# Technical Reports - S. Shankar Sastry

A Three-Stage Colonel Blotto Game with Applications to Cyber-Physical Security (EECS-2014-19)

Abhishek Gupta, Galina Schwartz, Cedric Langbort, S. Shankar Sastry and Tamer Basar

Data-Driven Probabilistic Modeling and Verification of Human Driver Behavior (EECS-2013-197)

Dorsa Sadigh, Katherine Driggs Campbell, Alberto Alessandro Angelo Puggelli, Wenchao Li, Victor Shia, Ruzena Bajcsy, Alberto L. Sangiovanni-Vincentelli, S. Shankar Sastry and Sanjit A. Seshia

Synthesis for Human-in-the-Loop Control Systems (EECS-2013-134)

Wenchao Li, Dorsa Sadigh, S. Shankar Sastry and Sanjit A. Seshia

Geometric Image Segmentation via Multiscale TILT Clustering (EECS-2013-132)

Chi Pang Lam, Allen Yang, Ehsan Elhamifar and S. Shankar Sastry

Statistical Results on Filtering and Epi-convergence for Learning-Based Model Predictive Control (EECS-2011-153)

Anil Aswani, Humberto Gonzalez, S. Shankar Sastry and Claire Tomlin

Dimension Reduction Near Periodic Orbits of Hybrid Systems: Appendix (EECS-2011-100)

Sam Burden, Shai Revzen and S. Shankar Sastry

On the Lagrangian Biduality of Sparsity Minimization Problems (EECS-2011-70)

Dheeraj Singaraju, Roberto Tron, Ehsan Elhamifar, Allen Yang and S. Shankar Sastry

Informative Feature Selection for Object Recognition via Sparse PCA (EECS-2011-27)

Nikhil Naikal, Allen Yang and S. Shankar Sastry

A Descent Algorithm for the Optimal Control of Constrained Nonlinear Switched Dynamical Systems: Appendix (EECS-2010-9)

Humberto Gonzalez, Ram Vasudevan, Maryam Kamgarpour, S. Shankar Sastry, Ruzena Bajcsy and Claire Tomlin

Algebraic Approach for Recovering Topology in Distributed Camera Networks (EECS-2009-4)

Edgar J. Lobaton, Parvez Ahammad and S. Shankar Sastry

DexterNet: An Open Platform for Heterogeneous Body Sensor Networks and Its Applications (EECS-2008-174)

Philip Kuryloski, Annarita Giani, Roberta Giannantonio, Katherine Gilani, Raffaele Gravina, Ville-Pekka Seppa, Edmund Seto, Victor Shia, Curtis Wang, Posu Yan, Allen Yang, Jari Hyttinen, S. Shankar Sastry, Stephen Wicker and Ruzena Bajcsy

CITRIC: A Low-Bandwidth Wireless Camera Network Platform (EECS-2008-50)

Phoebus Wei-Chih Chen, Parvez Ahammad, Colby Boyer, Shih-I Huang, Leon Lin, Edgar J. Lobaton, Marci Lenore Meingast, Songhwai Oh, Simon Wang, Posu Yan, Allen Yang, Chuohao Yeo, Lung-Chung Chang, Doug Tygar and S. Shankar Sastry

Distributed Segmentation and Classification of Human Actions Using a Wearable Motion Sensor Network (EECS-2007-143)

Allen Yang, Roozbeh Jafari, Philip Kuryloski, Sameer Iyengar, S. Shankar Sastry and Ruzena Bajcsy

On the Off-Label Use of Outer Approximations: An External Active Set Strategy (EECS-2007-127)

Hoam Chung, Elijah Polak and S. Shankar Sastry

Feature Selection in Face Recognition: A Sparse Representation Perspective (EECS-2007-99)

Allan Y. Yang, John Wright, Yi Ma and S. Shankar Sastry

Privacy in Camera Networks: a Technical Perspective (EECS-2007-94)

Marci Lenore Meingast, Sameer Pai, Stephen Wicker and S. Shankar Sastry

An External Active-Set Strategy for Solving Optimal Control Problems (EECS-2007-90)

Elijah Polak, Hoam Chung and S. Shankar Sastry

Latency and Connectivity Analysis Tools for Wireless Mesh Networks (EECS-2007-87)

Phoebus Wei-Chih Chen and S. Shankar Sastry

Unsupervised Segmentation of Natural Images via Lossy Data Compression (EECS-2006-195)

Allen Y. Yang, John Wright, S. Shankar Sastry and Yi Ma

The concept of Box Invariance for biologically-inspired dynamical systems (EECS-2006-185)

Alessandro Abate, Ashish Tiwari and S. Shankar Sastry

The Concept of Deadlock and Livelock in Hybrid Control Systems (EECS-2006-181)

Alessandro Abate, Alessandro D'Innocenzo, Giordano Pola, Maria Domenica Di Benedetto and S. Shankar Sastry

A Framework for Characterization and Comparison of Event Related Neuronal Activity (EECS-2006-128)

Parvez Ahammad, Ruzena Bajcsy and S. Shankar Sastry

Markov chain Monte Carlo data association for multiple-target tracking (M05/19)

Songhwai Oh, Stuart J. Russell and S. Shankar Sastry

Stability and Delay Consideration for Flow Control over Wireless Networks (M05/14)

M. Chen, A. Abate, Avideh Zakhor and S. Shankar Sastry

A Scalable Real Time Multiple-Target (M05/9)

S. Oh, L. Schenato, P. Chen and S. Shankar Sastry

Flapping Flight for Biomimetic Robotic Insects - Part I: System Modeling (M04/35)

X. Deng, L. Schenato, W. C. Wu and S. Shankar Sastry

Flapping Flight for Biomimetic Robotic Insects - Part II: Flight Control Design (M04/34)

X. Deng, S. Schenato and S. Shankar Sastry

A Lyapunov-Based Approach to Control of Mechanical Systems with Periodic Forcing Inputs (M04/33)

D. Campolo, L. Schenato, E. Guglielmelli and S. Shankar Sastry

A Hierarchical Multiple Target Tracking Algorithm for Sensor Networks (M04/1)

S. Oh and S. Shankar Sastry

Generalized Principal Component Analysis (GPCA): Subspace Clustering by Polynomial Factorization, Differentiation, and Division (M03/36)

R. Vidal, Y. Ma and S. Shankar Sastry

Continuous Path Planning with Multiple Constraints (M03/34)

Ian Mitchell and S. Shankar Sastry

Kalman Filtering with Intermittent Observations (M03/15)

B. Sinopoli, L. Schenato, M. Franceschetti, Kameshwar Poolla, Michael Jordan and S. Shankar Sastry

An Algebraic Geometric Approach to the Identification of Linear Hybrid Systems. Tomography as a Metrology Technique for Semiconductor Manufacturing (M03/10)

R. Vidaland, S. Soatto, S. Shankar Sastry and M. V. P. Kruger

Distributed Localization in Wireless Ad Hoc Networks (M02/26)

Slobodan Simic and S. Shankar Sastry

Distributed Gradient Estimation Using Random Sensor Networks (M02/25)

Slobodan Simic and S. Shankar Sastry

Generalized Principal Component Analysis(GPCA) (M02/15)

R. Vidal, Y. Ma and S. Shankar Sastry

Two-View Multibody Structure from Motion (M02/11)

R. Vidal, Y. Ma, S. Soatto and S. Shankar Sastry

A Factorization Method for 3D Multi-Body Motion Estimation and Segmentation (M02/3)

R. Vidal, S. Soatto and S. Shankar Sastry

Two-View Segmentation of Dynamic Scenes from the Multibody Fundamental Matrix (M02/2)

R. Vidal, S. Soatto and S. Shankar Sastry

Probabilistic Pursuit-Evasion Games: A One-Step Nash Approach (M00/45)

J.P. Hespanha, M. Prandini and S. Shankar Sastry

Towards a Geometric Theory of Hybrid Systems (M00/3)

Slobodan Simic, K.H. Johansson, S. Shankar Sastry and J. Lygeros

Controlled Invariance of Discrete Time Systems (M99/65)

R. Vidal, S. Schaffert, J. Lygeros and S. Shankar Sastry

Optimal Motion Estimation from Multiple Images by Normalized Epipolar Constraint (M99/59)

Y. Ma, R. Vidal, S. Hsu and S. Shankar Sastry

Hybrid Systems: Modeling, Analysis and Control EECS 291E Lecture Notes and Class Projects (M99/34)

J. Lygeros, S. Shankar 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, Takkuen John Koo, S. Rashid, H. Jin Kim, S. Schaffert, R. Vidal and J. Zhang

Optimization Criteria and Geometric Algorithms for Motion and Structure Estimation (M99/33)

Y. Ma, J. Kosecka and S. Shankar Sastry

Camera Self-Calibration: Geometry and Algorithms (M99/32)

Y. Ma, R. Vidal, J. Kosecka and S. Shankar Sastry

On the Regulation of Zend Hybrid Automata (M99/23)

K.H. Johansson, M. Egerstedt, J. Lygeros and S. Shankar Sastry

A Mathematical Theory of Camera Self- Calibration (M98/64)

Y. Ma, J. Kosecka and S. Shankar Sastry

Towards an Automatic Air Traffic Controller (M98/63)

S. Sekhavat and S. Shankar Sastry

Euclidean Structure and Motion from Image Sequences (M98/38)

Y. Ma, J. Kosecka and S. Shankar Sastry

Optimal Motion from Image Sequences: A Riemannian Viewpoint (M98/37)

Y. Ma, J. Kosecka and S. Shankar Sastry

Vision Theory in Spaces of Constant Curvature (M98/36)

Y. Ma and S. Shankar Sastry

O-Minimal Hybrid Systems (M98/29)

G. Lafferriere, G.J. Pappas and S. Shankar Sastry

Hierarchically Consistent Control Systems (M98/16)

G.J. Pappas, G. Lafferriere and S. Shankar Sastry

Hybrid Systems with Finite Bisimulations (M98/15)

G. Lafferriere, G.J. Pappas and S. Shankar Sastry

Motion Recovery from Image Sequences: Discrete Viewpoint vs. Differential Viewpoint (M98/11)

Y. Ma, J. Kosecka and S. Shankar Sastry

Interim Progress Report: Intelligent Control Architectures for Unmanned Air Vehicles (M97/86)

S. Shankar Sastry, D.N. Godbole, Jitendra Malik, R. Sengupta and O. Shakernia

Tools for Nonlinear Control Systems Design Final Report on NAG2-243 (M97/83)

S. Shankar Sastry

Exterior Differential Systems in Control and Robotics (M97/63)

G.J. Pappas, J. Lygeros, D. Tilbury and S. Shankar Sastry

Multi-Objective Hybrid Controller Synthesis (M97/59)

J. Lygeros, C. Tomlin and S. Shankar Sastry

Vision Guided Navigation for a Nonholonomic Mobile Robot (M97/42)

Y. Ma, J. Kosecka and S. Shankar Sastry

Conflict Resolution for Air Traffic Management: A Study in Multi-Agent Hybrid Systems (M97/33)

C. Tomlin, G.J. Pappas and S. Shankar Sastry

An Integrated Approach to Intelligent Systems (M97/25)

S. Shankar Sastry, A. Nerode and Z. Manna

A Next Generation Architecture for Air Traffic Management Systems (M97/7)

C. Tomlin, G. Pappas, J. Lygeros, D. Godbole and S. Shankar Sastry

Control of Nonholonomic Systems with Drift Terms (M97/1)

J.M. Godhavn, A. Balluchi, L.S. Crawford and S. Shankar Sastry

Learning Controllers for Complex Behavioral Systems (M96/73)

L.S. Crawford and S. Shankar Sastry

Switching Through Singularities (M96/54)

J. Tomlin and S. Shankar Sastry

Towards Continuous Abstractions of Dynamical and Control Systems (M96/53)

G. Pappas and S. Shankar Sastry

Bounded Tracking for Nonminimum Phase Nonlinear Systems with Fast Zero Dynamics (M96/46)

C.J. Tomlin and S. Shankar Sastry

Conflict Resolution for Air Traffic Management: A Case Study in Multi-Agent Hybrid Systems (M96/38)

C. Tomlin, G.J. Pappas and S. Shankar Sastry

Shape Synthesis From Sparse, Feature-Based Input (M96/2)

S.R. Burgett, S. Shankar Sastry, R.T. Bush and C.H. Sequin

Hybrid Control in Air Traffic Management Systems (M95/82)

S. Shankar Sastry, G. Meyer, C. Tomlin, J. Lygeros, D. Godbole and G. Pappas

A Game Theoretic Approach to Hybrid System Design (M95/77)

J. Lygeros, D.N. Godbole and S. Shankar Sastry

Surgical Applications of Milli-Robots (M95/17)

M.B. Cohn, L.S. Crawford, J.M. Wendlandt and S. Shankar Sastry

Advanced Topics in Adaptive and Nonlinear Control: Final Projects EECS 290B (M95/8)

S. Shankar Sastry

On Goursat Normal Forms, Prolongations, and Control Systems (M94/16)

D. Tilbury and S. Shankar Sastry

A Multi-Steering Trailer System: Conversion into Chained Form Using Dynamic Feedback (M93/55)

D. Tilbury, O. Sordalen, L. Bushnell and S. Shankar Sastry

Algorithms for Steering on the Group of Rotations (M93/44)

G. Walsh, A. Sarti and S. Shankar Sastry

Control Strategies for Mobile Robots with Trailers (M93/23)

D. Tilbury, J-P. Laumond, R. Murray, S. Shankar Sastry and G. Walsh

Trajectory Generation for the N-Trailer Problem Using Goursat Normal Form (M93/12)

D. Tilbury, R. Murray and S. Shankar Sastry

Approximate Decoupling and Asymptotic Tracking for MIMO Systems (M93/9)

D.N. Godbole and S. Shankar Sastry

Steering Three-Input Chained Form Nonholonomic Systems Using Sinusoids: The Firetruck Example (M92/107)

L. Bushnell, D. Tilbury and S. Shankar Sastry

Finger-Like Biomechanical Robots (M92/12)

D.C. Deno, Kristofer Pister, R.M. Murray and S. Shankar Sastry

Stabilization of Trajectories for Systems with Nonholonomic Constraints (M92/11)

G. Walsh, D. Tilbury, S. Shankar Sastry, R. Murray and J.P. Laumond

An Experimental Study of Hierarchical Control Laws for Grasping and Manipulation Using a Two-Fingered Planar Hand (M91/90)

K. Hollerbach, R.M. Murray and S. Shankar Sastry

Nonholonomic Motion Planning: Steering Using Sinusoids (M91/45)

R.M. Murray and S. Shankar Sastry

Adaptive Linearization and Model Reference Control of a Class of MIMO Nonlinear Systems (M91/39)

M. di Benedetto and S. Shankar Sastry

Singularly Perturbed Zero Dynamics of Nonlinear Systems (M91/38)

A. Isidori, S. Shankar Sastry, P.V. Kokotovic and C.I. Byrnes

On Reorienting Linked Rigid Bodies Using Internal Motions (M91/35)

G. Walsh and S. Shankar Sastry

Control Primitives for Robot Systems (M90/39)

D.C. Deno, R.M. Murray, Kristofer Pister and S. Shankar Sastry

Grasping and Manipulation Using Multifingered Robot Hands (M90/24)

R.M. Murray and S. Shankar Sastry

Nonlinear Control Via Approximate Input-Output Linearization: The Ball and Beam Example (M89/95)

J. Hauser, S. Shankar Sastry and P. Kokotovic

Indirect Techniques for Adaptive Input Output Linearization of Nonlinear Systems (M89/93)

A. Teel, R. Kadiyala, P. Kokotovic and S. Shankar Sastry

Zero Dynamics of Regularly Perturbed Systems are Singularly Perturbed (M89/54)

S. Shankar Sastry, J. Hauser and P. Kokotovic

A Unified Approach for the Control of Multifingered Robot Hands (M89/19)

Z. Li and S. Shankar Sastry

On Motion Planning for Dexterous Manipulation, Part I: The Problem Formulation (M89/12)

Z. Li, John F. Canny and S. Shankar Sastry

Nonlinear Controller Design for Flight Control Systems (M88/76)

J. Hauser, S. Shankar Sastry and G. Meyer

Dynamic Regrasping by Coordinated Control of Sliding for a Multifingered Hand (M88/66)

A. Cole, Ping Hsu and S. Shankar Sastry

The Effect of Discretized Feedback in a Closed Loop System (M87/87)

Ping Hsu and S. Shankar Sastry

Kinematics and Control of Multifingered Hands With Rolling Contact (M87/85)

A. Cole, J. Hauser and S. Shankar Sastry

On Grasping and Dynamic Coordination of Multifingered Robot Hands (M87/63)

Z. Li, Ping Hsu and S. Shankar Sastry

Adaptive Control of Linearizable Systems (M87/53)

S. Shankar Sastry

Analysis of Adaptive Identifiers in the Presence of Unmodelled Dynamics: Averaging and Tuned Parameters (M87/25)

J.E. Mason, E.W. Bai, L-C. Fu, M. Bodson and S. Shankar Sastry

Hybrid Velocity/Force Control of a Robot Manipulator (M87/9)

Z. Li and S. Shankar Sastry

Frequency Domain Synthesis of Optimal Inputs for Adaptive Identification and Control (M87/3)

L-C. Fu and S. Shankar Sastry

Global Lyapunov Function Theory (M86/81)

E. Kappos and S. Shankar Sastry

Stabilization of Nonlinear Systems With Degenerate Linearization (M86/71)

S. Behtash and S. Shankar Sastry

Averaging Analysis for Discrete Time and Sampled Data Adaptive Systems (M86/67)

E-W. Bai, L-C. Fu and S. Shankar Sastry

Adaptive Stabilization of Sampled Systems (M86/52)

E. Bai and S. Shankar Sastry

Task Oriented Optimal Grasping by Multifingered Robot Hands (M86/43)

Z. Li and S. Shankar Sastry

Persistency of Excitation in Possibly Unstable Continuous Time Systems and Parameter Convergence in Adaptive Identification (M86/30)

N. Nordstrom and S. Shankar Sastry

Slow Drift Instability in Model Reference Adaptive System--An Averaging Analysis (M86/25)

L-C. Fu and S. Shankar Sastry

Global Stability Proofs for Continuous Time Indirect Adaptive Control Schemes (M86/20)

E-W. Bai and S. Shankar Sastry

Adaptive Control of Mechanical Manipulators (M86/3)

J.J. Craig, Ping Hsu and S. Shankar Sastry

Discrete Time Adaptive Control Utilizing Prior Information (M85/94)

E.W. Bai and S. Shankar Sastry

Nonlinear Averaging Theorems, and the Determination of Parameter Convergence Rates in Adaptive Control (M85/92)

M. Bodson, S. Shankar Sastry, B.D.O. Anderson, I. Mareels and R. Bitmead

Parameter Identification Using Prior Information (M85/81)

E.W. Bai and S. Shankar Sastry

Generalized Gradient Control Scheme for Robot Manipulators (M85/50)

B.E. Paden and S. Shankar Sastry

New Stability Theorems for Averaging and Their Applications to the Convergence Analysis of Adaptive Identification and Control Schemes (M85/21)

S. Shankar Sastry, L-C. Fu and M. Bodson

Conditioned Invariant Subspaces, Disturbance Decoupling and Solutions of Rational Matrix Equations (M85/20)

Z. Li and S. Shankar Sastry

Solving Rational Matrix Equations in the State Space with Applications to Computer Aided Control System Design (M85/13)

A.K. Packard and S. Shankar Sastry

Persistency of Excitation, Sufficient Richness and Parameter Convergence in Discrete Time Adaptive Control (M84/91)

E.W. Bai and S. Shankar Sastry

Multiple Time Scales for Nonlinear Systems (M84/86)

R. Silva-Madriz and S. Shankar Sastry

Geometric Interpretation of Manipulator Singularities (M84/76)

B.E. Paden and S. Shankar Sastry

Small Signal I/O Stability of Nonlinear Control Systems: Application to the Robustness of a MRAC Scheme (M84/70)

M. Bodson and S. Shankar Sastry

Necessary and Sufficient Conditions for Parameter Convergence in Adaptive Control (M84/25)

S. Boyd and S. Shankar Sastry

Input-Output Description of Linear Systems with Multiple Time Scales (M83/77)

R. Silva-Madriz and S. Shankar Sastry

The Complete Dynamics of the Forced Josephson Junction Circuit: The Regions of Chaos (M83/69)

F. Abdel Salam and S. Shankar Sastry

Model Reference Adaptive Control-Stability, Parametric Convergence and Robustness (M83/59)

S. Shankar Sastry

Persistent Behavior, Sufficient Richness and Parameter Convergence in Adaptive Control (M83/38)

S. Boyd and S. Shankar Sastry

On Quantum Search, Experts and Geometry (EECS-2013-186)

Milosh Drezgich