Networked Sensing, Estimation and Control Systems: Difference between revisions

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=== Chapter Table ===
=== Chapter Table ===


<ol type="I">
==== Preface ====
<li> Preface
* Motivation for writing the book
* Motivation for writing the book
* Intended audience and prerequisites
* Intended audience and prerequisites
</li>
 
<li> Introduction to Networked Control Systems
==== I. Introduction to Networked Control Systems ====
* Motivation and examples
* Motivation and examples
* Big picture for networked control systems
* Big picture for networked control systems
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** Talk about distributed information: centralized versus decentralized, distributed
** Talk about distributed information: centralized versus decentralized, distributed
* Summary of the development of NCS
* Summary of the development of NCS
</li>
==== II. State Estimation and Sensor Fusion ====
<li> State Estimation and Sensor Fusion
{| width=100%
{| width=100%
|-
|-
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* Durrant-Whyte
* Durrant-Whyte
|}
|}
</li>
==== III. Information Theory ====
<li> Information Theory
* Entropy and mutual information
* Entropy and mutual information
* Bode's integral and Kalman filtering (from info theory point of view)
* Bode's integral and Kalman filtering (from info theory point of view)
* Quantization tools (Nair, ...; 2007 IEEE Proc, Jan)
* Quantization tools (Nair, ...; 2007 IEEE Proc, Jan)
* Remark (19 Dec 08): do we want to include anything on rate distortion theory?  Not really required for information below, but perhaps we want to add some material that could use that?
* Remark (19 Dec 08): do we want to include anything on rate distortion theory?  Not really required for information below, but perhaps we want to add some material that could use that?
</li>
====IV. Jump Linear Markov Systems ====
<li> Jump Linear Markov Systems
* Definitions and fundamental results
* Definitions and fundamental results
* Effects of packet loss
* Effects of packet loss
* Effects of delay
* Effects of delay
* Extensions to Control
* Extensions to Control
</li>
==== V. Packet-Based Estimation (focus on single sensor) ====
<li> Packet-Based Estimation (focus on single sensor)
* Problem setup and useful lemmas
* Problem setup and useful lemmas
* Expected value of covariance
* Expected value of covariance
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* Epstein et al (Automatica 2008), Shi et al (TBD, 2008)
* Epstein et al (Automatica 2008), Shi et al (TBD, 2008)
* Hespanha, Gupta et al
* Hespanha, Gupta et al
</li>
==== VI. Packet-Based Control (focus on single actuator) ====
<li> Packet-Based Control (focus on single actuator)
* TCP vs UDP
* TCP vs UDP
* LQG extensions
* LQG extensions
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* Actuation buffers
* Actuation buffers
* Information patterns
* Information patterns
* Remark: should we include something about "scheduling" results?  Go back to early Brockett work, then Walsh, etc?
References
References
* Schenato et al (IEEE Proc, 2007)
* Schenato et al (IEEE Proc, 2007)
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* Gupta
* Gupta
* Sinopoli (Allerton 2007)
* Sinopoli (Allerton 2007)
</li>
==== VII. Information Flow on Graphs ====
<li>  Information Flow on Graphs
* Review of graph theory
* Review of graph theory
* Average consensus (including rates)
* Average consensus (including rates)
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* Boyd, Shah et al
* Boyd, Shah et al
* Upfal (load balancing)
* Upfal (load balancing)
</li>
==== VIII. Distributed Estimation ====
<li> Distributed Estimation
* Centralized fusion (information filters)
* Centralized fusion (information filters)
* Hierarchical fusion (plus measurements vs estimates?)
* Hierarchical fusion (plus measurements vs estimates?)
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References
References
* Speyer, Chong, Durrant-Whyte
* Speyer, Chong, Durrant-Whyte
</li>
==== IX. Distributed Control ====
<li> Distributed Control
* Laplacian/Nyquist theory
* Laplacian/Nyquist theory
* Spatially invariant systems
* Spatially invariant systems
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References
References
* Bamieh, Lall, Dullerud, D'Andrea (spatially invariant)
* Bamieh, Lall, Dullerud, D'Andrea (spatially invariant)
</li>
==== X. Cooperative Control (application chapter) ====
<li> Cooperative Control (application chapter)
* Motivation
* Motivation
* Notions of complexity
* Notions of complexity
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* Bullo, Cortes, Martinez
* Bullo, Cortes, Martinez
* Egerstedt
* Egerstedt
</li>
====  XI. Efficient Computation and Communications (application chapter) ====
<li> Efficient Computation and Communications (application chapter)
* Shock aborbers
* Shock aborbers
* Measurements versus estimates
* Measurements versus estimates
* Actuation buffers
* Actuation buffers
* Event-based control (transmit when necessary)
* Event-based control (transmit when necessary)
</li>
==== XII. Implementation (application chapter) ====
XII. Implementation (application chapter)
* Robustness (byzantine)
* Robustness (byzantine)
* Synchronization (Lamport)
* Synchronization (Lamport)
</li>
==== XIII. Sensor Networks (application chapter) ====
<li> Sensor Networks (application chapter)
* Motivation
* Motivation
* Sensor scheduling/power
* Sensor scheduling/power
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* Sensor selection/MAC layer
* Sensor selection/MAC layer
** How does this material relate to the rest of the book?
** How does this material relate to the rest of the book?
</li>
==== XIV. Future Directions and Open Problems ====
<li> Future Directions and Open Problems
* Robustness (byzantine)
* Robustness (byzantine)
* Design of networks (utility-based theory, Low/Kelly)
* Design of networks (utility-based theory, Low/Kelly)
</li>
</ol>


=== Related Information ===
=== Related Information ===

Revision as of 08:17, 19 December 2008

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".

Purpose and Scope

Chapter Table

Preface

  • Motivation for writing the book
  • Intended audience and prerequisites

I. Introduction to Networked Control Systems

  • Motivation and examples
  • Big picture for networked control systems
  • Control systems (summarize basic framework; refer to standard texts for details)
  • Communication systems
    • Channel models
    • Hardware protocols: 802.11, Zigbee, Wireless HART, SPA100, CANbus, FieldBus, ...
    • Software protocols: TCP, UDP, CSMACA (introduce basic protocols and indicate features that will come up later)
  • Information patterns
    • Talk about distributed information: centralized versus decentralized, distributed
  • Summary of the development of NCS

II. State Estimation and Sensor Fusion

  • Overview of estimation
  • Gaussian random processes
  • Kalman filtering
  • Information form and fusion

References

  • Durrant-Whyte

III. 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)
  • Remark (19 Dec 08): do we want to include anything on rate distortion theory? Not really required for information below, but perhaps we want to add some material that could use that?

IV. Jump Linear Markov Systems

  • Definitions and fundamental results
  • Effects of packet loss
  • Effects of delay
  • Extensions to Control

V. 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

VI. Packet-Based Control (focus on single actuator)

  • TCP vs UDP
  • LQG extensions
  • Effects of quantization (?)
  • Actuation buffers
  • Information patterns
  • Remark: should we include something about "scheduling" results? Go back to early Brockett work, then Walsh, etc?

References

  • Schenato et al (IEEE Proc, 2007)
  • Kumar
  • Gupta
  • Sinopoli (Allerton 2007)

VII. 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)

VIII. 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

IX. 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)

X. 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

XI. 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)

XIII. 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?

XIV. 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
Other information resources

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
  • 11-17 Jun 09: Ling in Pasadena (commencement on 12 Jun)
  • 27-29 Aug 09: Asian Control Conference (ASCC) in Hong Kong [Ling, Bruno, Richard]
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