2008 Research Summary - Control, Intelligent Systems, and Robotics (CIR)

Large Projects

• Collaborative Observatories for Natural Environments
  Ken Goldberg
• Probabilistic Reachability for Stochastic Hybrid Systems
  Alessandro Abate, S. Shankar Sastry, Maria Prandini, John Lygeros and Saurabh Amin
• Smart Dust
  Kristofer Pister and Bernhard Boser
• Tools for Operations Planning (TOPL)
  Pravin Varaiya and Roberto Horowitz

Small Projects

• A Local-Global Planner for 3D Steerable Needle Insertion Based on the Stochastic Motion Roadmap and Screw-Based Motion Planning
  Jijie Xu, Vincent Duindam, Ron Alterovitz and Ken Goldberg
• Actuator Networks: Inducing Potential Fields to Guide a Moving Element to a Desired Position Using Push-Cage-Squeeze Cycles
  Ken Goldberg, Jeremy Ryan Schiff, Danny Bazo and Vincent Duindam
• An External Active-Set Strategy for Solving Optimal Control Problems
  Elijah Polak and S. Shankar Sastry
• Composition of Dynamical Systems for Identification of Human Body Dynamics
  Sumitra Ganesh, Aaron Ames and Ruzena Bajcsy
• Computer Aided Formation Flight for Autonomous and Semi-Autonomous Rotorcraft Using Model Predictive Control
  S. Shankar Sastry
• Decentralized Sequential Fault Detection
  Ram Rajagopal, Xuanlong Nguyen, Sinem Coleri Ergen and Pravin Varaiya
• Distributed Estimation in Sensor Networks
  Ram Rajagopal and Martin Wainwright
• Distributed Identification of an Elastic Beam with Moving Load
  Ram Rajagopal and Pravin Varaiya
• Encoding Sensory Feedback for a Neuro-Prosthesis
  Subramaniam Venkatraman, Kristofer Pister and Jose M. Carmena
• Enhancements for Contractive Receding Horizon Control
  Elijah Polak and S. Shankar Sastry
• Hydra: A Networked, Collaborative Simulation and Visualization Tool for Single and Multiple UAV-Assisted Search (Hydra)
  Ephrat Bitton and Ken Goldberg
• New Techniques for the Control of Multi-Agent Systems in Uncertain Environments
  Venkat Anantharam, Amin Aminzadeh Gohari and Charles Bordenave
• Respectful Cameras
  Jeremy Ryan Schiff and Ken Goldberg
• Robust Dosimetry for Cancer Treatment
  Laurent El Ghaoui, Ken Goldberg and Ufuk Topcu
• Screw-Based Motion Planning for Bevel-Tip Flexible Needles in 3D Environments with Obstacles
  Vincent Duindam, Ron Alterovitz, S. Shankar Sastry and Ken Goldberg
• Sparse Principal Component Analysis (SPCA)
  Laurent El Ghaoui and Michael Jordan
• Statistical Analysis of Online News (StatNews)
  Laurent El Ghaoui, Babak Ayazifar, Onureena Banerjee and Brian Christopher Gawalt
• The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion Uncertainty
  Ron Alterovitz, Thierry Simeon and Ken Goldberg