### Preprints

W. Kim, M. Ramanagopal, C. Barto, M. Yu, K. Rosaen, N. Goumas, R.Vasudevan, and M. Johnson-Roberson, “PedX: Benchmark Dataset for Metric 3D Pose Estimation of Pedestrians in Complex Urban Intersections.” [preprint]

S. Kousik, S. Vaskov, F. Bu, M. Johnson-Roberson, and R. Vasudevan, “Bridging the Gap Between Safety and Real-Time Performance in Receding-Horizon Trajectory Design for Mobile Robots.” [preprint]

J. Mangelson, J. Liu, R. Eustice, and R. Vasudevan, “Guaranteed Globally Optimal Planar Pose Graph and Landmark SLAM via Sparse-Bounded Sums-of-Squares Programming.” [preprint]

P. Zhao, S. Mohan, and R. Vasudevan, “Optimal Control for Nonlinear Hybrid Systems via Convex Relaxations." [preprint]

### Journal Papers and Book Chapters

M. Bartos, H. Park, T. Zhou, B. Kerkez, and R. Vasudevan, “Vehicles as sensors: high-accuracy rainfall maps from windshield wiper measurements,”

*Scientific Reports*, in press. [preprint]D. Bruder, A. Sedal, R. Vasudevan, and D. Remy, “Force Generation by Parallel Combinations of Fiber-Reinforced Fluid-Driven Actuators,”

*IEEE Robotics and Automation Letters*, vol. 3, no. 4, pp. 3999-4006, July 2018. [url]M. Ramanagopal, C. Anderson,, R. Vasudevan, and M. Johnson-Roberson, “Failing to Learn: Autonomously Identifying Perception Failures for Self-Driving Cars,”

*IEEE Robotics and Automation Letters*, vol. 3, no. 4, pp. 3860-3867, July 2018. [url]A. Sedal, D. Bruder, J. Bishop-Moser, R. Vasudevan, and S. Kota, “A Constitutive Model for Torsional Loads on Fluid-Driven Soft Robots,”

*ASME Journal of Mechanical Design*, accepted.V. Shia, T.Y. Moore, R. Bajcsy and R. Vasudevan, “Convex Computation of the Basin of Stability to Measure the Likelihood of Falling: A Case Study on the Sit-to-Stand Task,”

*Journal of Biomechanics*, accepted.S. Mohan, J. Siegel, A. Stefanopoulou, and R. Vasudevan, “An Energy-Optimal Warm-Up Strategy for Li-ion Batteries and its Approximations,”

*IEEE Transactions on Control Systems Technology*, accepted.H.O. Jacobs, O. Hughes, M. Johnson-Roberson, and R. Vasudevan, “Real-Time Certified Probabilistic Pedestrian Forecasting,”

*IEEE Robotics and Automation Letters*, vol. 2, no. 4, pp. 2064-2071, October 2017. [url]T.Y. Moore, K.L Cooper, A.A. Biewener, and R. Vasudevan, “Unpredictability of escape trajectory explains predator evasion ability and taxonomic diversity of desert rodents,”

*Nature Communications*, p. 440, September 2017. [url]N. Smit-Anseeuw, R. Gleason, R. Vasudevan, and C.D. Remy, “The Energetic Benefit of Robotic Gait Selection: A Case Study on the Robot RAMone,”

*IEEE Robotics and Automation Letters*, vol. 2, no. 4, pp. 1124-1131., April 2017. [url]R. Vasudevan, “Hybrid System Identification via Switched System Optimal Control for Bipedal Robotic Walking,”

*Springer Tracts in Advanced Robotics**,*vol. 60, no. 9, pp. 635-650, August 2016. [url]S. Burden, H. Gonzalez, R. Vasudevan, R. Bajcsy and S. S. Sastry, “Metrization and Simulation of Controlled Hybrid Systems,”

*IEEE Transactions on Automatic Control*, vol. 60, no. 9, September 2015. [preprint]A. Majumdar, R. Vasudevan, M. M. Tobenkin and R. Tedrake, “Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures,”

*International Journal of Robotics Research*, vol. 33, pp. 1209-1230, August 2014. [url]V. Shia, Y. Gao, R. Vasudevan, K. Campbell, T. Lin, F. Borrelli and R. Bajcsy, “Semiautonomous Vehicular Control Using Driver Modeling,”

*IEEE Transactions on Intelligent Transportation Systems*, vol. 15, no. 6, pp. 2696-2709, November 2014. [url]R. Vasudevan, H. Gonzalez, R. Bajcsy and S. S. Sastry, “Consistent Approximations for the Optimal Control of Constrained Switched Systems -- Part 1: A Conceptual Algorithm,”

*SIAM Journal on Control and Optimization*, vol. 51, no. 6, pp. 4463-4483, 2013. [url]R. Vasudevan, H. Gonzalez, R. Bajcsy and S. S. Sastry, “Consistent Approximations for the Optimal Control of Constrained Switched Systems -- Part 2: An Implementable Algorithm,”

*SIAM Journal on Control and Optimization*, vol. 51, no. 6, pp. 4484-4503, 2013. [url]R. Vasudevan, A. D. Ames and R. Bajcsy, “Persistent Homology for Automatic Determination of Human-Data Based Cost of Bipedal Walking,”

*Nonlinear Analysis: Hybrid Systems*, vol. 7, no. 1, pp. 101-115, 2012. [url]R. Vasudevan, G. Kurillo, E. Lobaton, T. Bernardin, O. Kreylos, R. Bajcsy and K. Nahrstedt, “High Quality Visualization for Geographically Distributed 3D Teleimmersive Applications,”

*IEEE Transactions on Multimedia*, vol. 13, no. 3, pp. 573-584, 2011. [url]E. Lobaton, R. Vasudevan, R. Bajcsy and S. S. Sastry, “A Distributed Topological Camera Network Representation for Tracking Applications,”

*IEEE Transactions on Image Processing*, vol. 19, no. 10, pp. 2516-2529, 2010. [url]

### Conference Papers and Abstracts

J. Mangelson, R. Eustice, and R. Vasudevan, "Pairwise Consistent Measurement Set Maximization for Robust Multi-Robot Map Merging," in

*IEEE Conference on Robotics and Automation**, 2018*.***Best Multi-Robot Systems Paper, Best Paper Finalist**H. Park, J. Liu, M. Johnson-Roberson, and R. Vasudevan, "Robust Environmental Mapping by Mobile Sensor Networks," in

*IEEE Conference on Robotics and Automation**, 2018*.P. Hespanhol, M. Porter, R. Vasudevan, and A. Aswani, "Statistical Watermarking for Networked Control Systems," in

*American Conference on Control*, 2018. [preprint]P. Hespanhol, M. Porter, R. Vasudevan, and A. Aswani, "Dynamic Watermarking for General LTI Systems," in

*I**EEE Conference on Decision and Control*, 2017. [preprint]S. Mohan, J. Liu, and R. Vasudevan, "Synthesizing the Optimal Luenberger-Type Observer for Nonlinear Systems," in

*I**EEE Conference on Decision and Control*, 2017. [preprint]S. Kousik, S. Vaskov, M. Johnson-Roberson, and R. Vasudevan, “Safe Trajectory Synthesis for Autonomous Driving in Unforeseen Environments,” in

*ASME Conference on Dynamics Systems and Control Conference*, 2017. [preprint]H. Park, M. Johnson-Roberson, and R.Vasudevan, “Robust Dynamic Vehicle Routing for On-Demand Systems Under Light Load,” in

*European Nonlinear Dynamics Conference*, 2017.P. Holmes, S. Danforth, T.Y. Moore, X. Fu, and R. Vasudevan, “Human Feedback Control to Maintain Trajectories of Task-Relevant Variables During Sit-to-Stand Motion,” in

*Dynamic Walking**,*2017.N. Smit-Anseeuw, C.D. Remy, and R. Vasudevan, “Safe Online Learning Using Barrier Functions,” in

*Dynamic Walking**,*2017.P. Zhao, S. Mohan, and R. Vasudevan, “Control Synthesis for Nonlinear Optimal Control via Convex Relaxations,” in

*American Conference on Control*, 2017.D. Bruder, A. Sedal, J. Bishop-Moser, S. Kota, and R. Vasudevan, “Model Based Control of Fiber Reinforced Elastofluidic Enclosures,” in

*IEEE Conference on Robotics and Automation*, 2017.M. Johnson-Roberson, C. Barto, R. Mehta, SN Sridhar, and R. Vasudevan, “Driving in the Matrix: Can Virtual Worlds Replace Human-Generated Annotations for Real World Tasks?,” in

*IEEE Conference on Robotics and Automation*, 2017.T. Moore, K.L. Cooper, A. Biewener, and R. Vasudevan, “How the biomechanics of ricochetal bipedalism enhances predator evasion, resource partitioning, and taxonomic diversity in desert rodent communities,” in

*Society for Integrative and Comparative Biology*, 2017.P. Holmes, V. Shia, T. Moore, S. Danforth, X. Yu, and R. Vasudevan, "Direct perturbation on humans performing sit-to-stand motion reveals corrective feedback control strategy,” in

*Society for Integrative and Comparative Biology*, 2017.P. Holmes, S. Kousik, S. Mohan, and R. Vasudevan, "Convex Estimation of the α-Confidence Reachable Set for Systems with Parametric Uncertainty," in

*IEEE Conference on Decision and Control*, 2016.N. Smit-Anseeuw, R. Vasudevan, and C.D. Remy, “When Knees Become Ankles,” in

*Dynamic Walking**,*2016.V. Shia, T.Y. Moore, R. Bajcsy, and R. Vasudevan, “Computing the Basin of Stability to Measure the Likelihood of Falling,” in

*Dynamic Walking**,*2016.S. Mohan and R. Vasudevan, “Convex Computation of the Reachable Set for Hybrid Systems with Parameteric Uncertainty,” in

*American Conference on Control*, 2016.V. Shia, R. Bajcsy, and R. Vasudevan, “Computing the Finite-Time Region of Attraction for Limit Cycles,” in

*Dynamic Walking**,*2015.R. Vasudevan, “Numerical Advection of Probability Densities for High Dimensional Systems,” in

*SIAM Conference on Applications of Dynamical Systems*, 2015.T. Moore, R. Vasudevan and A. Biewener, “Outrun or outmaneuver: ecological context informs more broadly applicable biomechanical studies,” in

*Society for Integrative and Comparative Biology*, 2015.V. Shia, R. Vasudevan, R. Bajcsy and R. Tedrake, “Convex Computation of the Reachable Set for Controlled Polynomial Hybrid Systems,” in

*IEEE Conference on Decision and Control*, 2014. [pdf]V. Shia, R. Matthew, R. Vasudevan and R. Bajcsy, “Relaxing Global Decrescence Conditions for Hybrid Systems Using SOS,” in

*International Federation on Automatic Contro**l*, 2014. [pdf]T. Moore, R. Vasudevan and A. Biewener, “Measuring locomotor entropy to compare predator evasion ability in sympatric desert rodents,” in

*Society for Integrative and Comparative Biology*, 2014.K. Campbell, V. Shia, R. Vasudevan and R. Bajcsy, “Probabilistic Driver Models for Semiautonomous Vehicles,” in

*Digital Signal Processing for In-Vehicle Systems*, 2013.A. Majumdar, R. Vasudevan, M. M. Tobenkin and R. Tedrake, “Convex optimization of nonlinear feedback controllers via occupation measures,” in

*Robotics Science and Systems*, 2013. [pdf]A. Majumdar, R. Vasudevan, M. M. Tobenkin, A. A. Ahmadi and R. Tedrake, “Verification and Control Synthesis with Sums-of-Squares Programming,” in

*Robotics Science and Systems - 4th Workshop on Formal Methods for Robotics and Automation*, 2013.R. Vasudevan, “Modeling Biolocomotion - Computationally tractable tools for the identification of hybrid dynamical models of human movement,” in

*SIAM Conference on Applications of Dynamical Systems*, 2013.S. Burden, H. Gonzalez, R. Vasudevan, R. Bajcsy and S. S. Sastry, “Control Systems in the Open World: Novel Mathematical Representations for Interaction,” in

*IEEE Conference on Decision and Control*, 2012. [url]R. Vasudevan, V. Shia, Y. Gao, R. Cervera-Navarro, R. Bajcsy and F. Borrelli, “Safe semi-autonomous control with enhanced driver modeling,” in

*American Control Conference*, pp. 2896-2903, 2012. [pdf]S. Burden, H. Gonzalez, R. Vasudevan, R. Bajcsy and S. S. Sastry, “Numerical integration of hybrid dynamical systems via domain relaxation,” in

*IEEE Conference on Decision and Control and European Control Conference*, pp. 3958-3965, 2011. [pdf]R. Vasudevan, A. D. Ames and R. Bajcsy, “Using persistent homology to determine a human-data based cost for bipedal walking,” in

*International Federation on Automatic Control*, vol. 18, pp. 3292-3297, 2011. [pdf]R. Vasudevan, “Hybrid system identification via switched system optimal control for bipedal robotic walking,” in

*International Symposium on Robotics Research*, 2011. [pdf]E. Lobaton, R. Vasudevan, R. Alterovitz and R. Bajcsy, “Robust topological features for deformation invariant image matching,” in

*International Conference on Computer Vision*, pp. 2516-2523, 2011. [pdf]A. D. Ames, R. Vasudevan and R. Bajcsy, “Human-data based cost of bipedal robotic walking,” in

*Hybrid Systems: Computation and Control*, pp. 153-162, 2011. [pdf]H. Gonzalez, R. Vasudevan, M. Kamgarpour, S. S. Sastry, R. Bajcsy and C. J. Tomlin, “A numerical method for the optimal control of switched systems,” in

*IEEE Conference on Decision and Control*, pp. 7519-7526, 2010. [pdf]E. Lobaton, R. Vasudevan, R. Bajcsy and R. Alterovitz, “Local occlusion detection under deformations using topological invariants,” in

*European Conference on Computer Vision*, pp. 101-114, 2010. [pdf]R. Vasudevan, Z. Zhou, G. Kurillo, E. Lobaton, R. Bajcsy and K. Nahrstedt, “Real-time stereo-vision system for 3D teleimmersive collaboration,” in

*IEEE International Conference on Multimedia and Expo*, pp. 1208-1213, 2010. [pdf]H. Gonzalez, R. Vasudevan, M. Kamgarpour, S. S. Sastry, R. Bajcsy and C. J. Tomlin, “A descent algorithm for the optimal control of constrained nonlinear switched dynamical systems,” in

*Hybrid Systems: Computation and Control*, pp. 51-60, 2010. [pdf]R. Vasudevan, E. Lobaton, G. Kurillo, R. Bajcsy, T. Bernardin, B. Hamann and K. Nahrstedt, “A methodology for remote virtual interaction in teleimmersive environments,” in

*ACM Conference on Multimedia Systems*, pp. 281-292, 2010. [pdf]E. Lobaton, R. Vasudevan, S. S. Sastry and R. Bajcsy, “Robust construction of the camera network complex for topology recovery,” in

*International Conference on Distributed Smart Cameras*, pp. 1-8, 2009. [pdf]G. Kurillo, R. Vasudevan, E. Lobaton and R. Bajcsy, “A framework for collaborative real-time 3D teleimmersion in a geographically distributed environment,” in

*IEEE International Symposium on Multimedia*, pp. 111-118, 2008. [pdf]R. Vasudevan, P. Ahammad, S. S. Sastry and R. Bajcsy, “Single trial multicomponent ERP estimation via nonparametric entropy minimization,” in

*Computational and Systems Neuroscience*, 2007.

### Technical Reports

S. Burden, H. Gonzalez, R. Vasudevan, R. Bajcsy and S. S. Sastry, “Metrization and Simulation of Controlled Hybrid Systems,” 2013. [pdf]

A. Majumdar, R. Vasudevan, M. M. Tobenkin and R. Tedrake, “Technical Report: Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures,” 2013. [pdf]

R. Vasudevan, H. Gonzalez, R. Bajcsy and S. S. Sastry, “Consistent Approximations for the Optimal Control of Constrained Switched Systems,” 2012. [pdf]

R. Vasudevan,

*Identification of Hybrid Dynamical Models for Human Movement via Switched System Optimal Control*. PhD thesis , University of California, Berkeley , 2012.E. Lobaton, R. Vasudevan, R. Alterovitz and R. Bajcsy, “Robust Topological Features for Deformation Invariant Image Matching,” 2011. [pdf]

H. Gonzalez, R. Vasudevan, M. Kamgarpour, S. S. Sastry, R. Bajcsy and C. Tomlin, “A Descent Algorithm for the Optimal Control of Constrained Nonlinear Switched Dynamical Systems: Appendix,” 2010. [pdf]