Estimation and Control of Noisy Riemannian Systems

卫星控制、计算机视觉、刚体协调等许多应用领域都需要对具有几何约束的系统进行估计和控制。目前大多数这样做的算法都是确定性的，在存在噪声的情况下可能会灾难性地失败。该项目旨在提供： (1)分析并重新设计确定性算法的方法，以确保在存在噪声时的稳定性； (2)以最佳方式处理噪音的新设计方法； (3)分布式协商系统和协同控制系统的抗噪方法。 这些成果将推动并有利于交通、卫生和视频安全等领域的时空数据分析和协调。

Many application areas such as satellite control, computer vision, coordination of rigid bodies, require the estimation and control of systems subject to geometric constraints. Most current algorithms for doing this are deterministic and can fail catastrophically in the presence of noise. This project aims to provide: (i) Methods for analysing and then redesigning deterministic algorithms to ensure stability in the presence of noise; (ii) New design methods that deal with noise in an optimal way; (iii) Noise resistant methods for distributed consensus seeking systems and cooperative control systems. The outcomes will advance and benefit spatio-temporal data analysis and coordination in areas such as transport, health and video-security.