My interests are in the development and application of computational tools for cyber–physical systems, which is the class of systems where physical and computational components interact in a tight coordination. I have carried out research in hybrid systems theory and numerical optimization, with a focus in optimal control of nonlinear hybrid systems and verification of receding horizon control schemes.
I also enjoy applying new algorithms to real life dynamical systems, such as autonomous vehicles and bioinspired multilegged robots, designing solutions at both hardware and software levels.
Journal Papers and Preprints
S. Burden, H. Gonzalez, R. Vasudevan, R. Bajcsy, and S. S. Sastry. “Metrization and Simulation of Controlled Hybrid Systems.” ArXiv e–prints, arXiv:1302.4402, 2013. PDF.
R. Vasudevan, H. Gonzalez, R. Bajcsy, S. S. Sastry. “Consistent Approximations for the Optimal Control of Constrained Switched Systems.” ArXiv e–prints, arXiv:1208.0062, 2012. PDF.
A. Aswani, H. Gonzalez, S. S. Sastry, C. Tomlin. “Provably Safe and Robust Learning–Based Model Predictive Control.” Automatica, 2013. PDF. ArXiv.
H. Gonzalez, E. Polak. “On the Perpetual Collision–Free RHC of Fleets of Vehicles.” Journal of Optimization Theory and Applications, vol. 145, no. 1, pp. 76–92, 2010. PDF.
J. Sprinkle, J. M. Eklund, H. Gonzalez, E. I. Grøtli, B. Upcroft, A. Makarenko, W. Uther, M. Moser, R. Fitch, H. Durrant–Whyte and S. S. Sastry. “Model–based design: a report from the trenches of the DARPA Urban Challenge.” Software and Systems Modeling, vol. 8, no. 4, pp. 551–566, 2009. PDF.
H. Gonzalez, M. A. Duarte–Mermoud, I. Pelissier, J. C. Travieso–Torres, R. Ortega. “A Novel Induction Motor Control Scheme Using IDA–PBC.” Journal of Control Theory and Applications, vol. 6, no. 1, pp. 59–68, 2008. PDF.
Conference Papers and Technical Reports
A. Aswani, H. Gonzalez, S. S. Sastry, C. Tomlin. “Statistical Results on Filtering and Epi–Convergence for Learning–Based Model Predictive Control.” ArXiv e–prints, arXiv:1208.0864, 2012. PDF.
S. Burden, H. Gonzalez, R. Vasudevan, R. Bajcsy, and S. S. Sastry. “Numerical Integration of Hybrid Dynamical Systems via Domain Relaxation.” Proceedings of the 50th IEEE Conference on Decision and Control, pp. 3958–3965, 2011. PDF.
H. Gonzalez, R. Vasudevan, M. Kamgarpour, S. S. Sastry, R. Bajcsy, and C. Tomlin. “A Numerical Method for the Optimal Control of Switched Systems.” Proceedings of the 49th IEEE Conference on Decision and Control, pp. 7519–7526, 2010. PDF.
H. Gonzalez, R. Vasudevan, M. Kamgarpour, S. S. Sastry, R. Bajcsy, and C. Tomlin. “A Descent Algorithm for the Optimal Control of Constrained Switched Nonlinear Dynamical Systems.” Proceedings of the 13th International Conference on Hybrid Systems: Computation and Control, pp. 51–60, 2010. PDF. Appendix.
B. Upcroft, M. Moser, A. Makarenko, D. Johnson, A. Donikan, A. Alempijevic, R. Fitch, W. Uther, J. Biermeyer, H. Gonzalez, E. I. Grøtli, T. Templeton, V. P. Srini, J. Sprinkle. “DARPA Urban Challenge Technical Paper: Sydney–Berkeley Driving Team.” Technical report, University of Sydney, University of Technology at Sydney, University of California at Berkeley, 2007. PDF.
Phone: (314) 935 9357
Office: 1120A Green Hall
Washington University in St. Louis
One Brookings Drive
1101 Green Hall, Campus Box 1042
St. Louis, MO 63130