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Publications of year 2004

Articles in journal, book chapters

  1. V. Sharma, P. G. Voulgaris, and E. Frazzoli. Aircraft Autopilot Analysis and Envelope Protection for Operation under Icing Conditions. AIAA Journal of Guidance, Control, and Dynamics, 27(3):454-465, 2004. [PDF] Keyword(s): Flight Control.

    In this paper the behavior of a typical autopilot structure is studied for flight under icing conditions. The study is based on a Twin Otter aircraft model and focuses on the pitch attitue behavior. A quadratic stability analysis using Linear Matrix Inequalities (LMIs) is conducted to show that the time-varying closed-loop system maintains quadratic stability under icing conditions. In addition, the problem of envelope protection in the presence of icing is considered; in particular, how to maintain the angle of attack within the stall limits, which are time varying. Based on steady-state behavior, a practical envelope protection scheme is developed and tested.


  2. @article{Sharma.Voulgaris.ea:JGDC04,
    Abstract = {In this paper the behavior of a typical autopilot structure is studied for flight under icing conditions. The study is based on a Twin Otter aircraft model and focuses on the pitch attitue behavior. A quadratic stability analysis using Linear Matrix Inequalities (LMIs) is conducted to show that the time-varying closed-loop system maintains quadratic stability under icing conditions. In addition, the problem of envelope protection in the presence of icing is considered; in particular, how to maintain the angle of attack within the stall limits, which are time varying. Based on steady-state behavior, a practical envelope protection scheme is developed and tested.},
    Author = {V. Sharma and P.~G. Voulgaris and E. Frazzoli},
    Date-Added = {2004-10-27 11:28:44 -0700},
    Date-Modified = {2007-10-20 21:06:11 -0400},
    Journal = {AIAA Journal of Guidance, Control, and Dynamics},
    Keywords = {Flight Control},
    Local-Url = {/www/papers/Sharma.Voulgaris.ea.JGDC04.pdf},
    Number = {3},
    Pages = {454--465},
    Pdf = {/papers/Sharma.Voulgaris.ea.JGDC04.pdf},
    Title = {Aircraft Autopilot Analysis and Envelope Protection for Operation under Icing Conditions},
    Volume = {27},
    Year = {2004}
    }
    

  3. A. Bhatia and E. Frazzoli. Incremental Search Methods for Reachability Analysis of Continuous and Hybrid Systems. In R. Alur and G. J. Pappas, editors, Hybrid Systems: Computation and Control, number 2993 of Lecture Notes in Computer Science, pages 142-156. Springer-Verlag, Philadelphia, PA, March 2004. [PDF] Keyword(s): Hybrid Systems, Embedded Software Verification.

    In this paper we present algorithms and tools for fast and efficient reachability analysis, applicable to continuous and hybrid systems. Most of the work on reachability analysis and safety verification concentrates on conservative representations of the set of reachable states, and consequently on the generation of safety certificates; however, inability to prove safety with these tools does not necessarily result in a proof of unsafety. In this paper, we propose an alternative approach, which aims at the fast falsification of safety properties; this approach provides the designer with a complementary set of tools to the ones based on conservative analysis, providing additional insight into the characteristics of the system under analysis. Our algorithms are based on algorithms originally proposed for robotic motion planning; the key idea is to incrementally grow a set of feasible trajectories by exploring the state space in an efficient way. The ability of the proposed algorithms to analyze the reachability and safety properties of general continuous and hybrid systems is demonstrated on examples from the literature.


  4. @incollection{Bhatia.Frazzoli:HSCC04,
    Abstract = {In this paper we present algorithms and tools for fast and efficient reachability analysis, applicable to continuous and hybrid systems. Most of the work on reachability analysis and safety verification concentrates on conservative representations of the set of reachable states, and consequently on the generation of safety certificates; however, inability to prove safety with these tools does not necessarily result in a proof of unsafety. In this paper, we propose an alternative approach, which aims at the fast falsification of safety properties; this approach provides the designer with a complementary set of tools to the ones based on conservative analysis, providing additional insight into the characteristics of the system under analysis. Our algorithms are based on algorithms originally proposed for robotic motion planning; the key idea is to incrementally grow a set of feasible trajectories by exploring the state space in an efficient way. The ability of the proposed algorithms to analyze the reachability and safety properties of general continuous and hybrid systems is demonstrated on examples from the literature. },
    Address = {Philadelphia, PA},
    Author = {A. Bhatia and E. Frazzoli},
    Booktitle = {Hybrid Systems: Computation and Control},
    Date-Modified = {2007-12-09 15:00:17 +0100},
    Editor = {R. Alur and G.~J. Pappas},
    Keywords = {Hybrid Systems, Embedded Software Verification},
    Local-Url = {/www/papers/Bhatia.Frazzoli.HSCC04.pdf},
    Month = {March},
    Number = {2993},
    Pages = {142--156},
    Pdf = {http://rigoletto.seas.ucla.edu/papers/Bhatia.Frazzoli.HSCC04.pdf},
    Publisher = {Springer-Verlag},
    Series = {Lecture Notes in Computer Science},
    Title = {Incremental Search Methods for Reachability Analysis of Continuous and Hybrid Systems},
    Year = {2004},
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Conference articles

  1. P. Cheng, E. Frazzoli, and S. M. LaValle. Improving the performance of sampling-based planners by using a symmetry-exploiting gap reduction algorithm. In Proc. of the IEEE Int. Conference on Robotics and Automation, volume 5, pages 4362-4368, April 2004. [PDF] Keyword(s): Motion Planning.
    @conference{Cheng.Frazzoli.ea:ICRA04,
    Author = {P. Cheng and E. Frazzoli and S.~M. La{V}alle},
    Booktitle = {Proc. of the IEEE Int. Conference on Robotics and Automation},
    Date-Added = {2005-03-09 14:46:41 -0800},
    Date-Modified = {2008-08-08 12:00:29 -0400},
    Keywords = {Motion Planning},
    Local-Url = {/www/papers/Cheng.Frazzoli.ea.ICRA04.pdf},
    Month = {April},
    Pages = {4362--4368},
    Pdf = {http://rigoletto.seas.ucla.edu/papers/Cheng.Frazzoli.ea.ICRA04.pdf},
    Title = {Improving the performance of sampling-based planners by using a symmetry-exploiting gap reduction algorithm},
    Volume = {5},
    Year = {2004},
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    }
    

  2. E. Frazzoli and F. Bullo. Decentralized Algorithms for Vehicle Routing in a Stochastic Time-Varying Environment. In Proc. IEEE Conf. on Decision and Control, volume 4, Paradise Island, Bahamas, pages 3357-3363, December 2004. [PDF] Keyword(s): Robotic Networks, UAVs/Autonomous Systems.

    In this paper we present decentralized algorithms for motion coordination of a group of autonomous vehicles, aimed at minimizing the expected waiting time to service stochastically-generated targets. The vehicles move within a convex environment with bounded velocity, and target generation is modeled by a spatio-temporal Poisson process. The general problem is known as the m-vehicle Dynamic Traveling Repairperson Problem ($m-DTRP$); the best previously known control algorithms rely on centralized a-priori task assignment and locational optimization, and are of limited applicability in scenarios involving ad-hoc networks of autonomous vehicles. In this paper, we present a new class of algorithms for the $m-DTRP$ problem that: (i) are spatially distributed, scalable to large networks, and adaptive to network changes, (ii) are provably locally optimal in the light load case, and (iii) achieve the same performance as the best known centralized algorithms in the heavy-load, single-vehicle case. Simulation results are presented and discussed.


  3. @conference{Frazzoli.Bullo:CDC04,
    Abstract = {In this paper we present decentralized algorithms for motion coordination of a group of autonomous vehicles, aimed at minimizing the expected waiting time to service stochastically-generated targets. The vehicles move within a convex environment with bounded velocity, and target generation is modeled by a spatio-temporal Poisson process. The general problem is known as the m-vehicle Dynamic Traveling Repairperson Problem ($m-DTRP$); the best previously known control algorithms rely on centralized a-priori task assignment and locational optimization, and are of limited applicability in scenarios involving ad-hoc networks of autonomous vehicles. In this paper, we present a new class of algorithms for the $m-DTRP$ problem that: (i) are spatially distributed, scalable to large networks, and adaptive to network changes, (ii) are provably locally optimal in the light load case, and (iii) achieve the same performance as the best known centralized algorithms in the heavy-load, single-vehicle case. Simulation results are presented and discussed. },
    Address = {Paradise Island, Bahamas},
    Author = {E. Frazzoli and F. Bullo},
    Booktitle = {Proc. IEEE Conf. on Decision and Control},
    Date-Added = {2004-11-02 17:17:43 -0800},
    Date-Modified = {2011-01-19 22:56:56 -0500},
    Keywords = {Robotic Networks; UAVs/Autonomous Systems},
    Local-Url = {/www/papers/Frazzoli.Bullo.CDC04.pdf},
    Month = {December},
    Pages = {3357--3363},
    Pdf = {http://rigoletto.seas.ucla.edu/papers/Frazzoli.Bullo.CDC04.pdf},
    Title = {Decentralized Algorithms for Vehicle Routing in a Stochastic Time-Varying Environment},
    Volume = {4},
    Year = {2004},
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    }
    

  4. V. Sharma, E. Frazzoli, and P. G. Voulgaris. Improving lifetime data gathering and distortion for mobile sensing networks. In Proc. of the IEEE Conf. on Sensor and Ad Hoc Communications and Networks (SECON), San Jose, CA, pages 566-574, September 2004. [PDF] Keyword(s): Robotic Networks.

    In this paper we consider improving the quantity and quality of data collected and sent to a sink over the lifetime of a network of mobile sensors. The positions of the sensors and the routing strategy chosen are the variables in our problem. The original problem is a multi-objective non-convex optimization problem and we believe it to be tough to solve. The approach taken in this paper is to break down the original problem into sub-problems and develop an iterative scheme to optimize both the quantities. We propose three sub-problems. First, we optimize the way (obtain flows) the data is sent to the sink for a fixed placement of the nodes by solving a linear program (work on this has already been done in the past by others). Once flows have been obtained, they are kept constant and the nodes are then moved in a way such that the lifetime is further improved, keeping the maximum distortion error less than or equal to what it is for the initial node placement. Then for the new node distribution with a better lifetime, we decrease the maximum distortion error keeping the lifetime greater than or equal as compared to the starting configuration. Centralized and decentralized iterative schemes are presented using these subproblems that monotonically improve the lifetime data gathering and reduce maximum distortion error at each step.


  5. @conference{Sharma.Frazzoli.ea:SECON04,
    Abstract = {In this paper we consider improving the quantity and quality of data collected and sent to a sink over the lifetime of a network of mobile sensors. The positions of the sensors and the routing strategy chosen are the variables in our problem. The original problem is a multi-objective non-convex optimization problem and we believe it to be tough to solve. The approach taken in this paper is to break down the original problem into sub-problems and develop an iterative scheme to optimize both the quantities. We propose three sub-problems. First, we optimize the way (obtain flows) the data is sent to the sink for a fixed placement of the nodes by solving a linear program (work on this has already been done in the past by others). Once flows have been obtained, they are kept constant and the nodes are then moved in a way such that the lifetime is further improved, keeping the maximum distortion error less than or equal to what it is for the initial node placement. Then for the new node distribution with a better lifetime, we decrease the maximum distortion error keeping the lifetime greater than or equal as compared to the starting configuration. Centralized and decentralized iterative schemes are presented using these subproblems that monotonically improve the lifetime data gathering and reduce maximum distortion error at each step. },
    Address = {San Jose, CA},
    Author = {V. Sharma and E. Frazzoli and P.~G. Voulgaris},
    Booktitle = {Proc. of the IEEE Conf. on Sensor and Ad Hoc Communications and Networks (SECON)},
    Date-Added = {2005-03-08 16:33:16 -0800},
    Date-Modified = {2008-08-08 12:00:26 -0400},
    Keywords = {Robotic Networks},
    Local-Url = {/www/papers/Sharma.Frazzoli.ea.SECON04.pdf},
    Month = {September},
    Pages = {566--574},
    Pdf = {/papers/Sharma.Frazzoli.ea.SECON04.pdf},
    Title = {Improving lifetime data gathering and distortion for mobile sensing networks},
    Year = {2004}
    }
    

Internal reports

  1. V. Sharma, E. Frazzoli, and P. Voulgaris. On the time complexity of the multiple-vehicle coordination problem with random origin-destination pairs. Technical Report AE 04-05 UILU ENG-04-0505, University of Illinois at Urbana-Champaign, 2004. Keyword(s): Robotic Networks.
    @techreport{Sharma.Frazzoli.ea:04,
    Author = {V. Sharma and E. Frazzoli and P. Voulgaris},
    Date-Added = {2005-03-07 15:28:19 -0800},
    Date-Modified = {2007-10-20 21:06:11 -0400},
    Institution = {University of Illinois at Urbana-Champaign},
    Keywords = {Robotic Networks},
    Number = {AE 04-05 UILU ENG-04-0505},
    Title = {On the time complexity of the multiple-vehicle coordination problem with random origin-destination pairs},
    Type = {Technical Report},
    Year = {2004}
    }
    


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Last modified: Tue Aug 18 08:30:35 2015
Author: frazzoli.


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