2010 Research Summary - Control, Intelligent Systems, and Robotics (CIR)

Large Projects

• Biologically Inspired Synthetic Gecko Adhesives
  Ronald S. Fearing
• Biomimetic Millisystem Lab
  Ronald S. Fearing
• The Stanford/Berkeley Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC)
  Haomiao Huang, Michael Vitus, Jeremy Gillula, Patrick Bouffard, Eugene Li, Tony Mercer, Christopher Berner and Claire Tomlin
• Tools for Operations Planning (TOPL)
  Pravin Varaiya and Roberto Horowitz

Small Projects

• A Descent Algorithm for the Optimal Control of Constrained Nonlinear Switched Dynamical Systems
  Humberto Gonzalez, Ramanarayan Vasudevan, Maryam Kamgarpour, S. Shankar Sastry, Ruzena Bajcsy and Claire Tomlin
• A Dynamic Programming Approach for Aircraft Conflict Detection
  Jerry Ding and Claire Tomlin
• A Hybrid System Model of Air Traffic Controller Cognition
  Haomiao Huang
• A model of motor learning in closed-loop brain-machine interfaces
  Rodolphe Heliot and Jose M. Carmena
• A Structurally-Based Approach to Nonlinear Analysis and Design of Networks
  Murat Arcak
• Ambulating Robots
  Ronald S. Fearing
• Angelic Hierarchical Planning
  Jason Wolfe, Stuart J. Russell and Bhaskara Marthi
• CITRIC: A Low-bandwidth Wireless Camera Network Platform (CITRIC)
  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, S. Shankar Sastry and Kirak Hong
• Communication for control
  Anant Sahai, Se Yong Park and Pulkit Grover
• Decentralized Sequential Fault Detection
  Ram Rajagopal, Xuanlong Nguyen, Sinem Coleri Ergen and Pravin Varaiya
• Distributed Identification of an Elastic Beam with Moving Load
  Ram Rajagopal, Pravin Varaiya and Ravneet Bajwa
• Guiding Medical Needles Using Single-Point Tissue Manipulation
  Meysam Torabi, Kris Hauser, Ron Alterovitz, Vincent Duindam and Ken Goldberg
• Learning for robotics
  Pieter Abbeel
• Optimal control of switched nonlinear dynamical systems
  Maryam Kamgarpour and Claire Tomlin
• Ornithopter Project
  Ronald S. Fearing, Stanley Seunghoon Baek and Fernando Garcia Bermudez
• Passivity and Time-Scale Decomposition Techniques for Robust and Adaptive Cooperative Control
  Murat Arcak
• Path Planning and Control of Aircraft with Uncertain Weather Constraints
  Maryam Kamgarpour, Vera Dadok and Claire Tomlin
• Planning and Control of Steerable Flexible Needles under Uncertainty and Partial Sensor Feedback in 3-D Environments with Obstacles
  Jur van den Berg, Ajay Patel, Max Shimshak, Laura Greig, Pieter Abbeel and Ken Goldberg
• Reachability Calculations for Automated Aerial Refueling
  Claire Tomlin, S. Shankar Sastry, Jonathan Sprinkle and Jerry Ding
• Safety and Reachability in Switched Nonlinear Systems Under Sampling and Quantization
  Jerry Ding and Claire Tomlin
• Statistical System Identification
  Anil Jayanti Aswani, Claire Tomlin, Peter Bickel and Mark Biggin
• Topology Based Control of Genetic Regulatory Networks
  Anil Jayanti Aswani and Claire Tomlin
• Trajectory Optimization in Convex Underapproximations of Safe Regions
  Jerry Ding and Claire Tomlin
• Using Control Theory to Make Safety Guarantees About Learned Dynamics and Behaviors
  Jeremy Gillula and Claire Tomlin