Publications

Accepted Journal Papers

  1. A. Majumdar, R. Vasudevan, M. M. Tobenkin and R. Tedrake, “Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures,” International Journal of Robotics Research, to appear.
    [BibTeX] [URL]

    @article{majumdar2013ijrr,
      author = {Majumdar, Anirudha and R. Vasudevan and Tobenkin, Mark M. and Tedrake, Russ},
      title = {Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures},
      journal = {International Journal of Robotics Research},
      year = {to appear},
      url = {http://groups.csail.mit.edu/robotics-center/public_papers/Majumdar14.pdf}
    }
    
  2. V. Shia, Y. Gao, R. Vasudevan, K. Campbell, T. Lin, F. Borrelli and R. Bajcsy, “Driver Modeling for Real-Time Semi-Autonomous Vehicular Control,” IEEE Transactions on Intelligent Transportation Systems, to appear.
    [BibTeX]

    @article{shia2013,
      author = {Shia, Vincent and Gao, Yiqi and R. Vasudevan and Campbell, Katherine and Lin, Theresa and Borrelli, Francesco and Bajcsy, Ruzena},
      title = {Driver Modeling for Real-Time Semi-Autonomous Vehicular Control},
      journal = {IEEE Transactions on Intelligent Transportation Systems},
      year = {to appear}
    }
    
  3. 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.
    [BibTeX] [URL]

    @article{vasudevan2012siam1,
      author = {R. Vasudevan and Gonzalez, Humberto and Bajcsy, Ruzena and Sastry, S. Shankar},
      title = {Consistent Approximations for the Optimal Control of Constrained Switched Systems -- Part 1: A Conceptual Algorithm},
      journal = {SIAM Journal on Control and Optimization},
      year = {2013},
      volume = {51},
      number = {6},
      pages = {4463--4483},
      url = {http://epubs.siam.org/doi/abs/10.1137/120901490},
      doi = {http://dx.doi.org/10.1137/120901490}
    }
    
  4. 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.
    [BibTeX] [URL]

    @article{vasudevan2012siam2,
      author = {R. Vasudevan and Gonzalez, Humberto and Bajcsy, Ruzena and Sastry, S. Shankar},
      title = {Consistent Approximations for the Optimal Control of Constrained Switched Systems -- Part 2: An Implementable Algorithm},
      journal = {SIAM Journal on Control and Optimization},
      year = {2013},
      volume = {51},
      number = {6},
      pages = {4484--4503},
      url = {http://epubs.siam.org/doi/abs/10.1137/120901507},
      doi = {http://dx.doi.org/10.1137/120901507}
    }
    
  5. 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.
    [BibTeX] [URL]

    @article{vasudevan2012,
      author = {R. Vasudevan and Ames, Aaron D. and Bajcsy, Ruzena},
      title = {Persistent Homology for Automatic Determination of Human-Data Based Cost of Bipedal Walking},
      journal = {Nonlinear Analysis: Hybrid Systems},
      publisher = {Elsevier},
      year = {2012},
      volume = {7},
      number = {1},
      pages = {101--115},
      url = {http://www.sciencedirect.com/science/article/pii/S1751570X1200026X}
    }
    
  6. 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 = {R. Vasudevan and Kurillo, Gregorij and Lobaton, Edgar and Bernardin, Tony and Kreylos, Oliver and Bajcsy, Ruzena and Nahrstedt, Klara},
      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}
    }
    
  7. 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.
    [BibTeX] [URL]

    @article{lobaton2010distributed,
      author = {Lobaton, Edgar and R. Vasudevan and Bajcsy, Ruzena and Sastry, S. Shankar},
      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}
    }
    

Submitted or In Preparation Journal Papers

  1. S. Burden, H. Gonzalez, R. Vasudevan, R. Bajcsy and S. S. Sastry, “Metrization and Simulation of Controlled Hybrid Systems,” IEEE Transactions on Automatic Control, submitted, in review.
    [BibTeX] [URL]

    @article{burden2013tac,
      author = {Burden, Samuel and Gonzalez, Humberto and R. Vasudevan and Bajcsy, Ruzena and Sastry, S. Shankar},
      title = {Metrization and Simulation of Controlled Hybrid Systems},
      journal = {IEEE Transactions on Automatic Control},
      year = {submitted, in review},
      url = {http://arxiv.org/pdf/1302.4402v1.pdf}
    }
    
  2. R. Vasudevan, V. Shia and R. Bajcsy, “Identification of Hybrid Dynamical Models for Human Movement via Switched System Optimal Control,” in preparation.
    [BibTeX]

    @article{vasudevan2013id,
      author = {R. Vasudevan and Shia, V. and Bajcsy, R.},
      title = {Identification of Hybrid Dynamical Models for Human Movement via Switched System Optimal Control},
      year = {in preparation}
    }
    
  3. T. Moore, R. Vasudevan and A. Biewener, “Measuring Locomotor Entropy to Compare Predator Evasion Ability in Sympatric Desert Rodents,” in preparation.
    [BibTeX]

    @article{moore2014entropy,
      author = {Moore, Talia and R. Vasudevan and Biewener , Andrew},
      title = {Measuring Locomotor Entropy to Compare Predator Evasion Ability in Sympatric Desert Rodents},
      year = {in preparation}
    }
    
  4. R. Vasudevan, H. Jacobs, D. Holmes and R. Tedrake, “Computing the Time Limited Backwards Reachable Set Using Half-Densities,” in preparation.
    [BibTeX]

    @article{vasudevan2014hd,
      author = {R. Vasudevan and Jacobs, Henry and Holmes, Daryl and Tedrake, Russ},
      title = {Computing the Time Limited Backwards Reachable Set Using Half-Densities},
      year = {in preparation}
    }
    

Conference Papers

  1. 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, in review.
    [BibTeX]

    @inproceedings{shia2014,
      author = {Shia, V. and R. Vasudevan and Bajcsy, R. and Tedrake, R.},
      title = {Convex Computation of the Reachable Set for Controlled Polynomial Hybrid Systems},
      booktitle = {IEEE Conference on Decision and Control},
      year = {in review}
    }
    
  2. 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.
    [BibTeX]

    @inproceedings{moore2014sicb,
      author = {Moore, Talia and R. Vasudevan and Biewener , Andrew},
      title = {Measuring locomotor entropy to compare predator evasion ability in sympatric desert rodents},
      booktitle = {Society for Integrative and Comparative Biology},
      year = {2014}
    }
    
  3. V. Shia, R. Matthew, R. Vasudevan and R. Bajcsy, “Relaxing Global Decrescence Conditions for Hybrid Systems Using SOS,” in International Federation on Automatic Control (IFAC), 2014, 2014.
    [BibTeX]

    @inproceedings{shia2014ifac,
      author = {Shia, V. and Matthew, R. and R. Vasudevan and Bajcsy, R.},
      title = {Relaxing Global Decrescence Conditions for Hybrid Systems Using SOS},
      booktitle = {International Federation on Automatic Control (IFAC), 2014},
      year = {2014}
    }
    
  4. K. Campbell, V. Shia, R. Vasudevan and R. Bajcsy, “Probabilistic Driver Models for Semiautonomous Vehicles,” in Digital Signal Processing for In-Vehicle Systems, 2013.
    [BibTeX] [URL]

    @inproceedings{campbell2013workshop,
      author = {Campbell, Katherine and Shia, Victor and R. Vasudevan and Bajcsy, Ruzena},
      title = {Probabilistic Driver Models for Semiautonomous Vehicles},
      booktitle = {Digital Signal Processing for In-Vehicle Systems},
      year = {2013},
      url = {http://dsp-2013.org/}
    }
    
  5. 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.
    [BibTeX]

    @inproceedings{majumdar2013rss,
      author = {Majumdar, Anirudha and R. Vasudevan and Tobenkin, Mark M. and Tedrake, Russ},
      title = {Convex optimization of nonlinear feedback controllers via occupation measures},
      booktitle = {Robotics Science and Systems},
      year = {2013}
    }
    
  6. 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.
    [BibTeX] [URL]

    @inproceedings{majumdar2013workshop,
      author = {Majumdar, Anirudha and R. Vasudevan and Tobenkin, Mark M. and Ahmadi, Ali A. and Tedrake, Russ},
      title = {Verification and Control Synthesis with Sums-of-Squares Programming},
      booktitle = {Robotics Science and Systems - 4th Workshop on Formal Methods for Robotics and Automation},
      year = {2013},
      url = {http://verifiablerobotics.com/RSS13/index.html}
    }
    
  7. R. Vasudevan, “Modeling Biolocomotion - Computationally tractable tools for the identification of hybrid dynamical models of human movement,” in SIAM Conference on Dynamical Systems, 2013.
    [BibTeX]

    @inproceedings{vasudevan2013siamconf,
      author = {R. Vasudevan},
      title = {Modeling Biolocomotion - Computationally tractable tools for the identification of hybrid dynamical models of human movement},
      booktitle = {SIAM Conference on Dynamical Systems},
      year = {2013}
    }
    
  8. 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.
    [BibTeX] [URL]

    @inproceedings{burden2012cdcworkshop,
      author = {Burden, Samuel and Gonzalez, Humberto and R. Vasudevan and Bajcsy, Ruzena and Sastry, S. Shankar},
      title = {Control Systems in the Open World: Novel Mathematical Representations for Interaction},
      booktitle = {IEEE Conference on Decision and Control},
      year = {2012},
      url = {http://www.youtube.com/playlist?list=PLNO40GE-rrcN8TModHcf5A2WtkbMMPqED}
    }
    
  9. 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.
    [BibTeX] [PDF]

    @inproceedings{vasudevan2012safe,
      author = {R. Vasudevan and Shia, Victor and Gao, Yiqi and Cervera-Navarro, Ricardo and Bajcsy, Ruzena and Borrelli, Francesco},
      title = {Safe semi-autonomous control with enhanced driver modeling},
      booktitle = {American Control Conference},
      year = {2012},
      pages = {2896--2903}
    }
    
  10. 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.
    [BibTeX] [PDF]

    @inproceedings{ames2011human,
      author = {Ames, Aaron D. and R. Vasudevan and Bajcsy, Ruzena},
      title = {Human-data based cost of bipedal robotic walking},
      booktitle = {Hybrid Systems: Computation and Control},
      year = {2011},
      pages = {153--162}
    }
    
  11. 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.
    [BibTeX] [PDF]

    @inproceedings{burden2011numerical,
      author = {Burden, Samuel and Gonzalez, Humberto and R. Vasudevan and Bajcsy, Ruzena and Sastry, S. Shankar},
      title = {Numerical integration of hybrid dynamical systems via domain relaxation},
      booktitle = {IEEE Conference on Decision and Control and European Control Conference},
      year = {2011},
      pages = {3958--3965}
    }
    
  12. 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.
    [BibTeX] [PDF]

    @inproceedings{lobaton2011robust,
      author = {Lobaton, Edgar and R. Vasudevan and Alterovitz, Ron and Bajcsy, Ruzena},
      title = {Robust topological features for deformation invariant image matching},
      booktitle = {International Conference on Computer Vision},
      year = {2011},
      pages = {2516--2523}
    }
    
  13. 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.
    [BibTeX] [PDF]

    @inproceedings{vasudevan2011using,
      author = {R. Vasudevan and Ames, Aaron D. and Bajcsy, Ruzena},
      title = {Using persistent homology to determine a human-data based cost for bipedal walking},
      booktitle = {International Federation on Automatic Control},
      year = {2011},
      volume = {18},
      pages = {3292--3297}
    }
    
  14. R. Vasudevan, “Hybrid system identification via switched system optimal control for bipedal robotic walking,” in International Symposium on Robotics Research, 2011.
    [BibTeX] [PDF]

    @inproceedings{vasudevan2012isrr,
      author = {R. Vasudevan},
      title = {Hybrid system identification via switched system optimal control for bipedal robotic walking},
      booktitle = {International Symposium on Robotics Research},
      year = {2011}
    }
    
  15. 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.
    [BibTeX] [PDF]

    @inproceedings{gonzalez2010descent,
      author = {Gonzalez, Humberto and R. Vasudevan and Kamgarpour, Maryam and Sastry, S. Shankar and Bajcsy, Ruzena and Tomlin, Claire J.},
      title = {A descent algorithm for the optimal control of constrained nonlinear switched dynamical systems},
      booktitle = {Hybrid Systems: Computation and Control},
      year = {2010},
      pages = {51--60}
    }
    
  16. 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.
    [BibTeX] [PDF]

    @inproceedings{gonzalez2010numerical,
      author = {Gonzalez, Humberto and R. Vasudevan and Kamgarpour, Maryam and Sastry, S. Shankar and Bajcsy, Ruzena and Tomlin, Claire J.},
      title = {A numerical method for the optimal control of switched systems},
      booktitle = {IEEE Conference on Decision and Control},
      year = {2010},
      pages = {7519--7526}
    }
    
  17. 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.
    [BibTeX] [PDF]

    @inproceedings{lobaton2010local,
      author = {Lobaton, Edgar and R. Vasudevan and Bajcsy, Ruzena and Alterovitz, Ron},
      title = {Local occlusion detection under deformations using topological invariants},
      booktitle = {European Conference on Computer Vision},
      publisher = {Springer},
      year = {2010},
      pages = {101--114}
    }
    
  18. 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.
    [BibTeX] [PDF]

    @inproceedings{vasudevan2010methodology,
      author = {R. Vasudevan and Lobaton, Edgar and Kurillo, Gregorij and Bajcsy, Ruzena and Bernardin, Tony and Hamann, Bernd and Nahrstedt, Klara},
      title = {A methodology for remote virtual interaction in teleimmersive environments},
      booktitle = {ACM Conference on Multimedia Systems},
      year = {2010},
      pages = {281--292}
    }
    
  19. 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.
    [BibTeX] [PDF]

    @inproceedings{vasudevan2010real,
      author = {R. Vasudevan and Zhou, Zhenyou and Kurillo, Gregorij and Lobaton, Edgar and Bajcsy, Ruzena and Nahrstedt, Klara},
      title = {Real-time stereo-vision system for 3D teleimmersive collaboration},
      booktitle = {IEEE International Conference on Multimedia and Expo},
      year = {2010},
      pages = {1208--1213}
    }
    
  20. 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.
    [BibTeX] [PDF]

    @inproceedings{lobaton2009robust,
      author = {Lobaton, Edgar and R. Vasudevan and Sastry, S. Shankar and Bajcsy, Ruzena},
      title = {Robust construction of the camera network complex for topology recovery},
      booktitle = {International Conference on Distributed Smart Cameras},
      year = {2009},
      pages = {1--8}
    }
    
  21. 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.
    [BibTeX] [PDF]

    @inproceedings{kurillo2008framework,
      author = {Kurillo, Gregorij and R. Vasudevan and Lobaton, Edgar and Bajcsy, Ruzena},
      title = {A framework for collaborative real-time 3D teleimmersion in a geographically distributed environment},
      booktitle = {IEEE International Symposium on Multimedia},
      year = {2008},
      pages = {111--118}
    }
    
  22. 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.
    [BibTeX] [PDF]

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

Workshops

  1. A. Majumdar, R. Vasudevan, M. Tobenkin, A. Ahmadi and R. Tedrake, “Verification and Control Synthesis with Sums-of-Squares Programming,” June 2013.
    [BibTeX] [URL]

    @inproceedings{majumdar2013workshop,
      author = {Majumdar, A. and R. Vasudevan and Tobenkin, M.M. and Ahmadi, A.A. and Tedrake, R},
      title = {Verification and Control Synthesis with Sums-of-Squares Programming},
      publisher = {Robotics Science and Systems - 4th Workshop on Formal Methods for Robotics and Automation},
      year = {2013},
      url = {http://verifiablerobotics.com/RSS13/index.html}
    }
    
  2. R. Vasudevan, “Identification of Hybrid Dynamical Models of Human Motion,” in Control Systems in the Open World: Novel Mathematical Representations for Interaction, December 2012.
    [BibTeX] [URL]

    @inproceedings{vasudevan2012cdcworkshop,
      author = {R. Vasudevan},
      title = {Identification of Hybrid Dynamical Models of Human Motion},
      booktitle = {Control Systems in the Open World: Novel Mathematical Representations for Interaction},
      publisher = {51st IEEE Conference on Decision and Control},
      year = {2012},
      url = {http://www.youtube.com/playlist?list=PLNO40GE-rrcN8TModHcf5A2WtkbMMPqED}
    }
    

Technical Reports

  1. 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.
    [BibTeX] [URL]

    @techreport{gonzalez2010descenttechreport,
      author = {Gonzalez, Humberto and R. Vasudevan and Kamgarpour, Maryam and Sastry, S. Shankar and Bajcsy, Ruzena and Tomlin, Claire},
      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}
    }
    
  2. E. Lobaton, R. Vasudevan, R. Alterovitz and R. Bajcsy, “Robust Topological Features for Deformation Invariant Image Matching,” 2011.
    [BibTeX] [URL]

    @techreport{lobaton2011robusttech,
      author = {Lobaton, Edgar and R. Vasudevan and Alterovitz, Ron and Bajcsy, Ruzena},
      title = {Robust Topological Features for Deformation Invariant Image Matching},
      year = {2011},
      url = {http://www.eecs.berkeley.edu/Pubs/TechRpts/2011/EECS-2011-89.pdf}
    }
    
  3. A. Majumdar, R. Vasudevan, M. M. Tobenkin and R. Tedrake, “Technical Report: Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures,” 2013.
    [BibTeX] [URL]

    @techreport{majumdar2013tr,
      author = {Majumdar, Anirudha and R. Vasudevan and Tobenkin, Mark M. and Tedrake, Russ},
      title = {Technical Report: Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures},
      journal = {arXiv preprint arXiv:1305.7484},
      year = {2013},
      url = {http://arxiv.org/pdf/1305.7484v1.pdf}
    }
    
  4. R. Vasudevan, H. Gonzalez, R. Bajcsy and S. S. Sastry, “Consistent Approximations for the Optimal Control of Constrained Switched Systems,” 2012.
    [BibTeX] [URL]

    @techreport{vasudevan2012consistent,
      author = {R. Vasudevan and Gonzalez, Humberto and Bajcsy, Ruzena and Sastry, S. Shankar},
      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}
    }
    
  5. 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 = {R. Vasudevan},
      title = {Identification of Hybrid Dynamical Models for Human Movement via Switched System Optimal Control},
      school = {University of California, Berkeley},
      year = {2012}
    }
    
  6. S. Burden, H. Gonzalez, R. Vasudevan, R. Bajcsy and S. S. Sastry, “Metrization and Simulation of Controlled Hybrid Systems,” 2013.
    [BibTeX] [URL]

    @techreport{burden2013metrization,
      author = {Burden, Samuel and Gonzalez, Humberto and R. Vasudevan and Bajcsy, Ruzena and Sastry, S. Shankar},
      title = {Metrization and Simulation of Controlled Hybrid Systems},
      journal = {arXiv preprint arXiv:1302.4402},
      year = {2013},
      url = {http://arxiv.org/pdf/1302.4402v1.pdf}
    }