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- Wei Zhang, Alessandro Abate, Jianghai Hu, Michael P. Vitus
- Automatica
- 2009

This paper studies the exponential stabilization problem for discrete-time switched linear systems based on a control-Lyapunov function approach. It is proved that a switched linear system isâ€¦ (More)

- Michael P. Vitus, Wei Zhang, Alessandro Abate, Jianghai Hu, Claire J. Tomlin
- Proceedings of the 2010 American Controlâ€¦
- 2010

Consider a set of sensors estimating the state of a process in which only one of these sensors can operate at each time-step due to constraints on the overall system. The problem addressed here is toâ€¦ (More)

- Wei Zhang, Michael P. Vitus, Jianghai Hu, Alessandro Abate, Claire J. Tomlin
- IEEE Transactions on Automatic Control
- 2010

This paper studies the infinite-horizon sensor scheduling problem for linear Gaussian processes with linear measurement functions. Several important properties of the optimal infinite-horizonâ€¦ (More)

- Jeremy H. Gillula, Gabriel M. Hoffmann, Haomiao Huang, Michael P. Vitus, Claire J. Tomlin
- I. J. Robotics Res.
- 2011

The control of complex nonlinear systems can be aided by modeling each system as a collection of simplified hybrid modes, with each mode representing a particular operating regime defined by theâ€¦ (More)

This paper focuses on optimal path planning for vehicles in known environments. Previous work has presented mixed integer linear programming (MILP) formulations, which suffer from scalability issuesâ€¦ (More)

- Michael P. Vitus, Claire J. Tomlin
- Robotics: Science and Systems
- 2010

Consider a set of fixed sensors used to estimate the state of a vehicle (e.g. position, orientation and velocity) while it attempts to follow a pre-planned trajectory. Since the sensor can onlyâ€¦ (More)

- Jeremy H. Gillula, Haomiao Huang, Michael P. Vitus, Claire J. Tomlin
- 2010 IEEE International Conference on Roboticsâ€¦
- 2010

For many applications, the control of a complex nonlinear system can be made easier by modeling the system as a collection of simplified hybrid modes, each representing a particular operating regime.â€¦ (More)

- Mac Schwager, Michael P. Vitus, Samantha Powers, Daniela Rus, Claire J. Tomlin
- IEEE Transactions on Control of Network Systems
- 2017

This paper presents a distributed control algorithm to drive a group of robots to spread out over an environment and provide adaptive sensor coverage of that environment. The robots use an onlineâ€¦ (More)

- Michael P. Vitus, Claire J. Tomlin
- 2011 IEEE International Conference on Roboticsâ€¦
- 2011

This paper considers the problem of motion planning for linear, Gaussian systems, and extends existing chance constrained optimal control solutions [1], [2] by incorporating the closed-loopâ€¦ (More)

- Michael P. Vitus, Wei Zhang, Claire J. Tomlin
- 2012 IEEE/RSJ International Conference onâ€¦
- 2012

This paper considers the problem of stochastic motion planning in uncertain environments, and extends existing chance constrained optimal control solutions. Due to the imperfect knowledge of theâ€¦ (More)