EECI08: Distributed Estimation and Control - Revision history

Murray: EECI09: Distributed Estimation and Control moved to EECI08: Distributed Estimation and Control

2009-03-01T20:27:50Z

EECI09: Distributed Estimation and Control moved to EECI08: Distributed Estimation and Control

← Older revision		Revision as of 20:27, 1 March 2009
(No difference)

Murray: EECI: Distributed Estimation and Control moved to EECI09: Distributed Estimation and Control

2009-03-01T20:16:54Z

EECI: Distributed Estimation and Control moved to EECI09: Distributed Estimation and Control

← Older revision	Revision as of 20:16, 1 March 2009
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Murray: /* Lecture Materials */

2008-03-30T23:51:50Z

Lecture Materials

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	== Lecture Materials ==		== Lecture Materials ==
	* Lecture notes: {{eeci-sp08 pdf\|L9_distributed-scan.pdf\|Distributed Estimation and Control}} (RMM handwritten notes)		* Lecture notes: {{eeci-sp08 pdf\|L9_distributed-scan.pdf\|Distributed Estimation and Control}} (RMM handwritten notes)
	* Lecture notes: {{eeci-sp08 pdf\|L9_distributed.pdf\|Distributed Estimation and Control}} (Vijay Gupta)		* Lecture notes: {{eeci-sp08 pdf\|L9_distributed.pdf\|Distributed Estimation and Control}} (typeset notes by Vijay Gupta)

	== Reading ==		== Reading ==
	* <p>S. K. Mitter and A. Sahai, "Information and control: Witsenhausen revisited," in Learning, Control and Hybrid Systems: Lecture Notes in Control and Information Sciences 241, Y. Yamamoto and S. Hara, Eds. New York, NY: Springer, 1999, pp. 281-293.</p>		* <p>S. K. Mitter and A. Sahai, "Information and control: Witsenhausen revisited," in Learning, Control and Hybrid Systems: Lecture Notes in Control and Information Sciences 241, Y. Yamamoto and S. Hara, Eds. New York, NY: Springer, 1999, pp. 281-293.</p>
	* <p>"Separation of Estimation and Control for Discrete Time Systems", H. S. Witsenhausen, Proceedings of the IEEE, vol. 59, no. 11, pp. 1557-1566, Nov. 1971.</p>		* <p>"Separation of Estimation and Control for Discrete Time Systems", H. S. Witsenhausen, Proceedings of the IEEE, vol. 59, no. 11, pp. 1557-1566, Nov. 1971.</p>

Murray: /* Lecture Materials */

2008-03-30T23:51:34Z

Lecture Materials

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	== Lecture Materials ==		== Lecture Materials ==
			* Lecture notes: {{eeci-sp08 pdf\|L9_distributed-scan.pdf\|Distributed Estimation and Control}} (RMM handwritten notes)
	* Lecture notes: {{eeci-sp08 pdf\|L9_distributed.pdf\|Distributed Estimation and Control}} (Vijay Gupta)		* Lecture notes: {{eeci-sp08 pdf\|L9_distributed.pdf\|Distributed Estimation and Control}} (Vijay Gupta)

Murray: /* Reading */

2008-03-29T01:04:52Z

Reading

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	== Reading ==		== Reading ==
	* <p>S. K. Mitter and A. Sahai, "Information and control: Witsenhausen revisited," in Learning, Control and Hybrid Systems: Lecture Notes in Control and Information Sciences 241, Y. Yamamoto and S. Hara, Eds. New York, NY: Springer, 1999, pp. 281-293.<p>		* <p>S. K. Mitter and A. Sahai, "Information and control: Witsenhausen revisited," in Learning, Control and Hybrid Systems: Lecture Notes in Control and Information Sciences 241, Y. Yamamoto and S. Hara, Eds. New York, NY: Springer, 1999, pp. 281-293.</p>
	* <p>"Separation of Estimation and Control for Discrete Time Systems", H. S. Witsenhausen, Proceedings of the IEEE, vol. 59, no. 11, pp. 1557-1566, Nov. 1971.</p>		* <p>"Separation of Estimation and Control for Discrete Time Systems", H. S. Witsenhausen, Proceedings of the IEEE, vol. 59, no. 11, pp. 1557-1566, Nov. 1971.</p>

Murray: /* Reading */

2008-03-29T01:04:42Z

Reading

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	== Reading ==		== Reading ==
	* S. K. Mitter and A. Sahai, "Information and control: Witsenhausen revisited," in Learning, Control and Hybrid Systems: Lecture Notes in Control and Information Sciences 241, Y. Yamamoto and S. Hara, Eds. New York, NY: Springer, 1999, pp. 281--293.		* <p>S. K. Mitter and A. Sahai, "Information and control: Witsenhausen revisited," in Learning, Control and Hybrid Systems: Lecture Notes in Control and Information Sciences 241, Y. Yamamoto and S. Hara, Eds. New York, NY: Springer, 1999, pp. 281-293.<p>
	* "Separation of Estimation and Control for Discrete Time Systems", H. S. Witsenhausen, Proceedings of the IEEE, vol. 59, no. 11, pp. 1557-1566, Nov. 1971.		* <p>"Separation of Estimation and Control for Discrete Time Systems", H. S. Witsenhausen, Proceedings of the IEEE, vol. 59, no. 11, pp. 1557-1566, Nov. 1971.</p>

Murray at 01:04, 29 March 2008

2008-03-29T01:04:23Z

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	In this lecture, we will take a look at the fundamentals of distributed estimation and control. We begin by considering a random variable being observed by mutiple sensors. Under the assumptions of Gaussian noises and linear measurements, we will derive the weighted covariance combination of estimators. We will then touch upon the issues of distributed static sensor fusion and dynamic sensor fusion, i.e., distributing a Kalman filter so that multiple sensors can estimate a dynamic random variable. We then move onto the problem of distributed control and demonstrate, via a variant of the Witsenhausen counterexample, why distributed optimal control is nonconvex and nonlinear.		In this lecture, we will take a look at the fundamentals of distributed estimation and control. We begin by considering a random variable being observed by mutiple sensors. Under the assumptions of Gaussian noises and linear measurements, we will derive the weighted covariance combination of estimators. We will then touch upon the issues of distributed static sensor fusion and dynamic sensor fusion, i.e., distributing a Kalman filter so that multiple sensors can estimate a dynamic random variable. We then move onto the problem of distributed control and demonstrate, via a variant of the Witsenhausen counterexample, why distributed optimal control is nonconvex and nonlinear.

	==== Lecture Materials ====		== Lecture Materials ==
	* Lecture notes: {{eeci-sp08 pdf\|L9_distributed.pdf\|Distributed Estimation and Control}} (Vijay Gupta)		* Lecture notes: {{eeci-sp08 pdf\|L9_distributed.pdf\|Distributed Estimation and Control}} (Vijay Gupta)

	==~~== Additional Information ====~~		== Reading ==

	~~==== Further~~ Reading ====
	* S. K. Mitter and A. Sahai, "Information and control: Witsenhausen revisited," in Learning, Control and Hybrid Systems: Lecture Notes in Control and Information Sciences 241, Y. Yamamoto and S. Hara, Eds. New York, NY: Springer, 1999, pp. 281--293.		* S. K. Mitter and A. Sahai, "Information and control: Witsenhausen revisited," in Learning, Control and Hybrid Systems: Lecture Notes in Control and Information Sciences 241, Y. Yamamoto and S. Hara, Eds. New York, NY: Springer, 1999, pp. 281--293.
	* "Separation of Estimation and Control for Discrete Time Systems", H. S. Witsenhausen, Proceedings of the IEEE, vol. 59, no. 11, pp. 1557-1566, Nov. 1971.		* "Separation of Estimation and Control for Discrete Time Systems", H. S. Witsenhausen, Proceedings of the IEEE, vol. 59, no. 11, pp. 1557-1566, Nov. 1971.

Murray at 00:46, 29 March 2008

2008-03-29T00:46:38Z

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	{{righttoc}}		{{righttoc}}
			In this lecture, we will take a look at the fundamentals of distributed estimation and control. We begin by considering a random variable being observed by mutiple sensors. Under the assumptions of Gaussian noises and linear measurements, we will derive the weighted covariance combination of estimators. We will then touch upon the issues of distributed static sensor fusion and dynamic sensor fusion, i.e., distributing a Kalman filter so that multiple sensors can estimate a dynamic random variable. We then move onto the problem of distributed control and demonstrate, via a variant of the Witsenhausen counterexample, why distributed optimal control is nonconvex and nonlinear.

	==== Lecture Materials ====		==== Lecture Materials ====
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	==== Further Reading ====		==== Further Reading ====
			* S. K. Mitter and A. Sahai, "Information and control: Witsenhausen revisited," in Learning, Control and Hybrid Systems: Lecture Notes in Control and Information Sciences 241, Y. Yamamoto and S. Hara, Eds. New York, NY: Springer, 1999, pp. 281--293.
			* "Separation of Estimation and Control for Discrete Time Systems", H. S. Witsenhausen, Proceedings of the IEEE, vol. 59, no. 11, pp. 1557-1566, Nov. 1971.

Murray at 15:56, 28 March 2008

2008-03-28T15:56:47Z

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	{{eeci-sp08 header\|next=[[EECI: Formation Control in Multi-Agent Systems \|Formation Control]]\|prev=EECI: Information Flow and Consensus\|Graph Theory]]}}		{{eeci-sp08 header\|next=[[EECI: Formation Control in Multi-Agent Systems \|Formation Control]]\|prev=[[EECI: Information Flow and Consensus\|Graph Theory]]}}

	{{righttoc}}		{{righttoc}}

Murray at 15:56, 28 March 2008

2008-03-28T15:56:34Z

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	{{eeci-sp08 header\|next=[[EECI: Formation Control in Multi-Agent Systems \|Formation Control]]\|prev=~~[[NCS~~: ~~Packet-Based Estimation~~ and ~~Control~~\|~~Packet-Based Control~~]]}}		{{eeci-sp08 header\|next=[[EECI: Formation Control in Multi-Agent Systems \|Formation Control]]\|prev=EECI: Information Flow and Consensus\|Graph Theory]]}}

	{{righttoc}}		{{righttoc}}