数学学科学术报告二十三：Distributed Approaches to Estimation, Control and Localization
题目：Distributed Approaches to Estimation, Control and Localization
报告摘要: In many applications, a network of autonomous agents holds eminent promises to achieve a desired level of performance, capability, robustness, and efficiency beyond what a single agent can achieve. However, to be advantageous, multiple agents have to work in an coordinated and synchronized manner. This talk considers a network of agents (or sub-systems) and seeks a distributed algorithm to steer the agents so that a global objective is achieved. Three distributed optimization problems will be discussed, namely, distributed estimation, distributed control and distributed localization. Firstly, we will study the weighted least squares (WLS) estimation problem for a networked system and offer a fully distributed algorithm for optimal WLS estimation. This algorithm is then extended to distributed average consensus and distributed Kalman filtering for networked systems. Secondly, we will investigate the formation control for a networked multi-agent systems. We will present a new approach for 2-dimensional and higher dimensional formation. A necessary and sufficient condition will be given in terms of a new type of graph connectedness, called rooted connectivity. A linear distributed control law will be provided using relative position measurements on the local frames attached to the agents. Finally, we will study distributed localization problems for a network of sensors where relative measurements and information exchange between neighbouring sensors are used to determine the physical locations of individual sensors. Several distributed solutions will be discussed.
报告人简介: 付敏跃：男，澳大利亚纽卡斯尔大学电气与计算机学院讲席教授。1982年在中国科技大学电子工程系自动化专业获得学士学位, 1984年在美国威斯康星大学获电气工程硕士学位， 1987年获电气工程博士学位。 长期从事网络控制系统的估计与控制，分布式控制， 传感器网络的估计与控制，高速高精度控制理论与应用等方向研究工作。在国际期刊和会议上发表260余篇论文， 曾担任 IEEE Transactions on Automatic Control， Automatica, IEEE Transactions on Signal Processing, Journal of Optimization and Engineering等国际期刊副编，并在日本，美国，香港，新加坡，巴西和中国的许多大学和研究所任过客座职位。