https://murray.cds.caltech.edu/api.php?action=feedcontributions&feedformat=atom&user=Gupta 2026-04-21T16:11:44Z User contributions MediaWiki 1.41.5 https://murray.cds.caltech.edu/index.php?title=July_2006_meeting_schedule&diff=4305 2006-07-26T01:36:24Z

<p>Gupta: /* Thursday, 27 July */</p> <hr /> <div>The list below has times that I am available to meet between 27 July and 1 August. Please pick a time that works and fill in your name. If none of the times work, send me e-mail (or find someone else who has a slot that does work and figure out how much of a bribe is required to get them to switch). Please only sign up for one time slot; if we need to meet a second time we can arrange that separately. __NOTOC__<br /> <br /> &lt;table width=100% border=1&gt;<br /> &lt;tr valign=top&gt;&lt;td&gt;<br /> ==== Thursday, 27 July ====<br /> {{agenda begin}}<br /> {{agenda item|9:30-10:15|Open}}<br /> {{agenda item|10:15-11:00|Open}}<br /> {{agenda item||}}<br /> {{agenda item|5:00-5:45|Open}}<br /> {{agenda item|5:45-6:30|Open}}<br /> {{agenda item|6:30-7:15|Vijay}}<br /> {{agenda end}}<br /> &lt;/td&gt;&lt;td&gt;<br /> <br /> ==== Friday, 28 Jul ====<br /> {{agenda begin}}<br /> {{agenda item|1:00-1:45|Elisa Franco}}<br /> {{agenda item|1:45-2:30|Open}}<br /> {{agenda item||}}<br /> {{agenda item|3:00-3:45|Open}}<br /> {{agenda item|3:45-4:30|Open}}<br /> {{agenda item|4:30-5:15|Open}}<br /> {{agenda item|5:15-6:00|Open}}<br /> {{agenda item|6:00-6:45|Open}}<br /> {{agenda end}}<br /> &lt;/td&gt;&lt;td&gt;<br /> <br /> ==== Monday, 31 July ====<br /> {{agenda begin}}<br /> {{agenda item|9:45-10:30|Mary Dunlop}}<br /> {{agenda item|10:30-11:15|Open}}<br /> {{agenda item|11:15-12:00|Open}}<br /> {{agenda end}}<br /> &lt;/td&gt;&lt;td&gt;<br /> <br /> ==== Tuesday, 1 August ====<br /> {{agenda begin}}<br /> {{agenda item|10:00-10:45|John Carson}}<br /> {{agenda item|10:45-11:30|Ketan Savla}}<br /> {{agenda end}}<br /> &lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;<br /> <br /> &lt;br&gt;<br /> &lt;hr&gt;<br /> &lt;br&gt;<br /> <br /> The list below has times that I am available to meet between 5 July and 12 July. Please pick a time that works and fill in your name. If none of the times work, send me e-mail (or find someone else who has a slot that does work and figure out how much of a bribe is required to get them to switch). Please only sign up for one time slot; if we need to meet a second time we can arrange that separately. __NOTOC__<br /> <br /> &lt;table width=100% border=1&gt;<br /> &lt;tr valign=top&gt;&lt;td&gt;<br /> <br /> ==== Wednesday, 5 July ====<br /> {{agenda begin}}<br /> {{agenda item|10:30-11:15|Waydo}}<br /> {{agenda item|11:15-12:00|Ling Shi}}<br /> {{agenda item||}}<br /> {{agenda item|3:30-4:15|Lauren Bowers}}<br /> {{agenda item|4:15-5:00|Katie Whitehead}}<br /> {{agenda item|5:00-5:45|Nok}}<br /> {{agenda item|5:45-6:30|Vijay Gupta}}<br /> {{agenda end}}<br /> &lt;/td&gt;&lt;td&gt;<br /> <br /> ==== Thursday, 6 July ====<br /> {{agenda begin}}<br /> {{agenda item|9:45-10:30|Abhishek Tiwari}}<br /> {{agenda item|10:30-11:15|Michael Epstein}}<br /> {{agenda end}}<br /> &lt;/td&gt;&lt;td&gt;<br /> <br /> ==== Friday, 7 July ====<br /> {{agenda begin}}<br /> {{agenda item|10:30-11:15|Melvin}}<br /> {{agenda item|11:15-12:00|Ketan Savla}}<br /> {{agenda item||}}<br /> {{agenda item|3:00-3:45|Zhipu Jin}}<br /> {{agenda item|3:45-4:30|Fei Wang}}<br /> {{agenda item|4:30-5:15|Mary Dunlop}}<br /> {{agenda item|5:15-6:00|Tim Chung}}<br /> {{agenda end}}<br /> &lt;/td&gt;&lt;td&gt;<br /> <br /> ==== Tuesday, 11 July ====<br /> {{agenda begin}}<br /> {{agenda item|9:45-10:30|Pete Trautman}}<br /> {{agenda item|10:30-11:15|Henrik Sandberg}}<br /> {{agenda item|11:15-12:00|John Carson}}<br /> {{agenda end}}<br /> &lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=July_2006_meeting_schedule&diff=4190 2006-06-27T20:17:44Z

<p>Gupta: /* Wednesday, 5 July */</p> <hr /> <div>The list below has times that I am available to meet between 5 July and 12 July. Please pick a time that works and fill in your name. If none of the times work, send me e-mail (or find someone else who has a slot that does work and figure out how much of a bribe is required to get them to switch). Please only sign up for one time slot; if we need to meet a second time we can arrange that separately. __NOTOC__<br /> <br /> &lt;table width=100% border=1&gt;<br /> &lt;tr valign=top&gt;&lt;td&gt;<br /> ==== Wednesday, 5 July ====<br /> {{agenda begin}}<br /> {{agenda item|10:30-11:15|Open}}<br /> {{agenda item|11:15-12:00|Open}}<br /> {{agenda item||}}<br /> {{agenda item|3:30-4:15|Open}}<br /> {{agenda item|4:15-5:00|Open}}<br /> {{agenda item|5:00-5:45|Open}}<br /> {{agenda item|5:45-6:30|Vijay Gupta}}<br /> {{agenda end}}<br /> &lt;/td&gt;&lt;td&gt;<br /> <br /> ==== Thursday, 6 July ====<br /> {{agenda begin}}<br /> {{agenda item|9:45-10:30|Open}}<br /> {{agenda item|10:30-11:15|Michael Epstein}}<br /> {{agenda item|11:15-12:00|Open}}<br /> {{agenda end}}<br /> &lt;/td&gt;&lt;td&gt;<br /> <br /> ==== Friday, 7 July ====<br /> {{agenda begin}}<br /> {{agenda item|10:30-11:15|Open}}<br /> {{agenda item|11:15-12:00|Open}}<br /> {{agenda item||}}<br /> {{agenda item|3:00-3:45|Open}}<br /> {{agenda item|3:45-4:30|Open}}<br /> {{agenda item|4:30-5:15|Open}}<br /> {{agenda item|5:15-6:00|Open}}<br /> {{agenda end}}<br /> &lt;/td&gt;&lt;td&gt;<br /> <br /> ==== Tuesday, 11 July ====<br /> {{agenda begin}}<br /> {{agenda item|9:45-10:30|Mary Dunlop}}<br /> {{agenda item|10:30-11:15|Open}}<br /> {{agenda item|11:15-12:00|Open}}<br /> {{agenda end}}<br /> &lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=SoCal_Nonlinear_Control_Workshop,_2006-06-02&diff=4045 2006-06-01T16:41:48Z

<p>Gupta: /* Need a ride */</p> <hr /> <div>* [http://www.ece.ucsb.edu/~hespanha/socal/SoCal-Spring06.htm Workshop homepage]<br /> <br /> == Carpooling ==<br /> <br /> We will meet at 7:00 am in the lobby of Steele to drive out to Santa Barbara (we need to arrive no later than 9:20 am).<br /> <br /> {| width=100%<br /> |- valign=top<br /> | width=50% |<br /> === Have a car ===<br /> * Richard, 3 seats available<br /> <br /> |<br /> === Need a ride ===<br /> * Arlene Cole-Rhodes (can drive if needed)<br /> * Vijay <br /> |}</div>

Gupta https://murray.cds.caltech.edu/index.php?title=SoCal_Nonlinear_Control_Workshop,_2006-06-02&diff=4044 2006-06-01T16:41:41Z

<p>Gupta: /* Need a ride */</p> <hr /> <div>* [http://www.ece.ucsb.edu/~hespanha/socal/SoCal-Spring06.htm Workshop homepage]<br /> <br /> == Carpooling ==<br /> <br /> We will meet at 7:00 am in the lobby of Steele to drive out to Santa Barbara (we need to arrive no later than 9:20 am).<br /> <br /> {| width=100%<br /> |- valign=top<br /> | width=50% |<br /> === Have a car ===<br /> * Richard, 3 seats available<br /> <br /> |<br /> === Need a ride ===<br /> * Arlene Cole-Rhodes (can drive if needed)<br /> * Vijay Gupta<br /> |}</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Estimation_and_Control_in_Networked_Systems&diff=3859 2006-05-12T15:49:19Z

<p>Gupta: /* Lecture Materials */</p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> In this lecture, we will touch upon some of the open issues when estimation and control have to be carried out in a communication constrained network control environment. We will concentrate on three constraints: topology, quantization issues and stochastic packet drops by communication channels. We will discuss the major research directions in these areas.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> *[[Media:Lecture3d gupta.pdf |Lecture: Estimation and Control in Networked Systems]]<br /> <br /> == Reading ==<br /> Most of the cited papers are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send me [http://www.cds.caltech.edu/~vijay] a mail.<br /> <br /> * &lt;p&gt;Section 1 of the lecture (topology synthesis) is from the following reference.<br /> [http://www.cds.caltech.edu/~vijay/research/lgacc06/index.html &quot;Minimal Interconnection Topology in Distributed Control Design&quot;], Cedric Langbort and Vijay Gupta, American Control Conference, 2006 (ACC '06). Accepted.&lt;/p&gt;<br /> <br /> * &lt;p&gt;The quantization aspects have been considered in many papers, some of which have been cited in the references. The following papers should give you a feel of how such results are proven.<br /> **R. W. Brockett and D. Liberzon, ``Quantized Feedback Stabilization of Linear Systems'', IEEE Transactions on Automatic Control, 45(7), 2000, pp. 1279-89.<br /> **G. N. Nair and R. J. Evans, ``Stabilizability of Stochastic Linear Systems with Finite Feedback Data Rates'', SIAM Journal on Control and Optimization, 43(2), July 2004, pp. 413-436.<br /> &lt;/p&gt;<br /> <br /> * &lt;p&gt;For section 3, the material is covered in the following papers.<br /> **[http://www.cds.caltech.edu/~vijay/research/gchmaut05/index.html &quot;On a Stochastic Sensor Selection Algorithm with Applications in Sensor Scheduling and Sensor Coverage&quot;], V. Gupta, T. Chung, B. Hassibi and R. M. Murray, Automatica, Vol. 42, No. 2, February 2006, Pages: 251-260.<br /> **[http://www.cds.caltech.edu/~vijay/research/gshmscl05/index.html &quot;Optimal LQG Control Across Packet-Dropping Links&quot;], V. Gupta, D. Spanos, B. Hassibi and R. M. Murray, System and Control Letters, Submitted July 2005. <br /> **[http://www.cds.caltech.edu/%7Emurray/papers/2005r_gdhm06-mtns.html &quot;Data Transmission over Networks for Estimation&quot;], V. Gupta, A. F. Dana, J. P. Hespanha and R. M. Murray, 17th International Symposium on Mathematical Theory of Networks and Systems, (MTNS 06). Accepted.<br /> &lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Estimation_and_Control_in_Networked_Systems&diff=3858 2006-05-12T15:49:02Z

<p>Gupta: /* Lecture Materials */</p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> In this lecture, we will touch upon some of the open issues when estimation and control have to be carried out in a communication constrained network control environment. We will concentrate on three constraints: topology, quantization issues and stochastic packet drops by communication channels. We will discuss the major research directions in these areas.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> *<br /> <br /> == Reading ==<br /> Most of the cited papers are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send me [http://www.cds.caltech.edu/~vijay] a mail.<br /> <br /> * &lt;p&gt;Section 1 of the lecture (topology synthesis) is from the following reference.<br /> [http://www.cds.caltech.edu/~vijay/research/lgacc06/index.html &quot;Minimal Interconnection Topology in Distributed Control Design&quot;], Cedric Langbort and Vijay Gupta, American Control Conference, 2006 (ACC '06). Accepted.&lt;/p&gt;<br /> <br /> * &lt;p&gt;The quantization aspects have been considered in many papers, some of which have been cited in the references. The following papers should give you a feel of how such results are proven.<br /> **R. W. Brockett and D. Liberzon, ``Quantized Feedback Stabilization of Linear Systems'', IEEE Transactions on Automatic Control, 45(7), 2000, pp. 1279-89.<br /> **G. N. Nair and R. J. Evans, ``Stabilizability of Stochastic Linear Systems with Finite Feedback Data Rates'', SIAM Journal on Control and Optimization, 43(2), July 2004, pp. 413-436.<br /> &lt;/p&gt;<br /> <br /> * &lt;p&gt;For section 3, the material is covered in the following papers.<br /> **[http://www.cds.caltech.edu/~vijay/research/gchmaut05/index.html &quot;On a Stochastic Sensor Selection Algorithm with Applications in Sensor Scheduling and Sensor Coverage&quot;], V. Gupta, T. Chung, B. Hassibi and R. M. Murray, Automatica, Vol. 42, No. 2, February 2006, Pages: 251-260.<br /> **[http://www.cds.caltech.edu/~vijay/research/gshmscl05/index.html &quot;Optimal LQG Control Across Packet-Dropping Links&quot;], V. Gupta, D. Spanos, B. Hassibi and R. M. Murray, System and Control Letters, Submitted July 2005. <br /> **[http://www.cds.caltech.edu/%7Emurray/papers/2005r_gdhm06-mtns.html &quot;Data Transmission over Networks for Estimation&quot;], V. Gupta, A. F. Dana, J. P. Hespanha and R. M. Murray, 17th International Symposium on Mathematical Theory of Networks and Systems, (MTNS 06). Accepted.<br /> &lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Estimation_and_Control_in_Networked_Systems&diff=3857 2006-05-12T15:40:32Z

<p>Gupta: /* Lecture Materials */</p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> In this lecture, we will touch upon some of the open issues when estimation and control have to be carried out in a communication constrained network control environment. We will concentrate on three constraints: topology, quantization issues and stochastic packet drops by communication channels. We will discuss the major research directions in these areas.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:Lecture3d gupta.pdf |Lecture: Estimation and Control in Networked Systems]]<br /> <br /> == Reading ==<br /> Most of the cited papers are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send me [http://www.cds.caltech.edu/~vijay] a mail.<br /> <br /> * &lt;p&gt;Section 1 of the lecture (topology synthesis) is from the following reference.<br /> [http://www.cds.caltech.edu/~vijay/research/lgacc06/index.html &quot;Minimal Interconnection Topology in Distributed Control Design&quot;], Cedric Langbort and Vijay Gupta, American Control Conference, 2006 (ACC '06). Accepted.&lt;/p&gt;<br /> <br /> * &lt;p&gt;The quantization aspects have been considered in many papers, some of which have been cited in the references. The following papers should give you a feel of how such results are proven.<br /> **R. W. Brockett and D. Liberzon, ``Quantized Feedback Stabilization of Linear Systems'', IEEE Transactions on Automatic Control, 45(7), 2000, pp. 1279-89.<br /> **G. N. Nair and R. J. Evans, ``Stabilizability of Stochastic Linear Systems with Finite Feedback Data Rates'', SIAM Journal on Control and Optimization, 43(2), July 2004, pp. 413-436.<br /> &lt;/p&gt;<br /> <br /> * &lt;p&gt;For section 3, the material is covered in the following papers.<br /> **[http://www.cds.caltech.edu/~vijay/research/gchmaut05/index.html &quot;On a Stochastic Sensor Selection Algorithm with Applications in Sensor Scheduling and Sensor Coverage&quot;], V. Gupta, T. Chung, B. Hassibi and R. M. Murray, Automatica, Vol. 42, No. 2, February 2006, Pages: 251-260.<br /> **[http://www.cds.caltech.edu/~vijay/research/gshmscl05/index.html &quot;Optimal LQG Control Across Packet-Dropping Links&quot;], V. Gupta, D. Spanos, B. Hassibi and R. M. Murray, System and Control Letters, Submitted July 2005. <br /> **[http://www.cds.caltech.edu/%7Emurray/papers/2005r_gdhm06-mtns.html &quot;Data Transmission over Networks for Estimation&quot;], V. Gupta, A. F. Dana, J. P. Hespanha and R. M. Murray, 17th International Symposium on Mathematical Theory of Networks and Systems, (MTNS 06). Accepted.<br /> &lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Estimation_and_Control_in_Networked_Systems&diff=3856 2006-05-12T15:37:47Z

<p>Gupta: /* Lecture Materials */</p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> In this lecture, we will touch upon some of the open issues when estimation and control have to be carried out in a communication constrained network control environment. We will concentrate on three constraints: topology, quantization issues and stochastic packet drops by communication channels. We will discuss the major research directions in these areas.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:Lecture3d_gupta.pdf |Lecture: Estimation and Control in Networked Systems]]<br /> <br /> == Reading ==<br /> Most of the cited papers are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send me [http://www.cds.caltech.edu/~vijay] a mail.<br /> <br /> * &lt;p&gt;Section 1 of the lecture (topology synthesis) is from the following reference.<br /> [http://www.cds.caltech.edu/~vijay/research/lgacc06/index.html &quot;Minimal Interconnection Topology in Distributed Control Design&quot;], Cedric Langbort and Vijay Gupta, American Control Conference, 2006 (ACC '06). Accepted.&lt;/p&gt;<br /> <br /> * &lt;p&gt;The quantization aspects have been considered in many papers, some of which have been cited in the references. The following papers should give you a feel of how such results are proven.<br /> **R. W. Brockett and D. Liberzon, ``Quantized Feedback Stabilization of Linear Systems'', IEEE Transactions on Automatic Control, 45(7), 2000, pp. 1279-89.<br /> **G. N. Nair and R. J. Evans, ``Stabilizability of Stochastic Linear Systems with Finite Feedback Data Rates'', SIAM Journal on Control and Optimization, 43(2), July 2004, pp. 413-436.<br /> &lt;/p&gt;<br /> <br /> * &lt;p&gt;For section 3, the material is covered in the following papers.<br /> **[http://www.cds.caltech.edu/~vijay/research/gchmaut05/index.html &quot;On a Stochastic Sensor Selection Algorithm with Applications in Sensor Scheduling and Sensor Coverage&quot;], V. Gupta, T. Chung, B. Hassibi and R. M. Murray, Automatica, Vol. 42, No. 2, February 2006, Pages: 251-260.<br /> **[http://www.cds.caltech.edu/~vijay/research/gshmscl05/index.html &quot;Optimal LQG Control Across Packet-Dropping Links&quot;], V. Gupta, D. Spanos, B. Hassibi and R. M. Murray, System and Control Letters, Submitted July 2005. <br /> **[http://www.cds.caltech.edu/%7Emurray/papers/2005r_gdhm06-mtns.html &quot;Data Transmission over Networks for Estimation&quot;], V. Gupta, A. F. Dana, J. P. Hespanha and R. M. Murray, 17th International Symposium on Mathematical Theory of Networks and Systems, (MTNS 06). Accepted.<br /> &lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Estimation_and_Control_in_Networked_Systems&diff=3855 2006-05-12T15:37:33Z

<p>Gupta: /* Lecture Materials */</p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> In this lecture, we will touch upon some of the open issues when estimation and control have to be carried out in a communication constrained network control environment. We will concentrate on three constraints: topology, quantization issues and stochastic packet drops by communication channels. We will discuss the major research directions in these areas.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> *<br /> <br /> == Reading ==<br /> Most of the cited papers are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send me [http://www.cds.caltech.edu/~vijay] a mail.<br /> <br /> * &lt;p&gt;Section 1 of the lecture (topology synthesis) is from the following reference.<br /> [http://www.cds.caltech.edu/~vijay/research/lgacc06/index.html &quot;Minimal Interconnection Topology in Distributed Control Design&quot;], Cedric Langbort and Vijay Gupta, American Control Conference, 2006 (ACC '06). Accepted.&lt;/p&gt;<br /> <br /> * &lt;p&gt;The quantization aspects have been considered in many papers, some of which have been cited in the references. The following papers should give you a feel of how such results are proven.<br /> **R. W. Brockett and D. Liberzon, ``Quantized Feedback Stabilization of Linear Systems'', IEEE Transactions on Automatic Control, 45(7), 2000, pp. 1279-89.<br /> **G. N. Nair and R. J. Evans, ``Stabilizability of Stochastic Linear Systems with Finite Feedback Data Rates'', SIAM Journal on Control and Optimization, 43(2), July 2004, pp. 413-436.<br /> &lt;/p&gt;<br /> <br /> * &lt;p&gt;For section 3, the material is covered in the following papers.<br /> **[http://www.cds.caltech.edu/~vijay/research/gchmaut05/index.html &quot;On a Stochastic Sensor Selection Algorithm with Applications in Sensor Scheduling and Sensor Coverage&quot;], V. Gupta, T. Chung, B. Hassibi and R. M. Murray, Automatica, Vol. 42, No. 2, February 2006, Pages: 251-260.<br /> **[http://www.cds.caltech.edu/~vijay/research/gshmscl05/index.html &quot;Optimal LQG Control Across Packet-Dropping Links&quot;], V. Gupta, D. Spanos, B. Hassibi and R. M. Murray, System and Control Letters, Submitted July 2005. <br /> **[http://www.cds.caltech.edu/%7Emurray/papers/2005r_gdhm06-mtns.html &quot;Data Transmission over Networks for Estimation&quot;], V. Gupta, A. F. Dana, J. P. Hespanha and R. M. Murray, 17th International Symposium on Mathematical Theory of Networks and Systems, (MTNS 06). Accepted.<br /> &lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Template:Estimation_and_Control_in_Networked_Systems_Next&diff=3852 2006-05-11T22:35:14Z

<p>Gupta: </p> <hr /> <div>Consensus Problem and Algorithms</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Template:Estimation_and_Control_in_Networked_Systems_Previous&diff=3851 2006-05-11T22:34:52Z

<p>Gupta: </p> <hr /> <div>Introduction to Distributed Control</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Template:Introduction_to_Distributed_Control_Next&diff=3850 2006-05-11T22:34:21Z

<p>Gupta: </p> <hr /> <div>Estimation and Control in Networked Systems</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Estimation_and_Control_in_Networked_Systems&diff=3845 2006-05-11T16:02:00Z

<p>Gupta: /* Reading */</p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> In this lecture, we will touch upon some of the open issues when estimation and control have to be carried out in a communication constrained network control environment. We will concentrate on three constraints: topology, quantization issues and stochastic packet drops by communication channels. We will discuss the major research directions in these areas.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:lecture3d_gupta.pdf |Lecture: Estimation and Control in Networked Systems]]<br /> <br /> == Reading ==<br /> Most of the cited papers are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send me [http://www.cds.caltech.edu/~vijay] a mail.<br /> <br /> * &lt;p&gt;Section 1 of the lecture (topology synthesis) is from the following reference.<br /> [http://www.cds.caltech.edu/~vijay/research/lgacc06/index.html &quot;Minimal Interconnection Topology in Distributed Control Design&quot;], Cedric Langbort and Vijay Gupta, American Control Conference, 2006 (ACC '06). Accepted.&lt;/p&gt;<br /> <br /> * &lt;p&gt;The quantization aspects have been considered in many papers, some of which have been cited in the references. The following papers should give you a feel of how such results are proven.<br /> **R. W. Brockett and D. Liberzon, ``Quantized Feedback Stabilization of Linear Systems'', IEEE Transactions on Automatic Control, 45(7), 2000, pp. 1279-89.<br /> **G. N. Nair and R. J. Evans, ``Stabilizability of Stochastic Linear Systems with Finite Feedback Data Rates'', SIAM Journal on Control and Optimization, 43(2), July 2004, pp. 413-436.<br /> &lt;/p&gt;<br /> <br /> * &lt;p&gt;For section 3, the material is covered in the following papers.<br /> **[http://www.cds.caltech.edu/~vijay/research/gchmaut05/index.html &quot;On a Stochastic Sensor Selection Algorithm with Applications in Sensor Scheduling and Sensor Coverage&quot;], V. Gupta, T. Chung, B. Hassibi and R. M. Murray, Automatica, Vol. 42, No. 2, February 2006, Pages: 251-260.<br /> **[http://www.cds.caltech.edu/~vijay/research/gshmscl05/index.html &quot;Optimal LQG Control Across Packet-Dropping Links&quot;], V. Gupta, D. Spanos, B. Hassibi and R. M. Murray, System and Control Letters, Submitted July 2005. <br /> **[http://www.cds.caltech.edu/%7Emurray/papers/2005r_gdhm06-mtns.html &quot;Data Transmission over Networks for Estimation&quot;], V. Gupta, A. F. Dana, J. P. Hespanha and R. M. Murray, 17th International Symposium on Mathematical Theory of Networks and Systems, (MTNS 06). Accepted.<br /> &lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Estimation_and_Control_in_Networked_Systems&diff=3844 2006-05-10T22:12:36Z

<p>Gupta: /* Reading */</p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> In this lecture, we will touch upon some of the open issues when estimation and control have to be carried out in a communication constrained network control environment. We will concentrate on three constraints: topology, quantization issues and stochastic packet drops by communication channels. We will discuss the major research directions in these areas.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:lecture3d_gupta.pdf |Lecture: Estimation and Control in Networked Systems]]<br /> <br /> == Reading ==<br /> Most of the cited papers are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send me [http://www.cds.caltech.edu/~vijay] a mail.<br /> <br /> * &lt;p&gt;Section 1 of the lecture (topology synthesis) is from the following reference.<br /> [http://www.cds.caltech.edu/~vijay/research/lgacc06/index.html &quot;Minimal Interconnection Topology in Distributed Control Design&quot;], Cedric Langbort and Vijay Gupta, American Control Conference, 2006 (ACC '06). Accepted.&lt;/p&gt;<br /> <br /> * &lt;p&gt;The quantization aspects have been considered in many papers, some of which have been cited in the references. The following papers should give you a feel of how such results are proven.<br /> **R. W. Brockett and D. Liberzon, ``Quantized Feedback Stabilization of Linear Systems'', IEEE Transactions on Automatic Control, 45(7), 2000, pp. 1279-89.<br /> **G. N. Nair and R. J. Evans, ``Stabilizability of Stochastic Linear Systems with Finite Feedback Data Rates'', SIAM Journal on Control and Optimization, 43(2), July 2004, pp. 413-436.<br /> **S. Tatikonda, ``Some Scaling Properties of Large Distributed Control Systems,'' 42nd IEEE Conference on Decision and Control, December 2003 (Maui, Hawaii).<br /> &lt;/p&gt;<br /> <br /> * &lt;p&gt;For section 3, the material is covered in the following papers.<br /> **[http://www.cds.caltech.edu/~vijay/research/gchmaut05/index.html &quot;On a Stochastic Sensor Selection Algorithm with Applications in Sensor Scheduling and Sensor Coverage&quot;], V. Gupta, T. Chung, B. Hassibi and R. M. Murray, Automatica, Vol. 42, No. 2, February 2006, Pages: 251-260.<br /> **[http://www.cds.caltech.edu/~vijay/research/gshmscl05/index.html &quot;Optimal LQG Control Across Packet-Dropping Links&quot;], V. Gupta, D. Spanos, B. Hassibi and R. M. Murray, System and Control Letters, Submitted July 2005. <br /> **[http://www.cds.caltech.edu/%7Emurray/papers/2005r_gdhm06-mtns.html &quot;Data Transmission over Networks for Estimation&quot;], V. Gupta, A. F. Dana, J. P. Hespanha and R. M. Murray, 17th International Symposium on Mathematical Theory of Networks and Systems, (MTNS 06). Accepted.<br /> &lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Estimation_and_Control_in_Networked_Systems&diff=3843 2006-05-10T22:12:16Z

<p>Gupta: /* Reading */</p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> In this lecture, we will touch upon some of the open issues when estimation and control have to be carried out in a communication constrained network control environment. We will concentrate on three constraints: topology, quantization issues and stochastic packet drops by communication channels. We will discuss the major research directions in these areas.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:lecture3d_gupta.pdf |Lecture: Estimation and Control in Networked Systems]]<br /> <br /> == Reading ==<br /> Most of the cited papers are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send me [http://www.cds.caltech.edu/~vijay] a mail.<br /> <br /> * &lt;p&gt;Section 1 of the lecture (topology synthesis) is from the following reference.<br /> [http://www.cds.caltech.edu/~vijay/research/lgacc06/index.html &quot;Minimal Interconnection Topology in Distributed Control Design&quot;], Cedric Langbort and Vijay Gupta, American Control Conference, 2006 (ACC '06). Accepted.&lt;/p&gt;<br /> <br /> * &lt;p&gt;The quantization aspects have been considered in many papers, some of which have been cited in the references. The following papers should give you a feel of how such results are proven.<br /> **R. W. Brockett and D. Liberzon, ``Quantized Feedback Stabilization of Linear Systems'', IEEE Transactions on Automatic Control, 45(7), 2000, pp. 1279-89.<br /> **G. N. Nair and R. J. Evans, ``Stabilizability of Stochastic Linear Systems with Finite Feedback Data Rates'', SIAM Journal on Control and Optimization, 43(2), July 2004, pp. 413-436.<br /> **S. Tatikonda, ``Some Scaling Properties of Large Distributed Control Systems,'' 42nd IEEE Conference on Decision and Control, December 2003 (Maui, Hawaii).<br /> &lt;/p&gt;<br /> <br /> * &lt;p&gt;For section 3, the material is covered in the following papers.<br /> **[http://www.cds.caltech.edu/~vijay/research/gchmaut05/index.html &quot;On a Stochastic Sensor Selection Algorithm with Applications in Sensor Scheduling and Sensor Coverage&quot;], V. Gupta, T. Chung, B. Hassibi and R. M. Murray, Automatica, Vol. 42, No. 2, February 2006, Pages: 251-260.<br /> **[http://www.cds.caltech.edu/~vijay/research/gshmscl05/index.html &quot;Optimal LQG Control Across Packet-Dropping Links&quot;], V. Gupta, D. Spanos, B. Hassibi and R. M. Murray, System and Control Letters, Submitted July 2005. <br /> **[http://www.cds.caltech.edu/%7Emurray/papers/2005r_gdhm06-mtns.html &quot;Data Transmission over Networks for Estimation&quot;], V. Gupta, A. F. Dana, J. P. Hespanha and R. M. Murray, 17th International Symposium on Mathematical Theory of Networks and Systems, (MTNS 06). Accepted.<br /> &lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=File:Lecture3d_gupta.pdf&diff=3842 2006-05-10T22:03:25Z

<p>Gupta: </p> <hr /> <div></div>

Gupta https://murray.cds.caltech.edu/index.php?title=Estimation_and_Control_in_Networked_Systems&diff=3841 2006-05-10T22:02:16Z

<p>Gupta: /* Lecture Materials */</p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> In this lecture, we will touch upon some of the open issues when estimation and control have to be carried out in a communication constrained network control environment. We will concentrate on three constraints: topology, quantization issues and stochastic packet drops by communication channels. We will discuss the major research directions in these areas.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:lecture3d_gupta.pdf |Lecture: Estimation and Control in Networked Systems]]<br /> <br /> == Reading ==</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Introduction_to_Distributed_Control&diff=3840 2006-05-10T20:06:33Z

<p>Gupta: /* Reading */</p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> <br /> In this lecture, we take a look at the problem of distributed control. We will begin by seeing why the problem is hard. Then we will look at one obvious approach towards solving the problem. Other approaches to the problem will also be mentioned.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:lecture2d_gupta.pdf |Lecture: Introduction to Distributed Control]]<br /> <br /> == Reading ==<br /> Most of the cited papers are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send me [http://www.cds.caltech.edu/~vijay] a mail.<br /> <br /> * &lt;p&gt;Reference 2 in the lecture notes covers the concept of information patterns. <br /> &quot;Separation of Estimation and Control for Discrete Time Systems&quot;, H. S. Witsenhausen, Proceedings of the IEEE, vol. 59, no. 11, pp. 1557-1566, Nov. 1971.<br /> &lt;/p&gt;<br /> <br /> * &lt;p&gt;The synthesis algorithm we will cover in class is described in this paper.<br /> [http://www.cds.caltech.edu/~murray/papers/2003r_ghm04-acc.html &quot;On the Synthesis of Control Laws for a Network of Autonomous Agents&quot;], V. Gupta, B. Hassibi and R. M. Murray, Proceedings of the American Control Conference 2004, vol. 6, pp. 4927-4932, 2004.&lt;/p&gt;<br /> <br /> * &lt;p&gt;Additional synthesis methods can be found in the references. I particularly recommend references 14, 21 and 22. <br /> **&quot;Distributed Control Design for Systems Interconnected over an Arbitrary Graph&quot;, C. Langbort, R. S. Chandra and R. D'Andrea, IEEE Transactions on Automatic Control, vol. 49, no. 9, pp. 1502-1519, Sep. 2004.<br /> **&quot;Optimal Control of Systems with Delayed Observation Sharing Patterns Via Input-Output Methods&quot;, P. G. Voulgaris, Systems and Controls Letters, Vol. 50, pp. 51-64, 2003.<br /> **&quot;A Characterization of Convex Problems in Decentralized Control&quot;, M. Rotkowitz and S. Lall, IEEE Transactions on Automatic Control, vol. 51, no. 2, pp.274-286, Feb. 2006.<br /> &lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Estimation_and_Control_in_Networked_Systems&diff=3839 2006-05-10T03:29:47Z

<p>Gupta: </p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> In this lecture, we will touch upon some of the open issues when estimation and control have to be carried out in a communication constrained network control environment. We will concentrate on three constraints: topology, quantization issues and stochastic packet drops by communication channels. We will discuss the major research directions in these areas.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> <br /> == Reading ==</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Estimation_and_Control_in_Networked_Systems&diff=3838 2006-05-10T03:26:27Z

<p>Gupta: </p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> In this lecture, we will touch upon some of the open issues when such estimation and control have to be carried out in a communication constrained network control environment. We will concentrate on three constraints: topology, quantization issues and stochastic packet drops by communication channels. We will discuss the major research directions in these areas.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> <br /> == Reading ==</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Introduction_to_Distributed_Control&diff=3831 2006-05-10T00:24:34Z

<p>Gupta: /* Reading */</p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> <br /> In this lecture, we take a look at the problem of distributed control. We will begin by seeing why the problem is hard. Then we will look at one obvious approach towards solving the problem. Other approaches to the problem will also be mentioned.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:lecture2d_gupta.pdf |Lecture: Introduction to Distributed Control]]<br /> <br /> == Reading ==<br /> Most of the cited papers are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send me [http://www.cds.caltech.edu/~vijay] a mail.<br /> <br /> * &lt;p&gt;Reference 2 in the lecture notes covers the concept of information patterns. <br /> &quot;Separation of Estimation and Control for Discrete Time Systems&quot;, H. S. Witsenhausen, Proceedings of the IEEE, vol. 59, no. 11, pp. 1557-1566, Nov. 1971.<br /> &lt;/p&gt;<br /> <br /> * &lt;p&gt;The synthesis algorithm we will cover in class is described in this paper.<br /> &quot;On the Synthesis of Control Laws for a Network of Autonomous Agents&quot;, V. Gupta, B. Hassibi and R. M. Murray, Proceedings of the American Control Conference 2004, vol. 6, pp. 4927-4932, 2004. [http://www.cds.caltech.edu/~murray/papers/2003r_ghm04-acc.html].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Additional synthesis methods can be found in the references. I particularly recommend references 14, 21 and 22. <br /> **&quot;Distributed Control Design for Systems Interconnected over an Arbitrary Graph&quot;, C. Langbort, R. S. Chandra and R. D'Andrea, IEEE Transactions on Automatic Control, vol. 49, no. 9, pp. 1502-1519, Sep. 2004.<br /> **&quot;Optimal Control of Systems with Delayed Observation Sharing Patterns Via Input-Output Methods&quot;, P. G. Voulgaris, Systems and Controls Letters, Vol. 50, pp. 51-64, 2003.<br /> **&quot;A Characterization of Convex Problems in Decentralized Control&quot;, M. Rotkowitz and S. Lall, IEEE Transactions on Automatic Control, vol. 51, no. 2, pp.274-286, Feb. 2006.<br /> &lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Introduction_to_Distributed_Control&diff=3824 2006-05-09T19:09:41Z

<p>Gupta: /* Reading */</p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> <br /> In this lecture, we take a look at the problem of distributed control. We will begin by seeing why the problem is hard. Then we will look at one obvious approach towards solving the problem. Other approaches to the problem will also be mentioned.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:lecture2d_gupta.pdf |Lecture: Introduction to Distributed Control]]<br /> <br /> == Reading ==<br /> Most of the cited papers are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send me [http://www.cds.caltech.edu/~vijay] a mail.<br /> <br /> * &lt;p&gt;Reference 2 in the lecture notes covers the concept of information patterns. <br /> &quot;Separation of Estimation and Control for Discrete Time Systems&quot;, H. S. Witsenhausen, Proceedings of the IEEE, vol. 59, no. 11, pp. 1557-1566, Nov. 1971.<br /> &lt;/p&gt;<br /> <br /> * &lt;p&gt;The synthesis algorithm we will cover in class is described in this paper.<br /> &quot;On the Synthesis of Control Laws for a Network of Autonomous Agents&quot;, V. Gupta, B. Hassibi and R. M. Murray, Proceedings of the American Control Conference 2004, vol. 6, pp. 4927-4932, 2004. [http://www.cds.caltech.edu/~murray/papers/2003r_ghm04-acc.html].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Additional synthesis methods can be found in the references. I particularly recommend references 14, 21 and 22. <br /> **&quot;Distributed Control Design for Systems Interconnected over an Arbitrary Graph&quot;, C. Langbort, R. S. Chandra and R. D'Andrea, IEEE Transactions on Automatic Control, vol. 49, no. 9, pp. 1502-1519, Sep. 2004.<br /> **&quot;Optimal Control of Systems with Delayed Observation Sharing Patterns Via Input-Output Methods&quot;, P. G. Voulgaris, Systems and Controls Letters, Vol. 50, pp. 51-64, 2003.<br /> **&quot;A Characterization of Convex Problems in Decentralized Control&quot;, M. Rotkowitz and S. Lall, vol. 51, no. 2, pp.274-286, Feb. 2006.<br /> &lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Introduction_to_Distributed_Control&diff=3823 2006-05-09T19:07:44Z

<p>Gupta: /* Reading */</p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> <br /> In this lecture, we take a look at the problem of distributed control. We will begin by seeing why the problem is hard. Then we will look at one obvious approach towards solving the problem. Other approaches to the problem will also be mentioned.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:lecture2d_gupta.pdf |Lecture: Introduction to Distributed Control]]<br /> <br /> == Reading ==<br /> Most of the cited papers are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send me [http://www.cds.caltech.edu/~vijay] a mail.<br /> <br /> * &lt;p&gt;Reference 2 in the lecture notes covers the concept of information patterns. <br /> &quot;Separation of Estimation and Control for Discrete Time Systems&quot;, H. S. Witsenhausen, Proceedings of the IEEE, vol. 59, no. 11, pp. 1557-1566, Nov. 1971.<br /> &lt;/p&gt;<br /> <br /> * &lt;p&gt;The synthesis algorithm we will cover in class is described in this paper.<br /> &quot;On the Synthesis of Control Laws for a Network of Autonomous Agents&quot;, V. Gupta, B. Hassibi and R. M. Murray, Proceedings of the American Control Conference 2004, vol. 6, pp. 4927-4932, 2004. [http://www.cds.caltech.edu/~murray/papers/2003r_ghm04-acc.html].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Additional synthesis methods can be found in the references. I particularly recommend references 14, 21 and 22. <br /> **&quot;Distributed Control Design for Systems Interconnected over an Arbitrary Graph&quot;, C. Langbort, R. S. Chandra and R. D'Andrea, IEEE Transactions on Automatic Control, vol. 49, no. 9, pp. 1502-1519, Sep. 2004.<br /> **&quot;Optimal Control of Systems with Delayed Observation Sharing Patterns Via Input-Output Methods&quot;, P. G. Voulgaris, Systems and Controls Letters, Vol. 50, pp. 51-64, 2003.<br /> **&quot;A Characterization of Convex Problems in Decentralized Control&quot;, M. Rotkowitz and S&gt; Lall, vol. 51, no. 2, pp.274-286, Feb. 2006.<br /> &lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Distributed_Estimation&diff=3822 2006-05-09T19:00:29Z

<p>Gupta: /* Reading */</p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> <br /> In this lecture, we will take a look at the fundamentals of<br /> distributed estimation. We will consider a random variable being<br /> observed by mutiple sensors. Under the assumptions of Gaussian noises<br /> and linear measurements, we will derive the weighted covariance<br /> combination of estimators. We will then touch upon the issues of<br /> distributed static sensor fusion. Towards the end, we will look at the problem of dynamic sensor fusion, i.e., distributing <br /> a Kalman filter so that multiple sensors can estimate a dynamic random variable.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:lectur1d_gupta.pdf |Lecture: Distributed Estimation]]<br /> <br /> == Reading ==<br /> * &lt;p&gt;Please refresh the material covered by Henrik a couple of weeks ago[http://www.cds.caltech.edu/%7Emurray/wiki/images/b/b3/Stateestim.pdf].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Consensus algorithms will be covered in detail in the class next week. We will also touch upon one such algorithm in passing. For more details, you can read the following paper. <br /> &quot;Consensus Problems in Networks of Agents with Switching Topology and Time-Delays&quot;, Reza Olfati Saber and Richard M. Murray, IEEE T. Automatic Control, 49(9):1520-1533, 2004 [http://www.cds.caltech.edu/~murray/papers/2003f_om04-tac.html].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Additional references are mentioned in the lecture notes. I particularly recommend references 11, 12 and 25. <br /> **&quot;On Optimal Track-to-Track Fusion,&quot; K. C. Chang, R. K. Saha and Y. Bar-Shalom, IEEE Transactions on Aerospace and Electronic Systems, AES-33:1271-1276, 1997.<br /> **&quot;Track Association and Track Fusion with Nondeterministic Target Dynamics&quot;, S. Mori, W. H. Barker, C. Y. Chong and K. C. Chang, IEEE Transactiocs on Aerospace and Electronic Systems, AES-38:659-668, 2002.<br /> **&quot;Architectectures and Algorithms for Track Association and Fusion,&quot; IEEE Aerospace and Electronic Systems Magazine, 15:5-13, 2000.<br /> Most of the cited papers are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send me [http://www.cds.caltech.edu/~vijay] a mail.&lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Introduction_to_Distributed_Control&diff=3821 2006-05-09T00:57:06Z

<p>Gupta: /* Reading */</p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> <br /> In this lecture, we take a look at the problem of distributed control. We will begin by seeing why the problem is hard. Then we will look at one obvious approach towards solving the problem. Other approaches to the problem will also be mentioned.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:lecture2d_gupta.pdf |Lecture: Introduction to Distributed Control]]<br /> <br /> == Reading ==<br /> * &lt;p&gt;Reference 2 in the lecture notes covers the concept of information patterns. Most of the cited papers are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send me [http://www.cds.caltech.edu/~vijay] a mail.&lt;/p&gt;<br /> <br /> * &lt;p&gt;The synthesis algorithm we will cover in class is described in this paper.[http://www.cds.caltech.edu/~murray/papers/2003r_ghm04-acc.html].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Additional synthesis methods can be found in the references. I particularly recommend references 14, 21 and 22. &lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Introduction_to_Distributed_Control&diff=3820 2006-05-09T00:56:36Z

<p>Gupta: /* Reading */</p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> <br /> In this lecture, we take a look at the problem of distributed control. We will begin by seeing why the problem is hard. Then we will look at one obvious approach towards solving the problem. Other approaches to the problem will also be mentioned.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:lecture2d_gupta.pdf |Lecture: Introduction to Distributed Control]]<br /> <br /> == Reading ==<br /> * &lt;p&gt;Reference 2 in the lecture notes covers the concept of information patterns. Most of the cited papers are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send me [http://www.cds.caltech.edu/~vijay] a mail.&lt;/p&gt;<br /> <br /> * &lt;p&gt;The synthesis algorithm we will cover in class is described in this paper.[http://www.cds.caltech.edu/~murray/papers/2003r_ghm04-acc.html].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Additional synthesis methods are described in the reference section. I particularly recommend references 14, 21 and 22. &lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Estimation_and_Control_in_Networked_Systems&diff=3812 2006-05-08T23:15:10Z

<p>Gupta: </p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> <br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> <br /> == Reading ==</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Introduction_to_Distributed_Control&diff=3811 2006-05-08T22:57:03Z

<p>Gupta: /* Reading */</p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> <br /> In this lecture, we take a look at the problem of distributed control. We will begin by seeing why the problem is hard. Then we will look at one obvious approach towards solving the problem. Other approaches to the problem will also be mentioned.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:lecture2d_gupta.pdf |Lecture: Introduction to Distributed Control]]<br /> <br /> == Reading ==<br /> * &lt;p&gt;Reference 2 in the lecture notes covers the concept of information patterns. Most of the cited papers are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send me [http://www.cds.caltech.edu/~vijay] a mail.&lt;/p&gt;<br /> <br /> * &lt;p&gt;The synthesis algorithm we will cover in class is described in the paper.[http://www.cds.caltech.edu/~murray/papers/2003r_ghm04-acc.html].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Additional synthesis methods are described in the reference section. I particularly recommend references 14, 21 and 22. &lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=File:Lecture2d_gupta.pdf&diff=3810 2006-05-08T22:47:41Z

<p>Gupta: </p> <hr /> <div></div>

Gupta https://murray.cds.caltech.edu/index.php?title=Introduction_to_Distributed_Control&diff=3809 2006-05-08T22:47:16Z

<p>Gupta: /* Lecture Materials */</p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> <br /> In this lecture, we take a look at the problem of distributed control. We will begin by seeing why the problem is hard. Then we will look at one obvious approach towards solving the problem. Other approaches to the problem will also be mentioned.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:lecture2d_gupta.pdf |Lecture: Introduction to Distributed Control]]<br /> <br /> == Reading ==<br /> * &lt;p&gt;Please refresh the material covered by Henrik a couple of weeks ago[http://www.cds.caltech.edu/%7Emurray/wiki/images/b/b3/Stateestim.pdf].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Consensus algorithms will be covered in detail in the class next week. We will also touch upon one such algorithm in passing. For more details, you can read this paper.[http://www.cds.caltech.edu/~murray/papers/2003f_om04-tac.html].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Additional references are mentioned in the lecture notes. I particularly recommend references 11, 12 and 25. Most of the cited papers are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send me [http://www.cds.caltech.edu/~vijay] a mail.&lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Introduction_to_Distributed_Control&diff=3808 2006-05-08T22:45:17Z

<p>Gupta: </p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> <br /> In this lecture, we take a look at the problem of distributed control. We will begin by seeing why the problem is hard. Then we will look at one obvious approach towards solving the problem. Other approaches to the problem will also be mentioned.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:lectur1d_gupta.pdf |Lecture: Distributed Estimation]]<br /> <br /> == Reading ==<br /> * &lt;p&gt;Please refresh the material covered by Henrik a couple of weeks ago[http://www.cds.caltech.edu/%7Emurray/wiki/images/b/b3/Stateestim.pdf].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Consensus algorithms will be covered in detail in the class next week. We will also touch upon one such algorithm in passing. For more details, you can read this paper.[http://www.cds.caltech.edu/~murray/papers/2003f_om04-tac.html].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Additional references are mentioned in the lecture notes. I particularly recommend references 11, 12 and 25. Most of the cited papers are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send me [http://www.cds.caltech.edu/~vijay] a mail.&lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Distributed_Estimation&diff=3803 2006-05-08T01:36:07Z

<p>Gupta: /* Reading */</p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> <br /> In this lecture, we will take a look at the fundamentals of<br /> distributed estimation. We will consider a random variable being<br /> observed by mutiple sensors. Under the assumptions of Gaussian noises<br /> and linear measurements, we will derive the weighted covariance<br /> combination of estimators. We will then touch upon the issues of<br /> distributed static sensor fusion. Towards the end, we will look at the problem of dynamic sensor fusion, i.e., distributing <br /> a Kalman filter so that multiple sensors can estimate a dynamic random variable.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:lectur1d_gupta.pdf |Lecture: Distributed Estimation]]<br /> <br /> == Reading ==<br /> * &lt;p&gt;Please refresh the material covered by Henrik a couple of weeks ago[http://www.cds.caltech.edu/%7Emurray/wiki/images/b/b3/Stateestim.pdf].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Consensus algorithms will be covered in detail in the class next week. We will also touch upon one such algorithm in passing. For more details, you can read this paper.[http://www.cds.caltech.edu/~murray/papers/2003f_om04-tac.html].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Additional references are mentioned in the lecture notes. I particularly recommend references 11, 12 and 25. Most of the cited papers are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send me [http://www.cds.caltech.edu/~vijay] a mail.&lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Distributed_Estimation&diff=3797 2006-05-05T17:53:55Z

<p>Gupta: </p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> <br /> In this lecture, we will take a look at the fundamentals of<br /> distributed estimation. We will consider a random variable being<br /> observed by mutiple sensors. Under the assumptions of Gaussian noises<br /> and linear measurements, we will derive the weighted covariance<br /> combination of estimators. We will then touch upon the issues of<br /> distributed static sensor fusion. Towards the end, we will look at the problem of dynamic sensor fusion, i.e., distributing <br /> a Kalman filter so that multiple sensors can estimate a dynamic random variable.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:lectur1d_gupta.pdf |Lecture: Distributed Estimation]]<br /> <br /> == Reading ==<br /> * &lt;p&gt;Please refresh the material covered by Henrik a couple of weeks ago[http://www.cds.caltech.edu/%7Emurray/wiki/images/b/b3/Stateestim.pdf].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Consensus algorithms will be covered in detail in the class next week. We will also touch upon one such algorithm in passing. For more details, you can read this paper.[http://www.cds.caltech.edu/~murray/papers/2003f_om04-tac.html].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Additional references are mentioned in the lecture notes. I particularly recommend references 11, 16 and 21. Most of the cited papers are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send me [http://www.cds.caltech.edu/~vijay] a mail.&lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Distributed_Estimation&diff=3796 2006-05-05T17:51:44Z

<p>Gupta: </p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> <br /> In this lecture, we will take a look at the fundamentals of<br /> distributed estimation. We will consider a random variable being<br /> observed by mutiple sensors. Under the assumptions of Gaussian noises<br /> and linear measurements, we will derive the weighted covariance<br /> combination of estimators. We will then touch upon the issues of<br /> distributed static sensor fusion and estimation of a dynamic random<br /> variable. Towards the end, we will look at the problem of dynamic sensor fusion, i.e., distributing <br /> a Kalman filter so that multiple sensors can estimate a dynamic random variable.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:lectur1d_gupta.pdf |Lecture: Distributed Estimation]]<br /> <br /> == Reading ==<br /> * &lt;p&gt;Please refresh the material covered by Henrik a couple of weeks ago[http://www.cds.caltech.edu/%7Emurray/wiki/images/b/b3/Stateestim.pdf].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Consensus algorithms will be covered in detail in the class next week. We will also touch upon one such algorithm in passing. For more details, you can read this paper.[http://www.cds.caltech.edu/~murray/papers/2003f_om04-tac.html].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Additional references are mentioned in the lecture notes. I particularly recommend references 11, 16 and 21. Most of the cited papers are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send me [http://www.cds.caltech.edu/~vijay] a mail.&lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=CDS_270-2,_Spring_2006&diff=3795 2006-05-05T17:46:32Z

<p>Gupta: </p> <hr /> <div>&lt;table width=&quot;100%&quot; cellspacing=0&gt;<br /> &lt;tr valign=top&gt;<br /> &lt;td rowspan=2 align=center&gt; [[Image:citlogo.png|75px]]<br /> &lt;td align=center&gt;&lt;font color='blue' size='+2'&gt;Networked Control Systems&lt;/font&gt;<br /> &lt;td rowspan=2 align=center&gt; [[Image:cdslogo.png|90px]]<br /> &lt;tr valign=top&gt;&lt;td align=center&gt;&lt;font color='blue' size='+1'&gt;Spring 2006&lt;/font&gt;<br /> &lt;/table&gt;<br /> <br /> &lt;table align=right&gt;&lt;tr&gt;&lt;td&gt;__TOC__&lt;/table&gt;<br /> &lt;table cellspacing=0 cellpadding=0&gt;<br /> &lt;tr valign=top&gt;<br /> &lt;td width=60%&gt;<br /> * Instructor: [[User:Murray|Richard M. Murray]]<br /> * Co-instructors: [[User:Keviczky|Tamas Keviczky]], [[User:Mostofi|Yasi Mostofi]], [[User:Sandberg|Henrik Sandberg]], [[User:Sinopoli|Bruno Sinopoli]]<br /> &lt;td align=center&gt;<br /> &lt;table cellpadding=0 cellspacing=0&gt;&lt;tr&gt;&lt;td&gt;<br /> * [[Media:cds270-2_syllabus_sp06.pdf|Course syllabus]]<br /> * [http://listserv.cds.caltech.edu/mailman/listinfo/cds270 Course mailing list]<br /> * [[CDS 270: Information for Lecturers|Information for lecturers]]<br /> &lt;/table&gt;<br /> &lt;tr&gt;&lt;td colspan=2&gt;<br /> * Graduate instructors: Vijay Gupta, Zhipu Jin, Ling Shi, Demetri Spanos<br /> * Lectures: MWF 2-3 pm, 125 Steele<br /> &lt;/table&gt;<br /> <br /> == Course Schedule ==<br /> <br /> {| border=1 width=100%<br /> |-<br /> | Week || Date || Topic || Reading<br /> |-<br /> | align=center rowspan=5 | 1 <br /> | colspan=3 | '''Introduction to Networked Control Systems (R. Murray)'''<br /> |-<br /> | 27 Mar (M)<br /> | [[NCS: Introduction|Course overview, applications and administration]]<br /> | [[Media:cds270-2_syllabus_sp06.pdf|Syllabus]]; {{ncsbook|introduction|Ch 1}}<br /> |-<br /> | 29 Mar (W)<br /> | [[Alice: Introduction|Case study: Alice]]<br /> | [http://www.cds.caltech.edu/~murray/papers/2005t_cre+06-jfr.html Cremean et al, 2005]<br /> |-<br /> | colspan=3 | '''Networked embedded systems programming (R. Murray)'''<br /> |-<br /> | 31 Mar (F)<br /> | [[NCS: Message Transfer Systems|Message transfer systems: spread]]<br /> | {{ncsbook|embedded|Ch 2}}; [http://portal.acm.org/citation.cfm?id=359563 Lamport, 1978]<br /> |-<br /> | align=center rowspan=3 | 2<br /> | 3 Apr (M)<br /> | [[NCS: Multi-Threaded Control Systems|Multi-threaded control systems: pthreads]]<br /> | {{ncsbook|embedded|Ch 2}}; [http://www.llnl.gov/computing/tutorials/pthreads Pthreads]<br /> |-<br /> | 5 Apr (W)<br /> | [[Alice: Vehicle Control|Alice: adrive, astate, trajFollower]]<br /> | {{ncsbook|alice|App A}}; [http://gc.caltech.edu/wiki/index.php/Alice GCwiki]<br /> |-<br /> | 7 Apr* (F)<br /> | No class<br /> | <br /> |-<br /> | align=center rowspan=4 | 3<br /> | colspan=3 | '''Real-time trajectory generation and receding horizon control (R. Murray)'''<br /> |-<br /> | 10 Apr (M)<br /> | [[NCS: Real-Time Trajectory Generation|Real-time trajectory generation]]<br /> | {{ncsbook|trajgen|Ch 3}}<br /> |-<br /> | 12 Apr* (W)<br /> | [[NCS: Receding Horizon Control|Receding horizon control]] (T. Keviczky)<br /> | {{ncsbook|trajgen|Ch 3}}<br /> |-<br /> | 14 Apr (F)<br /> | [[Alice: Path Planning|Alice: plannerModule]]<br /> | {{ncsbook|alice|App A}}; [http://grandchallenge.caltech.edu/wiki/images/b/b3/Thesis.pdf Kogan, 2005]<br /> |-<br /> | align=center rowspan=4 | 4<br /> | colspan=3 | '''State estimation (H. Sandberg)'''<br /> |-<br /> | 17 Apr (M)<br /> | [[NCS: Kalman Filtering|Kalman filtering]]<br /> | {{ncsbook|estim|Ch 4}}; [http://www.cs.unc.edu/~welch/media/pdf/kalman_intro.pdf Welch and Bishop]<br /> |-<br /> | 19 Apr (W)<br /> | [[NCS: Moving Horizon Estimation|Moving horizon estimation]] <br /> | {{ncsbook|estim|Ch 4}}<br /> |-<br /> | 21 Apr (F) <br /> | [[Alice: Road Following|Alice: roadFollowing]] (L. Cremean)<br /> | {{ncsbook|alice|App A}}<br /> |-<br /> | align=center rowspan=4 | 5<br /> | colspan=3 | '''Packet-based estimation and control, I (B. Sinopoli)'''<br /> |-<br /> | 24 Apr (M)<br /> | [[NCS: Packet-based Estimation| Packet-based estimation]]<br /> | {{ncsbook|pack_estim|Ch 5}} <br /> |-<br /> | 26 Apr (W)<br /> | [[NCS: Packet-based Control: the TCP case|Packet-based Control: the TCP case]] <br /> | {{ncsbook|pack_cont|Ch 5}}<br /> |-<br /> | 28 Apr (F) <br /> | [[NCS: Packet-based Control: the UDP case|Packet-based Control: the UDP case]]<br /> | {{ncsbook|pack_cont2|Ch 5}}<br /> |-<br /> | align=center rowspan=4 | 6<br /> | colspan=3 | '''Packet-based estimation and control, II (L. Shi, Y. Mostofi)'''<br /> |- <br /> | 1 May (M)<br /> | [[Packet-based Control with Norm Bounded Uncertainties]]<br /> | {{ncsbook|pack_cont_uncertainty|Ch 6}}<br /> |-<br /> | 3 May (W)<br /> | [[Impact of Communication Noise on Estimation over Wireless Links]]<br /> | {{ncsbook|pack_cont_uncertainty|Ch 6}}<br /> |-<br /> | 5 May (F)<br /> | [[Optimum Receiver Design for Estimation over Wireless Links]]<br /> | {{ncsbook|pack_cont_uncertainty|Ch 6}}<br /> |-<br /> | align=center rowspan=4 | 7<br /> | colspan=3 | '''Distributed estimation and control (V. Gupta)'''<br /> |- <br /> | 8 May* (M)<br /> | [[Distributed Estimation|Distributed Estimation]]<br /> | {{ncsbook|pack_cont_uncertainty|Ch 7}}<br /> |-<br /> | 10 May* (W)<br /> | [[Introduction to Distributed Control|Introduction to Distributed Control]]<br /> | {{ncsbook|pack_cont_uncertainty|Ch 7}}<br /> |- <br /> | 12 May (F)<br /> | [[Estimation and Control in Networked Systems|Estimation and Control in Networked Systems]]<br /> | {{ncsbook|pack_cont_uncertainty|Ch 7}}<br /> |-<br /> | align=center rowspan=4 | 8<br /> | colspan=3 | '''Cooperative control of multi-agent systems (Z. Jin, T. Keviczky)'''<br /> {{MWFrow|<br /> week=8|<br /> mondate=15 May|montopic=|monreading=|<br /> weddate=17 May*|wedtopic=|wedreading=|<br /> fridate=19 May|fritopic=|frireading=|<br /> }}<br /> |-<br /> | align=center rowspan=4 | 9<br /> | colspan=3 | '''Project Presentations (All)'''<br /> {{MWFrow|<br /> week=9|<br /> mondate=22 May|montopic=No class|monreading=|<br /> weddate=24 May|wedtopic=Project presentations|wedreading=|<br /> fridate=26 May|fritopic=Project presentations|frireading=|<br /> }}<br /> |}<br /> <br /> == Course Description ==<br /> <br /> Increases in fast and inexpensive computing and communications have enabled a new generation information-rich control systems that rely on multi-threaded networked execution, distributed optimization, adaptation and learning, and contingency management in increasingly sophisticated ways. This course will describe a framework for building such systems and lay out some of the challenges to control theory that must be addressed to enable systematic design and analysis. Two examples will be used to illustrate the results and to serve as testbeds for course projects: [[Alice]], an autonomous vehicle that competed in the 2005 DARPA Grand<br /> Challenge and [[RoboFlag]], a robotic version of capture the flag. Key features of these systems include highly sensory-driven, information rich feedback systems, higher levels of decision making for goal and contingency management, and multi-threaded, networked control architectures.<br /> <br /> == Course Administration ==<br /> <br /> This course is a special topics course in which advanced students will prepare and present much of the lecture material. There is no required homework and no midterm or final exam. Course grades will be based on a course project.<br /> <br /> == Course Project ==<br /> <br /> All students in the course will demonstrate their knowledge of the material by analyzing or implementing a networked control system algorithm. Two testbeds are available for use by the class:<br /> <br /> * &lt;p&gt; '''[[Alice]]''' - Alice is an autonomous vehicle that was built by [http://team.caltech.edu Caltech undergraduates] to compete in the 2005 DARPA Grand Challenge. It is fully equipped with multiple terrain sensing cameras and LADARS, two GPS units and an inertial measurement unit (IMU) for measuring position and orientation, and 10 CPUs of computing horsepower inteconnected by a 1 Gb/s ethernet network. A module software architecture allows new functionality to be implemented and tested with relative ease. Requires knowledge of C/C++ programming under linux.&lt;/p&gt;<br /> <br /> * &lt;p&gt; '''[[RoboFlag]]''' - RoboFlag is a robotic version of capture the flag in which teams of 6-8 robots with 1-2 humans compete against a like team. A high fidelity simulator is available that allow full simulation of the dynamics, sensing and communications subsystems, providing realistic operation. Features include limited bitrate communication channels, limited sensor range for detecting opposing robots, and a graphical user interface for human-in-the-loop operation. Required knowlege of C/C++ program under Windows.&lt;/p&gt;<br /> <br /> '''Project ideas''' (will be expanded during the term)<br /> * Benchmark the performance of different messaging protocols (eg, broadcast, UDP, TCP) for communicating the state and terrain data on Alice<br /> * Implement and analyze the effect of &quot;shock absobers&quot; (control buffers, state estimators) on RoboFlag<br /> * Implement state estimation and/or multi-description coding on Alice to handle lost packets of terrain data<br /> <br /> &lt;span id=archive /&gt;<br /> <br /> [[Category:Courses]] [[Category:2005-06 Courses]]</div>

Gupta https://murray.cds.caltech.edu/index.php?title=CDS_270-2,_Spring_2006&diff=3794 2006-05-05T17:42:15Z

<p>Gupta: </p> <hr /> <div>&lt;table width=&quot;100%&quot; cellspacing=0&gt;<br /> &lt;tr valign=top&gt;<br /> &lt;td rowspan=2 align=center&gt; [[Image:citlogo.png|75px]]<br /> &lt;td align=center&gt;&lt;font color='blue' size='+2'&gt;Networked Control Systems&lt;/font&gt;<br /> &lt;td rowspan=2 align=center&gt; [[Image:cdslogo.png|90px]]<br /> &lt;tr valign=top&gt;&lt;td align=center&gt;&lt;font color='blue' size='+1'&gt;Spring 2006&lt;/font&gt;<br /> &lt;/table&gt;<br /> <br /> &lt;table align=right&gt;&lt;tr&gt;&lt;td&gt;__TOC__&lt;/table&gt;<br /> &lt;table cellspacing=0 cellpadding=0&gt;<br /> &lt;tr valign=top&gt;<br /> &lt;td width=60%&gt;<br /> * Instructor: [[User:Murray|Richard M. Murray]]<br /> * Co-instructors: [[User:Keviczky|Tamas Keviczky]], [[User:Mostofi|Yasi Mostofi]], [[User:Sandberg|Henrik Sandberg]], [[User:Sinopoli|Bruno Sinopoli]]<br /> &lt;td align=center&gt;<br /> &lt;table cellpadding=0 cellspacing=0&gt;&lt;tr&gt;&lt;td&gt;<br /> * [[Media:cds270-2_syllabus_sp06.pdf|Course syllabus]]<br /> * [http://listserv.cds.caltech.edu/mailman/listinfo/cds270 Course mailing list]<br /> * [[CDS 270: Information for Lecturers|Information for lecturers]]<br /> &lt;/table&gt;<br /> &lt;tr&gt;&lt;td colspan=2&gt;<br /> * Graduate instructors: Vijay Gupta, Zhipu Jin, Ling Shi, Demetri Spanos<br /> * Lectures: MWF 2-3 pm, 125 Steele<br /> &lt;/table&gt;<br /> <br /> == Course Schedule ==<br /> <br /> {| border=1 width=100%<br /> |-<br /> | Week || Date || Topic || Reading<br /> |-<br /> | align=center rowspan=5 | 1 <br /> | colspan=3 | '''Introduction to Networked Control Systems (R. Murray)'''<br /> |-<br /> | 27 Mar (M)<br /> | [[NCS: Introduction|Course overview, applications and administration]]<br /> | [[Media:cds270-2_syllabus_sp06.pdf|Syllabus]]; {{ncsbook|introduction|Ch 1}}<br /> |-<br /> | 29 Mar (W)<br /> | [[Alice: Introduction|Case study: Alice]]<br /> | [http://www.cds.caltech.edu/~murray/papers/2005t_cre+06-jfr.html Cremean et al, 2005]<br /> |-<br /> | colspan=3 | '''Networked embedded systems programming (R. Murray)'''<br /> |-<br /> | 31 Mar (F)<br /> | [[NCS: Message Transfer Systems|Message transfer systems: spread]]<br /> | {{ncsbook|embedded|Ch 2}}; [http://portal.acm.org/citation.cfm?id=359563 Lamport, 1978]<br /> |-<br /> | align=center rowspan=3 | 2<br /> | 3 Apr (M)<br /> | [[NCS: Multi-Threaded Control Systems|Multi-threaded control systems: pthreads]]<br /> | {{ncsbook|embedded|Ch 2}}; [http://www.llnl.gov/computing/tutorials/pthreads Pthreads]<br /> |-<br /> | 5 Apr (W)<br /> | [[Alice: Vehicle Control|Alice: adrive, astate, trajFollower]]<br /> | {{ncsbook|alice|App A}}; [http://gc.caltech.edu/wiki/index.php/Alice GCwiki]<br /> |-<br /> | 7 Apr* (F)<br /> | No class<br /> | <br /> |-<br /> | align=center rowspan=4 | 3<br /> | colspan=3 | '''Real-time trajectory generation and receding horizon control (R. Murray)'''<br /> |-<br /> | 10 Apr (M)<br /> | [[NCS: Real-Time Trajectory Generation|Real-time trajectory generation]]<br /> | {{ncsbook|trajgen|Ch 3}}<br /> |-<br /> | 12 Apr* (W)<br /> | [[NCS: Receding Horizon Control|Receding horizon control]] (T. Keviczky)<br /> | {{ncsbook|trajgen|Ch 3}}<br /> |-<br /> | 14 Apr (F)<br /> | [[Alice: Path Planning|Alice: plannerModule]]<br /> | {{ncsbook|alice|App A}}; [http://grandchallenge.caltech.edu/wiki/images/b/b3/Thesis.pdf Kogan, 2005]<br /> |-<br /> | align=center rowspan=4 | 4<br /> | colspan=3 | '''State estimation (H. Sandberg)'''<br /> |-<br /> | 17 Apr (M)<br /> | [[NCS: Kalman Filtering|Kalman filtering]]<br /> | {{ncsbook|estim|Ch 4}}; [http://www.cs.unc.edu/~welch/media/pdf/kalman_intro.pdf Welch and Bishop]<br /> |-<br /> | 19 Apr (W)<br /> | [[NCS: Moving Horizon Estimation|Moving horizon estimation]] <br /> | {{ncsbook|estim|Ch 4}}<br /> |-<br /> | 21 Apr (F) <br /> | [[Alice: Road Following|Alice: roadFollowing]] (L. Cremean)<br /> | {{ncsbook|alice|App A}}<br /> |-<br /> | align=center rowspan=4 | 5<br /> | colspan=3 | '''Packet-based estimation and control, I (B. Sinopoli)'''<br /> |-<br /> | 24 Apr (M)<br /> | [[NCS: Packet-based Estimation| Packet-based estimation]]<br /> | {{ncsbook|pack_estim|Ch 5}} <br /> |-<br /> | 26 Apr (W)<br /> | [[NCS: Packet-based Control: the TCP case|Packet-based Control: the TCP case]] <br /> | {{ncsbook|pack_cont|Ch 5}}<br /> |-<br /> | 28 Apr (F) <br /> | [[NCS: Packet-based Control: the UDP case|Packet-based Control: the UDP case]]<br /> | {{ncsbook|pack_cont2|Ch 5}}<br /> |-<br /> | align=center rowspan=4 | 6<br /> | colspan=3 | '''Packet-based estimation and control, II (L. Shi, Y. Mostofi)'''<br /> |- <br /> | 1 May (M)<br /> | [[Packet-based Control with Norm Bounded Uncertainties]]<br /> | {{ncsbook|pack_cont_uncertainty|Ch 6}}<br /> |-<br /> | 3 May (W)<br /> | [[Impact of Communication Noise on Estimation over Wireless Links]]<br /> | {{ncsbook|pack_cont_uncertainty|Ch 6}}<br /> |-<br /> | 5 May (F)<br /> | [[Optimum Receiver Design for Estimation over Wireless Links]]<br /> | {{ncsbook|pack_cont_uncertainty|Ch 6}}<br /> |-<br /> | align=center rowspan=4 | 7<br /> | colspan=3 | '''Distributed estimation and control (V. Gupta)'''<br /> |- <br /> | 8 May* (M)<br /> | [[Distributed Estimation|Distributed Estimation]]<br /> | {{ncsbook|pack_cont_uncertainty|Ch 7}}<br /> |-<br /> {{MWFrow|<br /> week=7|<br /> weddate=10 May*|wedtopic=|wedreading=|<br /> fridate=12 May |fritopic=|frireading=|<br /> }}<br /> |-<br /> | align=center rowspan=4 | 8<br /> | colspan=3 | '''Cooperative control of multi-agent systems (Z. Jin, T. Keviczky)'''<br /> {{MWFrow|<br /> week=8|<br /> mondate=15 May|montopic=|monreading=|<br /> weddate=17 May*|wedtopic=|wedreading=|<br /> fridate=19 May|fritopic=|frireading=|<br /> }}<br /> |-<br /> | align=center rowspan=4 | 9<br /> | colspan=3 | '''Project Presentations (All)'''<br /> {{MWFrow|<br /> week=9|<br /> mondate=22 May|montopic=No class|monreading=|<br /> weddate=24 May|wedtopic=Project presentations|wedreading=|<br /> fridate=26 May|fritopic=Project presentations|frireading=|<br /> }}<br /> |}<br /> <br /> == Course Description ==<br /> <br /> Increases in fast and inexpensive computing and communications have enabled a new generation information-rich control systems that rely on multi-threaded networked execution, distributed optimization, adaptation and learning, and contingency management in increasingly sophisticated ways. This course will describe a framework for building such systems and lay out some of the challenges to control theory that must be addressed to enable systematic design and analysis. Two examples will be used to illustrate the results and to serve as testbeds for course projects: [[Alice]], an autonomous vehicle that competed in the 2005 DARPA Grand<br /> Challenge and [[RoboFlag]], a robotic version of capture the flag. Key features of these systems include highly sensory-driven, information rich feedback systems, higher levels of decision making for goal and contingency management, and multi-threaded, networked control architectures.<br /> <br /> == Course Administration ==<br /> <br /> This course is a special topics course in which advanced students will prepare and present much of the lecture material. There is no required homework and no midterm or final exam. Course grades will be based on a course project.<br /> <br /> == Course Project ==<br /> <br /> All students in the course will demonstrate their knowledge of the material by analyzing or implementing a networked control system algorithm. Two testbeds are available for use by the class:<br /> <br /> * &lt;p&gt; '''[[Alice]]''' - Alice is an autonomous vehicle that was built by [http://team.caltech.edu Caltech undergraduates] to compete in the 2005 DARPA Grand Challenge. It is fully equipped with multiple terrain sensing cameras and LADARS, two GPS units and an inertial measurement unit (IMU) for measuring position and orientation, and 10 CPUs of computing horsepower inteconnected by a 1 Gb/s ethernet network. A module software architecture allows new functionality to be implemented and tested with relative ease. Requires knowledge of C/C++ programming under linux.&lt;/p&gt;<br /> <br /> * &lt;p&gt; '''[[RoboFlag]]''' - RoboFlag is a robotic version of capture the flag in which teams of 6-8 robots with 1-2 humans compete against a like team. A high fidelity simulator is available that allow full simulation of the dynamics, sensing and communications subsystems, providing realistic operation. Features include limited bitrate communication channels, limited sensor range for detecting opposing robots, and a graphical user interface for human-in-the-loop operation. Required knowlege of C/C++ program under Windows.&lt;/p&gt;<br /> <br /> '''Project ideas''' (will be expanded during the term)<br /> * Benchmark the performance of different messaging protocols (eg, broadcast, UDP, TCP) for communicating the state and terrain data on Alice<br /> * Implement and analyze the effect of &quot;shock absobers&quot; (control buffers, state estimators) on RoboFlag<br /> * Implement state estimation and/or multi-description coding on Alice to handle lost packets of terrain data<br /> <br /> &lt;span id=archive /&gt;<br /> <br /> [[Category:Courses]] [[Category:2005-06 Courses]]</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Distributed_Estimation&diff=3793 2006-05-05T17:40:36Z

<p>Gupta: </p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> <br /> In this lecture, we will take a look at the fundamentals of<br /> distributed estimation. We will consider a random variable being<br /> observed by mutiple sensors. Under the assumptions of Gaussian noises<br /> and linear measurements, we will derive the weighted covariance<br /> combination of estimators. We will then touch upon the issues of<br /> distributed static sensor fusion and estimation of a dynamic random<br /> variable. Towards the end, we will look at the problem of dynamic sensor fusion, i.e., distributing <br /> a Kalman filter so that multiple sensors can estimate a dynamic random variable.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:lectur1d_gupta.pdf |Lecture: Distributed Estimation]]<br /> <br /> == Reading ==<br /> * &lt;p&gt;Please refresh the material covered by Henrik a couple of weeks ago[http://www.cds.caltech.edu/%7Emurray/wiki/images/b/b3/Stateestim.pdf].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Consensus algorithms will be covered in detail in the class next week. We will also touch upon one such algorithm in passing. For more details, you can read this paper.[http://www.cds.caltech.edu/~murray/papers/2003f_om04-tac.html].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Additional references are mentioned in the lecture notes. Most of them are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send me [http://www.cds.caltech.edu/~vijay] a mail.&lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Distributed_Estimation&diff=3792 2006-05-05T17:40:01Z

<p>Gupta: </p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> <br /> In this lecture, we will take a look at the fundamentals of<br /> distributed estimation. We will consider a random variable being<br /> observed by mutiple sensors. Under the assumptions of Gaussian noises<br /> and linear measurements, we will derive the weighted covariance<br /> combination of estimators. We will then touch upon the issues of<br /> distributed static sensor fusion and estimation of a dynamic random<br /> variable. Towards the end, we will look at the problem of dynamic sensor fusion, i.e., distributing <br /> a Kalman filter so that multiple sensors can estimate a dynamic random variable.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:lectur1d_gupta.pdf |Lecture: Distributed Estimation]]<br /> <br /> == Reading ==<br /> * &lt;p&gt;Please refresh the material covered by Henrik a couple of weeks ago[http://www.cds.caltech.edu/%7Emurray/wiki/images/b/b3/Stateestim.pdf].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Consensus algorithms will be covered in detail in the class next week. We will also touch upon one such algorithm in passing. For more details, you can read this paper.[http://www.cds.caltech.edu/~murray/papers/2003f_om04-tac.html].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Additional references are mentioned in the lecture notes. Most of them are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send [[http://www.cds.caltech.edu/~vijay|me]] a mail.&lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Distributed_Estimation&diff=3791 2006-05-05T17:39:25Z

<p>Gupta: </p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> <br /> In this lecture, we will take a look at the fundamentals of<br /> distributed estimation. We will consider a random variable being<br /> observed by mutiple sensors. Under the assumptions of Gaussian noises<br /> and linear measurements, we will derive the weighted covariance<br /> combination of estimators. We will then touch upon the issues of<br /> distributed static sensor fusion and estimation of a dynamic random<br /> variable. Towards the end, we will look at the problem of dynamic sensor fusion, i.e., distributing <br /> a Kalman filter so that multiple sensors can estimate a dynamic random variable.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:lectur1d_gupta.pdf |Lecture: Distributed Estimation]]<br /> <br /> == Reading ==<br /> * &lt;p&gt;Please refresh the material covered by Henrik a couple of weeks ago[http://www.cds.caltech.edu/%7Emurray/wiki/images/b/b3/Stateestim.pdf].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Consensus algorithms will be covered in detail in the class next week. We will also touch upon one such algorithm in passing. For more details, you can read this paper.[http://www.cds.caltech.edu/~murray/papers/2003f_om04-tac.html].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Additional references are mentioned in the lecture notes. Most of them are available using IEEE Xplore[http://ieeexplore.ieee.org/Xplore/dynhome.jsp]. If you are unable to obtain any, please send [http://www.cds.caltech.edu/~vijay]me a mail.&lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Distributed_Estimation&diff=3790 2006-05-05T17:36:23Z

<p>Gupta: </p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> <br /> In this lecture, we will take a look at the fundamentals of<br /> distributed estimation. We will consider a random variable being<br /> observed by mutiple sensors. Under the assumptions of Gaussian noises<br /> and linear measurements, we will derive the weighted covariance<br /> combination of estimators. We will then touch upon the issues of<br /> distributed static sensor fusion and estimation of a dynamic random<br /> variable. Towards the end, we will look at the problem of dynamic sensor fusion, i.e., distributing <br /> a Kalman filter so that multiple sensors can estimate a dynamic random variable.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:lectur1d_gupta.pdf |Lecture: Distributed Estimation]]<br /> <br /> == Reading ==<br /> * &lt;p&gt;Please refresh the material covered by Henrik a couple of weeks ago[http://www.cds.caltech.edu/%7Emurray/wiki/images/b/b3/Stateestim.pdf].&lt;/p&gt;<br /> <br /> * &lt;p&gt;Consensus algorithms will be covered in detail in the class next week. We will also touch upon one such algorithm in passing. For more details, you can read this paper.[http://www.cds.caltech.edu/~murray/papers/2003f_om04-tac.html].&lt;/p&gt;<br /> <br /> * &lt;p&gt;[http://www.cds.caltech.edu/~yasi/papers/secon.pdf Effect of Time-Varying Fading Channels on the Control Performance of a Mobile Sensor Node], Yasamin Mostofi and Richard Murray, Proceedings of IEEE 1st International Conference on Sensor and Ad Hoc Communications and Networks (Secon), October 2004, Santa Clara, CA.&lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Distributed_Estimation&diff=3789 2006-05-05T17:31:14Z

<p>Gupta: </p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> <br /> In this lecture, we will take a look at the fundamentals of<br /> distributed estimation. We will consider a random variable being<br /> observed by mutiple sensors. Under the assumptions of Gaussian noises<br /> and linear measurements, we will derive the weighted covariance<br /> combination of estimators. We will then touch upon the issues of<br /> distributed static sensor fusion and estimation of a dynamic random<br /> variable. Towards the end, we will look at the problem of dynamic sensor fusion, i.e., distributing <br /> a Kalman filter so that multiple sensors can estimate a dynamic random variable.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:lectur1d_gupta.pdf |Lecture: Distributed Estimation]]<br /> <br /> == Reading ==<br /> * &lt;p&gt;Please refresh the material covered by Henrik a couple of weeks ago[http://www.cds.caltech.edu/%7Emurray/wiki/images/b/b3/Stateestim.pdf].&lt;/p&gt;<br /> <br /> * &lt;p&gt;[http://www.cds.caltech.edu/~yasi/papers/ACC_Draft.pdf On Dropping Noisy Packets in Kalman Filtering over a Wireless Fading Channel], Yasamin Mostofi and Richard Murray, Proceedings of American Control Conference (ACC), June 2005.&lt;/p&gt;<br /> <br /> * &lt;p&gt;[http://www.cds.caltech.edu/~yasi/papers/secon.pdf Effect of Time-Varying Fading Channels on the Control Performance of a Mobile Sensor Node], Yasamin Mostofi and Richard Murray, Proceedings of IEEE 1st International Conference on Sensor and Ad Hoc Communications and Networks (Secon), October 2004, Santa Clara, CA.&lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=File:Lectur1d_gupta.pdf&diff=3788 2006-05-05T17:27:13Z

<p>Gupta: </p> <hr /> <div></div>

Gupta https://murray.cds.caltech.edu/index.php?title=Distributed_Estimation&diff=3787 2006-05-05T17:26:32Z

<p>Gupta: </p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> <br /> In this lecture, we will take a look at the fundamentals of<br /> distributed estimation. We will consider a random variable being<br /> observed by mutiple sensors. Under the assumptions of Gaussian noises<br /> and linear measurements, we will derive the weighted covariance<br /> combination of estimators. We will then touch upon the issues of<br /> distributed static sensor fusion and estimation of a dynamic random<br /> variable. Towards the end, we will look at the problem of dynamic sensor fusion, i.e., distributing <br /> a Kalman filter so that multiple sensors can estimate a dynamic random variable.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:lectur1d_gupta.pdf |Lecture: Distributed Estimation]]<br /> <br /> == Reading ==<br /> * &lt;p&gt;[http://www.cds.caltech.edu/~yasi/papers/CDC_Draft.pdf Receiver Design Principles for Estimation over Fading Channels], Yasamin Mostofi and Richard Murray, Proceedings of Conference on Decision and Control (CDC), December 2005.&lt;/p&gt;<br /> <br /> * &lt;p&gt;[http://www.cds.caltech.edu/~yasi/papers/ACC_Draft.pdf On Dropping Noisy Packets in Kalman Filtering over a Wireless Fading Channel], Yasamin Mostofi and Richard Murray, Proceedings of American Control Conference (ACC), June 2005.&lt;/p&gt;<br /> <br /> * &lt;p&gt;[http://www.cds.caltech.edu/~yasi/papers/secon.pdf Effect of Time-Varying Fading Channels on the Control Performance of a Mobile Sensor Node], Yasamin Mostofi and Richard Murray, Proceedings of IEEE 1st International Conference on Sensor and Ad Hoc Communications and Networks (Secon), October 2004, Santa Clara, CA.&lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Template:Optimum_Receiver_Design_for_Estimation_over_Wireless_Links_Next&diff=3786 2006-05-05T17:21:22Z

<p>Gupta: </p> <hr /> <div>Distributed Estimation</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Template:Distributed_Estimation_Previous&diff=3785 2006-05-05T17:21:02Z

<p>Gupta: </p> <hr /> <div>Optimum Receiver Design for Estimation over Wireless Links</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Template:Distributed_Estimation_Next&diff=3784 2006-05-05T17:20:23Z

<p>Gupta: </p> <hr /> <div>Introduction to Distributed Control</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Distributed_Estimation&diff=3783 2006-05-05T17:16:05Z

<p>Gupta: </p> <hr /> <div>{{cds270-2 header}} &lt;!-- Generates the header, including table of contents and link back to main page --&gt;<br /> <br /> &lt;!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --&gt;<br /> <br /> In this lecture, we will take a look at the fundamentals of<br /> distributed estimation. We will consider a random variable being<br /> observed by mutiple sensors. Under the assumptions of Gaussian noises<br /> and linear measurements, we will derive the weighted covariance<br /> combination of estimators. We will then touch upon the issues of<br /> distributed static sensor fusion and estimation of a dynamic random<br /> variable. Towards the end, we will look at the problem of dynamic sensor fusion, i.e., distributing <br /> a Kalman filter so that multiple sensors can estimate a dynamic random variable.<br /> <br /> == Lecture Materials ==<br /> &lt;!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --&gt;<br /> &lt;!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --&gt;<br /> * [[Media:Lecture2_Mostofi.pdf |Lecture: Optimum Receiver Design for Estimation over Wireless Links]]<br /> <br /> == Reading ==<br /> * &lt;p&gt;[http://www.cds.caltech.edu/~yasi/papers/CDC_Draft.pdf Receiver Design Principles for Estimation over Fading Channels], Yasamin Mostofi and Richard Murray, Proceedings of Conference on Decision and Control (CDC), December 2005.&lt;/p&gt;<br /> <br /> * &lt;p&gt;[http://www.cds.caltech.edu/~yasi/papers/ACC_Draft.pdf On Dropping Noisy Packets in Kalman Filtering over a Wireless Fading Channel], Yasamin Mostofi and Richard Murray, Proceedings of American Control Conference (ACC), June 2005.&lt;/p&gt;<br /> <br /> * &lt;p&gt;[http://www.cds.caltech.edu/~yasi/papers/secon.pdf Effect of Time-Varying Fading Channels on the Control Performance of a Mobile Sensor Node], Yasamin Mostofi and Richard Murray, Proceedings of IEEE 1st International Conference on Sensor and Ad Hoc Communications and Networks (Secon), October 2004, Santa Clara, CA.&lt;/p&gt;</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Distributed_Estimation&diff=3782 2006-05-05T17:15:05Z

<p>Gupta: </p> <hr /> <div>In this lecture, we will take a look at the fundamentals of<br /> distributed estimation. We will consider a random variable being<br /> observed by mutiple sensors. Under the assumptions of Gaussian noises<br /> and linear measurements, we will derive the weighted covariance<br /> combination of estimators. We will then touch upon the issues of<br /> distributed static sensor fusion and estimation of a dynamic random<br /> variable. Towards the end, we will look at the problem of dynamic sensor fusion, i.e., distributing <br /> a Kalman filter so that multiple sensors can estimate a dynamic random variable.</div>

Gupta https://murray.cds.caltech.edu/index.php?title=CDS_270-2,_Spring_2006&diff=3781 2006-05-05T17:14:25Z

<p>Gupta: </p> <hr /> <div>&lt;table width=&quot;100%&quot; cellspacing=0&gt;<br /> &lt;tr valign=top&gt;<br /> &lt;td rowspan=2 align=center&gt; [[Image:citlogo.png|75px]]<br /> &lt;td align=center&gt;&lt;font color='blue' size='+2'&gt;Networked Control Systems&lt;/font&gt;<br /> &lt;td rowspan=2 align=center&gt; [[Image:cdslogo.png|90px]]<br /> &lt;tr valign=top&gt;&lt;td align=center&gt;&lt;font color='blue' size='+1'&gt;Spring 2006&lt;/font&gt;<br /> &lt;/table&gt;<br /> <br /> &lt;table align=right&gt;&lt;tr&gt;&lt;td&gt;__TOC__&lt;/table&gt;<br /> &lt;table cellspacing=0 cellpadding=0&gt;<br /> &lt;tr valign=top&gt;<br /> &lt;td width=60%&gt;<br /> * Instructor: [[User:Murray|Richard M. Murray]]<br /> * Co-instructors: [[User:Keviczky|Tamas Keviczky]], [[User:Mostofi|Yasi Mostofi]], [[User:Sandberg|Henrik Sandberg]], [[User:Sinopoli|Bruno Sinopoli]]<br /> &lt;td align=center&gt;<br /> &lt;table cellpadding=0 cellspacing=0&gt;&lt;tr&gt;&lt;td&gt;<br /> * [[Media:cds270-2_syllabus_sp06.pdf|Course syllabus]]<br /> * [http://listserv.cds.caltech.edu/mailman/listinfo/cds270 Course mailing list]<br /> * [[CDS 270: Information for Lecturers|Information for lecturers]]<br /> &lt;/table&gt;<br /> &lt;tr&gt;&lt;td colspan=2&gt;<br /> * Graduate instructors: Vijay Gupta, Zhipu Jin, Ling Shi, Demetri Spanos<br /> * Lectures: MWF 2-3 pm, 125 Steele<br /> &lt;/table&gt;<br /> <br /> == Course Schedule ==<br /> <br /> {| border=1 width=100%<br /> |-<br /> | Week || Date || Topic || Reading<br /> |-<br /> | align=center rowspan=5 | 1 <br /> | colspan=3 | '''Introduction to Networked Control Systems (R. Murray)'''<br /> |-<br /> | 27 Mar (M)<br /> | [[NCS: Introduction|Course overview, applications and administration]]<br /> | [[Media:cds270-2_syllabus_sp06.pdf|Syllabus]]; {{ncsbook|introduction|Ch 1}}<br /> |-<br /> | 29 Mar (W)<br /> | [[Alice: Introduction|Case study: Alice]]<br /> | [http://www.cds.caltech.edu/~murray/papers/2005t_cre+06-jfr.html Cremean et al, 2005]<br /> |-<br /> | colspan=3 | '''Networked embedded systems programming (R. Murray)'''<br /> |-<br /> | 31 Mar (F)<br /> | [[NCS: Message Transfer Systems|Message transfer systems: spread]]<br /> | {{ncsbook|embedded|Ch 2}}; [http://portal.acm.org/citation.cfm?id=359563 Lamport, 1978]<br /> |-<br /> | align=center rowspan=3 | 2<br /> | 3 Apr (M)<br /> | [[NCS: Multi-Threaded Control Systems|Multi-threaded control systems: pthreads]]<br /> | {{ncsbook|embedded|Ch 2}}; [http://www.llnl.gov/computing/tutorials/pthreads Pthreads]<br /> |-<br /> | 5 Apr (W)<br /> | [[Alice: Vehicle Control|Alice: adrive, astate, trajFollower]]<br /> | {{ncsbook|alice|App A}}; [http://gc.caltech.edu/wiki/index.php/Alice GCwiki]<br /> |-<br /> | 7 Apr* (F)<br /> | No class<br /> | <br /> |-<br /> | align=center rowspan=4 | 3<br /> | colspan=3 | '''Real-time trajectory generation and receding horizon control (R. Murray)'''<br /> |-<br /> | 10 Apr (M)<br /> | [[NCS: Real-Time Trajectory Generation|Real-time trajectory generation]]<br /> | {{ncsbook|trajgen|Ch 3}}<br /> |-<br /> | 12 Apr* (W)<br /> | [[NCS: Receding Horizon Control|Receding horizon control]] (T. Keviczky)<br /> | {{ncsbook|trajgen|Ch 3}}<br /> |-<br /> | 14 Apr (F)<br /> | [[Alice: Path Planning|Alice: plannerModule]]<br /> | {{ncsbook|alice|App A}}; [http://grandchallenge.caltech.edu/wiki/images/b/b3/Thesis.pdf Kogan, 2005]<br /> |-<br /> | align=center rowspan=4 | 4<br /> | colspan=3 | '''State estimation (H. Sandberg)'''<br /> |-<br /> | 17 Apr (M)<br /> | [[NCS: Kalman Filtering|Kalman filtering]]<br /> | {{ncsbook|estim|Ch 4}}; [http://www.cs.unc.edu/~welch/media/pdf/kalman_intro.pdf Welch and Bishop]<br /> |-<br /> | 19 Apr (W)<br /> | [[NCS: Moving Horizon Estimation|Moving horizon estimation]] <br /> | {{ncsbook|estim|Ch 4}}<br /> |-<br /> | 21 Apr (F) <br /> | [[Alice: Road Following|Alice: roadFollowing]] (L. Cremean)<br /> | {{ncsbook|alice|App A}}<br /> |-<br /> | align=center rowspan=4 | 5<br /> | colspan=3 | '''Packet-based estimation and control, I (B. Sinopoli)'''<br /> |-<br /> | 24 Apr (M)<br /> | [[NCS: Packet-based Estimation| Packet-based estimation]]<br /> | {{ncsbook|pack_estim|Ch 5}} <br /> |-<br /> | 26 Apr (W)<br /> | [[NCS: Packet-based Control: the TCP case|Packet-based Control: the TCP case]] <br /> | {{ncsbook|pack_cont|Ch 5}}<br /> |-<br /> | 28 Apr (F) <br /> | [[NCS: Packet-based Control: the UDP case|Packet-based Control: the UDP case]]<br /> | {{ncsbook|pack_cont2|Ch 5}}<br /> |-<br /> | align=center rowspan=4 | 6<br /> | colspan=3 | '''Packet-based estimation and control, II (L. Shi, Y. Mostofi)'''<br /> |- <br /> | 1 May (M)<br /> | [[Packet-based Control with Norm Bounded Uncertainties]]<br /> | {{ncsbook|pack_cont_uncertainty|Ch 6}}<br /> |-<br /> | 3 May (W)<br /> | [[Impact of Communication Noise on Estimation over Wireless Links]]<br /> | {{ncsbook|pack_cont_uncertainty|Ch 6}}<br /> |-<br /> | 5 May (F)<br /> | [[Optimum Receiver Design for Estimation over Wireless Links]]<br /> | {{ncsbook|pack_cont_uncertainty|Ch 6}}<br /> |-<br /> | align=center rowspan=4 | 7<br /> | colspan=3 | '''Distributed estimation and control (V. Gupta)'''<br /> |- <br /> | 1 May (M)<br /> | [[Distributed Estimation|Distributed Estimation]]<br /> | {{ncsbook|pack_cont_uncertainty|Ch 7}}<br /> |-<br /> {{MWFrow|<br /> week=7|<br /> mondate=8 May*|montopic=|monreading=|<br /> weddate=10 May*|wedtopic=|wedreading=|<br /> fridate=12 May |fritopic=|frireading=|<br /> }}<br /> |-<br /> | align=center rowspan=4 | 8<br /> | colspan=3 | '''Cooperative control of multi-agent systems (Z. Jin, T. Keviczky)'''<br /> {{MWFrow|<br /> week=8|<br /> mondate=15 May|montopic=|monreading=|<br /> weddate=17 May*|wedtopic=|wedreading=|<br /> fridate=19 May|fritopic=|frireading=|<br /> }}<br /> |-<br /> | align=center rowspan=4 | 9<br /> | colspan=3 | '''Project Presentations (All)'''<br /> {{MWFrow|<br /> week=9|<br /> mondate=22 May|montopic=No class|monreading=|<br /> weddate=24 May|wedtopic=Project presentations|wedreading=|<br /> fridate=26 May|fritopic=Project presentations|frireading=|<br /> }}<br /> |}<br /> <br /> == Course Description ==<br /> <br /> Increases in fast and inexpensive computing and communications have enabled a new generation information-rich control systems that rely on multi-threaded networked execution, distributed optimization, adaptation and learning, and contingency management in increasingly sophisticated ways. This course will describe a framework for building such systems and lay out some of the challenges to control theory that must be addressed to enable systematic design and analysis. Two examples will be used to illustrate the results and to serve as testbeds for course projects: [[Alice]], an autonomous vehicle that competed in the 2005 DARPA Grand<br /> Challenge and [[RoboFlag]], a robotic version of capture the flag. Key features of these systems include highly sensory-driven, information rich feedback systems, higher levels of decision making for goal and contingency management, and multi-threaded, networked control architectures.<br /> <br /> == Course Administration ==<br /> <br /> This course is a special topics course in which advanced students will prepare and present much of the lecture material. There is no required homework and no midterm or final exam. Course grades will be based on a course project.<br /> <br /> == Course Project ==<br /> <br /> All students in the course will demonstrate their knowledge of the material by analyzing or implementing a networked control system algorithm. Two testbeds are available for use by the class:<br /> <br /> * &lt;p&gt; '''[[Alice]]''' - Alice is an autonomous vehicle that was built by [http://team.caltech.edu Caltech undergraduates] to compete in the 2005 DARPA Grand Challenge. It is fully equipped with multiple terrain sensing cameras and LADARS, two GPS units and an inertial measurement unit (IMU) for measuring position and orientation, and 10 CPUs of computing horsepower inteconnected by a 1 Gb/s ethernet network. A module software architecture allows new functionality to be implemented and tested with relative ease. Requires knowledge of C/C++ programming under linux.&lt;/p&gt;<br /> <br /> * &lt;p&gt; '''[[RoboFlag]]''' - RoboFlag is a robotic version of capture the flag in which teams of 6-8 robots with 1-2 humans compete against a like team. A high fidelity simulator is available that allow full simulation of the dynamics, sensing and communications subsystems, providing realistic operation. Features include limited bitrate communication channels, limited sensor range for detecting opposing robots, and a graphical user interface for human-in-the-loop operation. Required knowlege of C/C++ program under Windows.&lt;/p&gt;<br /> <br /> '''Project ideas''' (will be expanded during the term)<br /> * Benchmark the performance of different messaging protocols (eg, broadcast, UDP, TCP) for communicating the state and terrain data on Alice<br /> * Implement and analyze the effect of &quot;shock absobers&quot; (control buffers, state estimators) on RoboFlag<br /> * Implement state estimation and/or multi-description coding on Alice to handle lost packets of terrain data<br /> <br /> &lt;span id=archive /&gt;<br /> <br /> [[Category:Courses]] [[Category:2005-06 Courses]]</div>

Gupta https://murray.cds.caltech.edu/index.php?title=Distributed_estimation_and_control&diff=3780 2006-05-05T17:12:34Z

<p>Gupta: </p> <hr /> <div>In this lecture, we will take a look at the fundamentals of<br /> distributed estimation. We will consider a random variable being<br /> observed by multiple sensors. Under the assumptions of Gaussian noises<br /> and linear measurements, we will derive the weighted covariance<br /> combination of estimators. We will then touch upon the issues of<br /> distributed static sensor fusion and estimation of a dynamic random<br /> variable. Towards the end, we will look at the problem of dynamic sensor fusion, i.e., distributing <br /> a Kalman filter so that multiple sensors can estimate a dynamic random variable.</div>

Gupta