棰樼洰錛欴istributed Approaches to Estimation, Control and Localization
銆€銆€涓昏浜猴細(xì)浠樻晱璺冩暀鎺?錛堟境澶у埄浜氱航鍗℃柉灝?dāng)澶у锛?br />銆€銆€鏃墮棿錛?017騫?1鏈?9鏃ワ紙鍛ㄤ笁錛変笅鍗?3:30
銆€銆€鍦扮偣錛氭牸鑷翠腑妤?00瀹?br />
銆€銆€鎶ュ憡鎽樿: 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.
銆€銆€鎶ュ憡浜虹畝浠? 浠樻晱璺冿細(xì)鐢鳳紝婢沖ぇ鍒╀簹綰藉崱鏂皵澶у鐢墊皵涓庤綆楁満瀛﹂櫌璁插腑鏁欐巿銆?982騫村湪涓浗縐戞妧澶у鐢?shù)瀛愬伐绋嬀p昏嚜鍔ㄥ寲涓撲笟鑾峰緱瀛﹀＋瀛︿綅, 1984騫村湪緹庡浗濞佹柉搴鋒槦澶у鑾風(fēng)數(shù)姘斿伐紼嬬澹浣嶏紝 1987騫磋幏鐢墊皵宸ョ▼鍗氬＋瀛︿綅銆?闀挎湡浠庝簨緗戠粶鎺у埗緋葷粺鐨勪及璁′笌鎺у埗錛屽垎甯冨紡鎺у埗錛?浼犳劅鍣ㄧ綉緇滅殑浼拌涓庢帶鍒訛紝楂橀€熼珮綺懼害鎺у埗鐞嗚涓庡簲鐢ㄧ瓑鏂瑰悜鐮旂┒宸ヤ綔銆傚湪鍥介檯鏈熷垔鍜屼細(xì)璁笂鍙戣〃260浣欑瘒璁烘枃錛?鏇炬媴浠?IEEE Transactions on Automatic Control錛?Automatica, IEEE Transactions on Signal Processing, Journal of Optimization and Engineering絳夊浗闄呮湡鍒婂壇緙栵紝騫跺湪鏃ユ湰錛岀編鍥斤紝棣欐腐錛屾柊鍔犲潯錛屽反瑗垮拰涓浗鐨勮澶氬ぇ瀛﹀拰鐮旂┒鎵€浠昏繃瀹㈠駭鑱屼綅銆?br />銆€銆€嬈㈣繋騫垮ぇ甯堢敓鍙傚姞錛?/p>
鐞嗗闄?nbsp;
2017騫?1鏈?7鏃?/p>
