https://murray.cds.caltech.edu/api.php?action=feedcontributions&feedformat=atom&user=MostofiMurray Wiki - User contributions [en]2026-04-23T04:09:51ZUser contributionsMediaWiki 1.41.5https://murray.cds.caltech.edu/index.php?title=July_2006_meeting_schedule&diff=4317July 2006 meeting schedule2006-07-26T20:45:22Z<p>Mostofi: /* Friday, 28 Jul */</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 />
<table width=100% border=1><br />
<tr valign=top><td><br />
==== Thursday, 27 July ====<br />
{{agenda begin}}<br />
{{agenda item|9:30-10:15|Katie}}<br />
{{agenda item|10:15-11:00|Stefano Di Cairano}}<br />
{{agenda item||}}<br />
{{agenda item|5:00-5:45|Waydo}}<br />
{{agenda item|5:45-6:30|Open}}<br />
{{agenda item|6:30-7:15|Vijay}}<br />
{{agenda end}}<br />
</td><td><br />
<br />
==== Friday, 28 Jul ====<br />
{{agenda begin}}<br />
{{agenda item|1:00-1:45|Elisa Franco}}<br />
{{agenda item|1:45-2:30|Timothy Chung}}<br />
{{agenda item||}}<br />
{{agenda item|3:00-3:45|Nok}}<br />
{{agenda item|3:45-4:30|Yasi}}<br />
{{agenda item|4:30-5:15|Johan Ugander}}<br />
{{agenda item|5:15-6:00|Michael Epstein}}<br />
{{agenda item|6:00-6:45|Zhipu Jin}}<br />
{{agenda end}}<br />
</td><td><br />
<br />
==== Monday, 31 July ====<br />
{{agenda begin}}<br />
{{agenda item|9:45-10:30|Mary Dunlop}}<br />
{{agenda item|10:30-11:15|Fei Wang}}<br />
{{agenda item|11:15-12:00|Melvin Flores}}<br />
{{agenda end}}<br />
</td><td><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 />
</td></tr></table><br />
<br />
<br><br />
<hr><br />
<br><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 />
<table width=100% border=1><br />
<tr valign=top><td><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 />
</td><td><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 />
</td><td><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 />
</td><td><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 />
</td></tr></table></div>Mostofihttps://murray.cds.caltech.edu/index.php?title=Optimum_Receiver_Design_for_Estimation_over_Wireless_Links&diff=3777Optimum Receiver Design for Estimation over Wireless Links2006-05-05T00:06:07Z<p>Mostofi: </p>
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<div>{{cds270-2 header}} <!-- Generates the header, including table of contents and link back to main page --><br />
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<!-- 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 --><br />
<br />
In this lecture, we study the optimum packet drop mechanism for estimation of dynamical systems over mobile noisy channels. We will consider a case where the knowledge of channel quality is available in the estimator as well as the scenario where there is no cross-layer information path on channel quality. We will derive stability conditions for both cases. Furthermore, we will find the optimum packet drop mechanism to optimize the performance.<br />
<br />
== Lecture Materials ==<br />
<!-- 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 --><br />
<!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --><br />
* [[Media:Lecture2_Mostofi.pdf |Lecture: Optimum Receiver Design for Estimation over Wireless Links]]<br />
<br />
== Reading ==<br />
* <p>[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.</p><br />
<br />
* <p>[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.</p><br />
<br />
* <p>[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.</p><br />
<br />
<!-- A reading list for the lecture. This will typically be 3-5 articles or book chapters that are particularly relevant to the material being presented. The reading list should be annotated to explain how the articles fit into the topic for the lecture. --><br />
<br />
== Additional Resources ==<br />
<br />
* <p>Chapter 4 of "Wireless Communications, Principles and Practice", Theodore S. Rappaport, Prentice-Hall, July 1999.</p><br />
<br />
<br />
<br />
<!-- Links to additional information. If there are good sources of additional information for students interested in exploring this topic further, these should go at the bottom of the page. --></div>Mostofihttps://murray.cds.caltech.edu/index.php?title=Optimum_Receiver_Design_for_Estimation_over_Wireless_Links&diff=3776Optimum Receiver Design for Estimation over Wireless Links2006-05-05T00:02:13Z<p>Mostofi: </p>
<hr />
<div>{{cds270-2 header}} <!-- Generates the header, including table of contents and link back to main page --><br />
<br />
<!-- 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 --><br />
<br />
In this lecture, we study the optimum packet drop mechanism for estimation of dynamical systems over mobile noisy channels. We will consider a case where the knowledge of channel quality is available in the estimator as well as the scenario where there is no cross-layer information path on channel quality. We will derive stability conditions for both cases. Furthermore, we will find the optimum packet drop mechanism to optimize the performance.<br />
<br />
== Lecture Materials ==<br />
<!-- 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 --><br />
<!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --><br />
* [[Media:Lecture2_Mostofi.pdf |Lecture: Optimum Receiver Design for Estimation over Wireless Links]]<br />
<br />
== Reading ==<br />
* <p>[http://www.cds.caltech.edu/~yasi/papers/CDC_Draft.pdf New Design Principles for Estimation over Fading Channels in Mobile Sensor Networks], Yasamin Mostofi and Richard Murray, Proceedings of Conference on Decision and Control (CDC), December 2005.</p><br />
<br />
* <p>[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.</p><br />
<br />
* <p>[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.</p><br />
<br />
<!-- A reading list for the lecture. This will typically be 3-5 articles or book chapters that are particularly relevant to the material being presented. The reading list should be annotated to explain how the articles fit into the topic for the lecture. --><br />
<br />
== Additional Resources ==<br />
<br />
* <p>Chapter 4 of "Wireless Communications, Principles and Practice", Theodore S. Rappaport, Prentice-Hall, July 1999.</p><br />
<br />
<br />
<br />
<!-- Links to additional information. If there are good sources of additional information for students interested in exploring this topic further, these should go at the bottom of the page. --></div>Mostofihttps://murray.cds.caltech.edu/index.php?title=File:Lecture2_Mostofi.pdf&diff=3775File:Lecture2 Mostofi.pdf2006-05-05T00:01:29Z<p>Mostofi: </p>
<hr />
<div></div>Mostofihttps://murray.cds.caltech.edu/index.php?title=Template:Optimum_Receiver_Design_for_Estimation_over_Wireless_Links_Next&diff=3774Template:Optimum Receiver Design for Estimation over Wireless Links Next2006-05-04T23:58:23Z<p>Mostofi: </p>
<hr />
<div>Distributed estimation and control</div>Mostofihttps://murray.cds.caltech.edu/index.php?title=Template:Optimum_Receiver_Design_for_Estimation_over_Wireless_Links_Previous&diff=3773Template:Optimum Receiver Design for Estimation over Wireless Links Previous2006-05-04T23:57:45Z<p>Mostofi: </p>
<hr />
<div>Impact of Communication Noise on Estimation over Wireless Links</div>Mostofihttps://murray.cds.caltech.edu/index.php?title=Optimum_Receiver_Design_for_Estimation_over_Wireless_Links&diff=3772Optimum Receiver Design for Estimation over Wireless Links2006-05-04T23:56:00Z<p>Mostofi: </p>
<hr />
<div>{{cds270-2 header}} <!-- Generates the header, including table of contents and link back to main page --><br />
<br />
<!-- 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 --><br />
<br />
In this lecture, we study the optimum packet drop mechanism for estimation of dynamical systems over mobile noisy channels. We will consider a case where the knowledge of channel quality is available in the estimator as well as the scenario where there is no cross-layer information path on channel quality. We will derive stability conditions for both cases. Furthermore, we will find the optimum packet drop mechanism to optimize the performance.<br />
<br />
== Lecture Materials ==<br />
<!-- 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 --><br />
<!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --><br />
* [[Media:270_2 Lecture2_Mostofi.pdf |Lecture: Optimum Receiver Design for Estimation over Wireless Links]]<br />
<br />
== Reading ==<br />
* <p>[http://www.cds.caltech.edu/~yasi/papers/CDC_Draft.pdf New Design Principles for Estimation over Fading Channels in Mobile Sensor Networks], Yasamin Mostofi and Richard Murray, Proceedings of Conference on Decision and Control (CDC), December 2005.</p><br />
<br />
* <p>[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.</p><br />
<br />
* <p>[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.</p><br />
<br />
<!-- A reading list for the lecture. This will typically be 3-5 articles or book chapters that are particularly relevant to the material being presented. The reading list should be annotated to explain how the articles fit into the topic for the lecture. --><br />
<br />
== Additional Resources ==<br />
<br />
* <p>Chapter 4 of "Wireless Communications, Principles and Practice", Theodore S. Rappaport, Prentice-Hall, July 1999.</p><br />
<br />
<br />
<br />
<!-- Links to additional information. If there are good sources of additional information for students interested in exploring this topic further, these should go at the bottom of the page. --></div>Mostofihttps://murray.cds.caltech.edu/index.php?title=Optimum_Receiver_Design_for_Estimation_over_Wireless_Links&diff=3771Optimum Receiver Design for Estimation over Wireless Links2006-05-04T23:55:24Z<p>Mostofi: </p>
<hr />
<div>{{cds270-2 header}} <!-- Generates the header, including table of contents and link back to main page --><br />
<br />
<!-- 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 --><br />
<br />
In this lecture, we study the optimum packet drop mechanism for estimation of dynamical systems over mobile noisy channels. We will consider a case where the knowledge of channel quality is available in the estimator as well as the scenario where there is no cross-layer information path. We will derive stability conditions for both cases. Furthermore, we will find the optimum packet drop mechanism to optimize the performance.<br />
<br />
== Lecture Materials ==<br />
<!-- 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 --><br />
<!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --><br />
* [[Media:270_2 Lecture2_Mostofi.pdf |Lecture: Optimum Receiver Design for Estimation over Wireless Links]]<br />
<br />
== Reading ==<br />
* <p>[http://www.cds.caltech.edu/~yasi/papers/CDC_Draft.pdf New Design Principles for Estimation over Fading Channels in Mobile Sensor Networks], Yasamin Mostofi and Richard Murray, Proceedings of Conference on Decision and Control (CDC), December 2005.</p><br />
<br />
* <p>[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.</p><br />
<br />
* <p>[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.</p><br />
<br />
<!-- A reading list for the lecture. This will typically be 3-5 articles or book chapters that are particularly relevant to the material being presented. The reading list should be annotated to explain how the articles fit into the topic for the lecture. --><br />
<br />
== Additional Resources ==<br />
<br />
* <p>Chapter 4 of "Wireless Communications, Principles and Practice", Theodore S. Rappaport, Prentice-Hall, July 1999.</p><br />
<br />
<br />
<br />
<!-- Links to additional information. If there are good sources of additional information for students interested in exploring this topic further, these should go at the bottom of the page. --></div>Mostofihttps://murray.cds.caltech.edu/index.php?title=Optimum_Receiver_Design_for_Estimation_over_Wireless_Links&diff=3770Optimum Receiver Design for Estimation over Wireless Links2006-05-04T23:54:52Z<p>Mostofi: </p>
<hr />
<div>{{cds270-2 header}} <!-- Generates the header, including table of contents and link back to main page --><br />
<br />
<!-- 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 --><br />
<br />
In this lecture, we study the optimum packet drop mechanism for estimation of dynamical systems over mobile noisy channels. We will consider a case where the knowledge of channel quality is available in the estimator as well as the scenario where there is no cross-layer information path. We will derive stability conditions for both cases. Furthermore, we will find the optimum packet drop mechanism to optimize the performance.<br />
<br />
== Lecture Materials ==<br />
<!-- 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 --><br />
<!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --><br />
* [[Media:270_2 Lecture2_Mostofi.pdf |Lecture: Optimum Receiver Design for Estimation over Wireless Links]]<br />
<br />
== Reading ==<br />
* <p>[http://www.cds.caltech.edu/~yasi/papers/CDC_Draft.pdf New Design Principles for Estimation over Fading Channels in Mobile Sensor Networks], Yasamin Mostofi and Richard Murray, Proceedings of Conference on Decision and Control (CDC), December 2005.</p><br />
<br />
* <p>[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.</p><br />
<br />
* <p>[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.</p><br />
<br />
<!-- A reading list for the lecture. This will typically be 3-5 articles or book chapters that are particularly relevant to the material being presented. The reading list should be annotated to explain how the articles fit into the topic for the lecture. --><br />
<br />
== Additional Resources ==<br />
<br />
* <p>Chapter 4 of </it>Wireless Communications, Principles and Practice</it>, Theodore S. Rappaport, Prentice-Hall, July 1999.</p><br />
<br />
<br />
<br />
<!-- Links to additional information. If there are good sources of additional information for students interested in exploring this topic further, these should go at the bottom of the page. --></div>Mostofihttps://murray.cds.caltech.edu/index.php?title=File:Lecture1_final.pdf&diff=3769File:Lecture1 final.pdf2006-05-03T23:18:16Z<p>Mostofi: </p>
<hr />
<div></div>Mostofihttps://murray.cds.caltech.edu/index.php?title=Impact_of_Communication_Noise_on_Estimation_over_Wireless_Links&diff=3768Impact of Communication Noise on Estimation over Wireless Links2006-05-03T23:18:02Z<p>Mostofi: /* Lecture Materials */</p>
<hr />
<div>{{cds270-2 header}} <!-- Generates the header, including table of contents and link back to main page --><br />
<br />
<!-- 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 --><br />
<br />
In this lecture, we study the impact of wireless communication noise on Kalman filtering over wireless links. First, we will study how to model and abstract wireless mobile communication links for the purpose of estimation. Then, we will derive analytical expressions to evaluate the performance of a Kalman filter over a mobile wireless link.<br />
<br />
<br />
== Lecture Materials ==<br />
<!-- 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 --><br />
<!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --><br />
* [[Media:Lecture1_final.pdf |Lecture: Impact of Communication Noise on Estimation over Wireless Links ]]<br />
<br />
== Reading ==<br />
* <p>[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.</p><br />
<br />
* <p>[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.</p><br />
<br />
* <p>[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.</p><br />
<br />
<!-- A reading list for the lecture. This will typically be 3-5 articles or book chapters that are particularly relevant to the material being presented. The reading list should be annotated to explain how the articles fit into the topic for the lecture. --><br />
<br />
== Additional Resources ==<br />
<br />
* <p>Chapter 4 of "Wireless Communications, Principles and Practice", Theodore S. Rappaport, Prentice-Hall, July 1999.</p><br />
<br />
<br />
<br />
<!-- Links to additional information. If there are good sources of additional information for students interested in exploring this topic further, these should go at the bottom of the page. --></div>Mostofihttps://murray.cds.caltech.edu/index.php?title=Impact_of_Communication_Noise_on_Estimation_over_Wireless_Links&diff=3767Impact of Communication Noise on Estimation over Wireless Links2006-05-03T00:53:40Z<p>Mostofi: /* Lecture Materials */</p>
<hr />
<div>{{cds270-2 header}} <!-- Generates the header, including table of contents and link back to main page --><br />
<br />
<!-- 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 --><br />
<br />
In this lecture, we study the impact of wireless communication noise on Kalman filtering over wireless links. First, we will study how to model and abstract wireless mobile communication links for the purpose of estimation. Then, we will derive analytical expressions to evaluate the performance of a Kalman filter over a mobile wireless link.<br />
<br />
<br />
== Lecture Materials ==<br />
<!-- 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 --><br />
<!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --><br />
* [[Media:Lecture1_1.pdf |Lecture: Impact of Communication Noise on Estimation over Wireless Links ]]<br />
<br />
== Reading ==<br />
* <p>[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.</p><br />
<br />
* <p>[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.</p><br />
<br />
* <p>[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.</p><br />
<br />
<!-- A reading list for the lecture. This will typically be 3-5 articles or book chapters that are particularly relevant to the material being presented. The reading list should be annotated to explain how the articles fit into the topic for the lecture. --><br />
<br />
== Additional Resources ==<br />
<br />
* <p>Chapter 4 of "Wireless Communications, Principles and Practice", Theodore S. Rappaport, Prentice-Hall, July 1999.</p><br />
<br />
<br />
<br />
<!-- Links to additional information. If there are good sources of additional information for students interested in exploring this topic further, these should go at the bottom of the page. --></div>Mostofihttps://murray.cds.caltech.edu/index.php?title=File:Lecture1_1.pdf&diff=3766File:Lecture1 1.pdf2006-05-03T00:51:53Z<p>Mostofi: </p>
<hr />
<div></div>Mostofihttps://murray.cds.caltech.edu/index.php?title=Impact_of_Communication_Noise_on_Estimation_over_Wireless_Links&diff=3763Impact of Communication Noise on Estimation over Wireless Links2006-05-02T05:27:34Z<p>Mostofi: /* Reading */</p>
<hr />
<div>{{cds270-2 header}} <!-- Generates the header, including table of contents and link back to main page --><br />
<br />
<!-- 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 --><br />
<br />
In this lecture, we study the impact of wireless communication noise on Kalman filtering over wireless links. First, we will study how to model and abstract wireless mobile communication links for the purpose of estimation. Then, we will derive analytical expressions to evaluate the performance of a Kalman filter over a mobile wireless link.<br />
<br />
<br />
== Lecture Materials ==<br />
<!-- 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 --><br />
<!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --><br />
* [[Media:270_2 Lecture1_Mostofi.pdf |Lecture: Impact of Communication Noise on Estimation over Wireless Links ]]<br />
<br />
== Reading ==<br />
* <p>[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.</p><br />
<br />
* <p>[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.</p><br />
<br />
* <p>[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.</p><br />
<br />
<!-- A reading list for the lecture. This will typically be 3-5 articles or book chapters that are particularly relevant to the material being presented. The reading list should be annotated to explain how the articles fit into the topic for the lecture. --><br />
<br />
== Additional Resources ==<br />
<br />
* <p>Chapter 4 of "Wireless Communications, Principles and Practice", Theodore S. Rappaport, Prentice-Hall, July 1999.</p><br />
<br />
<br />
<br />
<!-- Links to additional information. If there are good sources of additional information for students interested in exploring this topic further, these should go at the bottom of the page. --></div>Mostofihttps://murray.cds.caltech.edu/index.php?title=Optimum_Receiver_Design_for_Estimation_over_Wireless_Links&diff=3762Optimum Receiver Design for Estimation over Wireless Links2006-05-02T05:18:50Z<p>Mostofi: </p>
<hr />
<div>Optimum Receiver Design for Estimation</div>Mostofihttps://murray.cds.caltech.edu/index.php?title=Template:Impact_of_Communication_Noise_on_Estimation_over_Wireless_Links_Previous&diff=3761Template:Impact of Communication Noise on Estimation over Wireless Links Previous2006-05-02T05:17:52Z<p>Mostofi: </p>
<hr />
<div>Packet-based Control with Norm Bounded Uncertainties</div>Mostofihttps://murray.cds.caltech.edu/index.php?title=Template:Impact_of_Communication_Noise_on_Estimation_over_Wireless_Links_Next&diff=3760Template:Impact of Communication Noise on Estimation over Wireless Links Next2006-05-02T05:17:10Z<p>Mostofi: </p>
<hr />
<div>Optimum Receiver Design for Estimation over Wireless Links</div>Mostofihttps://murray.cds.caltech.edu/index.php?title=Impact_of_Communication_Noise_on_Estimation_over_Wireless_Links&diff=3759Impact of Communication Noise on Estimation over Wireless Links2006-05-02T05:15:52Z<p>Mostofi: /* Additional Resources */</p>
<hr />
<div>{{cds270-2 header}} <!-- Generates the header, including table of contents and link back to main page --><br />
<br />
<!-- 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 --><br />
<br />
In this lecture, we study the impact of wireless communication noise on Kalman filtering over wireless links. First, we will study how to model and abstract wireless mobile communication links for the purpose of estimation. Then, we will derive analytical expressions to evaluate the performance of a Kalman filter over a mobile wireless link.<br />
<br />
<br />
== Lecture Materials ==<br />
<!-- 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 --><br />
<!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --><br />
* [[Media:270_2 Lecture1_Mostofi.pdf |Lecture: Impact of Communication Noise on Estimation over Wireless Links ]]<br />
<br />
== Reading ==<br />
* <p>[http://www.cds.caltech.edu/~yasi/papers/CDC_Draft.pdf New Design Principles for Estimation over Fading Channels in Mobile Sensor Networks], Yasamin Mostofi and Richard Murray, Proceedings of Conference on Decision and Control (CDC), December 2005.</p><br />
<br />
* <p>[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.</p><br />
<br />
* <p>[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.</p><br />
<br />
<!-- A reading list for the lecture. This will typically be 3-5 articles or book chapters that are particularly relevant to the material being presented. The reading list should be annotated to explain how the articles fit into the topic for the lecture. --><br />
<br />
== Additional Resources ==<br />
<br />
* <p>Chapter 4 of "Wireless Communications, Principles and Practice", Theodore S. Rappaport, Prentice-Hall, July 1999.</p><br />
<br />
<br />
<br />
<!-- Links to additional information. If there are good sources of additional information for students interested in exploring this topic further, these should go at the bottom of the page. --></div>Mostofihttps://murray.cds.caltech.edu/index.php?title=Impact_of_Communication_Noise_on_Estimation_over_Wireless_Links&diff=3758Impact of Communication Noise on Estimation over Wireless Links2006-05-02T05:13:22Z<p>Mostofi: </p>
<hr />
<div>{{cds270-2 header}} <!-- Generates the header, including table of contents and link back to main page --><br />
<br />
<!-- 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 --><br />
<br />
In this lecture, we study the impact of wireless communication noise on Kalman filtering over wireless links. First, we will study how to model and abstract wireless mobile communication links for the purpose of estimation. Then, we will derive analytical expressions to evaluate the performance of a Kalman filter over a mobile wireless link.<br />
<br />
<br />
== Lecture Materials ==<br />
<!-- 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 --><br />
<!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --><br />
* [[Media:270_2 Lecture1_Mostofi.pdf |Lecture: Impact of Communication Noise on Estimation over Wireless Links ]]<br />
<br />
== Reading ==<br />
* <p>[http://www.cds.caltech.edu/~yasi/papers/CDC_Draft.pdf New Design Principles for Estimation over Fading Channels in Mobile Sensor Networks], Yasamin Mostofi and Richard Murray, Proceedings of Conference on Decision and Control (CDC), December 2005.</p><br />
<br />
* <p>[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.</p><br />
<br />
* <p>[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.</p><br />
<br />
<!-- A reading list for the lecture. This will typically be 3-5 articles or book chapters that are particularly relevant to the material being presented. The reading list should be annotated to explain how the articles fit into the topic for the lecture. --><br />
<br />
== Additional Resources ==<br />
<br />
* <p>Chapter 4 of </it>Wireless Communications, Principles and Practice</it>, Theodore S. Rappaport, Prentice-Hall, July 1999.</p><br />
<br />
<br />
<br />
<!-- Links to additional information. If there are good sources of additional information for students interested in exploring this topic further, these should go at the bottom of the page. --></div>Mostofihttps://murray.cds.caltech.edu/index.php?title=CDS_270-2,_Spring_2006&diff=3757CDS 270-2, Spring 20062006-05-02T04:42:27Z<p>Mostofi: /* Course Schedule */</p>
<hr />
<div><table width="100%" cellspacing=0><br />
<tr valign=top><br />
<td rowspan=2 align=center> [[Image:citlogo.png|75px]]<br />
<td align=center><font color='blue' size='+2'>Networked Control Systems</font><br />
<td rowspan=2 align=center> [[Image:cdslogo.png|90px]]<br />
<tr valign=top><td align=center><font color='blue' size='+1'>Spring 2006</font><br />
</table><br />
<br />
<table align=right><tr><td>__TOC__</table><br />
<table cellspacing=0 cellpadding=0><br />
<tr valign=top><br />
<td width=60%><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 />
<td align=center><br />
<table cellpadding=0 cellspacing=0><tr><td><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 />
</table><br />
<tr><td colspan=2><br />
* Graduate instructors: Vijay Gupta, Zhipu Jin, Ling Shi, Demetri Spanos<br />
* Lectures: MWF 2-3 pm, 125 Steele<br />
</table><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 />
{{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 />
* <p> '''[[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.</p><br />
<br />
* <p> '''[[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.</p><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 "shock absobers" (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 />
<span id=archive /><br />
<br />
[[Category:Courses]] [[Category:2005-06 Courses]]</div>Mostofihttps://murray.cds.caltech.edu/index.php?title=CDS_270-2,_Spring_2006&diff=3756CDS 270-2, Spring 20062006-05-02T04:40:39Z<p>Mostofi: /* Course Schedule */</p>
<hr />
<div><table width="100%" cellspacing=0><br />
<tr valign=top><br />
<td rowspan=2 align=center> [[Image:citlogo.png|75px]]<br />
<td align=center><font color='blue' size='+2'>Networked Control Systems</font><br />
<td rowspan=2 align=center> [[Image:cdslogo.png|90px]]<br />
<tr valign=top><td align=center><font color='blue' size='+1'>Spring 2006</font><br />
</table><br />
<br />
<table align=right><tr><td>__TOC__</table><br />
<table cellspacing=0 cellpadding=0><br />
<tr valign=top><br />
<td width=60%><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 />
<td align=center><br />
<table cellpadding=0 cellspacing=0><tr><td><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 />
</table><br />
<tr><td colspan=2><br />
* Graduate instructors: Vijay Gupta, Zhipu Jin, Ling Shi, Demetri Spanos<br />
* Lectures: MWF 2-3 pm, 125 Steele<br />
</table><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 />
{{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 />
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== Course Project ==<br />
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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 />
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* <p> '''[[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.</p><br />
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* <p> '''[[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.</p><br />
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'''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 "shock absobers" (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 />
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[[Category:Courses]] [[Category:2005-06 Courses]]</div>Mostofi