Preprints

  1. S. Kousik, S. Vaskov, M. Johnson-Roberson, R. Vasudevan "Safe Trajectory Synthesis for Autonomous Driving in Unforeseen Environments" [preprint]
  2. P. Zhao, S. Mohan, and R. Vasudevan, "Optimal Control for Nonlinear Hybrid Systems via Convex Relaxations." [preprint]
  3. 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.” [preprint]
  4. S. Mohan, V. Shia, and R. Vasudevan, “Convex Computation of the Reachable Set for Hybrid Systems with Parametric Uncertainty.” [preprint]
  5. H.O. Jacobs and R. Vasudevan, “Qualitatively Accurate Spectral Schemes for Advection and Transport.” [preprint]

Journal Papers and Book Chapters

  1. T.Y. Moore, K.L Cooper, A.A. Biewener, R. Vasudevan.  “Unpredictability of escape trajectory explains predator evasion ability and taxonomic diversity of desert rodents,” Nature Communications, accepted.
  2. 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, accepted. 
  3. R. Vasudevan, “Hybrid System Identification via Switched System Optimal Control for Bipedal Robotic Walking,” Springer Tracts in Advanced Roboticsvol. 60, no. 9, oo. 635-650, August 2016. [url]
  4. 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]
  5. 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]
  6. 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]
  7. 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]
  8. 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]
  9. 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
  10. 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]
  11. 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

  1. P. Zhao, S. Mohan, and R. Vasudevan, "Control Synthesis for Nonlinear Optimal Control via Convex Relaxations," in American Conference on Control, 2017.  
  2. 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.
  3. 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.
  4. 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. 
  5. 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. 
  6. 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. 
  7. S. Mohan and R. Vasudevan, "Convex Computation of the Reachable Set for Hybrid Systems with Parameteric Uncertainty," in American Conference on Control, 2016.
  8. R. Vasudevan, “Numerical Advection of Probability Densities for High Dimensional Systems,” in SIAM Conference on Applications of Dynamical Systems, 2015. 
  9. 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. 
  10. 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]
  11. V. Shia, R. Matthew, R. Vasudevan and R. Bajcsy, “Relaxing Global Decrescence Conditions for Hybrid Systems Using SOS,” in International Federation on Automatic Control, 2014. [pdf]
  12. 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. 
  13. K. Campbell, V. Shia, R. Vasudevan and R. Bajcsy, “Probabilistic Driver Models for Semiautonomous Vehicles,” in Digital Signal Processing for In-Vehicle Systems, 2013. 
  14. 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]
  15. 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. 
  16. 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. 
  17. 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]
  18. 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]
  19. 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]
  20. 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]
  21. R. Vasudevan, “Hybrid system identification via switched system optimal control for bipedal robotic walking,” in International Symposium on Robotics Research, 2011. [pdf]
  22. 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]
  23. 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]
  24. 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]
  25. 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]
  26. 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]
  27. 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]
  28. 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]
  29. 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]
  30. 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]
  31. 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

  1. S. Burden, H. Gonzalez, R. Vasudevan, R. Bajcsy and S. S. Sastry, “Metrization and Simulation of Controlled Hybrid Systems,” 2013. [pdf]
  2. A. Majumdar, R. Vasudevan, M. M. Tobenkin and R. Tedrake, “Technical Report: Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures,” 2013. [pdf]
  3. R. Vasudevan, H. Gonzalez, R. Bajcsy and S. S. Sastry, “Consistent Approximations for the Optimal Control of Constrained Switched Systems,” 2012. [pdf]
  4. R. Vasudevan, Identification of Hybrid Dynamical Models for Human Movement via Switched System Optimal Control. PhD thesis , University of California, Berkeley , 2012. 
  5. E. Lobaton, R. Vasudevan, R. Alterovitz and R. Bajcsy, “Robust Topological Features for Deformation Invariant Image Matching,” 2011. [pdf]
  6. 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]