J. Turriff and M.E. Broucke. Viability kernels for nonlinear control systems. IEEE Transactions on Automatic Control. Submitted July 2008.

Z. Lin and M.E. Broucke. Reachability and control of piecewise affine hypersurface systems with state constraints. SIAM Journal on Control and Optimization. Submitted April 2007.

L. Krick, M.E. Broucke, and B. Francis. Stabilization of infinitesimally rigid formations of multi-robot networks. International Journal of Control. Accepted April 2008.

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.

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.

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.