This document includes links to several technical reports authored or coauthored by João Pedro Hespanha.The files are in PDF or compressed (gzip) postscript form. In case of difficulties, please send me an email.

1. Switched and Hybrid Systems

2. Nonlinear Control

3. Supervisory Control

4. Embedded and Networked Control Systems

5. Sensor Networks

6. Communicaton Networks

7. Network Security

8. Distributed Control and Multi-agent Systems

9. Search, Pursuit-Evasion, and Path Planning

10. Vehicle Control and Underactuated Systems

11. Optimization and Optimal Control

12. Game Theory

14. Vision-based Control and Estimation

18. Biology

19. Other

[15] | A. Mesquita, J. Hespanha. Construction of Lyapunov Functions for Piecewise-Deterministic Markov Processes. Technical Report, University of California, Santa Barbara, Apr. 2010. [bibtex:MesquitaHespanhaApr10] [pdf] |

[16] | D. Antunes, J. Hespanha, C. Silvestre. Stochastic Hybrid Systems with Renewal Transitions. Technical Report, University of California, Santa Barbara, Aug. 2009. [bibtex:AntunesHespanhaSilvestreAug09] [pdf] |

[17] | K. Hirata, J. Hespanha. L_2-induced Gain Analysis for a class of Switched Systems. Technical Report, University of California, Santa Barbara, Mar. 2009. [bibtex:HirataHespanhaMar09] [pdf] |

[21] | J. Hespanha, D. Liberzon, A. Teel. Lyapunov Conditions for the Input-to-State Stability of Impulsive Systems. Technical Report, University of California, Santa Barbara, Dec. 2007. [bibtex:HespanhaLiberzonTeelDec07] [pdf] |

[22] | J. Hespanha, D. Liberzon, A. Teel. Lyapunov Characterizations of Input-to-State Stability for Impulsive Systems. Jan. 2007. [bibtex:HespanhaLiberzonTeelJan07] [pdf] |

[33] | J. Hespanha, A. Teel. Stochastic Impulsive Systems Driven by Renewal Processes: Extended version. Technical Report, University of California, Oct. 2005. Available at http://www.ece.ucsb.edu/~hespanha/techrep.html [bibtex:HespanhaTeelOct05] [pdf] |

[35] | J. Hespanha, D. Liberzon, A. Teel. On input-to-state stability of impulsive systems. Technical Report, University of California, Feb. 2005. Available at http://www.ece.ucsb.edu/~hespanha/techrep.html [bibtex:HespanhaLiberzonTeelFeb05b] [pdf] |

[36] | J. Hespanha. Polynomial Stochastic Hybrid Systems (Extended Version). Technical Report, University of California, Oct. 2004. Available at http://www.ece.ucsb.edu/~hespanha/techrep.html [bibtex:HespanhaOct04b] [pdf] |

[49] | J. Hespanha. Root-Mean-Square Gains of Switched Linear Systems. Technical Report, Dept. of Electrical and Computer Eng., University of California, Sep. 2002. [bibtex:HespanhaSep02a] [pdf] |

[56] | J. Hespanha. Computation of L_2-Induced Norms of Switched Linear Systems. Technical Report, Dept. of Electrical and Computer Eng., University of California, Oct. 2001. [bibtex:HespanhaOct01a] |

[58] | J. Hespanha. Extending LaSalle's Invariance Principle to Switched Linear Systems. Technical Report, University of Southern California, Aug. 2001. [bibtex:HespanhaAug01] |

[71] | J. Hespanha, A. Stephen Morse. Switching Between Stabilizing Controllers. Technical Report, EE—Systems, University of Southern California, Feb. 2000. [bibtex:HespanhaMorseFeb00c] |

[74] | J. Hespanha, A. Stephen Morse. Stability of Switched Systems with Average Dwell-Time. Technical Report, Electrical Eng. Dept., Univ. of Southern California, Jan. 1999. Available at http://www.ece.ucsb.edu/~hespanha/techrep.html [bibtex:HespanhaMorseJan99c] [gziped ps] |

[79] | J. Hespanha, A. S. Morse. Stabilization of Nonholonomic Integrators via Logic-Based Switching: Exponential Convergence. Technical Report 9603, Lab. for Control Science & Eng., Yale University, June 1996. [bibtex:HespanhaMorseJun96] [gziped ps] |

[8] | D. Copp, J. Hespanha. Nonlinear Output-Feedback Model Predictive Control with Moving Horizon Estimation. Technical Report, University of California, Santa Barbara, May 2014. [bibtex:CoppHespanhaMay2014] [pdf] |

[40] | João P. Hespanha, D. Seborg. Analysis of Emerson's Multiple Model Interpolation Estimation Algorithms: The MIMO Case. Technical Report PC-04-0220, University of California, Feb. 2004. [bibtex:HespanhaDaleFeb04] [pdf] |

[41] | João P. Hespanha, D. Seborg. Analysis of Emerson's MMI Estimation Algorithm. Technical Report PC-03-0808, University of California, Aug. 2003. [bibtex:HespanhaDaleAug03] [pdf] |

[55] | J. Hespanha. Tutorial on Supervisory Control. Technical Report, Dept. of Electrical and Computer Eng., University of California, Nov. 2001. Available at http://www.ece.ucsb.edu/~hespanha/techrep.html [bibtex:HespanhaNov01a] [pdf] |

[67] | J. Hespanha, D. Liberzon, A. Stephen Morse. Bounds on the Number of Switchings with Scale-Independent Hysteresis: Applications to Supervisory Control. Technical Report, EE—Systems Dept., University of Southern California, Feb. 2000. Available at http://www.ece.ucsb.edu/~hespanha/techrep.html [bibtex:HespanhaLiberzonMorseFeb00] [gziped ps] |

[75] | J. Hespanha, A. S. Morse. Scale-Independent Hysteresis Switching. Technical Report, Lab. for Control Science & Eng., Yale University, May 1998. [bibtex:HespanhaMorseMay98] |

[76] | J. Hespanha, D. Liberzon, A. S. Morse. Towards the supervisory control of uncertain nonholonomic systems. Technical Report, Lab. for Control Science & Eng., Yale University, May 1998. [bibtex:HespanhaLiberzonMorseMay98] |

[77] | J. Hespanha, A. S. Morse. Supervisory Control of Families of Nonlinear Regulators. Technical Report 9601, Lab. for Control Science & Eng., Yale University, Feb. 1996. [bibtex:HespanhaMorseFeb96b] [gziped ps] |

[78] | J. Hespanha, A. S. Morse. Towards the High Performance Control of Uncertain Processes via Supervision. Technical Report 9602, Lab. for Control Science & Eng., Yale University, Mar. 1996. Available at http://www.ece.ucsb.edu/~hespanha/techrep.html [bibtex:HespanhaMorseMar96] [gziped ps] |

[80] | J. Hespanha, A. S. Morse. Supervision of Families of Nonlinear Controllers. Technical Report 9604, Lab. for Control Science & Eng., Yale University, Aug. 1996. [bibtex:HespanhaMorseAug96] [gziped ps] |

[81] | S. Fujii, J. Hespanha, A. S. Morse. Supervisory Control of Families of Notch Filters. Technical Report 9801, Lab. for Control Science & Eng., Yale University, Feb. 1998. [bibtex:FujiiHespanhaMorseFeb98] |

[82] | J. Hespanha, A. S. Morse. Supervisory Control of Integral Input-to-State Stabilizing Controllers. Technical Report, Lab. for Control Science & Eng., Yale University, Sep. 1998. [bibtex:HespanhaMorseSep98c] |

[2] | M. Wakaiki, M. Ogura, J. Hespanha. Linear Quadratic Control for Sampled-data Systems with Stochastic Delays. Technical Report, University of California, Santa Barbara, Sep. 2016. [bibtex:WakaikiOguraHespanhaSep16] [pdf] |

[4] | J. Pearson, J. Hespanha, D. Liberzon. Control with minimal cost-per-symbol encoding and quasi-optimality of event-based encoders Technical Report. Technical Report, University of California, Santa Barbara, May 2016. [bibtex:PearsonHespanhaMay2016] [pdf] |

[9] | J. Pearson, J. Hespanha, D. Liberzon. Control with Minimum Communication Cost per Symbol. Technical Report, University of California, Santa Barbara, May 2014. [bibtex:PearsonHespanhaMay2014] [pdf] |

[18] | A. Mesquita, J. Hespanha, G. Nair. Redundant Data Transmission in Control/Estimation Over Wireless Networks: Extended Version. Technical Report, University of California, Santa Barbara, Mar. 2007. [bibtex:MesquitaHespanhaNairMar07] [pdf] |

[29] | J. Hespanha. Preliminary Results on Multi-path Routing for Networked Control Systems. Technical Report, University of California, Santa Barbara, Mar. 2006. [bibtex:HespanhaMar06] [pdf] |

[25] | E. Jonckheere, M. Lou, P. Barooah, J. Hespanha. Effective resistance of Gromov-hyperbolic graphs:\\ Application to asymptotic sensor network problems. Technical Report, University of California, Santa Barbara, Sep. 2007. [bibtex:JonckheerLouHespanhaBarooahSep07] |

[26] | P. Barooah, J. Hespanha. Estimation from Relative Measurements: Electrical Analogy & Large Graphs. Technical Report, University of California, Santa Barbara, Apr. 2007. [bibtex:BarooahHespanhaApr07] [pdf] |

[27] | P. Barooah, J. Hespanha. Graph Effective Resistance and Distributed Control: Electrical Analogy and Scalability. Technical Report, University of California, Santa Barbara, Feb. 2006. [bibtex:BarooahHespanhaFeb06] [pdf] |

[30] | P. Barooah, J. Hespanha. Estimation from Relative Measurements in Sensor Networks: Asymptotic Error Bounds from Electrical Analogy. Technical Report, University of California, Santa Barbara, Mar. 2006. [bibtex:BarooahHespanhaMar06] [pdf] |

[31] | P. Barooah, J. Hespanha. Optimal Estimation from Relative Measurements: Electrical Analogy and Error Bounds. Technical Report, University of California, Santa Barbara, 2003. [bibtex:PB_electricanalogyreport] |

[28] | S. Bohacek, J. Hespanha, J. Lee, K. Obraczka. Modeling Data Communication Networks Using Hybrid Systems: Extended Version. Technical Report, University of California, Santa Barbara, 2006. [bibtex:BohacekHespanhaLeeObraczkaApr06] [pdf] |

[34] | J. Lee, S. Bohacek, J. Hespanha, K. Obraczka. A Study of TCP Fairness in High-Speed Networks. Technical Report, University of California, Apr. 2005. Available at http://www.ece.ucsb.edu/~hespanha/techrep.html [bibtex:LeeBohacekHespanhaObraczkaApr05] [pdf] |

[42] | J. Hespanha. Stochastic Hybrid Systems: Application to Communication Networks (Extended Version). Technical Report, Dept. of Electrical and Computer Eng., University of California, Jan. 2004. [bibtex:HespanhaJan04b] [pdf] |

[43] | J. Hespanha. Stochastic Hybrid Systems. Technical Report, Dept. of Electrical and Computer Eng., University of California, Aug. 2003. [bibtex:HespanhaAug03] |

[48] | S. Bohacek, J. Hespanha, J. Lee, K. Obraczka. A Hybrid Systems Modeling Framework for Fast and Accurate Simulation of Data Communication Networks: Extended Version. Technical Report, Dept. of Electrical and Computer Eng., University of California, Nov. 2002. [bibtex:BohacekHespanhaLeeObraczkaNov02a] [pdf] |

[51] | S. Bohacek, J. Hespanha, K. Obraczka. Saddle Policies for Secure Routing in Communication Networks. Technical Report, Dept. of Electrical and Computer Eng., University of California, Feb. 2002. [bibtex:BohacekHespanhaObraczkaFeb02a] [pdf] |

[52] | S. Bohacek, J. Hespanha, J. Lee, C. Lim, K. Obraczka. TCP-PR: TCP for Persistent Packet Reordering. Extended version. Technical Report, Dept. of Electrical and Computer Eng., University of California, Feb. 2002. Revised on Mar. 2003. Available at http://www.ece.ucsb.edu/~hespanha/techrep.html [bibtex:BohacekHespanhaLeeLimObraczkaMay03a] [pdf] |

[54] | S. Bohacek, J. Hespanha, J. Lee, C. Lim, K. Obraczka. NS-Evaluation of Secure Stochastic Routing. Technical Report, Dept. of Electrical and Computer Eng., University of California, Mar. 2002. [bibtex:BohacekHespanhaLeeLimObraczkaMar02] [gziped ps] |

[57] | S. Bohacek, J. Hespanha, J. Lee, K. Obraczka. Analysis of a TCP hybrid model (Extended Version). Technical Report, University of Southern California, Sep. 2001. Available at http://www.ece.ucsb.edu/~hespanha/techrep.html [bibtex:BohacekHespanhaLeeObraczkaSep01a] [gziped ps] |

[59] | S. Bohacek, J. Hespanha, J. Lee, C. Lim, K. Obraczka. Preliminary NS-evaluation of Secure Stochastic Routing. Technical Report, University of Southern California, July 2001. Available at http://www.ece.ucsb.edu/~hespanha/techrep.html [bibtex:BohacekHespanhaLeeLimObraczkaAug01] [gziped ps] |

[60] | S. Bohacek, J. Hespanha, J. Lee, K. Obraczka. A Hybrid Systems Framework for TCP Congestion Control: A Theoretical Model and its Simulation-based Validation (Extended Version). Technical Report, University of Southern California, July 2001. Available at http://www.ece.ucsb.edu/~hespanha/techrep.html [bibtex:BohacekHespanhaLeeObraczkaJul01a] [gziped ps] |

[61] | J. Hespanha, S. Bohacek. Preliminary Results in Routing Games. Technical Report, University of Southern California, June 2001. This report supersedes a previous report with the same title, dated October 2000 Available at http://www.ece.ucsb.edu/~hespanha/techrep.html [bibtex:HespanhaBohacekJun01a] [gziped ps] |

[62] | S. Bohacek, J. Hespanha, J. Lee, K. Obraczka. A Hybrid Systems Framework for TCP Congestion Control: A Theoretical Model and its Simulation-based Validation. Technical Report, University of Southern California, Jan. 2001. Available at http://www.ece.ucsb.edu/~hespanha/techrep.html [bibtex:BohacekHespanhaLeeObraczkaJan01a] [gziped ps] |

[66] | J. Hespanha, S. Bohacek, K. Obraczka, J. Lee. Hybrid Modeling of TCP Congestion Control. Technical Report, University of Southern California, Oct. 2000. [bibtex:HespanhaBohacekObraczkaLeeOct00a] |

[3] | M. Wakaiki, P. Tabuada, J. Hespanha. Supervisory Control of Discrete-event Systems under Attacks. Technical Report, University of California, Santa Barbara, Aug. 2016. [bibtex:WakaikiTabuadaHespanhaAug2016b] [pdf] |

[12] | K. Vamvoudakis, J. Hespanha. Optimal Attacks for the iCTF game. Technical Report, University of California, Santa Barbara, July 2012. [bibtex:VamvoudakisHespanhaJul2012] [pdf] |

[19] | J. Riehl, J. Hespanha. Graph Optimization Using Fractal Decomposition with Application to Cooperative Routing Problems. Technical Report, University of California, Santa Barbara, Feb. 2007. [bibtex:RiehlHespanhaFeb07] [pdf] |

[20] | J. Riehl, J. Hespanha. Graph Optimization Using Fractal Decomposition. Technical Report, University of California, Santa Barbara, Dec. 2006. [bibtex:RiehlHespanhaDec06] [pdf] |

[23] | J. Riehl, G. Collins, J. Hespanha. Cooperative Graph-Based Model Predictive Search. Technical Report, University of California, Santa Barbara, Sep. 2007. [bibtex:RiehlGaemusHespanhaSep07] [pdf] |

[24] | A. Mesquita, J. Hespanha, K. Åström. Optimotaxis: A Stochastic Multi-agent on Site Optimization Procedure — Extended Version. Technical Report, University of California, Santa Barbara, Oct. 2007. [bibtex:MesquitaHespanhaAstromOct08] [pdf] |

[53] | J. Hespanha, M. Prandini. Optimal pursuit under partial information. Technical Report, Dept. of Electrical and Computer Eng., University of California, May 2002. [bibtex:HespanhaPrandiniMay02a] |

[63] | J. Hespanha, M. Prandini. Nash Equilibria in Partial-Information Games on Markov Chains. Technical Report, University of Southern California, Mar. 2001. Available at http://www.ece.ucsb.edu/~hespanha/techrep.html [bibtex:HespanhaPrandiniMar01a] [pdf] |

[64] | J. Hespanha, M. Prandini, S. Sastry. Probabilistic Pursuit-Evasion Games: A One-Step Nash Approach. Technical Report, University of Southern California, Sep. 2000. [bibtex:JoaoMariaShankar00] [pdf] |

[65] | J. Hespanha, H. Kizilocak, Y. Ateskan. Probabilistic Map Building for Aircraft-Tracking Radars. Technical Report, University of Southern California, Dec. 2000. This report supersedes a previous report with the same title, dated September 2000. Available at http://www.ece.ucsb.edu/~hespanha/techrep.html [bibtex:HespanhaKizilocakAteskanDec00] [gziped ps] |

[73] | J. Hespanha, H. Jin Kim, S. Sastry. Multiple-Agent Probabilistic Pursuit-Evasion Games. Technical Report, Dept. Electrical Eng. & Comp. Science, University of California, Aug. 1999. [bibtex:HespanhaKimSastryAug99] [gziped ps] |

[37] | A. Aguiar, J. Hespanha, P. Kokotovic. Limits of performance in reference-tracking and path-following for nonlinear systems. Technical Report, University of California, Sep. 2004. Available at http://www.ece.ucsb.edu/~hespanha/techrep.html [bibtex:AguiarHespanhaKokotovicSep04] [pdf] |

[45] | J. Kim, J. Hespanha. Reactive Path Planning. Technical Report 10-12-03, Dept. of Electrical and Computer Eng., University of California, Dec. 2003. [bibtex:KimHespanhaDec03] |

[46] | J. Kim, J. Hespanha. Cooperative Radar Jamming. Technical Report 23-12-03, Dept. of Electrical and Computer Eng., University of California, Dec. 2003. [bibtex:KimHespanhaDec03b] |

[47] | J. Kim. Cooperative Path Planning Functions Manual for OEPClient. Technical Manual, Dept. of Electrical and Computer Eng., University of California, Dec. 2003. [bibtex:KimDec03c] |

[1] | J. Hespanha. TensCalc — A toolbox to generate fast code to solve nonlinear constrained minimizations and compute Nash equilibria. Technical Report, University of California, Santa Barbara, June 2017. Available at http://www.ece.ucsb.edu/~hespanha/techrep.html [bibtex:HespanhaJun2017] [pdf] |

[6] | D. Copp, J. Hespanha. Conditions for Saddle-Point Equilibria in Output-Feedback MPC with MHE: Technical Report. Technical Report, University of California, Santa Barbara, Sep. 2015. [bibtex:CoppHespanhaSep15] [pdf] |

[7] | D. Copp, J. Hespanha. Nonlinear Output-Feedback Model Predictive Control with Moving Horizon Estimation: Illustrative Examples. Technical Report, University of California, Santa Barbara, Oct. 2015. [bibtex:CoppHespanhaOct15] [pdf] |

[38] | J. Hespanha. An efficient MATLAB Algorithm for Graph Partitioning. Technical Report, University of California, Oct. 2004. Available at http://www.ece.ucsb.edu/~hespanha/techrep.html [bibtex:HespanhaOct04] [software] [pdf] |

[44] | J. Kim, J. Hespanha. Discrete Approximations to Continuous Shortest-Path: Application to Minimum-Risk Path Planning for Groups of UAVs. Technical Report 03-08-03, Dept. of Electrical and Computer Eng., University of California, Mar. 2003. [bibtex:KimHespanhaMar03a] [pdf] |

[11] | S. Bopardikar, A. Borri, and J. Hespanha, M. Prandini, M. Di Benedetto. Randomized Sampling for Large Zero-Sum Games. Technical Report, University of California, Santa Barbara, Nov. 2012. [bibtex:BopardikarBorriHespanhaPrandiniBenedettoNov12] [pdf] |

[13] | A. Borri, S. Bopardikar, J. Hespanha, M. Di Benedetto. Hide-and-Seek with Directional Sensing. Technical Report, University of California, Santa Barbara, Apr. 2011. [bibtex:BorriBopardikarHespanhaBenedettoApr11] [pdf] |

[14] | S. Bopardikar, A. Borri, J. Hespanha, M. Prandini, M. Di Benedetto. Randomized Sampling for Large Zero-Sum Games. Technical Report, University of California, Santa Barbara, Sep. 2010. [bibtex:BopardikarBorriHespanhaPrandiniBenedettoApr10] [pdf] |

[69] | J. Hespanha, Y. Ateskan, H\"useyin Hakan K\iz\ilocak. Deception in Non-Cooperative Games with Partial Information. Technical Report, EE—Systems, University of Southern California, Feb. 2001. This report supersedes two previous reports with the same title, dated April 2000 and June 2000 Available at http://www.ece.ucsb.edu/~hespanha/techrep.html [bibtex:HespanhaAteskanKizilocakFeb01] [gziped ps] |

[39] | A. Aguiar, J. Hespanha. Minimum-Energy State Estimation for Systems with Perspective Outputs. Technical Report, University of California, June 2004. [bibtex:AguiarHespanhaJun04] [pdf] |

[50] | J. Hespanha. State Estimation and Control for Systems with Perspective Outputs. Technical Report, Dept. of Electrical and Computer Eng., University of California, Feb. 2002. [bibtex:HespanhaFeb02a] [pdf] |

[68] | J. Hespanha. Single-Camera Visual Servoing. Technical Report, EE—Systems Dept., University of Southern California, Feb. 2000. [bibtex:HespanhaJul00] |

[70] | J. Hespanha. Task decidability, weak calibration, and feedback control. Technical Report, EE—Systems, University of Southern California, Mar. 2000. [bibtex:HespanhaMar00] |

[5] | H. Sivakumar, S. Proulx, J. Hespanha. Modular analysis of two cyclic biological circuits. Technical Report, University of California, Santa Barbara, Mar. 2016. [bibtex:SivakumarProulxHespanhaMar2016] [pdf] |

[10] | F. Pour Safaei, J. Hespanha, S. Proulx. Infinite Horizon Linear Quadratic Gene Regulation in Fluctuating Environments. Technical Report, University of California, Santa Barbara, Mar. 2012. [bibtex:SafaeiHespanhaProulxMar12] [pdf] |

[32] | A. Singh, J. Hespanha. Moment Closure for the Stochastic Logistic Model. Technical Report, University of California, Jan. 2006. Available at http://www.ece.ucsb.edu/~hespanha/techrep.html [bibtex:SinghHespanhaJan06] [pdf] |

[72] | R. Grober, J. Acimovic, J. Schuck, D. Hessman, P. Kindlemann, J. Hespanha, A. S. Morse. Fundamental Limits to Force Detection using Quartz Tuning Forks. Technical Report, Yale University, May 1999. [bibtex:GroberAcimovicSchuckHessmanKindlemannHespanhaMorseMay99] |

*This file was generated on 11/1/2017 using the perl script
"bib2web" (version 1.4, dated 29/03/2016) written by
João Pedro Hespanha*