相关论文: Optimal Sensor and Actuator Selection using Balanc…
In [1] Zhu and Rabitz presented a rapidly convergent iterative algorithm for optimal control of the expectation value of a positive definite observable in a pure-state quantum system. In this paper we generalize this algorithm to a quantum…
Joint optimization of scheduling and estimation policies is considered for a system with two sensors and two non-collocated estimators. Each sensor produces an independent and identically distributed sequence of random variables, and each…
This study proposes an airborne multisensor management algorithm for target tracking, taking each of multiple unmanned aircraft as a sensor. The purpose of the algorithm is to determine the configuration of the sensor deployment and to…
Optimal control is a successful approach to generate motions for complex robots, in particular for legged locomotion. However, these techniques are often too slow to run in real time for model predictive control or one needs to drastically…
Sensor selection is an important design problem in large-scale sensor networks. Sensor selection can be interpreted as the problem of selecting the best subset of sensors that guarantees a certain estimation performance. We focus on…
In this paper, by using the Brunovsky normal form, we provide a reformulation of the problem consisting in finding the actuator design which minimizes the controllability cost for finite-dimensional linear systems with scalar controls. Such…
Fully actuated omnidirectional UAVs enable independent control of forces and torques along all six degrees of freedom, broadening the operational envelope for agile flight and aerial interaction tasks. However, conventional control…
We consider optimal experimental design (OED) problems in selecting the most informative observation sensors to estimate model parameters in a Bayesian framework. Such problems are computationally prohibitive when the…
Optimizing the configuration and placement of sensors is crucial for reliable fall detection, indoor localization, and activity recognition in assisted living spaces. We propose a novel, sample-efficient approach to find a high-quality…
Understanding how the optimal value of an optimisation problem changes when its input data is modified is an old question in mathematical optimisation. This paper investigates the computation of the optimal values of a family of (possibly…
The problem of optimizing a sequence of tasks for a robot, also known as multi-point manufacturing, is a well-studied problem. Many of these solutions use a variant of the Traveling Salesman Problem (TSP) and seek to find the minimum…
Optimal control of switched systems is challenging due to the discrete nature of the switching control input. The embedding-based approach addresses this challenge by solving a corresponding relaxed optimal control problem with only…
Optimal actuator design for a vibration control problem is calculated. The actuator shape is optimized according to the closed-loop performance of the resulting linear-quadratic regulator and a penalty on the actuator size. The optimal…
Cost-efficient compressive sensing is challenging when facing large-scale data, {\em i.e.}, data with large sizes. Conventional compressive sensing methods for large-scale data will suffer from low computational efficiency and massive…
In this paper we study the problem of distributed estimation of a Gaussian vector with linear observation model in a wireless sensor network (WSN) consisting of K sensors that transmit their modulated quantized observations over orthogonal…
Flying robots such as the quadrotor could provide an efficient approach for medical treatment or sensor placing of wild animals. In these applications, continuously targeting the moving animal is a crucial requirement. Due to the…
We study a stealthy range-sensor placement problem where a set of range sensors are to be placed with respect to targets to effectively localize them while maintaining a degree of stealthiness from the targets. This is an open and…
This article studies two problems related to observability and efficient constrained sensor placement in linear time-invariant discrete-time systems with partial state observations. (i) We impose the condition that both the set of outputs…
This paper studies the measurement scheduling problem for a group of N mobile robots moving on a flat surface that are preforming cooperative localization (CL). We consider a scenario in which due to the limited on-board resources such as…
Accurate estimation of the position of network nodes is essential, e.g., in localization, geographic routing, and vehicular networks. Unfortunately, typical positioning techniques based on ranging or on velocity and angular measurements are…