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- Bruno Sinopoli, Luca Schenato, Massimo Franceschetti, Kameshwar Poolla, Michael I. Jordan, S. Shankar Sastry
- IEEE Trans. Automat. Contr.
- 2004

Motivated by navigation and tracking applications within sensor networks, we consider the problem of performing Kalman filtering with intermittent observations. When data travel along unreliable communication channels in a large, wireless, multi-hop sensor network, the effect of communication delays and loss of information in the control loop cannot be… (More)

- René Vidal, Yi Ma, S. Shankar Sastry
- IEEE Transactions on Pattern Analysis and Machine…
- 2003

This paper presents an algebro-geometric solution to the problem of segmenting an unknown number of subspaces of unknown and varying dimensions from sample data points. We represent the subspaces with a set of homogeneous polynomials whose degree is the number of subspaces and whose derivatives at a data point give normal vectors to the subspace passing… (More)

- Luca Schenato, Bruno Sinopoli, Massimo Franceschetti, Kameshwar Poolla, S. Shankar Sastry
- Proceedings of the IEEE
- 2007

| This paper considers control and estimation problems where the sensor signals and the actuator signals are transmitted to various subsystems over a network. In contrast to traditional control and estimation problems, here the observation and control packets may be lost or delayed. The unreliability of the underlying communication network is modeled… (More)

- Allen Y. Yang, John Wright, Yi Ma, S. Shankar Sastry
- Computer Vision and Image Understanding
- 2008

In this paper, we cast natural-image segmentation as a problem of clustering texture features as multivariate mixed data. We model the distribution of the texture features using a mixture of Gaussian distributions. Unlike most existing clustering methods, we allow the mixture components to be degenerate or nearly-degenerate. We contend that this assumption… (More)

- John Lygeros, Karl Henrik Johansson, Slobodan N. Simic, Jun Zhang, S. Shankar Sastry
- IEEE Trans. Automat. Contr.
- 2003

Hybrid automata provide a language for modeling and analyzing digital and analogue computations in real-time systems. Hybrid automata are studied here from a dynamical systems perspective. Necessary and sufficient conditions for existence and uniqueness of solutions are derived and a class of hybrid automata whose solutions depend continuously on the… (More)

- John Hauser, S. Shankar Sastry, George Meyer
- Automatica
- 1992

-There has been a great deal of excitement recently over the development of a theory for explicitly linearizing the input-output response of a nonlinear system using state feedback. One shortcoming of this theory is the inability to deal with non-minimum phase nonlinear systems. Highly maneuverable jet aircraft, such as the V/STOL Harrier, belong to an… (More)

- John J. Craig, Ping Hsu, S. Shankar Sastry
- ICRA
- 1986

Abstrucr -This paper develops a calculus for computing Filippov’s differential inclusion which simplifies the analysis of dynamical systems described by differential equations with a discontinuous right-hand side. In particular, when a slightly generalized Lyapunov theory is used, the rigorous stability analysis of variable structure systems is routine. As… (More)

Air Traffic Management (ATM) of the future allows for the possibility of free flight, in which aircraft choose their own optimal routes, altitudes, and velocities. The safe resolution of trajectory conflicts between aircraft is necessary to the success of such a distributed control system. In this paper, we present a method to synthesize provably safe… (More)

In this paper, output tracking control of a helicopter model is investigated. The model is derived from Newton-Euler equations by assuming that the helicopter body is rigid. First, we show that for several choices of output variables exact input-output linearization fails to linearize the whole state space and results in having unstable zero dynamics. By… (More)