Sensors: Control-Theoretic Heterogeneous Design of Distributed Sensing-Network Algorithms: Exploiting Topological Structure and Overcoming Constraints

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Our proposed research is concerned with the design of distributed algorithms for networks of agentswith communication/sensing capabilities. Our novel algorithms will be capable of exploiting fea-tures of the communication/sensing topology and heterogeneities in the design paradigm in order tocomplete coordinated tasks in the face of constraints (such as actuator saturation or communicationrate constraints) and stochastic or nonrandom topological variations. Hence, the algorithms will bewell-suited for modern applications such as autonomous-vehicle coordination, sensor network-baseddetection, and air trafficc flow management, among others.Our proposed methodology for designing these sensing-network algorithms is control-theoreticin nature. We will draw on several control-theoretic tools|most prominently, tools that use thenotion of a fixed-mode in decentralized control theory and the influence model paradigm|to gaininsight into distributed algorithm performance and design. In particular, we will systematicallycharacterize and design algorithms for a sequence of canonical tasks, including formation, agree-ment, and self-partitioning tasks, and tasks for internally-coupled networks (such as Air TrafficSystems or electric power systems). For each canonical task, our goal will be to identify the topo-logical structure and degree of design heterogeneity needed to achieve high performance in theface of realistic contstraints and topological variation. The underlying control-theoretic tools willbe extended based on our algorithm-design needs (e.g., they will be extended to be account fortopological variation), and simulations and experiments of complex tasks will be performed.The intellectual merit of the proposal is evident: difficult distributed control problems areaddressed to in order to develop novel sensing-network algorithms. The broader impact of ourresearch is significant: a new course on network dynamics and control has been designed and iscurrently being taught here at Washington State University, and efforts will be made to fosterinterest and disseminate information about sensing networks and their control.