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Wing Shing Wong - One of the best experts on this subject based on the ideXlab platform.

  • Invariant distributions of linear systems under finite Communication Bandwidth feedback
    2007 46th IEEE Conference on Decision and Control, 2007
    Co-Authors: Wing Shing Wong, Hui Cheng
    Abstract:

    In the paper, we study the asymptotic probabilistic behavior of a system stabilized by finite Communication Bandwidth feedback control in the form of an essentially symmetric 1-bit control law. It is shown that the state orbits eventually converge to an invariant interval under the proposed coded control law. If the resulting closed-loop system is a Markov transformation, the invariant density is piecewise constant and can be associated with the left eigenvector of a non-negative matrix induced by the transformation. The optimal control law that minimizes an asymptotic expected cost function is also derived when the transformation is a covering.

  • Systems with finite Communication Bandwidth constraints. II. Stabilization with limited information feedback
    IEEE Transactions on Automatic Control, 1999
    Co-Authors: Wing Shing Wong, R.w. Brockett
    Abstract:

    For part I, see ibid., vol.42, p.1294-8, 1997. In this paper a new class of feedback control problems is introduced. Unlike classical models, the systems considered here have Communication channel constraints. As a result, the issue of coding and Communication protocol becomes an integral part of the analysis. Since these systems cannot be asymptotically stabilized if the underlying dynamics are unstable, a weaker stability concept called containability is introduced. A key result connects containability with an inequality equation involving the Communication data rate and the rate of change of the state.

  • Constrained state estimation for systems with finite Communication Bandwidth
    Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171), 1998
    Co-Authors: Xia Li, Wing Shing Wong
    Abstract:

    In this paper, Communication Bandwidth constrained state estimation problem is considered for deterministic dynamics and for systems contaminated with disturbances. Unlike the i.i.d. models typically assumed in rate distortion theory, the model considered here is common in system and control problems. The 1-bit coder-estimator sequence is used to encode single observation samples and the estimation is performed in a recursive manner. The convergence issue of such sequence is studied. The relation between the data rate, the rate of change of system dynamics and the asymptotic average estimation error is presented and illustrated by numerical simulations.

  • Systems with finite Communication Bandwidth constraints. I. State estimation problems
    IEEE Transactions on Automatic Control, 1997
    Co-Authors: Wing Shing Wong, R.w. Brockett
    Abstract:

    In this paper, we investigate a state estimation problem involving finite Communication capacity constraints. Unlike classical estimation problems where the observation is a continuous process corrupted by additive noises, there is a constraint that the observations must be coded and transmitted over a digital Communication channel with finite capacity. This problem is formulated mathematically, and some convergence properties are defined. Moreover, the concept of a finitely recursive coder-estimator sequence is introduced. A new upper bound for the average estimation error is derived for a large class of random variables. Convergence properties of some coder-estimator algorithms are analyzed. Various conditions connecting the Communication data rate with the rate of change of the underlying dynamics are established for the existence of stable and asymptotically convergent coder-estimator schemes.

  • State estimation with finite Communication Bandwidth constraints
    Proceedings of 1995 34th IEEE Conference on Decision and Control, 1995
    Co-Authors: Wing Shing Wong, R.w. Brockett
    Abstract:

    Presents an overview of the results reported in Wong and Brockett in which a class of state estimation problems with finite Communication capacity constraint is investigated. The concepts of a coder-estimator sequence and a finitely recursive coder-estimator sequence are introduced. Some concrete coder-estimator sequences are defined and their convergent properties analyzed.

C.a. Rabbath - One of the best experts on this subject based on the ideXlab platform.

  • Decentralized receding horizon control with Communication Bandwidth allocation for multiple vehicle systems
    Optimal Control Applications & Methods, 2010
    Co-Authors: Hojjat A. Izadi, Brandon W. Gordon, C.a. Rabbath
    Abstract:

    SUMMARY In this paper, a decentralized receding horizon control (DRHC) for a group of cooperative vehicles is investigated where the Communication Bandwidth is limited. This gives rise to a DRHC problem with Communication delays. A new approach is proposed to vary the Communication Bandwidth for each vehicle, subject to network Bandwidth constraints, in order to improve the cooperation performance. In the DRHC approach, each vehicle predicts its future trajectory over a prediction horizon and the neighboring vehicles exchange their predicted trajectories at each sample time to maintain the cooperation objectives. A delayed DRHC architecture is formulated that explicitly accounts for the inter-vehicle Communication delays. Then a Bandwidth allocation algorithm is proposed for the delayed DRHC formulation. The key idea with the proposed approach is that each vehicle minimizes an error bound due to the mismatch between the delayed and updated neighbor's trajectories. This allows a dynamic Bandwidth allocation to optimize the group performance. Simulation of formation of a group of vehicles is used to demonstrate the effectiveness of the approach. Copyright © 2010 John Wiley & Sons, Ltd.

  • CDC - Decentralized receding horizon control using Communication Bandwidth allocation
    2008 47th IEEE Conference on Decision and Control, 2008
    Co-Authors: Hojjat A. Izadi, Brandon W. Gordon, C.a. Rabbath
    Abstract:

    The decentralized receding horizon control (DRHC) of a team of cooperative vehicles with limited Communication Bandwidth is considered. It is well known that the more Communication the better stability and performance properties of the cooperative vehicles; however, in reality the available Communication is often limited. This motivates our research to develop a new algorithm for efficient usage of available Communication capacity so that the teaming behavior is optimized. The proposed algorithm uses a Bandwidth allocation method; the key idea is to reduce the overall mismatch between predicted and actual plans of each neighbor by efficient Communication Bandwidth allocation.

  • SMC - Decentralized control of multiple vehicles with limited Communication Bandwidth
    2008 IEEE International Conference on Systems Man and Cybernetics, 2008
    Co-Authors: Hojjat A. Izadi, Brandon W. Gordon, C.a. Rabbath
    Abstract:

    A new algorithm is proposed for decentralized receding horizon control (DRHC) of multiple cooperative vehicles with limited Communication Bandwidth. The proposed algorithm uses a Communication Bandwidth allocation approach to optimize the teaming behavior. With the presented DRHC framework each vehicle uses a model of its neighboring vehicles to predict their future intention. The results from stability and performance analysis of such DRHC architecture suggest that the mismatch between actual and predicted plans of neighboring vehicles plays an important role in stability and performance of the team. Hence, the key idea with the proposed algorithm is to reduce the mismatch parameter by means of an efficient Communication Bandwidth allocation. Simulation results for the formation control of a team of rotorcrafts show the effectiveness of the proposed algorithm.

  • Communication Bandwidth allocation for decentralized receding horizon control of multiple vehicles
    2008 IEEE ASME International Conference on Advanced Intelligent Mechatronics, 2008
    Co-Authors: Hojjat A. Izadi, Brandon W. Gordon, C.a. Rabbath
    Abstract:

    We consider the decentralized receding horizon control (DRHC) of a team of cooperative vehicles with limited Communication Bandwidth. The results of analyzing the feasibility, stability and performance of DRHC imply that the mismatch between predicted and actual plans of each agent plays an important role in stability and performance of the entire fleet. Hence, based on this key result, a new improved algorithm is proposed which leads to superior stability and performance of the overall team. The key idea is to reduce the mismatch between the predicted and actual plans of each agent by efficient Communication Bandwidth allocation. Several simulations for the formation flight of rotorcrafts verify the analytical results.

  • Decentralized control of multiple vehicles with limited Communication Bandwidth
    2008 IEEE International Conference on Systems Man and Cybernetics, 2008
    Co-Authors: Hojjat A. Izadi, Brandon W. Gordon, C.a. Rabbath
    Abstract:

    A new algorithm is proposed for decentralized receding horizon control (DRHC) of multiple cooperative vehicles with limited Communication Bandwidth. The proposed algorithm uses a Communication Bandwidth allocation approach to optimize the teaming behavior. With the presented DRHC framework each vehicle uses a model of its neighboring vehicles to predict their future intention. The results from stability and performance analysis of such DRHC architecture suggest that the mismatch between actual and predicted plans of neighboring vehicles plays an important role in stability and performance of the team. Hence, the key idea with the proposed algorithm is to reduce the mismatch parameter by means of an efficient Communication Bandwidth allocation. Simulation results for the formation control of a team of rotorcrafts show the effectiveness of the proposed algorithm.

R.w. Brockett - One of the best experts on this subject based on the ideXlab platform.

  • Systems with finite Communication Bandwidth constraints. II. Stabilization with limited information feedback
    IEEE Transactions on Automatic Control, 1999
    Co-Authors: Wing Shing Wong, R.w. Brockett
    Abstract:

    For part I, see ibid., vol.42, p.1294-8, 1997. In this paper a new class of feedback control problems is introduced. Unlike classical models, the systems considered here have Communication channel constraints. As a result, the issue of coding and Communication protocol becomes an integral part of the analysis. Since these systems cannot be asymptotically stabilized if the underlying dynamics are unstable, a weaker stability concept called containability is introduced. A key result connects containability with an inequality equation involving the Communication data rate and the rate of change of the state.

  • Systems with finite Communication Bandwidth constraints. I. State estimation problems
    IEEE Transactions on Automatic Control, 1997
    Co-Authors: Wing Shing Wong, R.w. Brockett
    Abstract:

    In this paper, we investigate a state estimation problem involving finite Communication capacity constraints. Unlike classical estimation problems where the observation is a continuous process corrupted by additive noises, there is a constraint that the observations must be coded and transmitted over a digital Communication channel with finite capacity. This problem is formulated mathematically, and some convergence properties are defined. Moreover, the concept of a finitely recursive coder-estimator sequence is introduced. A new upper bound for the average estimation error is derived for a large class of random variables. Convergence properties of some coder-estimator algorithms are analyzed. Various conditions connecting the Communication data rate with the rate of change of the underlying dynamics are established for the existence of stable and asymptotically convergent coder-estimator schemes.

  • State estimation with finite Communication Bandwidth constraints
    Proceedings of 1995 34th IEEE Conference on Decision and Control, 1995
    Co-Authors: Wing Shing Wong, R.w. Brockett
    Abstract:

    Presents an overview of the results reported in Wong and Brockett in which a class of state estimation problems with finite Communication capacity constraint is investigated. The concepts of a coder-estimator sequence and a finitely recursive coder-estimator sequence are introduced. Some concrete coder-estimator sequences are defined and their convergent properties analyzed.

Hojjat A. Izadi - One of the best experts on this subject based on the ideXlab platform.

  • Decentralized receding horizon control with Communication Bandwidth allocation for multiple vehicle systems
    Optimal Control Applications & Methods, 2010
    Co-Authors: Hojjat A. Izadi, Brandon W. Gordon, C.a. Rabbath
    Abstract:

    SUMMARY In this paper, a decentralized receding horizon control (DRHC) for a group of cooperative vehicles is investigated where the Communication Bandwidth is limited. This gives rise to a DRHC problem with Communication delays. A new approach is proposed to vary the Communication Bandwidth for each vehicle, subject to network Bandwidth constraints, in order to improve the cooperation performance. In the DRHC approach, each vehicle predicts its future trajectory over a prediction horizon and the neighboring vehicles exchange their predicted trajectories at each sample time to maintain the cooperation objectives. A delayed DRHC architecture is formulated that explicitly accounts for the inter-vehicle Communication delays. Then a Bandwidth allocation algorithm is proposed for the delayed DRHC formulation. The key idea with the proposed approach is that each vehicle minimizes an error bound due to the mismatch between the delayed and updated neighbor's trajectories. This allows a dynamic Bandwidth allocation to optimize the group performance. Simulation of formation of a group of vehicles is used to demonstrate the effectiveness of the approach. Copyright © 2010 John Wiley & Sons, Ltd.

  • CDC - Decentralized receding horizon control using Communication Bandwidth allocation
    2008 47th IEEE Conference on Decision and Control, 2008
    Co-Authors: Hojjat A. Izadi, Brandon W. Gordon, C.a. Rabbath
    Abstract:

    The decentralized receding horizon control (DRHC) of a team of cooperative vehicles with limited Communication Bandwidth is considered. It is well known that the more Communication the better stability and performance properties of the cooperative vehicles; however, in reality the available Communication is often limited. This motivates our research to develop a new algorithm for efficient usage of available Communication capacity so that the teaming behavior is optimized. The proposed algorithm uses a Bandwidth allocation method; the key idea is to reduce the overall mismatch between predicted and actual plans of each neighbor by efficient Communication Bandwidth allocation.

  • SMC - Decentralized control of multiple vehicles with limited Communication Bandwidth
    2008 IEEE International Conference on Systems Man and Cybernetics, 2008
    Co-Authors: Hojjat A. Izadi, Brandon W. Gordon, C.a. Rabbath
    Abstract:

    A new algorithm is proposed for decentralized receding horizon control (DRHC) of multiple cooperative vehicles with limited Communication Bandwidth. The proposed algorithm uses a Communication Bandwidth allocation approach to optimize the teaming behavior. With the presented DRHC framework each vehicle uses a model of its neighboring vehicles to predict their future intention. The results from stability and performance analysis of such DRHC architecture suggest that the mismatch between actual and predicted plans of neighboring vehicles plays an important role in stability and performance of the team. Hence, the key idea with the proposed algorithm is to reduce the mismatch parameter by means of an efficient Communication Bandwidth allocation. Simulation results for the formation control of a team of rotorcrafts show the effectiveness of the proposed algorithm.

  • Communication Bandwidth allocation for decentralized receding horizon control of multiple vehicles
    2008 IEEE ASME International Conference on Advanced Intelligent Mechatronics, 2008
    Co-Authors: Hojjat A. Izadi, Brandon W. Gordon, C.a. Rabbath
    Abstract:

    We consider the decentralized receding horizon control (DRHC) of a team of cooperative vehicles with limited Communication Bandwidth. The results of analyzing the feasibility, stability and performance of DRHC imply that the mismatch between predicted and actual plans of each agent plays an important role in stability and performance of the entire fleet. Hence, based on this key result, a new improved algorithm is proposed which leads to superior stability and performance of the overall team. The key idea is to reduce the mismatch between the predicted and actual plans of each agent by efficient Communication Bandwidth allocation. Several simulations for the formation flight of rotorcrafts verify the analytical results.

  • Decentralized control of multiple vehicles with limited Communication Bandwidth
    2008 IEEE International Conference on Systems Man and Cybernetics, 2008
    Co-Authors: Hojjat A. Izadi, Brandon W. Gordon, C.a. Rabbath
    Abstract:

    A new algorithm is proposed for decentralized receding horizon control (DRHC) of multiple cooperative vehicles with limited Communication Bandwidth. The proposed algorithm uses a Communication Bandwidth allocation approach to optimize the teaming behavior. With the presented DRHC framework each vehicle uses a model of its neighboring vehicles to predict their future intention. The results from stability and performance analysis of such DRHC architecture suggest that the mismatch between actual and predicted plans of neighboring vehicles plays an important role in stability and performance of the team. Hence, the key idea with the proposed algorithm is to reduce the mismatch parameter by means of an efficient Communication Bandwidth allocation. Simulation results for the formation control of a team of rotorcrafts show the effectiveness of the proposed algorithm.

Stergios I. Roumeliotis - One of the best experts on this subject based on the ideXlab platform.

  • IROS - A Communication-Bandwidth-aware hybrid estimation framework for multi-robot cooperative localization
    2013 IEEE RSJ International Conference on Intelligent Robots and Systems, 2013
    Co-Authors: Esha D. Nerurkar, Stergios I. Roumeliotis
    Abstract:

    This paper presents hybrid Minimum Mean Squared Error-based estimators for wireless sensor networks with time-varying Communication-Bandwidth constraints, focusing on the particular application of multi-robot Cooperative Localization. When sensor nodes (e.g., robots) communicate only a quantized version of their analog measurements to the team, our proposed hybrid filters enable robots to process all available information, i.e., local analog measurements (recorded by its own sensors) as well as remote quantized measurements (collected and communicated by other sensors). Moreover, these filters are resource-aware and can utilize additional Bandwidth, whenever available, to maximize estimation accuracy. Specifically, in this paper, we present two filters, the Hybrid Batch-Quantized Kalman filter (H-BQKF) and the Hybrid Iteratively-Quantized Kalman filter (H-IQKF), that can process local analog measurements along with remote measurements quantized to any number of bits. We test our proposed filters in simulations and experimentally, and demonstrate that they achieve performance comparable to the standard Kalman filter.

  • A Communication-Bandwidth-aware hybrid estimation framework for multi-robot cooperative localization
    2013 IEEE RSJ International Conference on Intelligent Robots and Systems, 2013
    Co-Authors: Esha D. Nerurkar, Stergios I. Roumeliotis
    Abstract:

    This paper presents hybrid Minimum Mean Squared Error-based estimators for wireless sensor networks with time-varying Communication-Bandwidth constraints, focusing on the particular application of multi-robot Cooperative Localization. When sensor nodes (e.g., robots) communicate only a quantized version of their analog measurements to the team, our proposed hybrid filters enable robots to process all available information, i.e., local analog measurements (recorded by its own sensors) as well as remote quantized measurements (collected and communicated by other sensors). Moreover, these filters are resource-aware and can utilize additional Bandwidth, whenever available, to maximize estimation accuracy. Specifically, in this paper, we present two filters, the Hybrid Batch-Quantized Kalman filter (H-BQKF) and the Hybrid Iteratively-Quantized Kalman filter (H-IQKF), that can process local analog measurements along with remote measurements quantized to any number of bits. We test our proposed filters in simulations and experimentally, and demonstrate that they achieve performance comparable to the standard Kalman filter.