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MIT Lincoln Laboratory is a federally funded research and development center that
applies advanced technology to problems of national security. The books in the MIT
Lincoln Laboratory Series cover a broad range of technology areas in which Lincoln
Laboratory has made leading contributions. The books listed above and future volumes
in this series renew the knowledge-sharing tradition established by the seminal MIT
Radiation Laboratory Series published between 1947 and 1953.
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Mykel J. Kochenderfer
Stanford, Calif.
February 6, 2015
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Throughout the process of preparing this manuscript for the Lincoln Laboratory book
series, Jim Ward and Dave Martinez have been very generous with their time in helping
me. The nal draft beneted greatly from Dorothy Ryans careful copyediting.
Over the past two years, a number of colleagues and friends have made comments and
suggestions on early drafts, including Jonathan Christensen, James Chryssanthacopoulos,
Louis Dressel, Ann Drumm, Ryan Gardner, Lucas Hansen, Jeremy Kepner, Youngjun
Kim, Mary Anne Kochenderfer, Jim Kuchar, Robert Moss, Wes Olson, Carl Quillen,
Dorothy Ryan, Josh Silbermann, Tan Trinh, Michael Watson, and Chulhee Yun.
Chapter 7 is extended from a series of tutorials developed with Shlomo Zilberstein
and Matthijs Spaan. Chapter 8 discusses research activities funded by the Assistant
Secretary of Defense for Research and Engineering. Chapter 10 describes research funded
by the Federal Aviation Administration under the direction of Neal Suchy. Chapter 11
discusses research supported by Boeing Research & Technology.
The views and conclusions contained herein are those of the authors and should not
be interpreted as necessarily representing the official policies or endorsements, either
expressed or implied, of the U.S. government.
YYW