The mathematical and computational engine which we are developing is that of hierarchical, hybrid control systems: discrete state models are used at the highest level to model the large mode spaces in the system, and the lowest level incorporates distributed sensing and control, asynchronous receipt and processing of information, and multiple objective functions.

We are focusing the first and major part of our research in developing a computationally efficient hybrid system interface between the discrete-state system abstraction and the continuous-state subsystems, which will be built using level set techniques (Tomlin), and approximation techniques based on semidefinite progra mming (Boyd) and state reduction techniques (Dill, Sipma).

We are developing a run-time environment to support and validate this interface, which we have designed using the real-time operating system, QNX. The run-time environment is used to control the Stanford DragonFly UAV Project. This application utilizes our generic client/server architecture backbone. Our client/server architecture provides "publish and subscribe" methodology by utilizing QNX specific message passing and network transparent operations.

Our second research thrust focuses on asynchronous control theory. This research direction has two directions: