A. Aswani and C. Tomlin, "Reachability algorithm for biological piecewise-affine 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. 633-636. - K. Roy and C. Tomlin, "A new hybrid state estimator for systems with limited mode changes," 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. 487-500. - 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. - R. Ghosh and C. Tomlin, "Lateral inhibition through Delta-Notch signaling: A piecewise affine hybrid model," in
*Hybrid Systems: Computation and Control. Proc. 4th Intl. Workshop (HSCC 2001)*, M. D. Di Benedetto and A. L. Sangiovanni-Vincentelli, Eds., Lecture Notes in Computer Science, Vol. 2034, Berlin, Germany: Springer-Verlag, 2001, pp. 232-246. - I. Mitchell and C. Tomlin, "Level set methods for computation in hybrid systems," in
*Hybrid Systems: Computation and Control. Proc. 3rd Intl. Workshop (HSCC 2000)*, N. A. Lynch and B. H. Krogh, Eds., Lecture Notes in Computer Science, Vol. 1790, Berlin: Springer-Verlag, 2000, pp. 310-323. - 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. - 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.

## 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] - M. Oishi, I. Mitchell, A. M. Bayen, and C. Tomlin, "Invariance-preserving abstractions of hybrid systems: Application to user interface design,"
*IEEE Trans. Control Systems Technology*, vol. 16, no. 2, pp. 229-244, March 2008. - M. Khammash, C. Tomlin, and M. Vidyasagar, "Guest editorial on Special Issue on Systems Biology,"
*IEEE Trans. Automatic Control: Joint Special Issue*, vol. 53, pp. 4-7, Jan. 2008. - R. L. Raffard, K. Amonlirdviman, J. D. Axelrod, and C. Tomlin, "An adjoint-based parameter identification algorithm applied to planar cell polarity signaling,"
*IEEE Trans. Automatic Control: Joint Special Issue on Systems Biology*, vol. 53, pp. 109-121, Jan. 2008. - H. Balakrishnan, N. Dukkipati, N. McKeown, and C. Tomlin, "Stability analysis of explicit congestion control protocols,"
*IEEE Communications Letters*, vol. 11, no. 10, pp. 823-825, Oct. 2007. - I. Hwang, H. Balakrishnan, K. Roy, and C. Tomlin, "Multiple-target tracking and identity management with application to aircraft tracking,"
*AIAA J. Guidance, Control, and Dyanmics*, vol. 30, no. 3, pp. 641-653, May 2007. - J. Hu, M. Prandini, and C. Tomlin, "Conjugate points in formation constrained optimal multi-agent coordination: A case study,"
*SIAM J. Control and Optimization*, vol. 45, no. 6, pp. 2119-2137, Jan. 2007. - A. M. Bayen, I. M. Mitchell, M. M. K. Oishi, and C. Tomlin, "Aircraft autolander safety analysis through optimal control-based reach set computation,"
*AIAA J. Guidance, Control, and Dynamics*, vol. 30, no. 1, pp. 68-77, Jan. 2007. - I. Hwang, H. Balakrishnan, and C. Tomlin, "State estimation for hybrid systems: Applications to aircraft tracking,"
*IEE Proc. Control Theory and Applications*, vol. 153, no. 5, pp. 556-566, Sep. 2006. - A. M. Bayen, R. L. Raffard, and C. Tomlin, "Adjoint-based control of a new Eulerian network model for air traffic flow,"
*IEEE Trans. Control Systems Technology*, vol. 14, no. 5, pp. 804-818, Sep. 2006. - A. M. Bayen, P. Grieder, G. Meyer, and C. Tomlin, "Lagrangian delay predictive model for sector-based air traffic flow,"
*AIAA J. Guidance, Control, and Dynamics*, vol. 28, no. 5, pp. 1015-1026, Sep. 2005. - I. M. Mitchell, A. M. Bayen, and C. Tomlin, "A time-dependent Hamilton-Jacobi formulation of reachable sets for continuous dynamic games,"
*IEEE Trans. Automatic Control*, vol. 50, no. 7, pp. 947-957, July 2005. - C. Tomlin and J. D. Axelrod, "Understanding biology by reverse engineering the control,"
*Proc. National Academy of Sciences of the United States of America*, vol. 102, no. 12, pp. 4219-4220, March 2005. - D. M. Stipanovic, G. Inalhan, R. Teo, and C. Tomlin, "Decentralized overlapping control of a formation of unmanned aerial vehicles,"
*Automatica*, vol. 40, no. 8, pp. 1285-1296, Aug. 2004. - R. Ghosh and C. Tomlin, "Symbolic reachable set computation of piecewise affine hybrid automata and its application to biological modelling: Delta-Notch protein signaling,"
*IEE Systems Biology*, vol. 1, no. 1, pp. 170-183, June 2004. - C. Tomlin, I. Mitchell, A. M. Bayen, and M. Oishi, "Computational techniques for the verification of hybrid systems,"
*Proc. IEEE*, vol. 91, no. 7, pp. 986-1001, July 2003. - 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. - 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. - 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.

## Articles in conference proceedings

- C. Tomlin, "Temporal Difference Learning for Online Reachability Analysis," in
*Proceedings of the 14th Annual European Control Conference*, 2015. - A. Bayen, C. Tomlin, J. Thai, and T. Hunter, "Inverse Covariance Estimation from Data with Missing Values using the Concave-Convex Procedure," in
*53rd Annual Conference on Decision and Control*, 2014. - C. Tomlin, J. Fernandez-Fisac, S. Kaynama, M. Zeilinger, and J. Gillula, "Reachability-Based Safe Learning with Gaussian Processes," in
*53rd Annual Conference on Decision and Control*, 2014. - P. Bouffard, A. Aswani, and C. Tomlin, "Extensions of Learning-Based Model Predictive Control for Real-Time Application to a Quadrotor Helicopter," in
*Proc. American Control Conference (ACC)*, 2012. [abstract] - P. Bouffard, A. Aswani, and C. Tomlin, "Learning-Based Model Predictive Control on a Quadrotor: Onboard Implementation and Experimental Results," in
*Proc. IEEE Intl. Conf. on Robotics and Automation (ICRA)*, 2012. [abstract] - R. Brockers, J. Ma, L. Matthies, C. Tomlin, and P. Bouffard, "Autonomous landing and ingress of micro-air-vehicles in urban environments based on monocular vision," in
*Proceedings of SPIE 8031*, Vol. 8031, 2011, pp. 803111--803111--12. [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," 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. - J. Ding and C. Tomlin, "Robust Reach-Avoid Controller Synthesis for Switched Nonlinear Systems," in
*Decision and Control, 2010. CDC 2010. 49th IEEE Conference on*, 2010. - J. Ding and C. Tomlin, "Robust Reach-Avoid Controller Synthesis for Switched Nonlinear Systems," in
*Decision and Control, 2010. CDC 2010. 49th IEEE Conference on*, 2010. [abstract] - J. Ding and C. Tomlin, "Trajectory optimization in convex underapproximations of safe regions," in
*Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on*, 2009, pp. 2510 -2515. - R. L. Raffard, O. Lipan, W. H. Wong, and C. Tomlin, "Optimal discovery of a stochastic genetic network (Invited Paper)," in
*Proc. 2008 American Control Conf. (ACC '08)*, Dayton, OH: American Automatic Control Council, 2008, pp. 2773-2779. - G. M. Hoffmann, C. Tomlin, M. Montemerlo, and S. Thrun, "Autonomous automobile trajectory tracking for off-road driving: Controller design, experimental validation and racing," in
*Proc. 2007 American Control Conf. (ACC '07)*, Piscataway, NJ: IEEE Press, 2007, pp. 2296-2301. - K. Roy and C. Tomlin, "Solving the aircraft routing problem using network flow algorithms," in
*Proc. 2007 American Control Conf. (ACC '07)*, Piscataway, NJ: IEEE Press, 2007, pp. 3330-3335. - S. L. Waslander and C. Tomlin, "Convergence of lump-sum markets with price-anticipating agents," in
*Proc. 2007 American Control Conf. (ACC '07)*, Piscataway, NJ: IEEE Press, 2007, pp. 468-473. - M. Oishi, I. Mitchell, C. Tomlin, and P. Saint Pierre, "Computing viable sets and reachable sets to design feedback linearizing control laws under saturation," in
*Proc. 45th IEEE Conf. on Decision and Control (CDC 2006)*, Piscataway, NJ: IEEE Press, 2006, pp. 3801-3807. - S. L. Waslander and C. Tomlin, "Efficient market-based air traffic flow control with competing airlines," in
*Proc. 45th IEEE Conf. on Decision and Control (CDC 2006)*, Piscataway, NJ: IEEE Press, 2006, pp. 2843-2848. - G. M. Hoffmann, S. L. Waslander, and C. Tomlin, "Mutual information methods with particle filters for mobile sensor network control," in
*Proc. 45th IEEE Conf. on Decision and Control (CDC 2006)*, Piscataway, NJ: IEEE Press, 2006, pp. 1019-1024. - R. L. Raffard and C. Tomlin, "Tractable algorithm for open loop stochastic control," in
*Proc. 45th IEEE Conf. on Decision and Control (CDC 2006)*, Piscataway, NJ: IEEE Press, 2006, pp. 3222-3227. - R. Raffard, K. Amonlirdviman, J. D. Axelrod, and C. Tomlin, "Automatic parameter identification via the adjoint method, with application to understanding planar cell polarity," in
*Proc. 45th IEEE Conf. on Decision and Control (CDC 2006)*, Piscataway, NJ: IEEE Press, 2006, pp. 13-18. - K. Roy, B. Levy, and C. Tomlin, "Target tracking and estimated time of arrival (ETA) prediction for arrival aircraft," in
*Proc. AIAA Guidance, Navigation, and Control Conf. and Exhibit*, Herndon, VA: American Institute of Aeronautics and Astronautics, Inc., 2006, pp. 1-22. - K. Roy and C. Tomlin, "Enroute airspace control and controller workload analysis using a novel slot-based sector model," in
*Proc. 2006 American Control Conf. (ACC '06)*, Piscataway, NJ: IEEE Press, 2006, pp. 1044-1049. - S. L. Waslander, R. L. Raffard, and C. Tomlin, "Toward efficient and equitable distributed air traffic flow control," in
*Proc. 2006 American Control Conf. (ACC '06)*, Piscataway, NJ: IEEE Press, 2006, pp. 5189-5194. - I. Hwang, K. Roy, H. Balakrishnan, and C. Tomlin, "A distributed multiple-target identity management algorithm in sensor networks," in
*Proc. 2004 43rd IEEE Conf. on Decision and Control*, Vol. 1, Piscataway, NJ: IEEE Press, 2004, pp. 728-734. - I. Hwang, H. Balakrishnan, K. Roy, and C. Tomlin, "Multiple-target tracking and identity management in clutter, with application to aircraft tracking," in
*Proc. 2004 American Control Conf. (ACC '04)*, Vol. 4, Evanston, IL: American Automatic Control Council, 2004, pp. 3422-3428. - 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. - 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. - 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. - 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.

## Technical Reports

- I. Yang and C. Tomlin, "Regularization-Based Identification for Level Set Equations," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2013-156, Sep. 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]
- J. Ding, M. Kamgarpour, S. Summers, A. Abate, J. Lygeros, and C. Tomlin, "A Dynamic Game Framework for Verification and Control of Stochastic Hybrid Systems," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2011-101, Sep. 2011. [abstract]
- Y. Chang, J. Gray, and C. Tomlin, "Optimization-based Inference for Temporally Evolving Boolean Networks with Applications in Biology," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2010-133, Oct. 2010. [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]