Related papers: Optimal Sensor and Actuator Placement in Complex D…

In certain systems which are subject to significant constant external forcing such as an airplane in wind or an underwater glider in ocean currents, the ability to detect the forcing depends on both the measurements available and whether…

This paper develops tools to quantify the importance of agent interactions and its impact on global performance metrics for networks modeled as linear time-invariant systems. We consider Gramian-based performance metrics and propose a novel…

We study the problem of jointly designing a sparse sensor and actuator schedule for linear dynamical systems while guaranteeing a control/estimation performance that approximates the fully sensed/actuated setting. We further prove a…

For many-particle systems defined on lattices we investigate the global structure of effective Hamiltonians and observables obtained by means of a suitable basis transformation. We study transformations which lead to effective Hamiltonians…

Several problems in modeling and control of stochastically-driven dynamical systems can be cast as regularized semi-definite programs. We examine two such representative problems and show that they can be formulated in a similar manner. The…

Autonomous agents rely on sensor data to construct representations of their environments, essential for predicting future events and planning their actions. However, sensor measurements suffer from limited range, occlusions, and sensor…

This paper discusses elements of a control theory of systems comprised of networks of simple agents that collectively achieve sensing and actuation goals despite having strictly limited capability when acting alone. The goal is to…

The four-dimensional variational data assimilation methodology for assimilating noisy observations into a deterministic model has been the workhorse of forecasting centers for over three decades. While this method provides a computationally…

Optimizing measures of the observability Gramian as a surrogate for the estimation performance may provide irrelevant or misleading trajectories for planning under observation uncertainty.

Large infrastructure networks (e.g. for transportation and power distribution) require constant monitoring for failures, congestion, and other adversarial events. However, assigning a sensor to every link in the network is often infeasible…

To provide real-time visibility of physics-based states, phasor measurement units (PMUs) are deployed throughout power networks. PMU data enable real-time grid monitoring and control -- and are essential in transitioning to smarter grids.…

Terrain geometry is, in general, non-smooth, non-linear, non-convex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This work presents the complete control pipeline capable of handling the…

This article determines and characterizes the minimal number of actuators needed to ensure structural controllability of a linear system under structural alterations that can severe the connection between any two states. We assume that…

The neural encoding by biological sensors of flying insects, which prefilters stimulus data before sending it to the central nervous system in the form of voltage spikes, enables sensing capabilities that are computationally low-cost while…

When a physical system is driven away from equilibrium, the statistical distribution of its dynamical trajectories informs many of its physical properties. Characterizing the nature of the distribution of dynamical observables, such as a…

This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…

This paper analytically characterizes optimal sensor placements for target localization and tracking in 2D and 3D. Three types of sensors are considered: bearing-only, range-only, and received-signal-strength. The optimal placement problems…

Accurate network topology information is critical for secure operation of smart power distribution systems. Line outages can change the operational topology of a distribution network. As a result, topology identification by detecting…

This paper treats an optimal scheduling problem of control nodes in networked systems. We newly introduce both the L0 and l0 constraints on control inputs to extract a time-varying small number of effective control nodes. As the cost…

Much has been said about observability in system theory and control; however, it has been recently that observability in complex networks has seriously attracted the attention of researchers. This paper examines the state-of-the-art and…