Networked Sensing, Estimation and Control Systems

Vijay Gupta, Richard M. Murray, Ling Shi and Bruno Sinopoli

This page is intended for use by authors of the book "Networked Sensing, Estimation and Control Systems".

Chapter Table

Title: Networked Sensing, Estimation and Control Systems
Authors:

1. Preface
   • Motivation for writing the book
   • Intended audience and prerequisites
2. Introduction to Networked Control Systems
   • Motivation and examples
   • Big picture for networked control systems
   + Channel models
   • Information patterns
   • Summary of the development of NCS
3. State Estimation and Sensor Fusion
   • Overview of estimation
   • Gaussian random processes
   • Kalman filtering
   • Information form and fusion
   
   References
   • Durrant-Whyte
4. Information Theory
   • Entropy and mutual information
   • Bode's integral and Kalman filtering (from info theory point of view)
   • Quantization tools (Nair, ...; 2007 IEEE Proc, Jan)
5. Jump Linear Markov Systems
   • Definitions and fundamental results
   • Effects of packet loss
   • Effects of delay
   • Extensions to Control
6. Packet-Based Estimation (focus on single sensor)
   • Problem setup and useful lemmas
   • Expected value of covariance
   • Probabilistic bounds
   • Sending measurements versus estimates
   • Markov models for packet loss (JLMS)
   • Multi-channel and/or multi-sensor?
   
   References
   • Sinopoli et al (TAC 2004)
   • Epstein et al (Automatica 2008), Shi et al (TBD, 2008)
   • Hespanha, Gupta et al
7. Packet-Based Control (focus on single actuator)
   • TCP vs UDP
   • LQG extensions
   • Effects of quantization (?)
   • Actuation buffers
   • Information patterns
   References
   • Schenato et al (IEEE Proc, 2007)
   • Kumar
   • Gupta
   • Sinopoli (Allerton 2007)
8. Information Flow on Graphs
   • Review of graph theory
   • Average consensus (including rates)
   • Switching, time delays, ...
   • Gossip algorithms, load balancing, ...
   References
   • Fax, Olfati-Saber
   • Jadbabaie et al
   • Boyd, Shah et al
   • Upfal (load balancing)
9. Distributed Estimation
   • Centralized fusion (information filters)
   • Hierarchical fusion (plus measurements vs estimates?)
   • Decentralized Kalman filtering (full connectivity -> graph)
   • Effects of packet loss
   References
   • Speyer, Chong, Durrant-Whyte
10. Distributed Control
    • Laplacian/Nyquist theory
    • Spatially invariant systems
    • Multi-channel information flows (?)
    • Distributed receding horizon control?
    • Effects of packet loss
      • Witsenhausen and information patterns
    References
    • Bamieh, Lall, Dullerud, D'Andrea (spatially invariant)
11. Cooperative Control (application chapter)
    • Motivation
    • Notions of complexity
    • Formation, coverage, rendezvous
    • Protocols?
      • How does this material relate to the rest of the book?
    
    References
    • Bullo, Cortes, Martinez
    • Egerstedt
12. Efficient Computation and Communications (application chapter)
    • Shock aborbers
    • Measurements versus estimates
    • Actuation buffers
    • Event-based control (transmit when necessary)
XII. Implementation (application chapter)
• Robustness (byzantine)
• Synchronization (Lamport)
13. Sensor Networks (application chapter)
    • Motivation
    • Sensor scheduling/power
    • Event-driven systems (?)
    • Sensor selection/MAC layer
      • How does this material relate to the rest of the book?
14. Future Directions and Open Problems
    • Robustness (byzantine)
    • Design of networks (utility-based theory, Low/Kelly)

Related Information

Other books

• Bullo, Cortes, Martinez: book on cooperative control, but with a very different emphasis than Reza's proposed book. An online copy of the book is available at http://coordinationbook.info.

• Mesbahi and Egerstedt: graph theoretic methods for multi-agent coordination.

• Olfati-Saber: Networked Multi-Agent Systems: Distributed Algorithms for Coordination and Information Fusion

• D. Hristu-Varsakelis and W. S. Levine (Ed.): Handbook of Networked and Embedded Control Systems, 2005. ISBN 0-8176-3239-5
  • Mainly a collection of articles

Other information resources

• http://filer.case.edu/org/ncs

Upcoming events

Upcoming courses

• Apr 09: EECI Networked Control Systems course (Richard, Vijay)
• Fall 2009: NCS at HKUST (Ling)
• Spring 2010: NCS at CMU (Bruno)

Author meetings

• 25 Nov 08: Richard and Bruno in Pasadena
• 8-10 Dec 08: Bruno and Vijay at CDC
• 15 Dec 08: Richard and Ling in Hong Kong + Vietnam
• 13-19 Apr 09: HSCC, CPS week in San Francisco
• 27-29 Aug 09: Asian Control Conference (ASCC) in Hong Kong [Ling, Bruno, Richard]