Related papers: A Separation Theorem for Joint Sensor and Actuator…
Suppose that wirelessly communicating sensors are placed in a regular fashion on the points of a lattice. Common communication protocols allow the sensors to broadcast messages at arbitrary times, which can lead to problems should two…
The control and sensing of large-scale systems results in combinatorial problems not only for sensor and actuator placement but also for scheduling or observability/controllability. Such combinatorial constraints in system design and…
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…
We present a synchronization algorithm to let nodes in a sensor network simultaneously execute a task at a given point in time. In contrast to other time synchronization algorithms we do not provide a global time basis that is shared on all…
In this work, we consider a binary sequential hypothesis testing problem with distributed and asynchronous measurements. The aim is to analyze the effect of sampling times of jointly $\textit{wide-sense stationary}$ (WSS) Gaussian…
Bender et al. (SPAA 2013) have proposed a theoretical framework for testing in contexts where safety mistakes must be avoided. Testing in such a context is made by machines that need to be often calibrated. Given that calibration costs, it…
Suppose an agent asserts that it will move through an environment in some way. When the agent executes its motion, how does one verify the claim? The problem arises in a range of contexts including in validating safety claims about robot…
In this paper we show that inverses of well-conditioned, finite-time Gramians and impulse response matrices of large-scale interconnected systems described by sparse state-space models, can be approximated by sparse matrices. The…
Discrepancy theory provides powerful tools for producing higher-quality objects which "beat the union bound" in fundamental settings throughout combinatorics and computer science. However, this quality has often come at the price of more…
Motivated by the Internet-of-things and sensor networks for cyberphysical systems, the problem of dynamic sensor activation for the centralized tracking of an i.i.d. time-varying process is examined. The tradeoff is between energy…
This paper considers the problem of simultaneous sensor fault detection, isolation, and networked estimation of linear full-rank dynamical systems. The proposed networked estimation is a variant of single time-scale protocol and is based on…
This paper studies the infinite-horizon sensor scheduling problem for linear Gaussian processes with linear measurement functions. Several important properties of the optimal infinite-horizon schedules are derived. In particular, it is…
We present a decentralized algorithm to achieve segregation into an arbitrary number of groups with swarms of autonomous robots. The distinguishing feature of our approach is in the minimalistic assumptions on which it is based.…
Distributed sensor networks often include a multitude of sensors, each measuring parts of a process state space or observing the operations of a system. Communication of measurements between the sensor nodes and estimator(s) cannot…
In this paper a decentralized control algorithm for systems composed of $N$ dynamically decoupled agents, coupled by feasibility constraints, is presented. The control problem is divided into $N$ optimal control sub-problems and a…
We propose methods to solve time-varying, sensor and actuator (SaA) selection problems for uncertain cyber-physical systems. We show that many SaA selection problems for optimizing a variety of control and estimation metrics can be posed as…
This paper addresses the problem of selecting the minimum number of dedicated sensors to achieve observability in the presence of unknown inputs, namely, the state and input observability, for linear time-invariant systems. We assume that…
To plan the trajectories of a large-scale heterogeneous swarm, sequentially or synchronously distributed methods usually become intractable due to the lack of global clock synchronization. To this end, we provide a novel asynchronous…
Wireless communication is essential to achieve coordinated control in vehicle platoons. However, packet losses in wireless communication can cause critical safety issues when they occur in conjunction with sudden brakes. In this paper, we…
In this paper, based on the spatio-temporal correlation of sensor nodes in the Internet of Things (IoT), a Spatio-temporal Scope information model (SSIM) is proposed to quantify the scope valuable information of sensor data, which decays…