Claire Tomlin

Claire J. Tomlin
Charles A. Desoer Chair in the College of Engineering
Professor, Electrical Engineering and Computer Sciences
UC Berkeley, Berkeley CA, 94720-1770

Ph.D. (EECS) U.C. Berkeley, 1998
M.Sc. (EE) Imperial College, London, 1993
B.A.Sc. (EE) University of Waterloo, 1992

Office: 721 Sutardja Dai Hall, UC Berkeley
Mailing Address: 253 Cory Hall #1770, EECS, UC Berkeley, Berkeley CA 94720-1770
Phone: (510) 643-6610, tomlin at eecs.berkeley.edu

Administrative help:
(Research) Jessica Gamble, 337 Cory Hall
Phone: (510) 643-5105, Fax: (510) 643-2356, jesnjosh at eecs.berkeley.edu

(Teaching) 253 Cory Hall
Phone: (510) 642-2384, Fax: (510) 643-7846, eecs-inst-support at eecs.berkeley.edu

Courses

Hybrid System Theory (EE291E) , Spring 2009-2018
Linear System Theory (EE221A), Fall 2006-2017
Nonlinear Systems: Analysis, Stability, and Control (EE222), Spring 2006-2017 (taught at Stanford during Winter 2007 and during 1999-2005)
Feedback Control (EE128), Fall 2008
Analysis and Control of Hybrid Systems (AA278A), Spring 2005 (Stanford)
Introduction to Control Design Techniques (Engr 205), Fall 199-2004 (Stanford)
Advanced Nonlinear Control (E209B), Spring 2004 (Stanford)
Applied Optimal Estimation and Stochastic Control (E207B), Spring 1999 (Stanford)

Areas of Research

Hybrid Control Systems (Hybrid Systems Lab Web Page)
These are systems which combine continuous time dynamics with discrete event dynamics. Research involves design, verification using new computational methods for computing reachable sets, and simulation of hybrid systems. We are currently developing the theory and designing models to predict the behavior of complex systems.
This work is supported by NSF, ONR, and AFOSR.
Air Traffic Control Automation
This is joint work with NASA Ames to design models of and control systems for Air Traffic dynamics. This research includes algorithms for automatic resolution of trajectory conflicts between multiple aircraft, as well as novel polynomial time scheduling algorithms.
Algorithms for Decentralized Optimization
In this project, we are designing algorithms with provable convergence properties for decentralized optimization -- meaning that several interconnected units act as local decision-makers and optimize local costs, coordinating with each other through constraints. This work is supported by NSF, ONR, and AFOSR.
Human-automation systems
This research involves analysis of systems for which the control authority is shared between human and automation. We work on the analysis of autopilot systems, driving systems, and robotic systems.
Modeling and Analysis of Biological Cell Networks
In this research project we are building models and analysis tools for helping to understand biological cell networks. Current research includes HER2+ breast cancer, early stage Drosophila development, and planar cell polarity in Drosophila. This is joint work with OHSU, LBNL, UCSF, and Stanford, and is supported by grants from the NCI and NIH.
Unmanned Aerial Vehicle Design and Control
In this project we are building a team of UAVs with the goals of studying formation flying, architectures for distributed control, and methods for reliable control over communication links.
My Group

Current Ph.D. Students
- Jaime F. Fisac (Jointly advised with Shankar Sastry and Anca Dragan)
- Palak Bhushan
- Margaret Chapman
- Sylvia Herbert
- Vicenc Rubies Royo
- Somil Bansal
- Forrest Laine
- Patricia Hidalgo-Gonzalez (Jointly advised with Dan Kammen)
- David Fridovich-Keil
- Andrea Bajcsy (Jointly advised with Anca Dragan)
- Donggun Lee
Current Postdoctoral Researchers
- Zachary Sunberg (PhD, Stanford Aero Astro, 2018)
Current Visitors
- Yoshi Nakamoto (IHI, Japan)
Former PhD Students
- Ian Mitchell (Ph.D. August 2002) Professor, Department of Computer Science, UBC.
- Rodney Teo (Ph.D. January 2004) DSTA, Singapore
- Meeko Oishi (Ph.D. January 2004) Professor, ECE, University of New Mexico.
- Inseok Hwang (Ph.D. January 2004) Professor, School of Aeronautics and Astronautics, Purdue.
- Jung Soon Jang (Ph.D. January 2004) Boeing.
- Alexandre Bayen (Ph.D. January 2004) Professor, Departments of Civil and Environmental Engineering, and Electrical Engineering and Computer Sciences, UC Berkeley.
- Gokhan Inalhan (Ph.D. August 2004) Associate Professor, Faculty of Aeronautics and Astronautics, Istanbul Technical University.
- Keith Amonlirdviman (Ph.D. August 2005) Doing many things.
- Ronojoy Ghosh (Ph.D. December 2005), UTC Aerospace Systems.
- Hamsa Balakrishnan (Ph.D. March 2006), Associate Professor, Department of Aeronautics and Astronautics, MIT.
- Robin Raffard (Ph.D. December 2006), BlackRock.
- Steven Waslander (Ph.D. June 2007) Associate Professor, Institute for Aerospace Studies, University of Toronto.
- Kaushik Roy (Ph.D. June 2008), Google.
- Gabriel Hoffmann (Ph.D. August 2008), Apple.
- Anil Aswani (Ph.D. May 2010), Assistant Professor, Department of IEOR, UC Berkeley
- Maryam Kamgarpour (Ph.D. December 2011) Assistant Professor, EE, ETHZ.
- Michael Vitus (Ph.D. March 2012), Google
- Jerry Ding (Ph.D. May 2012), UTRC
- Haomiao Huang (PhD June 2012), CTO and Co-Founder of Kuna Systems
- Young Hwan Chang (PhD May 2013), Assistant Professor, OHSU
- Jeremy Gillula (PhD June 2013), Electronic Frontier Foundation
- Insoon Yang (PhD July 2015), Assistant Professor, USC
- Max Balandat (PhD October 2016), Facebook
- Mo Chen (PhD May 2017), Postdoc at Stanford, starts as Assistant Professor at SFU in August 2018
- Qie Hu (PhD December 2017)
- Kene Akametalu (PhD May 2018), Uber ATG
- Roel Dobbe (PhD May 2018), Postdoc, AI Now Institute
- Datong Paul Zhou (PhD November 2018), Facebook
Former Postdoctoral Associates
- Dusan Stipanovic, 2001-2004, Professor, UIUC
- Sriram Shankaran, 2003-2005, GE
- Jianghai Hu, 2003-2004, Associate Professor, Purdue
- Alessandro Abate, 2007-2009, Associate Professor, Department of CS, Oxford
- Wei Zhang, 2010-2011, Associate Professor, Department of Electrical and Computer Engineering, OSU
- Ryo Takei, 2011-2012, Markit Analytics
- Soulaiman Itani, 2009-2012, Founder and CEO, Atheer Labs
- Pan Gun Park, 2011-2013, ETRI, Korea
- Shahab Kaynama, 2012-2014, Senior Algorithm Architect, Apple
- Melanie Zeilinger, 2013-2015, Assistant Professor, ME ETHZ
- Frauke Oldewurtel, 2015-2016, Belimo Automation, Zurich
- Dariush Fooladivanda, 2015-2016, Postdoc at UIUC
- Ye Yuan, 2015-2016, Professor, Huazhong University of Science and Technology
- Ye Pu, 2016-2018, Assistant Professor, University of Melbourne
Former MSc Students
- Norihiko Shishido (Stanford AA, MSc May 2000)
- Vijay Pradeep (Stanford ME, MSc June 2008)
- Eugene Li (Berkeley EECS, MSc May 2010)
- Anthony Mercer (Berkeley ME, MSc May 2010)
- Patrick Bouffard (Berkeley EECS, MSc December 2012)
- Casey Mackin (Berkeley EECS, MSc August 2018)
Awards
- IEEE Transportation Technologies Award, 2017
- Excellence in Advising Award, UC Berkeley, 2017
- AIMBE Fellow, 2015
- Charles A. Desoer Chair, College of Engineering, UC Berkeley, July 2011
- Distinguished Teaching Award, Electrical Engineering, UC Berkeley, 2010-2011
- IEEE Fellow, 2010
- Tage Erlander Guest Professorship, Swedish Research Council, 2009-2010
- Engineering Alumni Achievement Medal, University of Waterloo, 2007-2008
- Chancellor's Professor, Berkeley (2007-2010)
- MacArthur Foundation Fellow (2006)
- Okawa Foundation Research Grant (2006)
- Vance D. and Arlene C. Coffman Faculty Scholar, Stanford (2006-2009)
- MIT Technology Review's Top 100 Innovators (TR100) (2003)
- Donald P. Eckman Award of the American Automatic Control Council (2003)
- National Academy of Engineering's Frontiers of Engineering Program (2002)
- AIAA Outstanding Teacher Award, Stanford (2000-2001)
- NSF Career Award (2000-2003)
- Terman Fellow, Stanford (1998-2001)
- Bernard Friedman Memorial Prize in Applied Mathematics, Berkeley (1998)
- Zonta Amelia Earhart Awards for Aeronautics Research (1996-98)
- Natural Sciences and Engineering Research Council of Canada 1967 Fellow (1992)
- Athlone Fellow (1992)
Publications (To be updated soon!)
Books
- J. Lygeros, C. Tomlin, and S. S. Sastry. Hybrid Systems and Control. In preparation.
- C. Tomlin and M. Greenstreet, Editors. Hybrid Systems: Computation and Control,
  Springer-Verlag, Lecture Notes in Computer Science (LNCS) 2289, March 2002.
Refereed Journal Publications
1. M. K. Oishi, I. M. Mitchell, A. M. Bayen and C. J. Tomlin, Hybrid system verification: application to user-interface design. Accepted to appear in the IEEE Transactions on Control Systems Technology, 2006.
2. A. M. Bayen, I. Mitchell, M. K. Oishi and C. J. Tomlin, Reachability Analysis and Optimal Control Applied to Aircraft Autoland Systems. Accepted to appear in the AIAA Journal on Guidance, Control and Dynamics, 2006.
3. J. Hu, M. Prandini, and C. Tomlin, Conjugate points in formation constrained optimal multi-agent coordination: a case study. Accepted to appear in the SIAM J. Control and Optimization, 2006.
4. A. M. Bayen, R. Raffard, and C. J. Tomlin, Adjoint-based control of a new Eulerian network model of Air Traffic Flow. IEEE Transactions on Control Systems Technology, 14(5): 804-818, September 2006.
5. I. Hwang, H. Balakrishnan, and C. J. Tomlin, State Estimation for Hybrid Systems: Applications to Aircraft Tracking.
  IEE Proceedings of Control Theory and Applications, 153(5): 556-566, September 2006.
6. D. M. Stipanovic, S. Shankaran, and C. J. Tomlin, Multi-agent avoidance control using an M-Matrix property. Electronic Journal of Linear Algebra (ELA), 12: 64-72, May 2005.
7. C. J. Tomlin and J. D. Axelrod, Understanding biology by reverse engineering the control. Proceedings of the National Academy of Sciences (PNAS) 102(12): 4219-4220, March 2005. (Review)
8. K. Amonlirdviman, N. A. Khare, D. R. P. Tree, W.-S. Chen, J. D. Axelrod, and C. J. Tomlin, Mathematical Modeling of Planar Cell Polarity to Understand Domineering Nonautonomy. Science 307 5708:423-426, 21 Jan 2005. Supporting online material.
9. I. M. Mitchell, A. M. Bayen, and C. J. Tomlin, A Time-Dependent Hamilton-Jacobi Formulation of Reachable Sets for Continuous Dynamic Games IEEE Transactions on Automatic Control, 50(7): 947-957, July 2005.
10. R. Ghosh and C. J. Tomlin, Symbolic reachable set computation of piecewise affine hybrid automata and its application to biological modeling: Delta-Notch protein signaling, IEE Transactions on Systems Biology, Volume 1, Number 1, pp. 170-183, June 2004.
11. D. Stipanovic, G. Inalhan, R. Teo, and C. J. Tomlin, Decentralized Overlapping Control of a Formation of Unmanned Aerial Vehicles, Automatica, Volume 40, Number 8, pp.1285-1296, August 2004.
12. A. M. Bayen, P. Grieder, G. Meyer, and C. J. Tomlin, Lagrangian Delay Predictive Model for Sector Based Air Traffic Flow, AIAA Journal of Guidance, Control, and Dynamics, 28(5): 1015--1026, 2005.
13. D. Stipanovic, I. Hwang, and C. J. Tomlin, Computation of an Overapproximation of the Backwards reachable set using Subsystem Level Set Functions, Dynamics of Continuous, Discrete, and Impulsive Systems, Series A: Mathematical Analysis 11, pp. 399-411, 2004.
14. C. Tomlin, I. Mitchell, A. Bayen, and M. Oishi, Computational Techniques for the Verification and Control of Hybrid Systems,
  Proceedings of the IEEE, Volume 91, Number 7, pp. 986-1001, July 2003.
15. Ian Mitchell and C. J. Tomlin, Overapproximating Reachable Sets by Hamilton-Jacobi Projections. Journal of Scientific Computation, Volume 19, Number 1, pp. 323-346, December 2003.
16. R. Teo and C. J. Tomlin, Computing Danger Zones for Provably Safe Closely Spaced Parallel Approaches. AIAA Journal of Guidance, Control, and Dynamics, Volume 26, Number 3, pp. 434-443, May-June 2003.
17. Safety Verification of Conflict Resolution Maneuvers
  Claire Tomlin, Ian Mitchell, and Ronojoy Ghosh.
  IEEE Transactions on Intelligent Transportation Systems, Volume 2, Number 2, June 2001.
18. A Game Theoretic Approach to Controller Design for Hybrid Systems
  Claire Tomlin, John Lygeros, and Shankar Sastry.
  Proceedings of the IEEE, Volume 88, Number 7, July 2000.
19. Controllers for Reachability Specifications for Hybrid Systems
  John Lygeros, Claire Tomlin, and Shankar Sastry.
  Automatica, Volume 35, Number 3, March 1999.
20. Switching Through Singularities
  Claire Tomlin and Shankar Sastry
  Systems and Control Letters, Volume 35, pp. 145-154, 1998.
21. Conflict Resolution for Air Traffic Management: A Study in Multi-Agent Hybrid Systems
  Claire Tomlin, George J. Pappas, and Shankar Sastry.
  IEEE Transactions on Automatic Control, Volume 43, Number 4, April 1998.
22. Bounded Tracking for Nonminimum Phase Nonlinear Systems with Fast Zero Dynamics
  Claire Tomlin and Shankar Sastry
  International Journal of Control. Volume 68, Number 4, November 1997.
Book Chapters
1. I. Hwang, D. M. Stipanovic, and C. J. Tomlin, Polytopic Approximations of Reachable Sets applied to Linear Dynamic Games and to a Class of Nonlinear Systems, Advances in Control, Communication Networks, and Transportation Systems. E.H. Abed (Ed.), Systems and Control: Foundations and Applications Series, Birkhauser, Boston, July 2005.
2. M. K. Oishi, C. J. Tomlin, and A. Degani. Beyond the interface, In Taming HAL: Designing Interfaces Beyond 2001, A. Degani, Palgrave Macmillan, January 2004.
3. S. L. Waslander, G. Inalhan, C. J. Tomlin, Decentralized Optimization via Nash Bargaining, In Theory and Algorithms for Cooperative Systems, D. Grundel, R. Murphy and P. M. Pardalos, (eds.), Destin, pp. 565-583, November 2003.
4. C. Tomlin, S. Boyd, I. Mitchell, A. Bayen, M. Johannson, and L. Xiao,
  Computational Tools for the Verification of Hybrid Systems,
  In Software-Enabled Control, Samad and Balas (Eds.), John Wiley, March 2003.
Lecture Notes in Computer Science (LNCS) Chapters
1. R. L. Raffard, J. Hu, and C. J. Tomlin, Adjoint-based Optimal Control of the Expected Exit Time for Stochastic Hybrid Systems, Springer-Verlag Lecture Notes in Computer Science (LNCS 3414), Morari and Thiele (Eds.), pp. 557-572, March 2005. ©Springer-Verlag 2005, may not be further reproduced without their permission, and is published in Volume 3414 of the LNCS series.
2. H. Balakrishnan, I. Hwang, J. S. Jang, C. J. Tomlin, Inference Methods for Autonomous Stochastic Linear Hybrid Systems, Springer-Verlag Lecture Notes in Computer Science (LNCS 2993), Alur and Pappas (Eds.), pp. 64-79, March 2004.
3. A.M. Bayen, R. Raffard, C. J. Tomlin, Network congestion alleviation using adjoint hybrid control: application to highways, Springer-Verlag Lecture Notes in Computer Science (LNCS 2993), Alur and Pappas (Eds.), pp. 95-110, March 2004.
4. Automated Symbolic Reachability Analysis, with Application to Delta-Notch Signaling Automata, Ronojoy Ghosh, Ashish Tiwari, and Claire Tomlin, ©Springer-Verlag 2003, may not be further reproduced without their permission, and is published in Volume 2623 of the LNCS series.
5. Guaranteed Overapproximations of Unsafe Sets for Continuous and Hybrid Systems: Solving the Hamilton-Jacobi Equation Using Viability Techniques, Alexandre Bayen, Eva Cruck, and Claire Tomlin, ©Springer-Verlag 2002, may not be further reproduced without their permission, and is published in Volume 2289 of the LNCS series.
6. Validating a Hamilton-Jacobi Approximation to Hybrid System Reachable Sets, Ian Mitchell, Alexandre Bayen, and Claire Tomlin, ©Springer-Verlag 2001, may not be further reproduced without their permission, and is published in Volume 2034 of the LNCS series.
7. Addressing Multiobjective Control: Safety and Performance through Constrained Optimization, Meeko Oishi, Claire Tomlin, Vipin Gopal, and Datta Godole, ©Springer-Verlag 2001, may not be further reproduced without their permission, and is published in Volume 2034 of the LNCS series.
8. Lateral Inhibition through Delta-Notch Signaling: A Piecewise Affine Hybrid Model, Ronojoy Ghosh and Claire Tomlin, ©Springer-Verlag 2001, may not be further reproduced without their permission, and is published in Volume 2034 of the LNCS series.
9. Level Set Methods for Computation in Hybrid Systems, Ian Mitchell and Claire Tomlin, ©Springer-Verlag 2000, may not be further reproduced without their permission, and is published in Volume 1790 of the LNCS series.
10. Computing Controllers for Nonlinear Hybrid Systems, Claire Tomlin, John Lygeros, and Shankar Sastry, ©Springer-Verlag 1999, may not be further reproduced without their permission, and is published in Volume 1569 of the LNCS series.
11. Synthesizing Controllers for Nonlinear Hybrid Systems, Claire J. Tomlin, John Lygeros, and Shankar Sastry, ©Springer-Verlag 1998, may not be further reproduced without their permission, and is published in Volume 1386 of the LNCS series.
12. Multiobjective Hybrid Controller Synthesis, John Lygeros, Claire J. Tomlin, and Shankar Sastry, Available as Tech. Rep. UCB/ERL M97/59.
  ©Springer-Verlag 1997, may not be further reproduced without their permission, and is published in Volume 1201 of the LNCS series.
13. A Next Generation Architecture for Air Traffic Management Systems, C. Tomlin, G. Pappas, J. Lygeros, D. Godbole, and S. Sastry, ©Springer-Verlag 1996, may not be further reproduced without their permission, and is published in Volume 1273 of the LNCS series.
Selected Refereed Conference Publications
1. R. L. Raffard, K. Amonlirdviman, J. D. Axelrod, and C. J. Tomlin, Automatic parameter identification via the adjoint method, with application to understanding planar cell polarity, Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, December 2006.
2. R. L. Raffard and C. J. Tomlin, Tractable algorithm for open loop stochastic control, Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, December 2006.
3. M. K. Oishi, I. Mitchell, C. J. Tomlin, and P. St.-Pierre, Computing Viable Sets and Reachable Sets to Design Feedback Linearizing Control Laws Under Saturation, Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, December 2006.
4. S. L. Waslander and C. J. Tomlin, Efficient market-based air traffic flow control with competing airlines, Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, December 2006.
5. G. M. Hoffmann, S. L. Waslander, and C. J. Tomlin, Mutual Information Methods with Particle Filters for Mobile Sensor Network Control, Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, December 2006.
6. K. Roy, B. Levy and C. J. Tomlin, Target Tracking and Estimated Time of Arrival (ETA) Prediction for Arrival Aircraft, Proceedings of the AIAA Guidance, Navigation, and Control Conference, Keystone, AIAA Paper 2006-6324, August 2006.
7. G. M. Hoffmann, S. L. Waslander, and C. J. Tomlin, Distributed cooperative search using information-theoretic costs for particle filters with quadrotor applications, Proceedings of the AIAA Guidance, Navigation, and Control Conference, Keystone, AIAA Paper 2006-6576, August 2006.
8. K. Roy, and C. J. Tomlin, Enroute Airspace Control and Controller Workload Analysis using a Novel Slot-Based Sector Model, Proceedings of the AACC American Control Conference, Minneapolis, pp. 1044-1049, June 2006.
9. S. L. Waslander, R. L. Raffard, and C. J. Tomlin, Toward efficient and equitable market-based air traffic flow control, Proceedings of the AACC American Control Conference, Minneapolis, pp. 5189-5194, June 2006.
10. R. L. Raffard, K. Amonlirdviman, J. D. Axelrod, and C. J. Tomlin, Parameter Identification via the Adjoint Method: Application to Protein Regulatory Networks, Proceedings of the IFAC 2006 International Symposium on Advanced Control of Chemical Processes, pp. 475-482, April 2006.
11. R. L. Raffard, S. L. Waslander, A. M. Bayen and C. J. Tomlin, Cooperative Distributed Control for a Multi-Agent Eulerian Air Traffic Network, Proceedings of the AIAA Conference on Guidance, Navigation and Control, AIAA Paper 2005-6050, San Francisco, August 2005.
12. K. Roy, A. M. Bayen and C. J. Tomlin, Polynomial Time Algorithms for Scheduling of Arrival Aicraft, Proceedings of the AIAA Conference on Guidance, Navigation and Control, AIAA Paper 2005-6044, San Francisco, August 2005.
13. J. S. Jang and C. J. Tomlin, Control Strategies in Multi-Player Pursuit and Evasion Game, Proceedings of the AIAA Conference on Guidance, Navigation and Control, AIAA Paper 2005-6239, San Francisco, August 2005.
14. R. Teo, J. S. Jang, and C. J. Tomlin, Flight demonstration of Provable Safe Closely Spaced Parallel Approaches, Proceedings of the AIAA Conference on Guidance, Navigation and Control, San Francisco, August 2005.
15. S. L. Waslander, G. M. Hoffmann, J. S. Jang, and C. J. Tomlin, Multi-Agent X4-Flyer Testbed Control Design: Integral Sliding Mode vs. Reinforcement Learning, Proceedings of the International Conference on Intelligent Robots and Systems (IROS 2005), Edmonton, pp. 468-473, August 2005.
16. R. Ghosh and C. J. Tomlin, A Query-Based Technique for Interpreting Reachable Sets for Hybrid Automaton Models of Protein Feedback Signaling, Proceedings of the AACC American Control Conference, Portland, pp. 4417-4422, June 2005.
17. R. L. Raffard and C. J. Tomlin, Second Order Optimization of Ordinary and Partial Differential Equations with Application to Air Traffic Flow, Proceedings of the AACC American Control Conference, Portland, pp. 798-803, June 2005.
18. J. Hu, M. Prandini, and C. J. Tomlin, Interesting Conjugate Points in Formation Constrained Optimal Multi-Agent Coordination, Proceedings of the AACC American Control Conference, Portland, pp. 1871-1876, June 2005.
19. A. M. Bayen, C. J. Tomlin, Y. Ye, and J. Zhang, An Approximation Algorithm for Scheduling Aircraft with Holding Time, Proceedings of the 43rd IEEE Conference on Decision and Control, Atlantis, Bahamas, pp. 2760--2767, December 2004.
20. R. Ghosh and C. J. Tomlin, An Algorithm for Reachability Computations on Hybrid Automata Models of Protein Signaling Networks, Proceedings of the 43rd IEEE Conference on Decision and Control, Atlantis, Bahamas, pp. 2256--2261, December 2004.
21. I. Hwang, K. Roy, H. Balakrishnan, and C. J. Tomlin, A Distributed Multiple-Target Identity Management Algorithm in Sensor Networks, Proceedings of the 43rd IEEE Conference on Decision and Control, Atlantis, Bahamas, pp. 728--734, December 2004.
22. R. Raffard, C. J. Tomlin, and S. P. Boyd, Distributed Optimization for Cooperative Agents: Application to Formation Flight, Proceedings of the 43rd IEEE Conference on Decision and Control, Atlantis, Bahamas, pp. 2453--2459, December 2004.
23. H. Balakrishnan, I. Hwang, and C. J. Tomlin, Polynomial Approximation Algorithms for Belief Matrix Maintenance in Identity Management, Proceedings of the 43rd IEEE Conference on Decision and Control, Atlantis, Bahamas, pp. 4874--4879, December 2004.
24. R. Teo, J. S. Jang, and C. J. Tomlin, Automated Multiple UAV Flight -- the Stanford DragonFly UAV Program, Proceedings of the 43rd IEEE Conference on Decision and Control, Atlantis, Bahamas, pp. 4268--4273, December 2004.
25. G. Hoffmann, D. G. Rajnarayan, S. L. Waslander, D. Dostal, J. S. Jang, and C. J. Tomlin, The Stanford Testbed of Autonomous Rotorcraft for multi-agent control (STARMAC), Proceedings of the 23rd Digital Avionics System Conference, Salt Lake City, pp. 12E4 1--10, October 2004.
26. A. M. Bayen, T. Callantine, C. J. Tomlin, Y. Ye, and J. Zhang, Optimal Arrival Traffic Spacing via Dynamic Programming, Proceedings of the AIAA Guidance, Navigation, and Control Conference, Providence, Paper AIAA-2004-5228, August 2004.
27. A. M. Bayen, R. L. Raffard, and C. J. Tomlin, Eulerian Network Model of Air Traffic Flow in Congested Areas, In the Proceedings of the AACC American Control Conference, Boston, pp. 5520-5526, June 2004.
28. A. M. Bayen, R. L. Raffard, and C. J. Tomlin, Adjoint-Based Constrained Control of Eulerian Transportation Networks: Application to Air Traffic Control, In the Proceedings of the AACC American Control Conference, Boston, pp. 5539-5545, June 2004.
29. I. Hwang, H. Balakrishnan, K. Roy, and C. J. Tomlin, Multiple-Target Tracking and Identity Management in Clutter for Air Traffic Control, Proceedings of the AACC American Control Conference, Boston, pp. 3422-3428, June 2004.
30. M. Oishi, I. Hwang, and C. J. Tomlin, Immediate Observability of Discrete Event Systems with Application to User-Interface Design, Proceedings of the 42nd IEEE Conference on Decision and Control, Maui, pp. 2665-2672, December 2003.
31. A. Bayen, C. Tomlin, Y. Ye, J. Zhang, MILP formulation and polynomial time algorithm for an aircraft scheduling problem, Proceedings of the 42nd IEEE Conference on Decision and Control, Maui, pp. 5003-5010, December 2003.
32. I. Hwang, H. Balakrishnan, C. Tomlin, Performance Analysis of Hybrid Estimation Algorithms, Proceedings of the 42nd IEEE Conference on Decision and Control, Maui, pp. 5353-5359, December 2003.
33. R. Teo, D. Stipanovic, C. Tomlin, Decentralized Spacing Control of a String of Multiple Vehicles over Lossy Datalinks, Proceedings of the 42nd IEEE Conference on Decision and Control, Maui, pp. 682-687, December 2003.
34. I. Hwang, H. Balakrishnan, K. Roy, J. Shin, L. Guibas, and C. J. Tomlin, A Multiple-Target Tracking and Identity Management Algorithm for Air Traffic Control, In the Proceedings of the 2nd IEEE Sensors Conference, Toronto, pp. 36-41, October 2003.
35. I. Hwang, H. Balakrishnan, and C. Tomlin,
  Observability Criteria and Estimator Design for Stochastic Linear Hybrid Systems,
  In the Proceedings of IEE European Control Conference, Cambridge, UK, September 2003.
36. D. Stipanovic, I. Hwang, G. Inalhan, and C. Tomlin,
  Computation of an Over-Approximation of the Backward Reachable Set using Subsystem Level Set Functions,
  In the Proceedings of IEE European Control Conference, Cambridge, UK, September 2003.
37. I. Hwang, J. Hwang, and C. Tomlin,
  Flight-Mode-Based Aircraft Conflict Detection using a Residual-Mean Interacting Multiple Model Algorithm,
  Proceedings of the AIAA Guidance, Navigation, and Control Conference, Austin, August 2003.
38. A. Bayen, S. Santhanam, I. Mitchell and C. Tomlin,
  A differential game formulation of alert levels in ETMS data for high altitude traffic,
  Proceedings of the AIAA Guidance, Navigation, and Control Conference, Austin, August 2003.
39. J. S. Jang, and C. Tomlin,
  Longitudinal Stability Augmentation System Design for the DragonFly UAV using a Single GPS Receiver,
  Proceedings of the AIAA Guidance, Navigation, and Control Conference, Austin, AIAA Paper Number 2003-5592, August 2003.
40. A. Bayen, and C. Tomlin,
  Real-time discrete contol law synthesis for hybrid systems using MILP: Application to congested airspace,
  In the Proceedings of the AACC American Control Conference, Denver, June 2003.
41. I. Hwang, D. Stipanovic, and C. Tomlin,
  Application of Polytopic Approximations of Reachable Sets to Linear Dynamic Games and a Class of Nonlinear Systems,
  In the Proceedings of the AACC American Control Conference, Denver, June 2003.
42. Inseok Hwang, Hamsa Balakrishnan, Ronojoy Ghosh, and Claire Tomlin,
  Reachability Analysis of Delta-Notch Lateral Inhibition using Predicate Abstraction
  In the Proceedings of High Performance Computing, Bangalore, December 2002.
43. K. Amonlirdviman, R. Ghosh, J. D. Axelrod, C. J. Tomlin,
  A Hybrid Systems Approach to Modeling and Analyzing Planar Cell Polarity
  In the Proceedings of the International Conference on Systems Biology, Stockholm, December 2002.
44. D. Stipanovic, G. Inalhan, R. Teo, and C. Tomlin,
  Decentralized overlapping control of a formation of unmanned aerial vehicles,
  In the Proceedings of the 41st IEEE Conference on Decision and Control, Las Vegas, December 2002.
45. M. Oishi, I. Mitchell, A. Bayen, C. Tomlin, and A. Degani,
  Hybrid verification of an interface for an automatic landing,
  In the Proceedings of the 41st IEEE Conference on Decision and Control, Las Vegas, December 2002.
46. R. Ghosh, K. Amonlirdviman, C. Tomlin,
  A hybrid systems model of planar cell polarity signaling in drosophila melanogaster wing epithelium,
  In the Proceedings of the 41st IEEE Conference on Decision and Control, Las Vegas, December 2002.
47. G. Inalhan, D. Stipanovic, and C. Tomlin,
  Decentralized Optimization, with application to Multiple Aircraft Coordination, Best student paper finalist!
  In the Proceedings of the 41st IEEE Conference on Decision and Control, Las Vegas, December 2002.
48. R. Teo, D. Stipanovic, and C. Tomlin,
  Multiple Vehicle Control over a Lossy Datalink,
  In the Proceedings of the Asian Control Conference, Singapore, September 2002.
49. A. Bayen, P. Grieder, C. Tomlin,
  A Control Theoretic Predictive Model for Sector-Based Air Traffic Flow,
  Proceedings of the AIAA Guidance, Navigation, and Control Conference, Monterey, AIAA Paper Number 2002-5011, August 2002.
50. J. S. Jang and C. Tomlin,
  Design and Implementation of a Low Cost, Hierarchical and Modular Avionics Architecture for the DragonFly UAVs,
  Proceedings of the AIAA Guidance, Navigation, and Control Conference, Monterey, AIAA Paper Number 2002-4465, August 2002.
51. A. Bayen, P. Grieder, H. Sipma, C. Tomlin, and G. Meyer,
  Delay predictive models of the national airspace system using hybrid control theory: design, simulations, and proofs,
  In the Proceedings of the AACC American Control Conference, Anchorage, May 2002.
52. I. Hwang and C. Tomlin,
  Multiple Aircraft Conflict Resolution under Finite Information Horizon,
  In the Proceedings of the AACC American Control Conference, Anchorage, May 2002.
53. A construction procedure using characteristics for viscosity solutions of the Hamilton-Jacobi equation
  Alexandre Bayen and Claire J. Tomlin
  In the Proceedings of the 40th IEEE Conference on Decision and Control, Orlando, December 2001.
54. R. Ghosh and C. Tomlin,
  A Suitable Switch: Parameter Constraints for a Hybrid Model of Lateral Inhibition through Delta-Notch Signaling,
  39th Annual Allerton Conference on Communication, Control, and Computing, October 2001.
55. J. Evans, G. Inalhan, J. S. Jang, R. Teo, and C. Tomlin,
  DragonFly: A versatile UAV platform for the advancement of aircraft navigation and control,
  Proceedings of the 20th Digital Avionics System Conference, Daytona Beach, pp. 1C3/1-12, October 2001.
56. Provably Safe Evasive Maneuvers against Blunders in Closely Spaced Parallel Approaches
  Rodney Teo and Claire J. Tomlin
  In the Proceedings of the AIAA Guidance, Navigation, and Control Conference, Montreal, August 2001.
57. Autopilot Design for the Stanford DragonFly UAV: Validation through Hardware-in-the-Loop Simulation
  Jung Soon Jang and Claire J. Tomlin
  In the Proceedings of the AIAA Guidance, Navigation, and Control Conference, Montreal, August 2001.
58. Ellipsoidal Approximation of Reachable Sets for Linear Games
  Norihiko Shishido and Claire Tomlin
  In the Proceedings of the 39th IEEE Conference on Decision and Control, Sydney, December 2000.
59. Computing Provably Safe Aircraft to Aircraft Spacing for Closely Spaced Parallel Approaches
  Rodney Teo and Claire Tomlin
  In the Proceedings of the Digital Avionics Systems Conference (DASC00), Philadelphia, October 2000.
60. Nonlinear Inverse Dynamic Control for Mode-based Flight
  Ronojoy Ghosh and Claire Tomlin
  In the Proceedings of the AIAA Guidance, navigation, and Control Conference, Denver, August 2000.
61. Maneuver Design for Multiple Aircraft Conflict Resolution
  Ronojoy Ghosh and Claire Tomlin
  In the Proceedings of the American Control Conference, Chicago, June 2000.
62. Switching in Nonminimum Phase Nonlinear Systems: Applications to a VSTOL Aircraft
  Meeko Oishi and Claire Tomlin
  In the Proceedings of the American Control Conference, Chicago, June 2000.
63. Switched Nonlinear Control of a VSTOL Aircraft
  Meeko Oishi and Claire Tomlin
  In the Proceedings of the 38th IEEE Conference on Decision and Control, Phoenix, December 1999.
64. Towards Efficient Computation of Solutions to Hybrid Systems
  Claire Tomlin
  In the Proceedings of the 38th IEEE Conference on Decision and Control, Phoenix, December 1999.
65. Hybrid Control of Air Traffic Management
  C. Tomlin.
  In the Proceedings of the 1999 ASME International Mechanical Engineering Congress and Exposition, Nashville, November 1999.
66. Flight Tests of an Unmanned Air Vehicle with Integrated Multi-Antenna GPS Receiver and IMU: Towards a Testbed for Distributed Control and Formation Flight
  J. Evans, W. Hodge, J. Liebman, C. Tomlin, B. Parkinson.
  In the Proceedings of the ION-GPS Conference, Nashville, September 1999.
67. Towards Automated Conflict Resolution in Air Traffic Control
  C. Tomlin.
  In the Proceedings of IFAC99, Beijing, July 1999.
68. Controller Synthesis for Hybrid Systems: the Hamilton-Jacobi Approach
  C. Tomlin, J. Lygeros, and S. Sastry.
  In the Proceedings of the AAAI Spring Symposium, Stanford, March 1999.
69. Free Flight in 2000: Games on Lie Groups
  Claire Tomlin, Yi Ma, and Shankar Sastry
  In the Proceedings of the 37th IEEE Conference on Decision and Control, Tampa, December 1998.
70. Aerodynamic Envelope Protection using Hybrid Control
  C. Tomlin, J. Lygeros, and S. Sastry
  In the Proceedings of the American Control Conference, Philadelphia, June 1998.
71. Advanced Air Traffic Automation: A Case Study in Distributed Decentralized Control
  C. Tomlin, G. Pappas, J. Kosecka, J. Lygeros and S. Sastry
  Springer-Verlag, Proceedings of the Workshop Control Problems in Robotics and Automation, San Diego, December 1997.
72. Noncooperative Conflict Resolution
  Claire Tomlin, George J. Pappas, and Shankar Sastry.
  In the Proceedings of the 36th IEEE Conference on Decision and Control, San Diego, December 1997.
73. Output Tracking for a Non-Minimum Phase Dynamic CTOL Aircraft Model
  Claire Tomlin, John Lygeros, Luca Benvenuti, and Shankar Sastry
  In the Proceedings of the 34th IEEE Conference on Decision and Control, New Orleans, December 1995.
Brief Biography

Claire Tomlin is a Professor of Electrical Engineering and Computer Sciences at the University of California at Berkeley, where she holds the Charles A. Desoer Chair in Engineering. She held the positions of Assistant, Associate, and Full Professor at Stanford from 1998-2007, and in 2005 joined Berkeley. She received the Erlander Professorship of the Swedish Research Council in 2009, a MacArthur Fellowship in 2006, and the Eckman Award of the American Automatic Control Council in 2003. She works in hybrid systems and control, with applications to air traffic systems, robotics, and biology.