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Modern day control systems are increasingly being built using networks to deliver sensor and actuator information to and from the controller. This paradigm has many benefits including reduced cost and ease of installation. It also poses many interesting problems as a consequence of transmission delay, packet loss, network dynamics, computational capacity - all effects of the convergence of Communication, Computation and Control. I have been working on investigating performance issues, system architecture and design patterns for such systems.
My advisor is Prof P. R. Kumar and I currently run the Convergence Lab at UIUC.

Papers

Networked Control Theory Papers

- Sending the Most Recent Observation is not Optimal in Networked Control: Linear Temporal Coding and Towards the Design of a Control Specific Transport Protocol.
  C. L. Robinson and P. R. Kumar
  Submitted: IEEE Conference on Decision and Control, New Orleans, 2007

- Control over Networks of Unreliable Links: Controller Location and Performance Bounds
  C. L. Robinson and P.R. Kumar
  ConCom: Control over Communication Channels, Cyprus, 2007

- Efficient Message composition and Coding for Cooperative Vehicular Safety Applications
  C. L. Robinson, D. Caveney, L. Caminiti, G. Baliga, K. Laberteaux and P. R. Kumar
  IEEE Transactions on Vehicular Technology. To Appear. 2007.

- Necessary Conditions for Stabilizability and Near Optimal Control and Location in Networked Control Systems with Packet Drops
  C. L. Robinson and P. R. Kumar
  IEEE Journal on Selected Areas in Communications. To Appear, 2007

- Efficient Coordination and Transmission of Data for Vehicular Safety Applications
  C. L. Robinson, L. Caminiti, D. Caveney and K. Laberteaux
  The Third ACM International Workshop on Vehicular Ad Hoc Networks (VANET 2006)

System Architecture Papers

- Architecture and Algorithm for a Laboratory Vehicle Collision Avoidance System
  C. L. Robinson, H.-J. Schutz, G. Baliga and P. R. Kumar
  IEEE International Symposium on Intelligent Control (ISIC), 2007

- Fault-Propagation due to Unreliable Components in Cyber-Physical System Architectures
   T. Crenshaw, E. Gunter, C. L. Robinson, L. Sha and P. R. Kumar
  Real-Time Systems Symposium (RTSS). To Appear, 2007

- Network Congestion Control on the Application Layer
   P. Adamczyk, M. Hafiz and C. L. Robinson
  Pattern Languages of Programs Conference. To Appear, 2007

- A Pattern for Adaptive Behavior in Safety-Critical, Real-Time Middleware
  T. Crenshaw, C. L. Robinson, H. Ding, P. R. Kumar and L. Sha
  The 27th IEEE Real-Time Systems Symposium, Rio de Janeiro, December 2006

- Design Patterns for Robust and Evolvable Networked Control
  C. L. Robinson, G. Baliga and P.R. Kumar
  Proceedings of the 3rd Annual Conference on Systems Engineering Research, New Jersey, USA, March 2005

- Prevention of Failures due to Assumptions made by Software Components in Real-Time Systems
  A. Tirumala, T. Crenshaw, L. Sha, G. Baliga, S. Kowshik, C. L. Robinson, and W. Witthawaskul
  Presented at The Second Workshop on High Performance, Fault Adaptive, Large Scale Embedded Real-Time Systems (FALSE-II 2005), San Francisco, USA, March 2005.

- Nonsmooth Analysis and Sonar-based Implementation of Distributed Coordination Algorithms
  C.L. Robinson, D. Block, S. Brennan, F. Bullo and J. Cortes
  International Conference on Robotics and Automation (ICRA), New Orleans 2003.

Masters Thesis

- Distributed Sensor-Based Exploration Algorithms
C.L. Robinson, Masters Thesis, University of Illinois, 2003.

Other

- Technical Overview of Textbed v1
C. L. Robinson and Scott Graham
Technical overview of the lab as it was in August 2004.