View source for Optimum Allocation of Computing Resources in Networked Sensing and Control

{{HTDB paper
| authors = Yasamin Mostofi and Richard M. Murray
| title = Optimum Allocation of Computing Resources in Networked Sensing and Control
| source = Submitted, 2006 American Control Conference
| year = 2005
| type = Conference Paper
| funding = NSF/ITR
| url = http://www.cds.caltech.edu/~murray/preprints/mm06-acc.pdf
| abstract = 
In this paper we consider task scheduling when
sensing and controlling over a network with packet dropping
links. We find optimum ways of allocating limited computing
resources for estimation and control of a number
of linear dynamical systems with different characteristics
over communication links with different qualities. We find
theoretical expressions relating the optimum sampling rates to
the characteristics of the communication links and dynamics of
the plants.When considering resource allocation for estimation
of the plants, we derive optimum ways of task scheduling for
two performance metrics: decay rate and the asymptotic value
of the estimation error variance. When scheduling the control
tasks, we consider rate of convergence of the state and the
overall control cost as performance measures. The work lays
the theoretical foundations for considering the impact of both
limited computing and communication resources on estimation
and control.
| flags = 
| tag = mm06-acc
| id = 2005o
}}