Packet-Based Estimation and Control

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This project is focused on developing algorithms for multi-vehicle, cooperative surveillance and reconnaissance that operate in a modern net-centric environment. These algorithms take into account the packet-based nature of modern networks by coding information in a manner that makes the performance of the system robust to packet loss, variable latency, and repeated transmissions. Results to date include analysis and design of estimation and control algorithms in the presence of packet loss, distributed estimation and sensor fusion algorithms for networked environments, and development of sensor selection and coverage techniques for spatio-temporal planning. Applications include cooperative estimation, formation management, and semi-autonomous ISR.


Papers

  • Z. Jin, V. Gupta, B. Hassibi, and R. M. Murray. State estimation utilization multiple description coding over lossy networks. In Proc. IEEE Control and Decision Conference, 2005.
  • L. Shi, M. Epstein, A. Tiwari, and R. M. Murray. Estimation with information loss: Asymptotic analysis and error bounds In Proc. IEEE Control and Decision Conference, 2005.
  • D. P. Spanos and R. M. Murray. Distributed sensor fusion using dynamic consensus. In Proc. IFAC World Congress, 2005.
  • D. P. Spanos and R. M. Murray. Motion planning with wireless network constraints. In Proc. American Control Conference, 2005.
  • D. P. Spanos, R. Olfati-Saber, and R. M. Murray. Approximate distributed kalman filtering in sensor networks with quantifiable performance. In International Conference on Information Processing in Sensor Networks (IPSN), 2005.
  • D. P. Spanos, R. Olfati-Saber, and R. M. Murray. Dynamic consensus for mobile networks. In Proc. IFAC World Congress, 2005.
  • A. Tiwari, M. Jun, D. E. Jeffcoat, and R. M. Murray. The dynamic sensor coverage problem. In Proc. IFAC World Congress, 2005.