The Grainger College of Engineering
Center for Autonomy

Geir E. Dullerud

Geir Dullerud
Geir Dullerud he/him/his
  • W. Grafton and Lillian B. Wilkins Professor of Mechanical Science and Engineering
(217) 265-5078
149 Coordinated Science Lab

For More Information

Education

  • Ph.D., Information Engineering, Cambridge University, England, 1994
  • M.A.Sc. Elec Eng University of Toronto, Canada 1990
  • B.A.Sc. Eng Science University of Toronto, Canada 1988

Academic Positions

  • W. Grafton and Lillian B. Wilkins Professor of Mechanical Engineering, 2016-present.
  • Affiliate, Department of Computer Science, UIUC, Jan 14, 2016-present
  • Visiting Professor, Department of Electrical Engineering, Royal Institute of Technology(KTH), Stockholm, Sweden, April-July, 2013
  • Research Professor, Coordinated Science Laboratory, UIUC, August 16, 2006-date
  • Professor, Department of Mechanical Science and Engineering, UIUC, August 16, 2006-date
  • Visiting Associate Professor, Department of Aeronautics and Astronautics, Stanford University, July 20, 2005- July 19, 2006
  • Associate Professor, Department of Mechanical and Industrial Engineering, UIUC, Aug. 16, 2003-2006
  • Research Associate Professor, Coordinated Science Laboratory, UIUC, Aug. 16, 2003-2006
  • Willett Faculty Scholar , College of Engineering, UIUC, 2002-date
  • Affiliate, Department of Electrical and Computer Engineering, UIUC, Oct. 2000-date
  • Research Assistant Professor, Coordinated Science Laboratory, UIUC, Aug. 2000-2003
  • Assistant Professor, Department of Mechanical and Industrial Engineering, UIUC, July 16, 1998-Aug. 15, 2003
  • Assistant Professor, Department of Applied Mathematics, University of Waterloo, Waterloo, Canada, Jan. 1996-July 1998
  • Research Fellow and Lecturer, Department of Control and Dynamical Systems, California Institute of Technology, Pasadena, CA, Feb. 1994-Nov. 1995
  • Research Associate, Information Engineering Department, Cambridge University, Cambridge, England, July 1993-Jan. 1994

Documents

Other Professional Employment

  • Research Associate, Control Engineering Department, Cambridge University, Cambridge, England, Oct. 1990-May 1993
  • Teaching Assistant, Department of Electrical Engineering, University of Toronto, Toronto, Canada, Jan. 1989-May 1990
  • Research Associate, SPAR Aerospace, Toronto, Canada, May-Aug. 1987
  • Programmer, Nortel Research, Toronto, Canada, May-Aug. 1985, 1986

Research Statement

Program is focused on cyber-physical and complex systems with applications to mechanical, electrical, and computer systems. Professor Dullerud is particularly interested in networked, distributed and mobile cyber-physical settings. His areas of current research interest include convex optimization and machine learning in control, cyber-physical system security, cooperative robotics, stochastic simulation, and hybrid dynamical systems.

Research Interests

  • Dynamic modeling
  • Optimization and control

Research Areas

  • Decision and Control
  • Robotics

Selected Articles in Journals

  • J. Zhu, C. H. Du and G. E Dullerud, Model-based offline reinforcement learning with uncertainty estimation and policy constraint, IEEE Trans. on Artificial Intelligence (Published Online, DOI: 10.1109/TAI.2024.3372939), 2024
  • Negin Musavi, Dawei, Sun, Sayan Mitra, Geir E. Dullerud, and Sanjay Shakkottai, "HyHooVer:Verification and Parameter Synthesis in Stochastic Systems with Hybrid State-space using Optimistic Optimization", IEEE Open Journal of Control Systems, 2:263-276, 2023
  • A. Havens, D. Keivan, P. Seiler, G. Dullerud and B. Hu, "Revisiting PGD Attacks for Stability Analysis of High-Dimensional Nonlinear Systems and Perception-Based Control", volume 7, IEEE Control Systems Letters (L-CSS), 2023.
  • Y. Wang, H. Sibai, M. Yen, S. Mitra, G.E. Dullerud,"Differentially Private Algorithms for Statistical Verification of Cyber-Physical Systems", volume 1, IEEE Open Journal of Control Systems (OJ-CSYS), 2022.
  • J. Jansch-Porto, B. Yu, G.E. Dullerud, "Global Convergence of Policy Gradient Methods for Markovian Jump Linear Quadratic Optimal Control, accepted to IEEE Transactions on Automatic Control, 2022.
  • Wang, Y., N. Roohi, M. West, M. Viswanathan, and G. Dullerud, "Verifying Stochastic Hybrid Systems with Temporal Logic Specifications via Model Reduction", ACM Transactions on Embedded Computing Systems, 20(6):1-27, 2021
  • J. Jansch-Porto and G.E. Dullerud, "Decentralized Control of Switched-Systems with Receding Horizon Modal Information and Path-Dependent Performance Specifications: Theory and an Application", accepted to IEEE Transactions on Control Systems Technology, 2021.
  • N. Strijbosch, G.E. Dullerud, A. Teel, M. Heemels, "L2-gain Analysis of Periodic, Event-Triggered Control and Self-Triggered Control using Lifting", accepted to IEEE Transactions on Automatic Control, 2020.
  • Zhu, J., T. Luo, L. Yang, W. Xie, and G.E. Dullerud, "An Average Queue-length-difference Based Congestion Detection Algorithm in TCP/AQM Network", to appear in International Journal of Adaptive Control and Signal Processing, 2018.
  • Naghnaeian, M., P.G. Voulgaris, and G.E. Dullerud, "Lp Analysis and Synthesis of Linear Switched Systems: A Unified Framework," to appear in SIAM Journal of Control and Optimization, 2018.
  • Wang, Y., Z. Huang, S. Mitra, and G.E. Dullerud, "Differential Privacy and Entropy-minimizing Mechanisms in Feedback Systems," IEEE Transactions on Control of Network Systems, 4:118-130, 2017.
  • Wang, Y., N. Roohi, M. Viswanathan, and G. Dullerud, "Stability of Linear Autonomous Systems Defined by Regular Switching Sequences," IEEE Transactions on Automatic Control, 62:2568-2575, 2016.
  • Maginnis, P. A., M. West, and G. Dullerud, "Variance-reduced Tau-leaping using Anticorrelated Sample Paths," Journal of Computational Physics, 322:400-414, 2016.
  • Philippe, M., R. Essick, G.E. Dullerud, and R.M. Jungers, "Stability of discrete-time switching systems with constrained switching sequences," accepted to Automatica, 72:242-250, 2016.
  • Heemels, W.P.M.H., G. Dullerud, and A.R. Teel, "L2-gain Analysis for a Class of Hybrid Systems with Applications to Reset and Event-triggered Control: A Lifting Approach," IEEE Transactions on Automatic Control, 61:2766 - 2781, 2016.
  • Xie, W., B. Zhang, J. Zhu, and G.E. Dullerud, "Decision-Control Mechanism for Markovian Jump Linear Systems with Gaussian Noise," Optimal Control, Applications and Methods, 37: 381-393, 2016.
  • Prabhakar, P., M. Viswanathan, and G.E. Dullerud, "Stability preserving Simulations and Bisimulations for hybrid systems," IEEE Transactions on Automatic Control, 60: 3210 - 3225, 2015.
  • Zhang, B., J. Zhu, and G.E. Dullerud, "Time Series Analysis for Congestion Detection in TCP/AQM Networks," IEEE Communications Letters, 19:331-334, 2015.
  • Mishra, A., C. Langbort, and G.E. Dullerud, "Decentralized Control of Linear Switched Nested Systems with L-2 induced Norm Performance," IEEE Transactions on Control of Network Systems, 2:420-432, 2015.
  • Prabhakar P., Vladimerou, V., M. Viswanathan, and G. E. Dullerud, "A Decidable Class of Planar Linear Hybrid Systems," Theoretical Computer Science, 574:1-17, 2015.
  • Mishra, A., C. Langbort, and G.E. Dullerud, "Optimal Control of a Stochastically Switched System with Decentralized Policies and Local Parameter Knowledge," IEEE Transactions on Automatic Control, 60:2086-2101, 2015.
  • Farhood, M., D. Zhe, and G.E. Dullerud, "Distributed Control of Linear Time-varying Systems Interconnected over Arbitrary Graphs," International Journal of Robust and Nonlinear Control, 25(2):163￿319, 2015.

Articles in Conference Proceedings

  • Negin Musavi, Ziyao Guo, Yingying Li, and Geir E. Dullerud, "Real Analytic Dynamical System Identification with Non-asymptotic Guarantees", Proceedings of NeurIPS, 2024.
  • Sahel Vahedi Noori , Bin Hu, Geir E. Dullerud, and Peter Seiler"Stability and Performance Analysis of Discrete-Time ReLU Recurrent Neural Networks", Proceedings of IEEE Conference on Decision and Control (CDC), 2024.
  • Kuan-Yu Tseng, Mengchao Zhang , Kris Hauser, and Geir E. Dullerud, "Adaptive Trajectory Database Learning for Nonlinear Control with Hybrid Gradient Optimization", Proceedings of IEEE International Conference on Intelligent Robots and Systems (IROS), 2024.
  • Hussein Darir, Nikita Boris, and Geir E. Dullerud, "DiProber: Estimating Relays Capacities in Underloaded Anonymous Communication Networks", to appear in Proceedings of American Control Conference (ACC), 2024.
  • Xingang Guo, Darioush Esfahani, Peter Seiler, Geir Dullerud, and Bin Hu, "Complexity of Derivative-Free Policy Optimization for Structured H-infinity Control", Proceedings of NeurIPS, 2023.
  • Negin Musavi and Geir E. Dullerud, "Convergence of Gradient-based MAML in LQR", to appear at IEEE Conference on Decision and Control, 2023.
  • Hussein Darir, Geir E. Dullerud, and Nikita Borisov, "ProbFlow : Using Probabilistic Programming in Anonymous Communication Network", Proceedings of Network and Distributed Security System Symposium (NDSS), 2023.
  • K.-Y. Tseng, J.S. Shamma, G.E. Dullerud, "Low-fidelity Gradient Updates for High-fidelity Reprogrammable Iterative Learning Control", Proceedings of American Control Conference (ACC), 2022.
  • K.-Y. Tseng, J.S. Shamma, G.E. Dullerud, "GRILC: Gradient-based Reprogrammable Iterative Learning Control for Autonomous Systems", accepted to NeurIPS 2021 Workshop on Deployable Decision Making in Embodied Systems(EXTENDED ABSTRACT ONLY), 2021.
  • Essick, R. and G.E. Dullerud, "Application of a Message-Passing Decomposition of Sparsely-Coupled Linear Programming Problems to the Uniform Stabilization of Positive Switched Linear Systems", Proceedings of the American Control Conference (ACC), 2018.
  • Porto, J.J. and G.E. Dullerud, "Decentralized Control of Switched-Systems with Path-Dependent l2-induced Bounds", Proceedings of the American Control Conference (ACC), 2018.
  • Strijbosch, N., G.E. Dullerud, A.R. Teel, and W.P.M.H. Heemels, "L2-gain Analysis of Periodic Event-triggered and Self-triggered Control Systems with Delays using Lifting Techniques," Proceedings of IEEE Conference on Decision and Control (CDC), 2017.
  • Buccafusca, L., C.L. Beck, and G.E. Dullerud, "Modeling and Maximizing Power in Wind Turbine Arrays," IEEE Conference on Control Technology and Applications (CCTA), 2017.
  • Wang, Y., S. Mitra, and G.E. Dullerud, "Differential Privacy and Minimum-Variance Unbiased Estimation in Multi-agent Control Systems," Proceedings of IFAC World Congress, 2017.
  • Wang, Y., N. Roohi, M. West, G. Dullerud, and M. Viswanathan, "Statistical Verification of the Toyota Powertrain Control Verification Benchmark," Proceedings of Hybrid Systems: Computation and Control (HSCC), 2017.
  • Jansch-Porto, J.P. and G.E. Dullerud, "Decentralized Control with Moving-Horizon Linear Switched Systems: Synthesis and Testbed Implementation," Proceedings of American Control Conference (ACC), 2017.
  • J. Cortes, G. E. Dullerud, S. Han, J. Le Ny, S. Mitra, G. J. Pappas, "Differential privacy in control and network systems", Proceedings of IEEE Conference on Decision and Control, 2016.
  • Wang, Y., Z. Huang, S. Mitra, and G.E. Dullerud, "Differential Privacy, Entropy, and Distributed Systems," Proceedings of IEEE Conference on Decision and Control, 2016.
  • Philippe, M., R. Essick, G.E. Dullerud, and R.M. Jungers, "Extremal storage functions and minimal realizations of discrete-time linear switching systems," Proceedings of IEEE Conference on Decision and Control (CDC), 2016.
  • Wang, Y., M. Hale, M. Egerstedt, and G. Dullerud, "Differentially Private Objective Functions in Distributed Cloud-based Optimization," Proceedings of IEEE Conference on Decision and Control (CDC), 2016.
  • Wang, Y., N. Roohi, M. Viswanathan, M. West, and G. Dullerud, "Verifying Continuous-time Stochastic Hybrid Systems via Mori-Zwanzig Model Reduction," Proceedings of IEEE Conference on Decision and Control (CDC), 2016.
  • G.E. Dullerud, "Lyapunov Constructions, Formal Proof Frameworks, and Computation-Based Verification for Complex Systems," Proceedings of the European Control Conference, 2016. (ABSTRACT ONLY)
  • Naghnaeian, M., P.G. Voulgaris, and G.E. Dullerud, "A Unified Framework for l-p Analysis and Synthesis of Linear Switched Systems," Proceedings of American Control Conference, 2016.
  • Maginnis, P.A., M. West, and G.E. Dullerud, "Model Predictive Control of Markov Jump Processes with Anticorrelated Variance Reduced Monte Carlo Estimation," Proceedings of American Control Conference, 2016.

Professional Societies

  • Technical Committee on Systems with Uncertainty, 2008-present
  • IEEE Control Systems Society, Nov. 2002-Dec. 2004
  • Chair, Technical Committee on Robust Control
  • Senior Member, IEEE, 2004-date
  • Fellow, IEEE, 2008-date
  • Member, Institute of Electrical and Electronics Engineers (IEEE), 1996-2004
  • Member, Society for Industrial and Applied Mathematics (SIAM), 1996-date
  • Fellow, ASME, 2011-date
  • Member, American Society of Mechanical Engineers (ASME), 1997-date

Teaching Honors

  • Listed in the Daily Illini ￿Incomplete List of Teachers Ranked as Excellent by Their Students￿ for Fall 2001, Fall 2004, Spring 2008, Fall 2010, Fall 2012, Spring 2014, Fall 2015, Spring 2016, Fall 2019, Spring 2022 (ECE528/ME546), Spring 2023 (ME561).

Research Honors

  • Plenary Lecture, International Workshop on Frontiers of Autonomous Systems and Application ( IWFASA 2019), Chengdu, China, 2019.
  • Keynote Lecture, Design and Analysis of Robust Systems Workshop, Computer Aided Verification (CAV), Heidelberg, Germany, 2017.
  • Plenary Lecture , International Workshop on Operator Theory and Applications (IWOTA), St. Louis, MO, 2016.
  • W. Grafton and Lillian B. Wilkins Professor of Mechanical Engineering, 2016-present.
  • Keynote Lecture, Workshop on Function Theory in Several Complex Variables in Relation to Modelling Uncertainty, International Centre for the Mathematical Sciences, Edinburgh, Scotland, 2014.
  • Fellow, American Society of Mechanical Engineers, 2011.
  • Semi-Plenary Lecture, IEEE Chinese Conference on Decision and Control, Guilin, China, 2009.
  • Fellow, Institute of Electrical and Electronics Engineers, 2008.
  • Xerox Award for Faculty Research, College of Engineering, UIUC, 2005.
  • Willett Faculty Scholar Award, College of Engineering, UIUC, 2002-date.
  • NSF Faculty Early Development (CAREER) Award, 1999.
  • NSERC of Canada Initiation Grant, 1996.

Public Service Honors

  • Exhibit Award Winner (3rd place), Engineering Open House, 2012
  • Design Competition Judge, Engineering Open House, 2000

Other Honors

  • Research Fellowship, Department of Control and Dynamical Systems, California Institute of Technology, Pasadena, CA, 1994-1995
  • Peterhouse College Graduate Scholarship, Cambridge University, Cambridge, England, Oct. 1990-Sept. 1993
  • NSERC of Canada Postgraduate Scholarship, Department of Electrical Engineering, University of Toronto, Toronto, Canada, Jan. 1989-Sept. 1990
  • University Open Admissions Scholarship, University of Toronto, Toronto, Canada, 1984-1988

Recent Courses Taught

  • ECE 528 (ME 546, SE 520) - Analysis of Nonlinear Systems
  • ME 340 - Dynamics of Mechanical Systems
  • ME 360 AL1 (ME 360 AL3, ME 360 AZ3, ME 360 OL1, ME 360 ZJ1, ME 360 ZJE, ME 360 ZJU) - Signal Processing
  • ME 561 - Convex Methods in Control