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We consider the problem of designing distributed estimators that are realizable over a given causal communication network. We consider the following two cases - 1) Given an interconnected plant over a given network, we design a distributed estimator with sub-units interacting over the same network such that each sub-unit estimates the states of the corresponding sub-system of the plant; 2) Given a...
We consider a model of stealthy attack on a networked control system by formulating a static zero-sum game among four players. Three of the players constitute a team of encoder, decoder and controller for a scalar discrete-time linear plant, while the fourth player is a jammer, who acts to flip the bits of the binary encoded observation signal of the communication channel between the plant and the...
Online recommendation systems use votes from experts or other users to recommend objects to customers. We propose a recommendation algorithm that uses an average weight updating rule and prove its convergence to the best expert and derive an upper bound on its loss. Often times, recommendation algorithms make assumptions that do not hold in practice such as requiring a large number of the good objects,...
In this work we propose a new set of sigma points for the Unscented Transform that uses the minimum number of points. We than compare this new set with the symmetric set, the reduced set, and the spherical set. Simulations comparing this sets are done to verify the properties of this set and to verify their transforms. Lastly, we simulate each of these sets in a recursive filter for SLAM. The results...
This paper presents a novel method for tracking multiple extended objects. The shape of a single extended object is modeled with a recently developed approach called Random Hypersurface Model (RHM) that assumes a varying number of measurement sources to lie on scaled versions of the shape boundaries. This approach is extended by introducing a so-called Mixture Random Hypersurface Model (Mixture RHM),...
This paper deals with a formation control problem for second-order multi-agent systems with heterogeneous time-delays. We aim to control multiple agents so as to form a desired formation pattern and to move with an assigned velocity in an assigned direction. The assigned velocity and direction are transmitted through long-distance communication from human operators as external signals. Some of the...
A distributed Voronoi-based sensor deployment approach is proposed to optimize sensor network coverage. It is assumed that each sensor can construct its Voronoi polygon using the information it receives from the neighboring sensors. To increase the local coverage of the sensors, it is desired to find a point in each polygon, such that if the corresponding sensor is placed there, then its covered area...
Incremental sampling-based motion planning algorithms such as the Rapidly-exploring Random Trees (RRTs) have been successful in efficiently solving computationally challenging motion planning problems involving complex dynamical systems. A recently proposed algorithm, called the RRT*, also provides asymptotic optimality guarantees, i.e., almost-sure convergence to optimal trajectories (which the RRT...
In this paper we introduce the model of a Longitudinal Vectored Thrust Vertical Take Off and Landing (LVT-VTOL) aircraft. We believe that the proposed model, while described by reasonably tractable equations, captures several interesting dynamic features of new generation vectored thrust aerial vehicles with new maneuvering capabilities as, in particular, the ability of vertical take off and landing...
The trade-off between the cost and accuracy of a decentralized discrete-event control solution with synchronously communicating controllers is explored as a multiobjective optimization problem. We examine a class of problems where communication protocols are necessary to realize the exact control solution. In certain circumstances, it may be advantageous, from a cost perspective, to reduce communication,...
We consider the problem of designing distributed control protocols -for aircraft vehicle management systems-that cooperatively allocate electric power while meeting certain higher level goals and requirements, and dynamically reacting to the changes in the internal system state and external environment. A decentralized control problem is posed where each power distribution unit is equipped with a...
We consider robust control of switched linear systems under arbitrary time-dependent switching signals. First, we introduce a common quadratic Lyapunov function for the class of switched linear systems with Hurwitz constituent matrices in ℝn×n sharing n − 1 linearly independent common left eigenvectors. The common quadratic Lyapunov function is then used for robust stability analysis of the convexified...
In this paper, we consider model-based threat assessment methods which rely on vehicle and driver mathematical models and are based on reachability analysis tools and set invariance theory. We focus on the parametric uncertainties of the driver mathematical model and show how these can be accounted for in the threat assessment. The novelty of the proposed methods lies in the inclusion of the driver...
We apply mean field asymptotic analysis to explain the emergence of global behavior in large scale networks. The underlying motivating application is epidemics like computer virus spreading, for example, in wide campus local networks. We consider multiple classes of viruses, each type bearing their own statistical characterization - exogenous contamination, contagious propagation, and healing. The...
Glucose is the primary source of energy for the human body. Keeping the blood glucose level between certain thresholds is essential for the proper energy transport. Insulin plays a key role in maintaining the glucose homeostasis. Because of its great importance, many models were published on either to describe the glucose-insulin interaction in case of patients under Intensive Care Unit (ICU), or...
In this paper, the integrated control and optimization problem of mobile cooperative communication clusters is considered. Each communication channel is modeled by its Shannon capacity outage probability. Hence, connectivity is maintained if the outage probability is less than a certain threshold. The objective of the communication network is to not only maintain communication quality but also extend...
Many swarm robotics problems focus on the details of robotic dynamics, while ignoring certain other practical issues such as the boundedness of the exploration space, the probability of unsuccessful communication or sensing between agents, knowledge of a common coordinate system, or the initial distribution of robots. A two-phase control is devised which, under appropriate individual bounds, almost...
In this paper, we consider a consensus seeking process based on local averaging of opinions in a dynamic model of social network formation. At each time step, individual agents randomly choose another agent to interact with. The interaction is one-sided and results in the agent averaging her opinion with that of her randomly chosen neighbor. Once an agent chooses a neighbor, the probabilities of interactions...
This paper considers optimal full state feedback tracking control of unknown nonlinear systems. To deal with the unknown nonlinearities in the system, small learning regions are assigned online along the system trajectory in a manner dictated by a Lyapunov based self-organization method. In each of these regions, a local affine approximation is developed. A state observer-based approach adapts the...
We present a computational scheme to obtain adaptive non-linear, multiple-input models of the Volterra-Wiener class, by utilizing Laguerre expansions of Volterra kernels in a recursive least-squares formulation. Function expansions have been proven successful in systems identification as they result in a significant reduction of the required free parameters, which is a major limiting factor particularly...
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