Publications of João Pedro Hespanha


This document includes links to several papers authored or coauthored by João Pedro Hespanha.

The files are in PDF or compressed (gzip) postscript form. In general, you should have no problems if you open them with Netscape, but MS Explorer sometime misbehaves when opening gzipped files. In case of difficulties, please send me an email.

Slides are available for many of the conference papers and I am (very) slowly posting them. Please let me know if would like to me to post a specific presentation.

Technical reports are available here.


Topics

1. Switched and Hybrid Systems
2. Networked Control Systems
3. Multi-agent and Vehicle Control
4. Vision-based Control
6. Supervisory Control
8. Communication Networks
9. Haptics
10. Other


1. Switched and Hybrid Systems

[4] J. Hespanha. L_2-Induced Gains of Switched Linear Systems. In Vincent D. Blondel, Alexander Megretski, Unsolved Problems in Mathematical Systems & Control Theory, pages 131—133, 2003. [bibtex] [pdf]
[5] J. Hespanha, D. Liberzon, E. Sontag. Nonlinear observability and an invariance principle for switched systems. In Proc. of the 41st Conf. on Decision and Contr., Dec. 2002. [bibtex] [pdf]
[8] J. Hespanha, A. S. Morse. Switching Between Stabilizing Controllers. Automatica, 38(11), Nov. 2002. [bibtex] [pdf]
[13] J. Hespanha, D. Liberzon. Tutorial Session on Logic-based Control. In Proc. of the 10th Mediterranean Conf. on Contr. and Automat., July 2002. [bibtex] [pdf]
[18] J. Hespanha. Computation of Root-Mean-Square Gains of Switched Linear Systems. In Claire J. Tomlin, Mark R. Greenstreet, Hybrid Systems: Computation and Control, number 2289 in Lect. Notes in Comput. Science, pages 239—252, Mar. 2002. [bibtex] [pdf]
[23] J. Hespanha. Extending LaSalle's Invariance Principle to Linear Switched Systems. In Proc. of the 40th Conf. on Decision and Contr., Dec. 2001. [bibtex] [gziped ps]
[46] J. Hespanha, A. S. Morse. Stability of Switched Systems with Average Dwell-time. In Proc. of the 38th Conf. on Decision and Contr., pages 2655—2660, Dec. 1999. [bibtex] [pdf]
[51] D. Liberzon, J. Hespanha, A. S. Morse. Stability of switched linear systems: a Lie-algebraic condition. Syst. & Contr. Lett., 37(3):117—122, June 1999. [bibtex] [pdf]
[55] J. Hespanha, A. S. Morse. Stabilization of Nonholonomic Integrators via Logic-Based Switching. Automatica Special Issue on Hybrid Systems, 35(3):385-393, Mar. 1999. [bibtex] [pdf]
[57] J. Hespanha, A. S. Morse. Input-Output Gains of Switched Linear Systems. In Vincent D. Blondel, Eduardo D. Sontag, M. Vidyasagar, Jan C. Willems, Open Problems in Mathematical Systems Theory and Control, 1999. [bibtex] [gziped ps]
[60] J. Hespanha. Logic-Based Switching Algorithms in Control. PhD Thesis, Dept. of Electrical Eng., Yale University, New Haven, CT, 1998. [bibtex] [pdf]
[61] J. Hespanha, A. S. Morse. Input-Output Gains of Switched Linear Systems. In Proc. of the 37th Conf. on Decision and Contr., Dec. 1998. [bibtex]
[73] J. Hespanha. Stabilization of Nonholonomic Integrators via Logic-Based Switching. In Proc. of the 13th World Congress of Int. Federation of Automat. Contr., volume E: Nonlinear Systems I, pages 467—472, June 1996. [bibtex] [gziped ps]
See also [9], [15], [19], [25], [27], [28], [29], [35], [78].

2. Networked Control Systems

[9] J. Hespanha, A. Ortega, L. Vasudevan. Towards the Control of Linear Systems with Minimum Bit-Rate. In Proc. of the Int. Symp. on the Mathematical Theory of Networks and Syst., Aug. 2002. [bibtex] [pdf]
[77] Y. Xu. Communication scheduling methods for estimation over networks. PhD Thesis, University of California, Santa Barbara, CA, USA, Mar. 2006. [bibtex] [pdf]

3. Multi-agent and Vehicle Control

[1] A. P. Aguiar, J. Hespanha. Position Tracking of Underactuated Vehicles. In Proc. of the 2003 Amer. Contr. Conf., June 2003. [bibtex] [pdf]
[12] J. Hespanha, M. Prandini. Optimal Pursuit under Partial Information. In Proc. of the 10th Mediterranean Conf. on Contr. and Automat., July 2002. [bibtex] [pdf]
[14] J. Hespanha, H. Kizilocak. Efficient Computation of Dynamic Probabilistic Maps. In Proc. of the 10th Mediterranean Conf. on Contr. and Automat., July 2002. [bibtex] [pdf]
[24] J. Hespanha, M. Prandini. Nash Equilibria in Partial-Information Games on Markov Chains. In Proc. of the 40th Conf. on Decision and Contr., Dec. 2001. [bibtex] [pdf]
[29] M. Prandini, J. Hespanha, George J. Pappas. Greedy Control for Hybrid Pursuit Games. In Proc. of the 2001 European Contr. Conf., Sep. 2001. [bibtex] [pdf]
[31] J. Hespanha, H. Kizilocak, Y. Ateskan. Probabilistic Map Building for Aircraft-Tracking Radars. In Proc. of the 2001 Amer. Contr. Conf., June 2001. [bibtex] [pdf]
[36] J. Hespanha, M. Prandini, S. Sastry. Probabilistic Pursuit-Evasion Games: A One-Step Nash Approach. In Proc. of the 39th Conf. on Decision and Contr., volume 3, pages 2272-2277, Dec. 2000. [bibtex] [pdf]
[44] J. Hespanha, Y. Ateskan, H. Kizilocak. Deception in Non-Cooperative Games with Partial Information. In Proc. of the 2nd DARPA-JFACC Symp. on Advances in Enterprise Control, July 2000. [bibtex] [pdf]
[45] J. Hespanha, H. Jin Kim, S. Sastry. Multiple-Agent Probabilistic Pursuit-Evasion Games. In Proc. of the 38th Conf. on Decision and Contr., volume 3, pages 2432—2437, Dec. 1999. [bibtex] [pdf]

4. Vision-based Control

[6] J. Hespanha. State Estimation and Control for Systems with Perspective Outputs. In Proc. of the 41st Conf. on Decision and Contr., Dec. 2002. [bibtex] [pdf]
[25] J. Hespanha, O. Yakimenko, I. Kaminer, A. Pascoal. Linear parametrically varying systems with brief instabilities: an application to integrated vision/IMU navigation. In Proc. of the 40th Conf. on Decision and Contr., Dec. 2001. [bibtex] [pdf]
[28] J. Hespanha, O. Yakimenko, I. Kaminer, A. Pascoal. LPV Systems with Brief Instabilities: Application to Integrated Vision/IMU Navigation. In Proc. of the 2001 European Contr. Conf., Sep. 2001. [bibtex] [pdf]
[39] J. Hespanha. Single-Camera Visual Servoing. In Proc. of the 39th Conf. on Decision and Contr., volume 3, pages 2533—2538, Dec. 2000. [bibtex] [gziped ps]
[47] O. Shakernia, Yi Ma, J. Koo, J. Hespanha, S. Sastry. Vision Guided Landing of an Unmanned Aerial Vehicle. In Proc. of the 38th Conf. on Decision and Contr., pages 4143—4148, Dec. 1999. [bibtex] [gziped ps]
[49] J. Hespanha, Z. Dodds, G. Hager, A. S. Morse. What Tasks can be Performed with an Uncalibrated Stereo Vision System?. Int. J. of Computer Vision Special Issue on Vision Research at Yale, 35(1):65-85, Nov. 1999. [bibtex] [pdf]
[53] Z. Dodds, G. Hager, A. S. Morse, J. Hespanha, . Task specification and monitoring for uncalibrated hand/eye coordination. In Proc. of the IEEE Int. Conf. on Robot. and Automat. (ICRA), volume 2, pages 1607—1613, May 1999. [bibtex] [pdf]
[59] J. Hespanha, Z. Dodds, G. Hager, A. S. Morse. Decidability of Robot Positioning Tasks Using Stereo Vision Systems. In Proc. of the 37th Conf. on Decision and Contr., pages 3736—3741, Dec. 1998. [bibtex] [gziped ps]
[62] J. Hespanha, Z. Dodds, G. Hager, A. S. Morse. What can be done with an uncalibrated stereo system?. In David J. Kriegman, G. Hager, A. S. Morse, The Confluence of Vision and Control, number 237 in Lect. Notes in Contr. and Inform. Sci., pages 79—89, 1998. [bibtex]
[64] J. Hespanha, Z. Dodds, G. Hager, A. S. Morse. Decidable Tasks and Projectively Invariant Tasks are One and the Same. July 1998. Presented at the 13th Int. Symposium on the Mathematical Theory of Networks and Syst., Padova, Italy. [bibtex]
[66] J. Hespanha, Z. Dodds, G. Hager, A. S. Morse. What can be done with an uncalibrated stereo system?. In Proc. of the IEEE Int. Conf. on Robot. and Automat. (ICRA), volume 2, pages 1366—1372, May 1998. [bibtex] [gziped ps]
[67] W.-C. Chang, J. Hespanha, A. S. Morse, G. Hager. Task Re-Encoding in Vision-Based Control Systems. In Proc. of the 36th Conf. on Decision and Contr., volume 1, pages 48—53, Dec. 1997. [bibtex] [gziped ps]
[69] J. Hespanha, W.-C. Chang, A. S. Morse, G. Hager. Issues Concerned with Task Encoding in Vision-Based Control Systems. In Abstracts of the Block Island Workshop on Vision and Control, pages 23—25, June 1997. [bibtex] [gziped ps]
See also [60].

6. Supervisory Control

[2] J. Hespanha, D. Liberzon, A. S. Morse. Overcoming the limitations of adaptive control by means of logic-based switching. Syst. & Contr. Lett., 49(1):49—65, Apr. 2003. [bibtex] [pdf]
[3] J. Hespanha, D. Liberzon, A. S. Morse. Hysteresis-based switching algorithms for supervisory control of uncertain systems. Automatica, 39(2), Feb. 2003. [bibtex] [pdf]
[10] M. Campi, J. Hespanha, M. Prandini. Cautious hierarchical switching control of stochastic linear systems. In Proc. of the Int. Symp. on the Mathematical Theory of Networks and Syst., Aug. 2002. [bibtex] [pdf]
[11] J. Hespanha, D. Liberzon, A. S. Morse. Supervision of integral-input-to-state stabilizing controllers. Automatica, 38(8):1327-1335, Aug. 2002. [bibtex] [pdf]
[26] J. Hespanha. Tutorial on Supervisory Control. Lecture Notes for the workshop Control using Logic and Switching for the 40th Conf. on Decision and Contr., Orlando, Florida, Dec. 2001. .html. [bibtex] [pdf]
[32] G. Chang, J. Hespanha, A. S. Morse, M. Netto, R. Ortega. Supervisory Field-Oriented Control of Induction Motors with Uncertain Rotor Resistance. Int. J. of Adaptive Contr. and Signal Processing Special Issue on Switching and Logic, 15(3):353—375, May 2001. [bibtex] [gziped ps]
[33] J. Hespanha, D. Liberzon (ed.). Int. J. of Adaptive Contr. and Signal Processing Special Issue on Switching and Logic. John Wiley & Sons, May 2001. [bibtex] [pdf]
[34] J. Hespanha, D. Liberzon, A. S. Morse, Brian D. O. Anderson, Thomas S. Brinsmead, Franky de Bruyne. Multiple model adaptive control, part 2: Switching. Int. J. of Robust and Nonlinear Control Special Issue on Hybrid Systems in Control, 11(5):479—496, Apr. 2001. [bibtex] [gziped ps]
[37] J. Hespanha, D. Liberzon, A. S. Morse. Bounds on the Number of Switchings with Scale-Independent Hysteresis: Applications to Supervisory Control. In Proc. of the 39th Conf. on Decision and Contr., volume 4, pages 3622-3627, Dec. 2000. [bibtex] [gziped ps]
[38] D. Liberzon, J. Hespanha, A. S. Morse. Hierarchical Hysteresis Switching. In Proc. of the 39th Conf. on Decision and Contr., volume 1, pages 484—489, Dec. 2000. [bibtex] [gziped ps]
[41] Brian D. O. Anderson, Thomas S. Brinsmead, Franky de Bruyne, J. Hespanha, D. Liberzon, A. S. Morse. Multiple model adaptive control. I. Finite controller coverings. Int. J. of Robust and Nonlinear Control George Zames Special Issue, 10(11-12):909—929, Sep. 2000. [bibtex] [pdf]
[48] J. Hespanha, D. Liberzon, A. S. Morse. Logic-based Switching Control of a Nonholonomic System with Parametric Modeling Uncertainty. Syst. & Contr. Lett. Special Issue on Hybrid Systems, 38(3):167—177, Nov. 1999. [bibtex] [pdf]
[50] J. Hespanha, A. S. Morse. Supervisory Control of Integral-Input-to-State Stabilizing Controllers. In Proc. of the 1999 European Contr. Conf., Aug. 1999. [bibtex] [gziped ps]
[52] J. Hespanha, D. Liberzon, A. S. Morse. Towards the Supervisory Control of Uncertain Nonholonomic Systems. In Proc. of the 1999 Amer. Contr. Conf., pages 3520—3524, June 1999. [bibtex] [pdf]
[54] J. Hespanha, A. S. Morse. Scale-Independent Hysteresis Switching. In Frits W. Vaandrager, Jan H. van Schuppen, Hybrid Systems: Computation and Control, volume 1569 of Lect. Notes in Comput. Science, pages 117—122, Mar. 1999. [bibtex] [gziped ps]
[56] J. Hespanha, A. S. Morse. Certainty Equivalence Implies Detectability. Syst. & Contr. Lett., 36(1):1—13, Jan. 1999. [bibtex] [pdf]
[58] Shogo Fujii, J. Hespanha, A. S. Morse. Supervisory Control of Families of Noise Suppressing Controllers. In Proc. of the 37th Conf. on Decision and Contr., pages 1641—1646, Dec. 1998. [bibtex] [gziped ps]
[63] G. Chang, J. Hespanha, A. S. Morse, M. Netto, R. Ortega. Supervisory Field-Oriented Control of Induction Motors with Uncertain Rotor Resistance. In Proc. of the 1998 IFAC Workshop on Adaptive Control and Signal Processing, Glasgow, Scotland, Aug. 1998. [bibtex] [gziped ps]
[65] J. Hespanha, A. S. Morse. Certainty Equivalence Implies Detectability. In Proc. of the 4th IFAC Nonlinear Contr. Systems Design Symp., volume 3, pages 661—666, July 1998. [bibtex] [gziped ps]
[70] J. Hespanha, A. S. Morse. Certainty Equivalence Implies Detectability. In Proc. of the 3rd Joint Conf. on Inform. Sciences, Mar. 1997. [bibtex] [gziped ps]
[71] J. Hespanha, A. S. Morse. Supervision of Families of Nonlinear Controllers. In Proc. of the 35th Conf. on Decision and Contr., volume 4, pages 3772—3773, Dec. 1996. [bibtex] [gziped ps]
[74] J. Hespanha, A. S. Morse. Supervisory Control of Families of Stabilizing Controllers. June 1996. Presented at the 12th Int. Symposium on the Mathematical Theory of Networks and Syst., St. Louis, MO. [bibtex] [gziped ps]
[76] J. Hespanha, A. S. Morse. Towards the Supervisory Control of Families of Nonlinear Regulators. In Proc. of the 30th Annual Conf. on Inform. Sciences and Syst., volume 2, pages 765—768, Mar. 1996. [bibtex] [gziped ps]
See also [13], [60].

8. Communication Networks

[7] S. Bohacek, J. Hespanha, K. Obraczka. Saddle Policies for Secure Routing in Communication Networks. In Proc. of the 41st Conf. on Decision and Contr., volume 2, pages 1416—1421, Dec. 2002. [bibtex] [pdf]
[15] D. Färnqvist, K. Strandemar, Karl H. Johansson, João P. Hespanha. Hybrid Modeling of Communication Networks Using Modelica. In Proc. of the Radiovetenskap och Kommunikation (RVK), June 2002. [bibtex] [pdf]
[16] S. Bohacek, J. Hespanha, J. Lee, Chansook Lim, K. Obraczka. Enhancing security via stochastic routing. In Proc. of the 11th IEEE Int. Conf. on Comput. Communications and Networks, May 2002. [bibtex] [pdf]
[17] J. Hespanha. Game Theory and Network Security. In Proc. of the GAMBIT Workshop: A DARPA Sponsored Research Summit, Apr. 2002. [bibtex] [pdf]
[19] D. Färnqvist, K. Strandemar, Karl H. Johansson, João P. Hespanha. Hybrid Modeling of Communication Networks Using Modelica. In Proc. of the 2nd Int. Modelica Conf., Mar. 2002. [bibtex] [pdf]
[27] S. Bohacek, J. Hespanha, J. Lee, K. Obraczka. Analysis of a TCP hybrid model. In Proc. of the 39th Annual Allerton Conf. on Comm., Contr., and Computing, Oct. 2001. [bibtex] [pdf]
[30] J. Hespanha, S. Bohacek. Preliminary Results in Routing Games. In Proc. of the 2001 Amer. Contr. Conf., volume 3, pages 1904—1909, June 2001. [bibtex] [pdf]
[35] J. Hespanha, S. Bohacek, K. Obraczka, J. Lee. Hybrid Modeling of TCP Congestion Control. In Maria Domenica Di Benedetto, Alberto Sangiovanni-Vincentelli, Hybrid Systems: Computation and Control, number 2034 in Lect. Notes in Comput. Science, pages 291—304, Mar. 2001. [bibtex] [gziped ps]
[78] J. Lee. A hybrid systems modeling framework for transport protocols. PhD Thesis, University of Southern California, Los Angeles, CA, USA, Aug. 2004. [bibtex] [pdf]
See also [22], [40].

9. Haptics

[20] Margaret L. McLaughlin, J. Hespanha, G. Sukhatme, editors. Touch in virtual environments: Haptics and the Design of Interactive Systems. Prentice-Hall/IMSC Press Multimedia Series, 2002. [bibtex]
[21] Margaret L. McLaughlin, J. Hespanha, G. Sukhatme. Chapter Introduction to Haptics. In Touch in virtual environments: Haptics and the Design of Interactive Systems, 2002. [bibtex]
[22] J. Hespanha, G. Sukhatme, Margaret L. McLaughlin. Chapter Haptic Collaboration over the Internet. In Touch in virtual environments: Haptics and the Design of Interactive Systems, 2002. [bibtex]
[40] J. Hespanha, M. McLaughlin, G. Sukhatme, Minoo Akbarian, Rajiv Garg, Weirong Zhu. Haptic Collaboration over the Internet. In Proc. of the 5th Phantom Users Group Workshop, Oct. 2000. [bibtex] [gziped ps]
[42] G. Sukhatme, J. Hespanha, Margaret L. McLaughlin, C. Shahabi. Touch in Immersive Environments. In Proc. of the EVA 2000 Scotland Conf. on Electronic Imaging and the Visual Arts, July 2000. [bibtex] [gziped ps]

10. Other

[43] Robert D. Grober, J. Acimovic, J. Schuck, D. Hessman, Peter Kindlemann, J. Hespanha, A. S. Morse, Khaled Karrai, Ingo Tiemann, Stephan Manus. Fundamental limits to force detection using quartz tuning forks. Review of Scientific Instruments, 71(7):2776—2780, July 2000. [bibtex] [pdf]
[68] P. Belhumeur, J. Hespanha, D. Kriegman. Eigenfaces vs. Fisherfaces: Recognition Using Class Specific Linear Projection. IEEE Trans. on Pattern Analysis and Machine Intelligence Special Theme Issue on Face and Gesture Recognition, 19(7):711—720, July 1997. [bibtex] [pdf]
[72] P. Belhumeur, J. Hespanha, D. Kriegman. Eigenfaces vs. Fisherfaces: Recognition Using Class Specific Linear Projection. In Proc. 9th Yale Workshop on Adaptive and Learning Systems, pages 225—234, June 1996. [bibtex]
[75] P. Belhumeur, J. Hespanha, D. Kriegman. Eigenfaces vs. Fisherfaces: Recognition Using Class Specific Linear Projection. In Proc. of the 4th European Conf. on Comput. Vision, volume 1, pages 45—58, Apr. 1996. [bibtex]
See also [32], [63].


This file was generated on 3/10/2007 using the perl script "bib2web" (version 1.2, dated 3/10/2007) written by João Pedro Hespanha