Problems in Distributed Control And Sensing

智力价值：目前对所有类型的分布式系统控制的兴趣已经导致了图论思想在分析和综合各种期望行为的问题上的快速增长，例如蜂拥而至、交会、达成共识，以及与搜索和救援、环境监测、安全等相关的各种传感和通信任务。虽然使用图论和系统理论的组合对这些问题的深入攻击还处于早期阶段，但在未来几年可能会有显著的扩展。一条说明这些概念组合使用的研究路线是一些人最近的理论工作，这些工作成功地解释了Vicsek、Reynolds和其他人十多年前在模拟中观察到的航向同步现象。另一个原因是最近人们对部署和管理各种类型的传感器网络的兴趣激增。概括地说，这些都是我们建议开展工作的领域。特别是，我们建议在两个方面解决分布式传感和控制，这两个方面都需要使用传统的系统概念和图论。首先，我们提出探索各种版本的动态八卦，适用于网络管理和协同、协调控制中的各种应用。其次，我们建议详细研究与大型分布式网络中基于距离的传感器定位有关的各种问题。在八卦领域，我们将寻求构建量化八卦问题的确定性解决方案。我们还将尝试建立？行和1？的非齐次积的一个收敛理论。矩阵，目的是解释最近与加速八卦有关的实验结果。在传感器定位方面，我们将研究测量误差对最近开发的扫描行为的影响。顺序定位算法。通过求助于与Gortler et最近发现的关于全球刚性的令人震惊的表征有关的概念。我们希望通过分解和合并局部解来显著推进新设计的分而治之的方法来本地化全局刚性网络。我们将研究反转歧义的后果？在传感器定位方面，旨在推导出具有这种模糊性的网络可定位的必要条件和充分条件。广泛的影响：该项目将促进发现和理解，同时至少通过两种不同的方式促进教学、培训和学习。首先，参与该项目的研究生将被要求参加并在技术会议上展示成果。其次，项目研究生将参与并参与一个关于这个主题的短期课程，我们设想在项目结束时组织和给予这个课程。参与这个项目的两名研究生将来自代表性不足的团体。该项目将在至少两个方面加强研究和教育的基础设施。首先，我们希望继续与我们的环境生物学家同事进行跨学科的合作，我们已经与他们合作了几年。其次，我们希望继续与耶鲁大学和宾夕法尼亚大学的实验同事合作，他们正在建造移动传感器网络测试台，用于试验各种控制算法。我们的大部分研究已经并将继续与堪培拉澳大利亚国立大学的B·D·O·安德森和他的团队密切合作。我们希望通过组织和举办真诚的跨学科技术聚会，如我们共同组织的2003年6月举行的关于合作控制的区块岛讲习班，继续为扩大传播作出贡献，以增进对科学技术的了解。计划于2009年6月在布尔特岛举行这样一次会议的工作已经在进行中。我们还希望就这一主题进行概括性的演讲，如全体会议报告？多智能体的形成和传感器网络？这是我们2006年12月在圣地亚哥举行的IEEE决策与控制会议上发表的。

Intellectual Merit: Current interest in the control of distributed systems of all types has ledto a very rapid increase in the application of graph theoretic ideas to problems of analyzing and synthesizing a variety of desired behaviors such as swarming, rendezvousing, reaching a consensus, as well as well as a variety of sensing and communication tasks associated with search and rescue, environmental monitoring, security, etc. While this in-depth assault on these problems using a combination of graph theory and system theory is in its early stages, it is likely to significantly expand in the years to come. One line of research which illustrates the combined use of these concepts, is the recent theoretical work by a number of individuals which successfully explains the heading synchronization phenomenon observed in simulation by Vicsek, Reynolds and others more than a decade ago. Another is the recent surge of interest in the deployment and management of sensor networks of all types. In broad terms these are these are the areas within which we propose to work. In particular we propose to address distributed sensing and control on two fronts, both requiring the use both of traditional systems concepts and graph theory. First we propose to explore various versions of dynamic gossiping appropriate to a variety of applications in network management and cooperative, coordinated control. Second we propose to look in detail at a variety of issues concerned with the distanced-based localization of sensors in a large distributed network. In the area of gossiping, we will seek to construct a deterministic solution to the quantized gossiping problem. We will also attempt to develop a convergence theory for nonhomogeneous products of ?row sum 1? matrices with the aim of explaining {among other things} recent experimental results concerned with accelerated gossiping. In the area of sensor localization we will investigate the effects of measurement errors on the behavior of the recently developed ?sweeps? algorithm for sequential localization. By appealing to concepts developed in connection with the recently discovered {startling} characterization of global rigidity by Gortler et. al., we hope to significantly advance the newly devised divide and conquer approach to localizing a globally rigid network via decomposition and merging of local solutions. We will study the consequences of ?flip-ambiguities? in sensor localization and aim to derive necessary and sufficient for networks with such ambiguities to be localizable.Broader Impacts: This project will advance discovery and understanding while promoting teaching, training and learning in at least two different ways. First, graduate students involved in the project will be expected to attend and present there results at technical meetings. Second, project graduate students will contribute to and participate in a short course on the topic which we envision organizing and giving towards the end of the project. Two of the graduate students working on this project will be from under represented groups. This project will enhance infrastructure for research and education in at least two ways. First we expect to continue our cross-disciplinary collaboration with our environmental biologist colleagues with whom we?ve already been working for several years. Second, we expect to continue to collaborate with our experimentalist colleagues at Yale and UPENN who are building mobile sensor network test beds for trying out various control algorithms. Much of our research has been and will continue to be in close collaboration with B. D. O. Anderson and his group at Australian National University in Canberra. We hope to continue to contribute to broadening dissemination to enhance scientific and technological understanding by organizing and running boni fide interdisciplinary technical gatherings like the Block Island Workshop on Cooperative Control we co-organized and which took take place in June, 2003. Planning for such a meeting on Block Island in June, 2009 is already underway. We also expect to give overview talks on the subject such as the plenary presentation ?Multi-Agent Formationsand Sensor Networks? which we gave in December 2006 at the IEEE Conference on Decision and Control in San Diego.