Recent Publications

Final Report - Autonomous Search and Rescue with ScanEagle, [pdf]


Autonomous UAV path planning and estimation, [pdf]


CSL: A Language to Specify and Re-Specify Mobile Sensor Network Behaviors, [pdf]


All Publications

Research Publications


Raja Sengupta, John Connors, Ben Kehoe, Zu Kim, Tom Kuhn and Jared Wood, Final Report - Autonomous Search and Rescue with ScanEagle, Prepared for Evergreen Unmanned Systems and Shell International Exploration and Production Inc., September 2010. [pdf]


John Tisdale, Zu Kim and Karl Hedric, Autonomous UAV path planning and estimation, Robotics and Automation Magazine, IEEE, vol.16, no.2, pp.35-42, June 2009. [pdf]


Joshua Love, Jerry Jariyasunant, Eloi Pereira, Marco Zennaro, Karl Hedrick, Christoph Kirsch and Raja Sengupta, CSL: A Language to Specify and Re-Specify Mobile Sensor Network Behaviors, 15th IEEE Real-Time and Embedded Technology and Applications Symposium, San Francisco, California, April 2009. [pdf]


John Tisdale, Zu Kim and Karl Hedrick, An Autonomous System for Cooperative Search and Localization using Unmanned Vehicles, Proceedings of the AIAA Guidance, Navigation and Control Conference, Honolulu, Hawaii, August 2008. [ ]


Allison Ryan, Information-Theoretic Tracking Control Based on Particle Filter Estimate, Proceedings of the AIAA Guidance, Navigation and Control Conference, Honolulu, Hawaii, August 2008. [pdf]


John Tisdale, Allison Ryan, Zu Kim, D. Tornqvist and Karl Hedrick, A Multiple UAV System for Vision-Based Search and Localization, Proceedings of the IEEE American Controls Conference, Seattle, Washington, June 2008. [pdf]


Zu Kim and Raja Sengupta, Target Detection and Position Likelihood using an Aerial Image Sensor, Proceedings of the IEEE International Conference on Robotics and Automation, Pasadena, California, May 2008. [pdf]


S. Rathinam, Z. Kim and R. Sengupta, Vision Based Monitoring of Locally Linear Structures using an UAV, Journal of Infrastructure Systems, vol.14, no.1, pp.52-63, 2008. [ ]


Allison Ryan, Hugh Durrant-Whyte and Karl Hedrick, Information-Theoretic Sensor Motion Control for Distributed Estimation, Proceedings of the ASME International Mechanical Engineering Congress and Exposition, pp.725-734, Seattle, Washington, November 2007. [pdf]


John Tisdale, Hugh Durrant-Whyte and Karl Hedrick, Path Planning for Cooperative Sensing using Unmanned Vehicles, Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Seattle, Washington, November 2007. [pdf]


Allison Ryan, John Tisdale, Mark Godwin, Dan Coatta, David Nguyen, Stephen Spry, Raja Sengupta, and Karl Hedrick, Decentralized Control of Unmanned Aerial Vehicle Sensing Missions, Proceedings of the IEEE American Controls Conference, pp.4672-4677, Ney York, New York, July 2007. [pdf]


S. Rathinam, P. Pinto de Almeida, Z. Kim, S. Jackson, A. Tinka, W. Grossman and R. Sengupta, Autonomous Searching and Tracking of a River using an UAV, Proceedings of the IEEE American Controls Conference, pp.359-364, Ney York, New York, July 2007. [pdf]


John Tisdale, Allison Ryan, Marco Zennaro, Xiao Xiao, Derek Caveney, Siva Rathinam, J. Karl Hedrick, Raja Sengupta, The Software Architecture of the Berkeley UAV Platform, IEEE Conference on Control Applications, Munich, Germany, October 2006.


Allison Ryan, Xiao Xiao, Shivakumar Rathinam, John Tisdale, Marco Zennaro, Derek Caveney, Raja Sengupta, and J. Karl Hedrick, A Modular Software Infrastructure for Distributed Control of Collaborating UAVs, Proceedings of the AIAA Conference on Guidance, Navigation and Control, Ketstone, Colorado, August 2006. [pdf]


Timothy G. McGee, Stephen Spry, and J. Karl Hedrick, Optimal Path Planning in a Constant Wind with a Bounded Turning Rate, Proceedings of the AIAA Conference on Guidance, Navigation and Control, Ketstone, Colorado, August 2006. [pdf]


Zu Kim, Geometry of Vanishing Points and its Application to External Calibration and Realtime Pose Estimation, Institute of Transportation Studies, Research Reports, Paper UCB-ITS-RR-2006-5, July 1, 2006. [pdf]


Mark Godwin, Stephen Spry, and J. Karl Hedrick, Distributed Collaboration with Limited Communication using Mission State Estimates, Proceedings of 2006 American Controls Conference, pp.2040-2046, Minneapolis, Minnesota, June 2006. [pdf]


Timothy G. McGee, J. Karl Hedrick, Path Planning and Control for Multiple Point Surveillance by an Unmanned Aircraft in Wind, Proceedings of 2006 American Controls Conference, pp.4261-4266, Minneapolis, Minnesota, June 2006. [pdf]


Timothy G. McGee, J. Karl Hedrick, Guaranteed Strategies to Search for Mobile Evaders in the Plane, Proceedings of 2006 American Controls Conference, pp.2819-2824, Minneapolis, Minnesota, June 2006. [pdf]


Sivakumar Rathinam, Raja Sengupta, and Swaroop Darbha, A Resource Allocation Algorithm for Multi-Vehicle Systems with Non-Holonomic Constraints, IEEE Transactions on Automation Science and Engineering, vol.4, pp.98-104, January 2006. [pdf]


Allison Ryan and J. Karl Hedrick, A Mode-Switching Path Planner for UAV-Assisted Search and Rescue, Proceedings of the 44th IEEE Conference on Decision and Control, pp.1471-1476, December 2005. [pdf]


S. Rathinam, Z. Kim, A. Soghikian and R. Sengupta, Vision Based Following of Locally Linear Structures using an Unmanned Aerial Vehicle, Proceedings of the 44th IEEE Conference on Decision and Control, pp.6085-6090, December 2005. [pdf]


Timothy G. McGee, Raja Sengupta, J. Karl Hedrick, Obstacle Detection for Small Autonomous Aircraft Using Sky Segmentation, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp.4679-4684, April 2005. [pdf]


Allison Ryan, David L. Nguyen, and J. Karl Hedrick, Hybrid Control for UAV-Assisted Search and Rescue, Proceedings of the ASME International Mechanical Engineering Congress and Exposition, 2005. [pdf]


Marco Zennaro, and Raja Sengupta, Distributing Synchronous Programs Using Bounded Queues, Proceedings of the 5th ACM International Conference on Embedded Software, pp.325-334, Jersey City, New Jersey, 2005. [pdf]


Allison Ryan, Marco Zennaro, Adam Howell, Raja Sengupta and J. Karl Hedrick, An Overview of Emerging Results in Cooperative UAV Control, Proceedings of the 43rd IEEE Conference on Decision and Control, vol.1 pp.602-607, December 2004. [pdf]


Marco Zennaro, and Raja Sengupta, Distributing Synchronous Systems with Modular Structure, Proceedings of the 43rd IEEE Conference on Decision and Control, vol.3, pp.2316-2321, December 2004. [pdf]


E. Frew, S. Spry, Tim McGee, X. Xiao, John Tisdale, J. Karl Hedrick, and Raja Sengupta, Flight Demonstrations of Self-Directed Collaborative Navigation of Small Unmanned Aircraft, AIAA 3rd Unmanned Unlimited Technical Conference, Workshop and Exhibit, Chicago, Illinois, September 2004. [ ]


E. Frew, T. McGee, Z. Kim, X. Xiao, S. Jackson, M. Morimoto, S. Rathinam, J. Padial and R. Sengupta, Vision-based Road Following Using a Small Autonomous Aircraft, Proceedings of the 2004 IEEE Aerospace Confernece, vol.5, pp3006-3015, March 2004. [pdf]


A. Girard and J.K. Hedrick, Formation Control of Multiple Vehicles using Dynamic Surface Control and Hybrid Systems, International Journal of Control, vol.76, no.9/10, pp. 913-923, 2003. [pdf]


Lee J., Huang R., Vaughn A., Xiao X., Hedrick J.K., Zennaro M., Sengupta R., Strategies of Path-Planning for a UAV to Track a Ground Vehicle, Proceedings of the 2nd annual Autonomous Intelligent Networks and Systems Conference, Menlo Park, CA, June 2003. [pdf]


A. Girard, D. Empey, W.C. Webster and J.K. Hedrick, An Experimental Testbed for Mobile Offshore Base Control Concepts, Journal of Marine Science and Technology, vol.7, no.3, pp. 109-118, January 2003. [pdf]


Seiler P., Pant A., Hedrick J.K., Disturbance Propagation in Large Interconnected Systems, Proceedings of the 2002 American Control Conference, vol.2, pp.1062-1067, 2002, Danvers, Massachusetts. [pdf]


Pant A., Seiler P., Hedrick J.K., Mesh Stability of Look-Ahead Interconnected Systems, IEEE Transactions on Automatic Control, vol.47, no.2, pp.403-407, February 2002. [pdf]


Seiler P., Pant A., Hedrick J.K., Analysis of Bird Formations, Proceedings of the 41st IEEE Conference on Decision and Control, vol.1, pp.118-123, Piscataway, New Jersey, 2002. [pdf]


Zennaro M., Ko J., Sengupta R., Tripakis S., A Service Network Architecture for a Multi-Vehicle Search Mission, Proceedings of the 40th IEEE Conference on Decision and Control, vol.2, pp.1503-1508, Orlando, Florida, December 2001. [pdf]


A. Girard, J. Sousa and J.K. Hedrick, "An Overview of Emerging Results in Networked Vehicle Systems", Proceedings of the 40th IEEE Conference on Decision and Control, vol.2, pp.1485-1490, Orlando, Florida, December 2001. [pdf]


A. Girard, J. Sousa, J. Misener and J.K. Hedrick, "A Control Architecture for Integrated Cooperative Cruise Control and Collision Warning Systems", Proceedings of the 40th IEEE Conference on Decision and Control, vol.2, pp.1491-1496, Orlando, Florida, December 2001. [pdf]



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