Prof. Mireille E. Broucke Systems Control Group Dept. of Electrical & Computer Engineering Institute for Robotics and Mechatronics University of Toronto

Home Publications Graduate Laboratory Biographical Sketch Past Students
University of Toronto

Mireille E. Broucke

Professor

Systems Control Group

Publications

Journal Papers
Book Chapters
Conference Papers

Books

S. Hamilton and M.E. Broucke. Geometric Control of Patterned Linear Systems. Lecture Notes in Control and Information Sciences. LNCIS 428, Springer, 2012.

Submitted Papers and Preprints

M. Moura, M. Ornik, A. Peplowski, and M.E. Broucke. Adaptive cruise control design using reach control. American Control Conference. Submitted August 2017.
M. Vukosavljev, A. Schoellig, and M.E. Broucke. Regular indefinite linear quadratic optimal control problem: stabilizable case. SIAM Journal on Control and Optimization. Submitted August 2017.
M. Ornik and M.E. Broucke. Nerve theory and the reach control problem. IEEE Conference on Decision and Control. To appear December 2017.
M. Ornik and M.E. Broucke. A graph-theoretic approach to the reach control problem. IEEE Conference on Decision and Control. To appear December 2017.
M. Vukosavljev, Z. Kroeze, M.E. Broucke, and A.P. Schoellig. A framework for multi-vehicle navigation using feedback-based motion primitives. IEEE International Conference on Intelligent Robots and Systems. To appear September 2017.
M. Ornik and M.E. Broucke. Chattering in the reach control problem. Automatica. Accepted August 2017.
M.E. Broucke, M. Ornik, and A. Mansouri. A topological obstruction in a control problem. Systems and Control Letters. Accepted August 2017.

Journal Papers

A. Sniderman, M.E. Broucke, and G. D'Eleuterio. Control of a class of patterned systems. International Journal of Control. pp. 1 -- 19, 2017.
M. Ornik and M.E. Broucke. Characterization of a topological obstruction to reach control by continuous state feedback. Mathematics of Control, Signals, and Systems. Vol. 29, issue 2, June 2017.
M. Moarref, M. Ornik, and M.E. Broucke. An obstruction to solvability of the reach control problem using affine feedback. Automatica. Vol. 71, pp. 229 -- 236, September 2016.
M.K. Helwa, Z. Lin, and M.E. Broucke. On the necessity of the invariance conditions for reach control on polytopes. Systems and Control Letters. Vol. 90, pp. 16 -- 19, April 2016.
M.K. Helwa and M.E. Broucke. Flow functions, control flow functions, and the reach control problem. Automatica. Vol. 55, pp. 108 -- 115, May 2015.
M.E. Broucke and M. Ganness. Reach control on simplices by piecewise affine feedback. SIAM Journal on Control and Optimization. Vol. 52, No. 5, pp. 3261-3286, October 2014.
E. Semsar Kazerooni and M.E. Broucke. Reach controllability of single input affine systems. IEEE Transactions on Automatic Control. vol. 59, issue 3, pp. 738-744, March 2014.
M.K. Helwa and M.E. Broucke. Monotonic reach control on polytopes. IEEE Transactions on Automatic Control. vol. 58, issue 10, pp. 2704-2709, October 2013.
G. Ashford and M.E. Broucke. Time-varying affine feedback for reach control on simplices. Automatica. vol. 49, issue 5, pp. 1365-1369, May 2013.
S. Hamilton and M.E. Broucke. Patterned linear systems. Automatica. vol. 48, issue 2, pp. 263-272, February 2012.
Z. Lin and M.E. Broucke. On a reachability problem for affine hypersurface systems on polytopes. Automatica. vol. 47, issue 4, pp. 769-775, April 2011.

This is a condensed version of the full paper.
M.E. Broucke and J. Turriff. Viability kernels for nonlinear control systems using bang controls. IEEE Transactions on Automatic Control. vol. 55, issue 5, pp. 1280-1284, May 2010.
M.E. Broucke. Reach control on simplices by continuous state feedback. SIAM Journal on Control and Optimization. vol. 48, issue 5, pp. 3482-3500, February 2010.
L. Krick, M.E. Broucke, and B. Francis. Stabilization of infinitesimally rigid formations of multi-robot networks. International Journal of Control. vol. 82, issue 3, pp. 423-439, 2009.
J.A. Marshall and M.E. Broucke. Symmetry invariance in multiagent formations in self-pursuit. IEEE Transactions on Automatic Control. vol. 3, no. 9, pp. 2022-2032, October 2008.
P. Mason, M.E. Broucke, and B. Piccoli. Time optimal swing-up of the planar pendulum. IEEE Transactions on Automatic Control. vol. 53, no. 8, pp. 1876-1886, September 2008.
S.L. Smith, M.E. Broucke, and B.A. Francis. Curve shortening and the rendezvous problem for mobile autonomous robots. IEEE Transactions on Automatic Control. vol. 56, no. 6, pp. 1154-1159, June 2007.

This is a condensed version of the full paper.
A. Arapostathis and M.E. Broucke. Stability and controllability of planar, conewise linear systems. Systems and Control Letters. vol. 56, issue 12, pp. 150--158, February 2007.
B. Roszak and M.E. Broucke. Reachability of a set of facets for linear affine systems with n - 1 inputs. IEEE Transactions on Automatic Control. vol. 52, no. 2, pp. 359-364, February 2007.
B. Roszak and M.E. Broucke. Necessary and sufficient conditions for reachability on a simplex. Automatica. vol. 42, no. 11, pp. 1913-1918, November 2006.
F. Fadaie and M.E. Broucke. On the least restrictive control for collision avoidance of two unicycles. International Journal of Robust and Nonlinear Control, vol. 16, issue 12, pp. 553-574, August 2006.
J.A. Marshall, T. Fung, M.E. Broucke, G.M.T. D'Eleuterio, and B.A. Francis. Experiments in multirobot coordination. Journal of Robotics and Autonomous Systems, vol. 54, no. 3, pp. 265-275, March 2006.
J.A. Marshall, M.E. Broucke, and B.A. Francis. Pursuit formations of unicycles. Automatica, vol. 42, no. 1, pp. 3-12, January 2006.
S.L. Smith, M.E. Broucke, B.A. Francis. A hierarchical cyclic pursuit scheme for vehicle networks. Automatica, vol. 41, no. 6, pp. 1045-1053, June 2005.
M.E. Broucke, S. Di Gennaro, M. Di Benedetto, and A. Sangiovanni-Vincentelli. Efficient solution of optimal control problems using hybrid systems. SIAM Journal on Control and Optimization, vol. 43, no. 6, pp. 1923-1952, 2005.
J.A. Marshall, M.E. Broucke, B.A. Francis. Formations of vehicles in cyclic pursuit. IEEE Transactions on Automatic Control, vol. 49, no. 11, pp 1963-1974, November, 2004.
Z. Lin, M.E. Broucke, B. Francis. Local control strategies for groups of mobile autonomous agents. IEEE Transactions on Automatic Control, vol. 49, no. 4, pp. 622-629, 2004.
M.E. Broucke and A. Arapostathis. Continuous selections of trajectories of hybrid systems. Systems and Control Letters, vol. 47, pp. 149-157, 2002
M.E. Broucke, C. Pugh, S. Simic. Structural stability of piecewise smooth systems. Computational and Applied Mathematics, vol. 20, no. 1-2, pp. 51-90, 2001.
M.E. Broucke and A. Arapostathis. Interpolation of solutions of Lipschitz inclusions. Journal of Mathematical Analysis and Applications, vol. 258, no. 2, pp. 565-572, 2001.
J. Lygeros, D.N. Godbole, M.E. Broucke. A fault tolerant control architecture for automated highway systems. IEEE Transactions on Control Systems Technology, vol. 8, no. 2, pp. 205-19, March 2000.
M.E. Broucke, P. Varaiya. The automated highway system: a transportation technology for the 21st century. Control Engineering Practice, vol. 5, no. 11, November 1997, pp. 1583-90.
M.E. Broucke and P. Varaiya. A theory of traffic in automated highway systems. Transportation Research-C, vol. 4, no. 4, August 1996, pp. 181-210.
M.E. Broucke. One parameter bifurcation diagram for Chua's circuit. IEEE Transactions on Circuits and Systems, vol.CAS-34, no.2, February 1987, pp. 208-9.

Book Chapters

L. Krick, M.E. Broucke, and B. Francis. Getting mobile autonomous robots to form a prescribed geometric arrangement. Recent Advances in Learning and Control. Lecture Notes in Control and Information Sciences, vol. 371, pp. 149--159, Springer-Verlag, 2008.
J.A. Marshall, Z. Lin, M.E. Broucke, and B.A. Francis. Pursuit strategies for autonomous agents. Cooperative Control: A Post-workshop Volume: 2003 Block Island Workshop on Cooperative Control, V.J. Kumar, N.E. Leonard, and A.S. Morse (eds), Lecture Notes in Control and Information Sciences, vol. 309, pp. 137-151, Springer-Verlag, 2004.
M.E. Broucke, M.D. Di Benedetto, S. Di Gennaro, and A. Sangiovanni-Vincentelli. Optimal control using bisimulations: Implementation. Hybrid Systems: Computation and Control (HSCC.01), Springer-Verlag, LNCS 2034, pp. 175-188, 2001.
M.E. Broucke, M.D. Di Benedetto, S. Di Gennaro, and A. Sangiovanni-Vincentelli. Theory of optimal control using bisimulations. Hybrid Systems: Computation and Control (HSCC.00), Springer-Verlag, LNCS 1790, pp. 89-102, 2000.
M.E. Broucke. A geometric approach to bisimulation and verification of hybrid systems. Hybrid Systems: Computation and Control (HSCC.00), Hybrid Systems: Computation and Control (HSCC.99), Lecture Notes in Computer Science 1569, Springer-Verlag, p. 61-75, 1999.
M.E. Broucke and P. Varaiya. Decidability of hybrid systems with linear and nonlinear differential inclusions. Hybrid Systems IV, Lecture Notes in Computer Science 1273, Springer-Verlag, p. 77-92, 1997.

Conference Papers

M. Ornik and M.E. Broucke. A reach control approach to parallel parking. IFAC 2017 World Congress. July 2017.

Numerical values for the simulations are found here .
A. Sniderman, M.E. Broucke, and G. D'Eleuterio. Stabilization of patterned linear systems. IFAC 2017 World Congress. July 2017.
M. Ornik, A. Sniderman, M.E. Broucke, and G. D'Eleuterio. Pattern identification in distributed systems. IEEE Conference on Decision and Control. December 2016.
M. Ornik and M.E. Broucke. Characterizing equilibria in reach control under affine feedback. IFAC Symposium on Nonlinear Control Systems (NOLCOS). August 2016.
M. Ornik and M.E. Broucke. On a topological obstruction in the reach control problem. Mathematical and Computational Approaches in Advancing Modern Science and Engineering. Proc. 2015 AMMCS-CAIMS Congress. 2016.
Z. Kroeze and M.E. Broucke. A viability approach to the output reach control problem. American Control Conference. June 2016.
C. Holmes and M.E. Broucke. Pattern preserving pole placement and stabilization for linear systems. American Control Conference. June 2016.
M. Vukosavljev, I. Jansen, M.E. Broucke, and A.P. Schoellig. Safe and robust robot maneuvers based on reach control. IEEE International Conference on Robotics and Automation. May 2016.
M. Ornik and M.E. Broucke. A topological obstruction to reach control by continuous state feedback. IEEE Conference on Decision and Control. December 2015.
A. Sniderman, M.E. Broucke, and G. D'Eleuterio. Controllability is not sufficient for pole placement in patterned systems. IEEE Conference on Decision and Control. December 2015.
A. Sniderman, M.E. Broucke, and G. D'Eleuterio. Formation control of balloons: a block circulant approach. American Control Conference. June 2015.
Z. Kroeze and M.E. Broucke. Reach control problem with disturbance rejection. IEEE Conference on Decision and Control. December 2014.
M. Martino and M.E. Broucke. A reach control approach to bumpless transfer of robotic manipulators. IEEE Conference on Decision and Control. December 2014.
M. Vukosavljev and M.E. Broucke. Control of a gantry crane: a reach control approach. IEEE Conference on Decision and Control. December 2014.
M.K. Helwa and M.E. Broucke. Reach control of single-input systems on simplices using multi-affine feedback. International Symposium on Mathematical Theory of Networks and Systems. July 2014.
G. Ashford and M.E. Broucke. Design of reach controllers on simplices. IEEE Conference on Decision and Control. December 2013.
A. Sniderman, M.E. Broucke, and G.D'Eleuterio. Block circulant control: a geometric approach. IEEE Conference on Decision and Control. December 2013.
M.K. Helwa and M.E. Broucke. Generalized flow conditions for reach control on polytopes. IEEE Conference on Decision and Control. December 2012.
M.E. Broucke and E. Semsar Kazerooni. Reach control problem: well-posedness and structural stability. IEEE Conference on Decision and Control. December 2012.
M.K. Helwa and M.E. Broucke. Monotonic reach control on polytopes. IEEE Conference on Decision and Control. December 2011.
E. Semsar Kazerooni and M.E. Broucke. Reach controllability of single input affine systems. IEEE Conference on Decision and Control. December 2011.
M.E. Broucke and M. Ganness. Reach control on simplices by piecewise affine feedback. American Control Conference. June 2011.
S. Hamilton and M.E. Broucke. Geometric control of patterned linear systems. IEEE Conference on Decision and Control. December 2010.
S. Hamilton and M.E. Broucke. Patterned linear systems: rings, chains, and trees. IEEE Conference on Decision and Control. December 2010.
M.E. Broucke. On the reach control indices of affine systems on simplices. 8th IFAC Symposium on Nonlinear Control Systems.. August 2010.
J. Turriff and M.E. Broucke. A method to construct viability kernels for nonlinear control systems. American Control Conference. June 2009.
M.E. Broucke. Reach control on simplices by continuous state feedback. American Control Conference. June 2009.
L. Krick, M.E. Broucke and B.A. Francis. Stabilization of infinitesimally rigid formations of multi-robot networks. IEEE Conference on Decision and Control. December 2008.
Z. Lin and M.E. Broucke. Reachability and control of affine hypersurface systems on polytopes. IEEE Conference on Decision and Control. December 2007.
A. Arapostathis and M.E. Broucke. Stability and controllability of planar, conewise linear systems. IEEE Conference on Decision and Control. December 2007.
P. Mason, M.E. Broucke, and B. Piccoli. Time optimal swing-up of the planar pendulum. IEEE Conference on Decision and Control. December 2007.
Z. Lin and M.E. Broucke. Resolving control to facet problems for affine hypersurface systems on simplices. IEEE Conference on Decision and Control. December 2006.
F. Fadaie and M.E. Broucke. A viability problem for control affine systems with application to collision avoidance. IEEE Conference on Decision and Control. December 2006.
S.L. Smith, M.E. Broucke, and B.A. Francis. Stabilizing to an equilateral polygon. Mathematical Theory of Networks and Systems. July 2006.
J.A. Marshall and M.E. Broucke. On invariance of cyclic group symmetries in multiagent formations. IEEE Conference on Decision and Control. pp. 746-751, December 2005.
S.L. Smith, M.E. Broucke, and B.A. Francis. Curve shortening and its application to multi- agent systems. IEEE Conference on Decision and Control. pp. 2817-2822, December 2005.
B. Roszak and M.E. Broucke. Necessary and sufficient conditions for reachability on a simplex. IEEE Conference on Decision and Control. pp. 4706-4711, December 2005.
J.A. Marshall, T. Fung, M.E. Broucke, G.M.T. D.Eleuterio, and B.A. Francis. Experimental validation of multi-vehicle coordination strategies. American Control Conference. pp. 1090-1095, June 2005.
H. Lens, M.E. Broucke, and A. Arapostathis. Stability of 2D switched linear systems. Mathematical Theory of Networks and Systems. June 2004.
J.A. Marshall, M.E. Broucke, and B.A. Francis. Unicycles in cyclic pursuit. American Control Conference. pp. 5344-5349, June 2004.
Z. Lin, M.E. Broucke, B. Francis. Local control strategies for groups of mobile autonomous agents. IEEE Conference on Decision and Control. pp. 1006-1011, December 2003.
J.A. Marshall, M.E. Broucke, B. Francis. A pursuit strategy for wheeled-vehicle formations. IEEE Conference on Decision and Control. pp. 2555-2560, December 2003.
M.E. Broucke. Reconfiguration of Identical Vehicles in 3D. IEEE Conference on Decision and Control. vol. 2, pp. 1538-1543, December 2003.
M.E. Broucke. Disjoint path algorithms for planar reconfiguration of identical vehicles. Proc. of the American Control Conference. vol. 3, pp. 2199-2204, June 2003.
M.E. Broucke, M. DiBenedetto, S. DiGennaro, and A. Sangiovanni-Vincentelli. Effective Synthesis of Optimal Controllers Using Bisimulations. IEEE Conference on Decision and Control. vol. 3, pp. 3194-3199, December 2002.
M.E. Broucke. Reachability analysis for hybrid systems with linear dynamics. Mathematical Theory of Networks and Systems. August, 2002.
M.E. Broucke, C. Pugh, S. Simic. Structural stability of Filippov automata. IEEE Conference on Decision and Control. Vol. 3, pp. 2087-2092, December 2001.
M.E. Broucke, C. Pugh, S. Simic. Structural stability of piecewise smooth systems. International Conference on Dynamical Systems. July 2000.
M.E. Broucke. A geometric approach to bisimulation and verification of hybrid systems. IEEE Conference on Decision and Control. Vol. 4, p. 4277-82, December 1998.
M.E. Broucke. Regularity of solutions and homotopic equivalence for hybrid systems. IEEE Conference on Decision and Control. Vol. 4, pp. 4283-8, December 1998.
M.E. Broucke. On control policies for automated traffic. Proc. of the 36th IEEE Conference on Decision and Control. Vol. 5, pp. 4770-1, December 1997.
M.E. Broucke and P. Varaiya. The automated highway system: a transportation technology for the 21st century. Proc. of the 13th IFAC World Congress. Vol. Q, Automotive, Marine, Autonomous Vehicles, Pergamon, 1997, p. 141-6.
M. Kourjanski, M.E. Broucke, A. Skabardonis, and P. Varaiya. Car-driver models for manual and automated travel. Transportation Systems 1997. Proceedings from the 8th IFAC/IFIP/IFORS Symposium. Pergamon, vol. 1, pp. 53-8, 1997.
M.E. Broucke and P. Varaiya. A dynamic model for traffic flow on automated highway systems. Transportation Systems 1997. Proceedings from the 8th IFAC/IFIP/IFORS Symposium. Pergamon, vol. 1, pp. 59-63, 1997.
M.E. Broucke and P. Varaiya. A theory of traffic in automated highway systems. 75th annual TRB Meeting. Paper 960430, Washington D.C, December 1995.
J. Lygeros, D.N. Godbole, M.E. Broucke. Design of an extended architecture for degraded modes of operation of IVHS. Proceedings of the American Control Conference. Vol. 5, pp. 3592-3596, June 1995.
J. Lygeros, D. Godbole, and M.E. Broucke. Towards a fault tolerant AHS design. SAE Future Transportation Technology Conference. SAE paper 951894, August, 1995.
M.E. Broucke, S. Karahan. Efficient method for integration of stiff, nearly linear systems. Proc. 1993 American Control Conference. Vol. 3, pp. 2635-6, June 1993.
M.E. Broucke. Chebyshev parametrization of identification algorithms for linear systems. Proc. 1993 American Control Conference. Vol. 2, pp. 2002-3, June 1993.
M.E. Broucke. Simulation techniques for automotive subsystems. SAE International Congress. SAE paper 930205, March 1993.