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The 45th CDC is offering six one day pre-conference workshops on Tuesday December 12, 2006. Pre-registration for these workshops is strongly encouraged. To pre-register, please visit the conference registration page at

Workshops' Schedules:

List of Workshops Offered at the 45th CDC

New Developments in Point-Stabilization, Trajectory-Tracking, Path-following, and Formation Control of Autonomous Vehicles
A. Pedro Aguiar, Antonio M. Pascoal, Institute for Systems and Robotics, Instituto Superior Tecnico, PORTUGAL, and João P. Hespanha, University of California, Santa Barbara, USA.

Model Predictive Control for Fast Nonlinear Systems: Existing Approaches, Challenges and Applications
Rolf Findeisen, University of Stuttgart, GERMANY.

High-Confidence Embedded Systems
Eric Klavins, University of Washington, USA.

Hybrid Systems Biology
John Lygeros, ETH, SWITZERLAND, and Giancarlo Ferrari-Trecate, University of Pavia, ITALY.

Modeling, Optimization and Software in Air Traffic Management
Banavar Sridhar, NASA Ames Research Center, Moffett Field, CA, USA.

Robust Hybrid Systems: Theory and Applications
Andrew R. Teel and Ricardo G. Sanfelice, University of California, Santa Barbara, USA.

Workshop Descriptions

New Developments in Point-Stabilization, Trajectory-Tracking, Path-Following, and Formation Control of Autonomous Vehicles

A. Pedro Aguiar (Institute for Systems and Robotics, Instituto Superior Tecnico, PORTUGAL)
Antonio M. Pascoal (Institute for Systems and Robotics, Instituto Superior Tecnico, PORTUGAL)
João P. Hespanha (Center for Control, Dynamical Systems, and Computation, University of California, Santa Barbara, USA)

Additional Participants:
Francesco Bullo (University of California at Santa Barbara, USA)
John Hauser (University of Colorado, Boulder, USA)
Isaac Kaminer (Naval Postgraduate School, Monterey, USA)
Naomi Leonard (Princeton University, USA)
N. Harris McClamroch (The University of Michigan, Ann Arbor, USA)
Kristi Morgansen (University of Washington, Seattle, USA)
Kristin Y. Pettersen (University of Science and Technology, NORWAY)
Pascal Morin (INRIA, FRANCE)

Target Audience: The workshop is aimed at a broad audience of students, researchers, and industry professionals interested in the area of motion control of autonomous vehicles (underwater vehicles, surface craft, wheeled mobile robots, aircraft, helicopters, spacecraft).

Summary: The ever increasing sophistication of autonomous vehicles is steadily paving the way for the execution of complex missions without direct supervision of human operators. A key enabling element for the execution of such missions is the availability of advanced systems for motion control of single and multiple autonomous vehicles. The workshop is motivated by new developments in this area, especially those in the realm of point-stabilization, trajectory-tracking, path-following, and formation control.

The latter problem is motivated by the fact that the multiple vehicle approach offers several advantages - when compared with the traditional single vehicle paradigm - such as increased efficiency, performance, reconfigurability, and robustness and new capabilities. Some of the potential applications include tasks that involve searching and surveying as well as exploration and mapping in harsh environments. At a theoretical level, the coordination of autonomous vehicles involves the design of distributed control laws with limited and disrupted communication, uncertainty, and imperfect or partial measurements.

The workshop will bring together leading researchers that will give tutorial talks on emerging problems and new results. The program will consist of presentations divided in two parts, encompassing theoretical and new developments in the area of motion control of autonomous vehicles. The topics addressed are organized around the following themes: i) Point-stabilization, trajectory-tracking and path-following of autonomous vehicles; ii) Coordinated/Cooperative control of a group of autonomous vehicles."

Workshop URL:


Model predictive control for fast nonlinear systems: Existing approaches, challenges and applications

Rolf Findeisen (University of Stuttgart, GERMANY)

Additional Participants:
Mazen Alamir (Laboratoire d’Automatique de Grenoble, FRANCE)
Francesco Borrelli (Universita del Sannio, Benevento, ITALY)
Moritz Diehl (IWR, University of Heidelberg, GERMANY)
Martin Guay (Queen’s University, CANADA)
Toshiyuki Ohtsuka (Osaka University, Osaka, JAPAN)

Target Audience: The course is of interest to graduate students, engineers, mathematicians and researchers, who are interested in the application of nonlinear model predictive control to fast systems.

Summary: Model predictive control is a control strategy in which the applied input is determined on-line at the recalculation instant by solving an open-loop optimal control problem over a fixed prediction horizon into the future. Over the past decade significant theoretical as well as implementational advances in the area of nonlinear model predictive control (NMPC) have been achieved. One of the challenges in the area of NMPC is the application to fast systems, for which the solution to the optimal control problem cannot be obtained in real time. The purpose of this workshop is twofold. The main objective is to provide an in depth review of the existing solution approaches for the application of NMPC to fast systems. The second objective is to underline these approaches considering practically relevant control examples from various areas such as the control of automotive systems, aerospace systems, or fast chemical processes.

Workshop URL:


High-Confidence Embedded Systems

Eric Klavins (University of Washington, USA)

Additional Participants:
Raffaello D'Andrea (Cornell University, USA)
K. Mani Chandy, John Doyle, Richard Murray (California Institute of Technology, USA)
Pablo Parillo, Brian Williams (Massachusetts Institute of Technology, USA)
George Pappas (University of Pennsylvania, USA)
Paulo Tabuada (University of Notre Dame, USA)
Janos Sztipanovits (Vanderbilt University, USA)

Target Audience: This workshop is intended for graduate students and researchers in academia and industry. Several tutorial/overview sessions will be given in the morning followed by more focused talks in the afternoon.

Summary: In this workshop we will explore the specification, design and verification of complex distributed embedded systems that combine communications, computation and control in dynamic, uncertain and adversarial environments. These systems consist of autonomous components (vehicles, sensors, communications nodes and command & control elements) that cooperate with each other and operate in dynamic environments with adversarial and random elements. Likewise, the computational and communication capability of components may vary based on the hardware, changing power constraints, or failures and repairs.

Although such systems are becoming more and more commonplace, the cost of designing and verifying them is becoming overwhelming. Furthermore, designing and verifying systems to be robust against mission-ending and catastrophic failures is poorly understood. A primary goal for the workshop is to present the fundamental limitations of current methods with respect to these problems and to point the way toward a research agenda that addresses them.

Workshop URL:


Hybrid Systems Biology

John Lygeros (ETH, Switzerland)
Giancarlo Ferrari-Trecate (Università degli Studi di Pavia, ITALY)

Additional Participants:
Gregory Batt, Calin Belta (Boston University, USA)
João Hespanha (University of California, Santa Barbara, USA)
Zoi Lygerou (University of Patras, USA)
Eduardo Sontag, Madalena Chavez (Rutgers University, USA)
Claire Tomlin (University of California, Berkeley & Stanford University, USA)

Target Audience: The workshop is addressed to graduate students and researchers with a background in automatic control or hybrid systems. The material covered at the workshop will expose the participants to the state of the art in the use of hybrid systems for understanding, modeling and analyzing the biochemical processes behind the function of a variety of organisms, from bacteria to mammalian and human cells. There are no prerequisites, but familiarity with hybrid systems concepts would be desirable.

Summary: Mathematical models that describe gene and protein interactions can play an instrumental role in shaping the future of biology. For example, mathematical models allow computer-based simulation and analysis of biochemical networks. Such in silico experiments can be used for massive and rapid verification or falsification of biological hypotheses, replacing in certain cases costly and time-consuming in vitro or in vivo experiments. The recognition that hybrid discrete-continuous dynamics can play an important role in biochemical systems has led a number of researchers to investigate how methods developed for hybrid systems in other areas (such as embedded systems and air traffic management) can be extended to biological systems. In this workshop brings together leading experts in this area of research, who will highlight recent developments and outline the exciting research directions to which they give rise.

Workshop URL:


Modeling, Optimization and Software in Air Traffic Management

Banavar Sridhar (NASA Ames Research Center, USA)

Additional Participants:
Alex Bayen, Shankar Sastry (University of California, Berkeley, USA)
P. K. Menon (Optimal Synthesis Inc., USA)
Kapil Sheth (University of California, Santa Cruz, USA)
Claire Tomlin (University of California, Berkeley & Stanford University, USA)

Target Audience: The target audience for this workshop is graduate students, researchers and engineers. The workshop is self-contained and does not require any specific knowledge of Air Traffic Management.

Summary: A safe and efficient aviation industry is vital to the global economy. The growing traffic demand, rise in oil prices, delays in building new runways and security issues are putting pressures on the system to evolve from the current procedure-based human-centered system to a more flexible system with higher levels of automation. Air Traffic Management (ATM) involves several layers of decision-makers scattered between the FAA, airlines, and other users of airspace. Several types of uncertainties are pervasive in the system. This workshop will describe the characteristics of the current ATM system and point opportunities for improving the system using methods based on systems and control concepts. A special emphasis of the workshop will be on software and database that provide realistic simulation environments to validate solutions to the problem. This workshop introduces the control expert to a complex engineering application and provides interaction with leading researchers in Air Traffic Management.

Workshop URL:


Robust Hybrid Systems: Theory and Applications

Andrew R. Teel (University of California, Santa Barbara, USA)
Ricardo G. Sanfelice (University of California, Santa Barbara, USA)

Additional Participants:
Rafal Goebel (University of Washington, USA)
Cai Chaohong (University of California, Santa Barbara, USA)

Target Audience: The workshop is designed for graduate students, researchers, and industrial engineers who are interested in learning about a new, efficient method for studying hybrid control systems from a dynamical systems point of view with an emphasis on robust stability. The minimum requirement is basic background in the theory of continuous and discrete time nonlinear systems.

Summary: We present new results from an emerging robust theory of hybrid systems. We focus on modeling, concept of solution, stability, and robustness. We apply the results in several engineering applications including sample-data control systems, networked control systems, and numerical simulations of hybrid systems. The workshop is organized as follows:

Module 1: We present several tools from set-valued analysis that are useful in the study of hybrid systems. We discuss a general framework for hybrid systems and its solutions, and we introduce some of their structural properties.

Module 2: We model several engineering applications with the hybrid systems framework and we motivate the use of generalized solutions for robustness.

Module 3: Stability definitions, KLL stability, robust KLL stability, and necessary and sufficient conditions for stability.

Module 4: We present results on hybrid control of nonlinear systems. We focus on the robust control of nonlinear systems with patchy vector fields and robust hybrid control techniques for obstacle avoidance.

Workshop URL:


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