Ram Vasudevan
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Hybrid Dynamical Simulation
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Affiliated Groups
AMBER Lab
MPC Lab
Robot Locomotion Group
Teleimmersion Lab

Publications

Journal Papers

  1. S. Burden*, H. Gonzalez*, R. Vasudevan*, R. Bajcsy and S. S. Sastry, “Numerical Simulation of Hybrid Systems,” in preparation.
    [BibTeX] 

    @article{burden2013tac,
  author = {Sam Burden* and Humberto Gonzalez* and Ramanarayan Vasudevan* and Ruzena Bajcsy and S. Shankar Sastry},
  title = {Numerical Simulation of Hybrid Systems},
  year = {in preparation}
}

  2. 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, in review.
    [BibTeX] 

    @article{vasudevan2012siam1,
  author = {Ramanarayan Vasudevan* and Humberto Gonzalez* and Ruzena Bajcsy and S. Shankar Sastry},
  title = {Consistent Approximations for the Optimal Control of Constrained Switched Systems -- Part 1: A Conceptual Algorithm},
  journal = {SIAM Journal on Control and Optimization},
  year = {in review}
}

  3. 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, in review.
    [BibTeX] 

    @article{vasudevan2012siam2,
  author = {Ramanarayan Vasudevan* and Humberto Gonzalez* and Ruzena Bajcsy and S. Shankar Sastry},
  title = {Consistent Approximations for the Optimal Control of Constrained Switched Systems -- Part 2: An Implementable Algorithm},
  journal = {SIAM Journal on Control and Optimization},
  year = {in review}
}

  4. R. Vasudevan, A. 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, 2013.
    [BibTeX] [URL] 

    @article{vasudevan2012,
  author = {Vasudevan, R. and Ames, A.D. and Bajcsy, R.},
  title = {Persistent Homology for Automatic Determination of Human-Data Based Cost of Bipedal Walking},
  journal = {Nonlinear Analysis: Hybrid Systems},
  publisher = {Elsevier},
  year = {2013},
  volume = {7},
  number = {1},
  pages = {101--115},
  url = {http://www.sciencedirect.com/science/article/pii/S1751570X1200026X}
}

  5. 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.
    [BibTeX] [URL] 

    @article{vasudevan2011high,
  author = {Vasudevan*, R. and Kurillo*, G. and Lobaton*, E. and Bernardin, T. and Kreylos, O. and Bajcsy, R. and Nahrstedt, K.},
  title = {High Quality Visualization for Geographically Distributed 3D Teleimmersive Applications},
  journal = {IEEE Transactions on Multimedia},
  publisher = {IEEE},
  year = {2011},
  volume = {13},
  number = {3},
  pages = {573--584},
  url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5727958}
}

  6. E. Lobaton, R. Vasudevan, R. Bajcsy and S. Sastry, “A Distributed Topological Camera Network Representation for Tracking Applications,” IEEE Transactions on Image Processing, vol. 19, no. 10, pp. 2516-2529, 2010.
    [BibTeX] [URL] 

    @article{lobaton2010distributed,
  author = {Lobaton, E. and Vasudevan, R. and Bajcsy, R. and Sastry, S.},
  title = {A Distributed Topological Camera Network Representation for Tracking Applications},
  journal = {IEEE Transactions on Image Processing},
  publisher = {IEEE},
  year = {2010},
  volume = {19},
  number = {10},
  pages = {2516--2529},
  url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5482189}
}

Conference Papers

  1. 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 (ACC), 2012, pp. 2896-2903, 2012.
    [BibTeX] [PDF] 

    @inproceedings{vasudevan2012safe,
  author = {Vasudevan, R. and Shia, V. and Gao, Y. and Cervera-Navarro, R. and Bajcsy, R. and Borrelli, F.},
  title = {Safe semi-autonomous control with enhanced driver modeling},
  booktitle = {American Control Conference (ACC), 2012},
  year = {2012},
  pages = {2896--2903}
}

  2. R. Vasudevan, “Hybrid system identification via switched system optimal control for bipedal robotic walking,” in International Symposium on Robotics Research (ISRR), 2011.
    [BibTeX] [PDF] 

    @inproceedings{vasudevan2012isrr,
  author = {Vasudevan, R.},
  title = {Hybrid system identification via switched system optimal control for bipedal robotic walking},
  booktitle = {International Symposium on Robotics Research (ISRR)},
  year = {2011}
}

  3. R. Vasudevan, A. Ames and R. Bajcsy, “Using persistent homology to determine a human-data based cost for bipedal walking,” in International Federation on Automatic Control (IFAC), 2011, vol. 18, no. 1, pp. 3292-3297, 2011.
    [BibTeX] [PDF] 

    @inproceedings{vasudevan2011using,
  author = {Vasudevan, R. and Ames, A. and Bajcsy, R.},
  title = {Using persistent homology to determine a human-data based cost for bipedal walking},
  booktitle = {International Federation on Automatic Control (IFAC), 2011},
  year = {2011},
  volume = {18},
  number = {1},
  pages = {3292--3297}
}

  4. A. Ames*, R. Vasudevan* and R. Bajcsy, “Human-data based cost of bipedal robotic walking,” in Proceedings of the 14th International Conference on Hybrid Systems: Computation and Control (HSCC), pp. 153-162, 2011.
    [BibTeX] [PDF] 

    @inproceedings{ames2011human,
  author = {Ames*, A.D. and Vasudevan*, R. and Bajcsy, R.},
  title = {Human-data based cost of bipedal robotic walking},
  booktitle = {Proceedings of the 14th International Conference on Hybrid Systems: Computation and Control (HSCC)},
  year = {2011},
  pages = {153--162}
}

  5. S. Burden*, H. Gonzalez*, R. Vasudevan*, R. Bajcsy and S. Sastry, “Numerical integration of hybrid dynamical systems via domain relaxation,” in 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC), pp. 3958-3965, 2011.
    [BibTeX] [PDF] 

    @inproceedings{burden2011numerical,
  author = {Burden*, S. and Gonzalez*, H. and Vasudevan*, R. and Bajcsy, R. and Sastry, S.S.},
  title = {Numerical integration of hybrid dynamical systems via domain relaxation},
  booktitle = {50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC)},
  year = {2011},
  pages = {3958--3965}
}

  6. E. Lobaton*, R. Vasudevan*, R. Alterovitz and R. Bajcsy, “Robust topological features for deformation invariant image matching,” in International Conference on Computer Vision (ICCV), pp. 2516-2523, 2011.
    [BibTeX] [PDF] 

    @inproceedings{lobaton2011robust,
  author = {Lobaton*, E. and Vasudevan*, R. and Alterovitz, R. and Bajcsy, R.},
  title = {Robust topological features for deformation invariant image matching},
  booktitle = {International Conference on Computer Vision (ICCV)},
  year = {2011},
  pages = {2516--2523}
}

  7. H. Gonzalez*, R. Vasudevan*, M. Kamgarpour, S. Sastry, R. Bajcsy and C. Tomlin, “A numerical method for the optimal control of switched systems,” in 49th IEEE Conference on Decision and Control (CDC), pp. 7519-7526, 2010.
    [BibTeX] [PDF] 

    @inproceedings{gonzalez2010numerical,
  author = {Gonzalez*, H. and Vasudevan*, R. and Kamgarpour, M. and Sastry, S.S. and Bajcsy, R. and Tomlin, C.},
  title = {A numerical method for the optimal control of switched systems},
  booktitle = {49th IEEE Conference on Decision and Control (CDC)},
  year = {2010},
  pages = {7519--7526}
}

  8. H. Gonzalez*, R. Vasudevan*, M. Kamgarpour, S. Sastry, R. Bajcsy and C. Tomlin, “A descent algorithm for the optimal control of constrained nonlinear switched dynamical systems,” in Proceedings of the 13th ACM International Conference on Hybrid Systems: Computation and Control (HSCC), pp. 51-60, 2010.
    [BibTeX] [PDF] 

    @inproceedings{gonzalez2010descent,
  author = {Gonzalez*, H. and Vasudevan*, R. and Kamgarpour, M. and Sastry, S.S. and Bajcsy, R. and Tomlin, C.J.},
  title = {A descent algorithm for the optimal control of constrained nonlinear switched dynamical systems},
  booktitle = {Proceedings of the 13th ACM International Conference on Hybrid Systems: Computation and Control (HSCC)},
  year = {2010},
  pages = {51--60}
}

  9. 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 (ICME), pp. 1208-1213, 2010.
    [BibTeX] [PDF] 

    @inproceedings{vasudevan2010real,
  author = {Vasudevan*, R. and Zhou*, Z. and Kurillo*, G. and Lobaton, E. and Bajcsy, R. and Nahrstedt, K.},
  title = {Real-time stereo-vision system for 3D teleimmersive collaboration},
  booktitle = {IEEE International Conference on Multimedia and Expo (ICME)},
  year = {2010},
  pages = {1208--1213}
}

  10. 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 Proceedings of the First ACM Conference on Multimedia Systems, pp. 281-292, 2010.
    [BibTeX] [PDF] 

    @inproceedings{vasudevan2010methodology,
  author = {Vasudevan*, R. and Lobaton*, E. and Kurillo*, G. and Bajcsy, R. and Bernardin, T. and Hamann, B. and Nahrstedt, K.},
  title = {A methodology for remote virtual interaction in teleimmersive environments},
  booktitle = {Proceedings of the First ACM Conference on Multimedia Systems},
  year = {2010},
  pages = {281--292}
}

  11. E. Lobaton*, R. Vasudevan*, R. Bajcsy and R. Alterovitz, “Local occlusion detection under deformations using topological invariants,” in European Conference on Computer Vision (ECCV), pp. 101-114, 2010.
    [BibTeX] [PDF] 

    @inproceedings{lobaton2010local,
  author = {Lobaton*, E. and Vasudevan*, R. and Bajcsy, R. and Alterovitz, R.},
  title = {Local occlusion detection under deformations using topological invariants},
  booktitle = {European Conference on Computer Vision (ECCV)},
  publisher = {Springer},
  year = {2010},
  pages = {101--114}
}

  12. E. Lobaton, R. Vasudevan, S. Sastry and R. Bajcsy, “Robust construction of the camera network complex for topology recovery,” in Third ACM/IEEE International Conference on Distributed Smart Cameras (ICDSC), pp. 1-8, 2009.
    [BibTeX] [PDF] 

    @inproceedings{lobaton2009robust,
  author = {Lobaton, E. and Vasudevan, R. and Sastry, S. and Bajcsy, R.},
  title = {Robust construction of the camera network complex for topology recovery},
  booktitle = {Third ACM/IEEE International Conference on Distributed Smart Cameras (ICDSC)},
  year = {2009},
  pages = {1--8}
}

  13. G. Kurillo*, R. Vasudevan*, E. Lobaton* and R. Bajcsy, “A framework for collaborative real-time 3D teleimmersion in a geographically distributed environment,” in Tenth IEEE International Symposium on Multimedia (ISM), pp. 111-118, 2008.
    [BibTeX] [PDF] 

    @inproceedings{kurillo2008framework,
  author = {Kurillo*, G. and Vasudevan*, R. and Lobaton*, E. and Bajcsy, R.},
  title = {A framework for collaborative real-time 3D teleimmersion in a geographically distributed environment},
  booktitle = {Tenth IEEE International Symposium on Multimedia (ISM)},
  year = {2008},
  pages = {111--118}
}

  14. R. Vasudevan, P. Ahammad, S. Sastry and R. Bajcsy, “Single trial multicomponent ERP estimation via nonparametric entropy minimization,” in Computational and Systems Neuroscience (COSYNE), 2007.
    [BibTeX] [PDF] 

    @inproceedings{vasudevan2007,
  author = {Vasudevan, R. and Ahammad, P. and Sastry, S. and Bajcsy, R.},
  title = {Single trial multicomponent ERP estimation via nonparametric entropy minimization},
  booktitle = {Computational and Systems Neuroscience (COSYNE)},
  year = {2007}
}

Workshops

  1. S. Burden*, H. Gonzalez*, R. Vasudevan*, R. Bajcsy and S. Sastry, “Control Systems in the Open World: Novel Mathematical Representations for Interaction,” December 2012.
    [BibTeX] [URL] 

    @electronic{burden2012cdcworkshop,
  author = {Burden*, S. and Gonzalez*, H. and Vasudevan*, R. and Bajcsy, R. and Sastry, S.S.},
  title = {Control Systems in the Open World: Novel Mathematical Representations for Interaction},
  year = {2012},
  url = {http://purl.org/sburden/cdc2012}
}

Technical Reports

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

    @techreport{vasudevan2012consistent,
  author = {Vasudevan, R. and Gonzalez, H. and Bajcsy, R. and Sastry, S.S.},
  title = {Consistent Approximations for the Optimal Control of Constrained Switched Systems},
  journal = {arXiv preprint arXiv:1208.0062},
  year = {2012},
  url = {http://arxiv.org/pdf/1208.0062v2.pdf}
}

  2. R. Vasudevan, Identification of Hybrid Dynamical Models for Human Movement via Switched System Optimal Control. PhD thesis , University of California, Berkeley , 2012.
    [BibTeX] 

    @phdthesis{vasudevanphd,
  author = {Vasudevan, R.},
  title = {Identification of Hybrid Dynamical Models for Human Movement via Switched System Optimal Control},
  school = {University of California, Berkeley},
  year = {2012}
}

  3. H. Gonzalez*, R. Vasudevan*, M. Kamgarpour, S. Sastry, R. Bajcsy and C. Tomlin, “A descent algorithm for the optimal control of constrained nonlinear switched dynamical systems: appendix,” 2010.
    [BibTeX] [URL] 

    @techreport{gonzalez2010descenttechreport,
  author = {Gonzalez*, H. and Vasudevan*, R. and Kamgarpour, M. and Sastry, S.S. and Bajcsy, R. and Tomlin, C.},
  title = {A descent algorithm for the optimal control of constrained nonlinear switched dynamical systems: appendix},
  year = {2010},
  url = {http://www.eecs.berkeley.edu/Pubs/TechRpts/2010/EECS-2010-9.pdf}
}

  4. E. Lobaton*, R. Vasudevan*, R. Alterovitz and R. Bajcsy, “Robust topological features for deformation invariant image matching,” 2011.
    [BibTeX] [URL] 

    @techreport{lobaton2011robusttech,
  author = {Lobaton*, E. and Vasudevan*, R. and Alterovitz, R. and Bajcsy, R.},
  title = {Robust topological features for deformation invariant image matching},
  year = {2011},
  url = {http://www.eecs.berkeley.edu/Pubs/TechRpts/2011/EECS-2011-89.pdf}
}

 *denotes equal contribution