相关论文: Control limitations from distributed sensing: theo…
A key issue in the control of distributed discrete systems modeled as Markov decisions processes, is that often the state of the system is not directly observable at any single location in the system. The participants in the control scheme…
Current metrological bounds typically assume full control over all particles that are involved in the protocol. Relaxing this assumption we study metrological performance when only limited control is available. As an example, we measure a…
In this paper, we consider a general distributed estimation problem in relay-assisted sensor networks by taking into account time-varying asymmetric communications, fading channels and intermittent measurements. Motivated by centralized…
Modern applications, such as orchestrating the collective behavior of robotic swarms or traffic flows, require the coordination of large groups of agents evolving in unstructured environments, where disturbances and unmodeled dynamics are…
We investigate a control technique for spatially extended systems combining spatial filtering with a previously studied form of time-delay feedback. The scheme is naturally suited to real-time control of optical systems. We apply the…
A spatially distributed system contains a large amount of agents with limited sensing, data processing, and communication capabilities. Recent technological advances have opened up possibilities to deploy spatially distributed systems for…
This paper addresses the localization of contacts of an unknown grasped rigid object with its environment, i.e., extrinsic to the robot. We explore the key role that distributed tactile sensing plays in localizing contacts external to the…
Many applications from camera arrays to sensor networks require efficient compression and processing of correlated data, which in general is collected in a distributed fashion. While information-theoretic foundations of distributed…
The problem of robust distributed control arises in several large-scale systems, such as transportation networks and power grid systems. In many practical scenarios controllers might not have enough information to make globally optimal…
The problem of multi-hypothesis testing with controlled sensing of observations is considered. The distribution of observations collected under each control is assumed to follow a single-parameter exponential family distribution. The goal…
We establish the large deviations asymptotic performance (error exponent) of consensus+innovations distributed detection over random networks with generic (non-Gaussian) sensor observations. At each time instant, sensors 1) combine theirs…
In electricity distribution networks, the increasing penetration of renewable energy generation necessitates faster and more sophisticated voltage controls. Unfortunately, recent research shows that local voltage control fails in achieving…
Incompatible, i.e. non-jointly measurable quantum measurements are a necessary resource for many information processing tasks. It is known that increasing the number of distinct measurements usually enhances the incompatibility of a…
We consider the problem of boundary feedback control of single-input-single-output (SISO) one-dimensional linear hyperbolic systems when sensing and actuation are anti-located. The main issue of the output feedback stabilization is that it…
We study robust testing and estimation of discrete distributions in the strong contamination model. We consider both the "centralized setting" and the "distributed setting with information constraints" including communication and local…
We derive gain-tuning rules for the positive and negative spatial-feedback loops of a spatially-distributed filter to change the resolution of its spatial band-pass characteristic accordingly to a wavelet zoom, while preserving temporal…
We consider the problem of estimating timing of measurements and actuation in distributed sensor and control systems with central processing. The focus is on direct timing estimation for scenarios where clock synchronization is not feasible…
This paper proposes an adaptive tracking control with prescribed performance function for distributive cooperative control of highly nonlinear multi-agent systems. The use of such approach confines the tracking error within a large…
The optimal controller design problem for systems equipped with sensors that measure only relative, rather than absolute, quantities is considered. This relative measurement structure is formulated as a design constraint; it is demonstrated…
Biological motor control provides highly effective solutions to difficult control problems in spite of the complexity of the plant and the significant delays in sensory feedback . Such delays are expected to lead to non trivial stability…