Publications

Journal Articles

• Gabriel M. Hoffmann and Claire J. Tomlin,
  Mobile Sensor Network Control using Mutual Information Methods and Particle Filters
  In review for IEEE Transactions on Automatic Control, 2008. [bib |.pdf ]
• S. Thrun, M. Montemerlo, H. Dahlkamp, D. Stavens, A. Aron, J. Diebel, P. Fong, J. Gale, M. Halpenny, G. Hoffmann, K. Lau, C. Oakley, M. Palatucci, V. Pratt, P. Stang, S. Strohband, C. Dupont, L.-E. Jendrossek, C. Koelen, C. Markey, C. Rummel, J. van Niekerk, E. Jensen, P. Alessandrini, G. Bradski, B. Davies, S. Ettinger, A. Kaehler, A. Nefian, and P. Mahoney,
  Winning the DARPA Grand Challenge
  Journal of Field Robotics, Volume 23, Number 9, pp. 661-692, 2006. [bib |.pdf ]
• Gabriel M. Hoffmann, Steven L. Waslander, Haomiao Huang, and Claire J. Tomlin,
  Autonomous Quadrotor Helicopter Testbed Design, Control, and Experiments
  Submitted to AIAA Journal of Guidance, Control and Dynamics.
• Gabriel M. Hoffmann and Claire J. Tomlin,
  Autonomous Rescue Beacon Search by a Quadrotor Helicopter Mobile Sensor Network
  In preparation for IEEE Transactions on Control Systems Technology.
• Gabriel M. Hoffmann, Claire J. Tomlin, M. Montemerlo, S. Thrun,
  Automobile Trajectory Tracking for Forward and Reverse Driving
  In preparation for International Journal of Robotics Research.
• Gabriel M. Hoffmann and Claire J. Tomlin,
  Multi-Vehicle Collision Avoidance for Rotorcraft using Hybrid Control
  In preparation for SIAM Journal on Control and Optimization.

Conference Papers

• Gabriel M. Hoffmann and Claire J. Tomlin,
  Decentralized Cooperative Collision Avoidance for Acceleration Constrained Vehicles
  To appear in the Proceedings of the 47th IEEE Conference on Decision and Control, Cancun, Mexico, December 2008.
• Gabriel M. Hoffmann, Steven L. Waslander, and Claire J. Tomlin,
  Quadrotor Helicopter Trajectory Tracking Control
  To appear in the Proceedings of the AIAA Guidance, Navigation, and Control Conference, Honolulu, HI, August 2008.
• Michael P. Vitus, Vijay Pradeep, Gabriel M. Hoffmann, Steven L. Waslander, and Claire J. Tomlin,
  Tunnel-MILP: Path Planning with Sequential Convex Polytopes
  To appear in the Proceedings of the AIAA Guidance, Navigation, and Control Conference, Honolulu, HI, August 2008.
• Dimitry Gorinevsky, Gabriel M. Hoffmann, Marina Shmakova, Robert W. Mah, Scott Cryan Cryan, and Jennifer D. Mitchell,
  Fault Tolerance of Relative Navigation Sensing in Docking Approach of Spacecraft
  In Proceedings of the IEEE Aerospace Conference, Big Sky, MN, March, 2008.
• Gabriel M. Hoffmann, Haomiao Huang, Steven L. Waslander, and Claire J. Tomlin,
  Quadrotor Helicopter Flight Dynamics and Control: Theory and Experiment
  In the Proceedings of the AIAA Guidance, Navigation, and Control Conference, Hilton Head, SC, AIAA Paper Number 2007-6461, August 2007. [bib |.pdf]
• Gabriel M. Hoffmann, Dimitry Gorinevsky, Robert W. Mah, Claire J. Tomlin, and Jennifer D. Mitchell,
  Fault Tolerant Relative Navigation using Inertial and Relative Sensors
  In the Proceedings of the AIAA Guidance, Navigation, and Control Conference, Hilton Head, SC, AIAA Paper Number 2007-6789, August 2007. [bib |.pdf]
• Gabriel M. Hoffmann, Claire J. Tomlin, Michael Montemerlo, and Sebastian Thrun,
  Autonomous Automobile Trajectory Tracking for Off-Road Driving: Controller Design, Experimental Validation and Racing
  In the Proceedings of the 26th American Control Conference, New York, NY, July 2007. [bib |.pdf]
• David Stavens, Gabriel Hoffmann, and Sebastian Thrun,
  Online Speed Adaptation using Supervised Learning for High-Speed, Off-Road Autonomous Driving
  In the Proceedings of the 20th International Joint Conference on Artificial Intelligence (IJCAI07), Hyderabad, India, January 2007. [bib |.pdf]
• Gabriel M. Hoffmann, Steven L. Waslander, and Claire J. Tomlin,
  Mutual Information Methods with Particle Filters for Mobile Sensor Network Control
  In the Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, CA, December 2006. [bib |.pdf]
• Gabriel M. Hoffmann, Steven L. Waslander, and Claire 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, CO, AIAA Paper Number 2006-6576, August 2006. [bib |.pdf]
• Steven L. Waslander, Gabriel Hoffmann, Jung Soon Jang, and Claire J. Tomlin,
  Multi-Agent Quadrotor Testbed Design: Integral sliding Mode vs. Reinforcement Learning
  In the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), Edmonton, AB, Canada, pp. 468-473, August 2005. [bib |.pdf]
• Gabriel M. Hoffmann, Dev Gorur Rajnarayan, Steven L. Waslander, David Dostal, Jung Soon Jang, and Claire J. Tomlin,
  The Stanford Testbed of Autonomous Rotorcraft for Multi Agent Control (STARMAC)
  In the Proceedings of the 23rd Digital Avionics System Conference, Salt Lake City, UT, pp. 12.E.4/1-10, November 2004. [bib |.pdf]

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Gabe Hoffmann