S. Shankar Sastry
List of Publications ( March 2007)
2007
C. Harmon, P. Ahammad, A. Hammonds, R. Weiszmann,
S. Celniker,
Oh, S., L. Schenato, P. Chen and S. Sastry. “Tracking and coordination of
multiple agents using sensor networks: system design, algorithms and
experiments”. Proceedings of the IEEE, vol. 95 (1): pp.
234-54. Jan. 2007.
S. Pai, T. Roosta, S.
Sastry, S. Wicker. “Using Social Network Theory Towards Development Of Wireless
Ad hoc Network Trust". In: the 3rd IEEE International Symposium on
Security in Networks and Distributed Systems (SSNDS-07),
T. Roosta, M. Wainwright
and S. Sastry. “Convergence Analysis of Reweighted Sum-Product Algorithms”. In: the
proceedings of the International Conference on Acoustic, Speech and Signal
Processing (ICASSP) 2007,
T. Roosta, M. Manzo, S. Sastry.”Time
Synchronization Attacks in Sensor Networks", In: Poovendran,
Wang,
T. Roosta, S. Pai, P. Chen,
S. Sastry, S. Wicker. “Inherent Security of Routing Protocols in Ad-Hoc and
Sensor Networks”. IEEE Globecom 2007. (Submitted).
Zhu, B. B. Sinopoli, K. Poolla and S.Sastry. “Estimation in Wireless Sensor Network”. Proceedings of the 26th American Control Conference. July, 2007.
2006
P. Ahammad, R. Bajcsy and S. Sastry. “A
framework for characterization and comparison of event related neuronal
activity”, Tech. Report no EECS-2006-128,
EECS Dept. UC Berkeley 2006. [pdf]
P. Ahammad, R. Bajcsy, G. Simpson, and S.
Sastry, “Tools for characterization and classification of brain activity via
magnetoencephalography”,
P.Chen, Songhwai Oh, M. Manzo, B. Sinopoli, C. Sharp, K.Whitehouse, Gi.Tolle,
J. Jeong, P. Dutta, J. Hui, S. Schaffert, S. Kim, J. Taneja, B. Zhu, T. Roosta,
M. Howard, D. Culler, and S. Sastry "Experiments
in Instrumenting Wireless Sensor Networks for Real-Time Surveillance (video),"
in Proc. of the International Conference on Robotics and Automation
(ICRA), Orlando, FL, May 2006
A. Abate, A. A. Ames and S. Sastry. “A priori detection of Zeno behavior in
communication networks modeled as hybrid systems”, Proc. 25th IEEE Am.
Control Conf. ,
A. D. Ames, P. Tabuada, and S. Sastry, “On the
stability of zeno equilibria,” in Lecture
Notes in Computer Science, Springer Verlag, Berlin, vol. 3927, pp. 34-48,
2006 [.pdf]
S. Amin, A. Abate, M. Prandini, J. Lygeros and
S. Sastry, “Reachability analysis for controlled time stochastic hybrid
systems,” in Lecture Notes in Computer
Science, Springer Verlag, Berlin, vol. 3927, pp. 49-63, 2006. [.pdf]
J. Fern, J.
Kempe, S. N. Simic, and S., “Generalized performance of concatenated quantum codes—A
dynamical systems approach”, IEEE Trans.
Automatic Control, Vol51(3), pp. 448 – 459, March 2006. [.pdf]
C. Geyer,
T. Templeton, M. Meingast and
M.
Meingast, C. Geyer and S. Sastry. “Geometric models of rolling-shutter
cameras’, 6th Int.workshop on Omnidirectional vision, Camera networks,
and non-classical cameras. 2005. [.pdf]
T. Roosta,
M. Menzo and
C. Harmon, P. Ahammad, A. Hammonds, G. Rubin,
and
Songhwai,
Oh, P. Chen, M. Manzi and
Oh, S., I. Hwang, and
Oh, S. and S. Sastry, "Distributed
Networked Control System with Lossy Links: State Estimation and Stabilizing
Communication Control," in Proc. of the IEEE International
Conference on Decision and Control (CDC),
R. Vidal, Y.
Ma, S. Soatto, and S. Sastry, ”Two-view multibody structure from motion”, Int. J. Computer Science, (On line
version), 2006. [.pdf]
C. Yeo, P. Ahammad, K. Ramchandran and S.
Sastry, “Compressed domain real-time action recognition”, Proc. IEEE International Workshop on Multimedia Signal Processing (
MMSP) 4pp. 2006.
2005
A. Abate, A.D.
Ames and S.Sastry,. “Stochastic approximations of hybrid systems,” Proc.2005 IEEE American Control Conference, vol.
3, pp. 1557-62, 2005. [pdf]
A. Abate, M. Chen and S. Sastry, “New congestion
control schemes over wireless networks: delay sensitivity analysis and
simulations”, Proc. 16th IFAC
World Congress,
P. Ahammad, C.L. Harmon, A. Hammonds, S. Sastry
and G. Rubin, “Joint nonparametric alignment for analyzing gene expression
patterns in drosophila imaginal discs,” Proc. 2005
IEEE Computer Society Conference on Computer Vision and Pattern Recognition, vol. 2, pp. 755-60, 2005. [.pdf]
A. D. Ames, A. Abate and S. Sastry, “Sufficient conditions
for the existence of Zeno behavior: Diagonal first quadrant hybrid systems”,
Proc. 44th IEEE Conf. Decision and Control,
A. D. Ames
and
A. D. Ames
and
A. D. Ames and
D. Campolo,
L. Schenato, E. Guglielmelli and S.S. Sastry, “A Lyapunov-based app.roach for
the control of biomimetic robotic systems with periodic forcing inputs,” IFAC World Conf. on Automatic Control.
M. C. Cavusoglu, J. Rotella, W. Newman, S. Choi,
J. Ustin and S. Sastry, “Control algorithms for active relative motion canceling
for robotic assisted off-pump coronary artery bypass graft surgery”, 12th International IEEE Conference on Advanced Robotics., (ICAR), Seattle, WA July 18-20, pp. 431-6, 2005. [.pdf]
M.Chen, A. Abate and S. Sastry, “New congestion
control schemes over wireless networks: stability analysis”, Proc. 16th IFAC World Congress,
J. M. Eklund, T. R. Hansen, J. Sprinkle and S. Sastry,
“Information technology for assisted living at home: Building a wireless
infrastructure for assisted living,” Proc.
27th Annual Conference on Engineering in Medicine and Biology (EMB),pp
3931-3934, 2005. [.pdf]
J. M.
Eklund, J. Sprinkle and S. Sastry, “Implementing and testing a nonlinear model
predictive tracking controller for aerial pursuit/evasion games on a fixed wing
aircraft,” Proc. 2005 American Control
Conference, vol. 3, pp. 1509-14, 2005. [.pdf]
J. Hu, M. Prandini
and Sastry, S, “Aircraft conflict prediction in the presence of a spatially
correlated wind field,” IEEE Transactions
on Intelligent Transportation Systems,.vol. 6 (3), pp.326-40, 2005. [.pdf]
A. Makadia, C. Geyer, S. Sastry and K. Daniilidis, « Radon-based
structure from motion without correspondences » Proc. 2005 IEEE Computer Society Conf. Computer Vision and Pattern
Recognition. IEEE Comput. Soc., Los Alamitos, CA, USA, vol. 1, pp. 796-803,
2005, [.pdf]
S. Oh, I. Hwang, K. Roy and S. Sastry, “A fully
automated distributed multiple target tracking and identity management algorithm,”
Proc. AIAA Conf. on Guidance, Navigation
and Control,
S. Oh and
S. Oh, L.
Schenato, P. Chen and S. Sastry, “A scalable real-time multiple-target tracking
algorithm for sensor networks,” Memorandum,
No UCB/ERL M05/9 2005. [.pdf]
L. Schenato, S. Oh,
C. Sharp, A. Schaffert, N. Woo, C. Sastry, S.
Karlof, S. Sastry, and D. Culler, “Design and implementation of a sensor
network system for vehicle tracking and autonomous interception,” Proc.2nd IEEE European Workshop
on Wireless Sensor Networks, pp. 93-107, 2005. [.pdf]
D. H. Shim, H. Chung, H.J. Kim and
J. Sprinkle, A. Ames, M. Eklund, J. Mitchell,
and S. Sastry, “Online safety calculations for glide slope recapture,” Innovations in Systems Software, vol. 1,
pp. 157-175, 2005. [.pdf]
J. Sprinkle, A. Ames, A. Pinto, H. Zheng and S.
Sastry, “On the partitioning of syntax and semantics for hybrid system tools,” 44th IEEE
Conference on Decision and Control and European Control Conference, pp. 4694-4699, 2005. [.pdf]
J. Sprinkle, M. Eklund and
2004
A.
Abate, L. Shi, N. Simic and S. Sastry, “A stability criterion for stochastic
hybrid systems,” Proc. 16th Intern.
Symposium on Math. Theory of Networks and Systems.
A.
D. Ames and S. Sastry, “Affine hybrid systems,” Hybrid Systems: Computation and
Control. 7th International Workshop, Proceedings,
A.
D. Ames and
M.
C. Cavusoglu, T. G. Goktekin, F. Tendick and S. Sastry. “GiPSi: An open source
/open architecture software development framework for surgical simulation,” Proc. of Medicine Meets Virtual R XII
(MMVR 2004).
X.
Deng, L. Schenato, W. C. Wu and
X.
Deng, L. Schenato, W. C. Wu and S. Sastry, “Flapping flight for biomimetic
robotic insects. Part II: Flight Control Design,” IEEE Trans. on Robotics. 2004. (submitted). [.pdf]
J.
Fern, J. Kempe, S. N. Simic and S. Sastry, “Fault-tolerant quantum computation
- a dynamical systems app.roach,” IEEE
Transactions on Automatic Control.(accepted
for publication) 2004. [.pdf]
C.
Geyer, R. Bajcsy and S. Sastry, “
T.
G. Goktekin, M. C. Cavusoglu, F. Tendick and Sastry, S, “GiPSi: An open source
/open architecture software development framework for surgical simulation.
Framework for surgical simulation,” ISMS
2004 Proceedings Lecture Notes in Comput.
J.
Hu, W-C Wu and S. Sastry, “Modeling subtilin production in Bacillus subtilis using stochastic hybrid systems,” Hybrid Systems, Computation and Control. 7th International
Workshop, HSCC 2004. Proceedings..
Y. Ma, K.
Huang, R. Vidal, J. Kosecka and S. Sastry, “Rank conditions on the multiple
view matrix,” Intern. J. of Computer
Vision, October vol. 59(2), pp. 115-137, 2004. [pdf]
M.
Meingast, C. Geyer and S. Sastry, “Vision based terrain recovery for landing unmanned
aerial vehicles,” 43rd IEEE Conference on
Decision and Control, vol. 2, pp.1670-5, 2004. [pdf]
A.
Y. Ng, H.J. Kim, M. I. Jordan and S. Sastry, “Autonomous helicopter flight via
reinforcement learning,” Advances in
Neural Information Processing Systems . 2004. [pdf]
S.
Oh, J. Kim and S. Sastry, “A sampling-based approach to nonparametric dynamic
system identification and estimation,” Proc.
IEEE American Control Conference, vol. 1, pp. 873-9, 2004. [pdf]
S.
Oh, S. Russell and S. Sastry, “Markov chain
L.
Schenato, W-C Wu and,
L.
Shi, A. Abate and S. Sastry, “Optimal control for a class of stochastic hybrid
systems,” 43rd IEEE Conference on
Decision and Control,
B.
Sinopoli, L. Schenato, M. Franceschetti, K. Poolla and S.S. Sastry, ”Time
varying optimal control with packet losses,” 43rd IEEE Conference on Decision and Control, vol. 2, pp. 1938-43,
2004. [pdf]
B.
Sinopoli, L. Schenato, M. Franceschetti, K. Poolla, M. I. Jordan and S. S.
Sastry, “Kalman filtering with intermittent observations,” IEEE Transactions on Automatic Control, vol. 49 (9), pp. 1453-64,
2004.
[pdf]
J.
Sprinkle, M. Eklund, H. J. Kim and S. Sastry, “Encoding aerial pursuit/evasion
games with fixed wing aircraft into a nonlinear model predictive tracking
controller,” 43rd IEEE Conference on
Decision and Control vol. 3, pp.. 1938-43, 2004. [pdf]
J.
Sprinkle, J. M. Eklund and S. S. Sastry, “Toward design parameterization support
for model predictive control,” IEEE 4th
Int. Conf. Intelligent Systems Design and App.lications Conf. Budapest Aug.
2004. [pdf]
R.
Vidal, O. Shakernia and
J.
Zhang, J. Vala,
J.
Zhang, J. Vala,
2003
A.
Antoniades, H. J. Kim, S. Sastry, “Pursuit-evasion strategies for teams of
multiple agents with incomplete information,” Proc. 42nd IEEE Conference on Decision and Control, vol. 1, pp.756-761,
2003. [pdf]
C. M. Cavusoglu,
W. Williams, F. Tendick and S. Sastry, “Robotics for
telesurgery: second generation, Berkeley/UCSF laparoscopic telesurgical workstation and
looking towards the future app.lications,” The Industrial Robot, Publisher:
N. Cowan, O.
Shakernia, R. Vidal, S. Sastry, “Vision-based follow-the-leader,” IEEE Conference on Intelligent Robotic
Systems, December 2003.
[pdf]
X. Deng,
L. Schenato and S. Sastry, “Model identification and attitude control for a
micromechanical flying insect including thorax and sensor models,” Proc. IEEE International Conference on
Robotics & Automation, Taipei, Taiwan, September 14-19, vol. 1, pp.
1152-7, 2003.
[pdf]
B.
Horowitz, J. Liebman, C. Ma, T. J. Koo, A. Sangiovanni-Vincentelli and S.
Sastry, “Platform-based embedded software design and system integration for autonomous
vehicles,” IEEE Proceedings, vol. 91(1),
pp. 198-211, 2003.
[pdf]
J. Hu, M.
Prandini and S. Sastry, “Optimal coordinated motions for multiple agents moving
on a plane,” SIAM Journal on Control and
Optimization, vol. 42(2), pp.637-68, 2003. [pdf]
J. Hu, and
S. Sastry, “Optimal sojourn time control within an interval,” IEEE Proc. Amer. Control Conf. vol. 4, pp.3478-83,
2003.
[pdf]
J. Hu; S. N
Simic, and S. Sastry, “How should a snake turn on ice: a case study of the
asymptotic isoholonomic problem” Proc. 42nd.
Conf. Decision and Control, vol. 3, pp. 2908-2913, 2003. [.pdf]
H. J. Kim,
D. H. Shim and
J.
Lygeros, K. H. Johansson, S. N. Simic, J.
Zhang and S. Sastry, “Dynamical properties of hybrid automata,” IEEE Transactions on Automatic Control. vol.
48(1), pp.2-17, 2003.
[pdf]
I. M.
Mitchell, and S. Sastry, “Continuous path planning with multiple constraints”, Proc. 42nd
IEEE Conf. Decision and Control, vol. 5, pp. 5502-5507, Dec. 2003. [.pdf]
A Ng, H. J.
Kim, V. Jordan and S. Sastry, “Autonomous helicopter flight via reinforcement learning,”
16th Neural Information Processing
Systems, December 2003.
[pdf]
L.
Schenato and S. Sastry, “Analysis and control of flapp.ing flight: from
biological to robotic insects,” Memorandum
No. UCB/ERL M04/6. 18 December 2003.
L.
Schenato, D. Campolo,
O. Shakernia,
R. Vidal and
O.
Shakernia, R. Vidal, S. Sastry, “Omnidirectional vision-based egomotion
estimation from backprojection flow,” CVPR
Workshop on Omnidirectional Vision, OMNIVIS'03, June 2003. [pdf]
O.
Shakernia, R. Vidal and S. Sastry, “Structure from small baseline motion with
central panoramic cameras,” CVPR Workshop
on Omnidirectional Vision, OMNIVIS'03, June 2003. [pdf]
D. H. Shim,
H. J. Kim,
S. N.
Simic and S. Sastry, “Distributed environmental monitoring using random
wireless networks,” 2nd Intern. Workshop Information Processing in Sensor
Networks. PARC Palo Alto, CA. Springer Verlag, Berlin, Germany Proc. Comp. Science, vol. 2634, pp. 582-92,
2003. [pdf]
B.
Sinopoli, C. Sharp, L. Schenato,
R. Vidal
and
R. Vidal, A.
Chiuso, S. Soatto and S. Sastry, “Observability of linear hybrid systems,” in: Hybrid
Systems: Computation and Control,
Springer Verlag, Lecture Notes in
Computer Science, Springer Verlag, vol. 2623, pp. 526-539, 2003. [pdf]
R. Vidal, Y.
Ma and S. Sastry, “Generalized principal component analysis (GPCA),” Oral
presentation (6.5%) at the IEEE
Conference on Computer Vision and Pattern Recognition, pp. 621-628, June
2003. [.pdf]
R. Vidal,
O. Shakernia, H.J. Kim, H. Shim and S. Sastry, “Multi-agent probabilistic
pursuit-evasion games with unmanned ground and aerial vehicles,” IEEE Trans. on Robotics and Automation.
(to appear 2003).
R. Vidal, O.
Shakernia and Sastry, S, “Formation control of nonholonomic mobile robots with
omnidirectional visual servoing and motion segmentation,” IEEE International Conference on Robotics and Automation,
R. Vidal,
S.
Zelinski, T. J. Koo and S. Sastry, “Optimization-based formation
reconfiguration planning for autonomous vehicles,” IEEE Inter. Conf. Robotics and Automation, vol. 3, pp.. 3758-63, 2003. [pdf]
S.
Zelinski, T. J. Koo, and S. Sastry, “Hybrid system design for
formations of autonomous vehicles” Proc.
42nd IEEE Conf. Decision and Control, vol. 1, pp. 1-6, Dec.
2003. [.pdf]
J. Zhang,
J. Vala, B. K. Whaley and S. Sastry, “A geometric theory of non-local two qubit
operations,”Physical Review A 67, pp.. 042313, 2003. [pdf]
2002
J. P.
Aubin, J. Lygeros, M. Quincampoix , S. Sastry and N. Seube, “Impulse differential
inclusions: a viability app.roach to hybrid systems,” IEEE Transactions on Automatic Control, vol. 47(1) pp. 2-20, 2002 [pdf]
M.
Cavusoglu, T. Goktekin, F. Tendick and S. Sastry, “Framework for open source
software development for organ simulation in the digital human,” Intern. Conf.
on High Performance Computing ( HIPC 2002)
X. Deng, L.
Schenato, and S.S. Sastry, “Model identification and attitude control scheme
for a micromechanical flying insect,”. 7th
Intern. Conf. Control Automation Robotics and Vision. ICARCV. December
B. Horowitz,
J. Liebman, Y. Ma, R. Tal, T.J. Koo, T.A. Henzinger and S.S. Sastry,
“Hardware-in the-loop ( HIL). Simulation of multi-vehicle multi-modal embedded
systems,” IFAC World Congress on
Automatic Control,
J. Hu, M.
Prandini, and
J. Hu, and
H.J. Kim,
D.H. Shim and S. Sastry, “Flying robots: Modeling, control and decision
making,” Intern. Conf. Robotics and
Automation, vol. 1, pp. 66-71, 2002. [pdf]
T. J. Koo,
J. Liebman, C. Ma, B. Horowitz, A. Sangiovanni-Vincentelli and S. Sastry,
“Platform-based embedded software design for multi-vehicle multi-modal systems”
Lecture Notes in Computer Science,
vol. 2491, pp. 32-45. 2002 [.pdf]
T. J. Koo,
Y. Ma and S. Sastry, “Nonlinear control of a helicopter base unmanned aerial
vehicle model,” IEEE Transactions on
Control Systems Technology, Jan. 2002.( no record).
T. J. Koo,
G. J. Papp.as and
T. J. Koo
and
S. Kumar, and
S. Sastry, “Biocomputation. Computing in
Science and Engineering. Jan-Feb 2002, vol. 4(1), pp. 18-19, 2002.
L.
Schenato, X. Deng, and S. Sastry, “Hovering flight for a micromechanical flying
insect: Modeling and robust control synthesis”. 15th IFAC World Congress on Automatic Control.
L.
Schenato, W-C. Wu and S. S. Sastry, “Attitude control for a micromechanical
flying insect via sensor output feedback,”7th
Intern. Conf. Control Automation Robotics and Vision. ICARCV 2002.
O.
Shakernia, R. Vidal, C. S. Sharp, Y. Ma and S. Sastry, “Multiple view motion
estimation and control for landing an unmanned aerial vehicle,” Proc. IEEE Intern. Conf. On Robotics and
Automation. vol. 3, pp. 2793-8,
2002. [pdf]
D. H Shim,
H. J. Kim, H. Chung and
D. H.
Shim, H. J. Kim, H. Chung and S. Sastry, “Nonlinear model predictive tracking
control for rotorcraft-based unmanned aerial vehicles” Amer. Control Conf., Alaska, May 2002.
S. N.
Simic, K. H. Johansson, J. Lygeros and S. Sastry, “Hybrid limit cycles and
hybrid Poincaré-Bendixson,” IFAC World
Congress,
S. N.
Simic and S. Sastry, “Distributed gradient estimation using random sensor networks,”.1st
ACM Intern. Workshop on Wireless Sensor Networks and App.lications (WSNA)
S. N.
Simic and
R. Vidal, O.
Shakernia, H. J. Kim, D. H. Shim and S. Sastry, “Probabilistic pursuit-evasion games: theory,
implementation, and experimental evaluation. IEEE Transactions on Robotics &
Automation, vol. 18 (5), pp. 662-9, 2002. [pdf]
2001
J. P.
Aubin, J. Lygeros, M. Quicampoix,
M. C.
Cavusoglu, F. Tendick and S.Sastry, “Telesurgery and surgical simulation:
Haptic interfaces to real and virtual surgical environments,” in: Touch in Virtual Environment, McLaughlin,
M. L., Hespanha, J. P. and Sukhatme, G. (Eds.) IMSC Series in Multimedia.
Prentice Hall. Ch 13, pp.217-238,
2001.
M. C.
Cavusoglu, W. Williams, F. Tendick, and S. Sastry. “Robotics for telesurgery:
second generation,” Berkeley/UCSF Laparoscopic Telesurgical Workstation and
Looking Towards Future App.lications. Proc.
39th Allerton Conference on Communication, Control and Computing, Oct. 2001
(Invited paper), pp. 962-971, 2001.
X. Deng, L.
Schenato and S. Sastry, “Hovering flight control of a micromechanical flying insect,”
Proc. 40th IEEE Conf. on Decision and
Control, vol. 1, pp. 235-240, Dec. 2001. [pdf]
J. Hu and