Sensing and Actuation Design for Large-Scale Complex Systems
Vasileios Tzoumas, Nikolay A. Atanasov, Sergio Pequito, Ali Jadbabaie, George Pappas

Citation
Vasileios Tzoumas, Nikolay A. Atanasov, Sergio Pequito, Ali Jadbabaie, George Pappas. "Sensing and Actuation Design for Large-Scale Complex Systems". Talk or presentation, October, 2016.

Abstract
In this poster, we focus on sensing and actuation design for large-scale systems. In the context of sensing design, we consider the problem of activating only a few sensors, among many available, to estimate the state of a stochastic process of interest. This problem is important in applications such as target tracking and simultaneous localization and mapping (SLAM). It is challenging since it involves stochastic systems whose evolution is largely unknown, sensors with nonlinear measurements, and limited operational resources that constrain the number of active sensors at each measurement step. We provide an algorithm applicable to general stochastic processes and nonlinear measurements whose time complexity is linear in the planning horizon and whose performance is a multiplicative factor 1/2 away from the optimal performance. For important classes of Gaussian processes and nonlinear measurements corrupted with Gaussian noise, our algorithm enjoys the same time complexity as the state-of-the-art algorithms for linear systems and measurements. In the context of actuation design, we assess trade-offs between number of actuated nodes and required time-to-control in complex networks. To this end, we use both synthetic and real networks.

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Citation formats

• HTML

  Vasileios Tzoumas, Nikolay A. Atanasov, Sergio Pequito, Ali
  Jadbabaie, George Pappas. <a
  href="http://www.terraswarm.org/pubs/851.html"
  ><i>Sensing and Actuation Design for Large-Scale
  Complex Systems</i></a>, Talk or presentation, 
  October, 2016.

• Plain text

  Vasileios Tzoumas, Nikolay A. Atanasov, Sergio Pequito, Ali
  Jadbabaie, George Pappas. "Sensing and Actuation Design
  for Large-Scale Complex Systems". Talk or presentation,
   October, 2016.

• BibTeX

  @presentation{TzoumasAtanasovPequitoJadbabaiePappas16_SensingActuationDesignForLargeScaleComplexSystems,
      author = {Vasileios Tzoumas and Nikolay A. Atanasov and
                Sergio Pequito and Ali Jadbabaie and George Pappas},
      title = {Sensing and Actuation Design for Large-Scale
                Complex Systems},
      month = {October},
      year = {2016},
      abstract = {In this poster, we focus on sensing and actuation
                design for large-scale systems. In the context of
                sensing design, we consider the problem of
                activating only a few sensors, among many
                available, to estimate the state of a stochastic
                process of interest. This problem is important in
                applications such as target tracking and
                simultaneous localization and mapping (SLAM). It
                is challenging since it involves stochastic
                systems whose evolution is largely unknown,
                sensors with nonlinear measurements, and limited
                operational resources that constrain the number of
                active sensors at each measurement step. We
                provide an algorithm applicable to general
                stochastic processes and nonlinear measurements
                whose time complexity is linear in the planning
                horizon and whose performance is a multiplicative
                factor 1/2 away from the optimal performance. For
                important classes of Gaussian processes and
                nonlinear measurements corrupted with Gaussian
                noise, our algorithm enjoys the same time
                complexity as the state-of-the-art algorithms for
                linear systems and measurements. In the context of
                actuation design, we assess trade-offs between
                number of actuated nodes and required
                time-to-control in complex networks. To this end,
                we use both synthetic and real networks.},
      URL = {http://terraswarm.org/pubs/851.html}
  }
  

Posted by Vasileios Tzoumas on 25 Oct 2016.
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