DEDICATION...................................... ii


To my wife Lora and my parents, Mary Anne and Paul, for their endless support. ii ACKNOWLEDGEMENTS I would like to thank a number of individuals without whom the work of this thesis could not have been completed. My co-advisors, Jessy Grizzle and Brent Gillespie, have been extremely helpful. Jeff Cook has been a great inspiration and was invaluable in my interactions with industry. My collaborators at Ford enabled a unique collaboration between the industrial and academic realms: Ryan McGee, Xiaoyong Wang, Deepak Aswani, and Ameet Deshpande. A large portion of the novel results in this work are based on large-scale computation, roughly 3 orders of magnitude more tha

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