Humberto Gonzalez - UC Berkeley EECS

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Kamakura, Japan 

Ph.D. Candidate
Department of Electrical Engineering and Computer Sciences
University of California, Berkeley

Advisor
Professor S. Shankar Sastry

I'm a Ph.D. candidate in Electrical Engineering at UC Berkeley, where I've studied since 2006 with Professor S. Shankar Sastry as my advisor. I received my B.S. and M.S. degrees in Electrical Engineering from Universidad de Chile in December, 2005.

Research

My interests are in the development and application of computational tools for cyber-physical systems. I have carried out research in hybrid systems theory and numerical optimization, with a focus in optimal control of hybrid systems and verification of receding horizon control schemes. I am currently working with Prof. Elijah Polak in the development of faster approximation schemes for optimal control using Pseudospectral techniques.
I also enjoy applying new algorithms to real life applications, such as autonomous vehicles and bioinspired multilegged robots, designing solutions at both hardware and software levels.
I am affiliated with the Center for Hybrid and Embedded Software Systems (CHESS), and I have work in the past in the Berkeley Aerobot Team (BEAR) and the Berkeley Drive Lab.

Publications

  • S. Burden, H. Gonzalez, R. Vasudevan, R. Bajcsy, and S. Sastry. Numerical Integration of Hybrid Dynamical Systems via Domain Relaxation. Proceedings of the 50th IEEE Conference on Decision and Control (CDC 2011), pp. 3958-3965. December 12-16, 2011. PDF
  • H. Gonzalez, R. Vasudevan, M. Kamgarpour, S. Sastry, R. Bajcsy, and C. Tomlin. A Numerical Method for the Optimal Control of Switched Systems. Proceedings of the 49th IEEE Conference on Decision and Control (CDC 2010), pp. 7519-7526. December 15-17, 2010. PDF
  • H. Gonzalez, R. Vasudevan, M. Kamgarpour, S. Sastry, R. Bajcsy, and C. Tomlin. A Descent Algorithm for the Optimal Control of Constrained Switched Nonlinear Dynamical Systems. Proceedings of the 13th International Conference on Hybrid Systems: Computation and Control (HSCC'10), pp. 51--60. April 12-16, 2010. PDF. Appendix
  • H. Gonzalez, E. Polak. On the Perpetual Collision-Free RHC of Fleets of Vehicles. Journal of Optimization Theory and Applications. Volume 145, Issue 1, Pages 76--92, 2010. PDF
  • J. Sprinkle, J. M. Eklund, H. Gonzalez, E. I. Grøtli, B. Upcroft, A. Makarenko, W. Uther, M. Moser, R. Fitch, H. Durrant-Whyte and S. S. Sastry. Model-based design: a report from the trenches of the DARPA Urban Challenge. Software and Systems Modeling. Volume 8, Number 4, pages 551--566, 2009. PDF
  • H. Gonzalez, M. A. Duarte-Mermoud, I. Pelissier, J. C. Travieso-Torres, R. Ortega. A Novel Induction Motor Control Scheme Using IDA-PBC. Journal of Control Theory and Applications, Vol. 6, No. 1, 59--68, 2008.
  • B. Upcroft, M. Moser, A. Makarenko, D. Johnson, A. Donikan, A. Alempijevic, R. Fitch, W. Uther, J. Biermeyer, H. Gonzalez, E. I. Grøtli, T. Templeton, V. P. Srini, J. Sprinkle. DARPA Urban Challenge Technical Paper: Sydney-Berkeley Driving Team. Technical report, University of Sydney; University of Technology, Sydney; University of California, Berkeley, June, 2007.

Contact Information

  • Email:
  • Phone: (510) 643 5795
  • Office: 337 Cory Hall
  • Mailing address:
       University of California, Berkeley
       205 Cory Hall
       Berkeley, CA 94720-1772