Problems in Distributed Control And Sensing

智力优势：当前对所有类型的分布式系统的控制的兴趣已经导致图论思想在分析和合成各种期望行为（例如群集、重新聚集、达成共识）以及与搜索和救援、环境监测、安全、通信等问题中的应用非常迅速地增加。虽然这种使用图论和系统理论相结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显着扩大。一条线的研究，说明了这些概念的组合使用，是最近的理论工作，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。另一个是最近对所有类型的传感器网络的部署和管理的兴趣激增。概括而言，这些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问题，这两个方面都需要使用传统的系统概念和图论。首先，我们建议探索各种版本的动态八卦适合各种应用程序在网络管理和合作，协调控制。第二，我们建议详细研究各种问题与基于距离的本地化的传感器在一个大型分布式网络。在流言方面，我们将寻求构造量子化流言问题的确定性解。我们还将试图发展一个收敛理论的非齐次产品？行和1？矩阵的目的是解释{除其他事项外}最近的实验结果有关加速八卦。在该地区的传感器定位，我们将调查测量误差的影响，最近开发的行为？清扫？顺序定位算法。通过呼吁与最近发现{惊人}的全球刚性的表征Gortler等开发的概念。例如，我们希望通过分解和合并局部解来显著地推进新设计的分治方法来定位全局刚性网络。我们将研究的后果？模棱两可更广泛的影响：该项目将促进发现和理解，同时促进教学，培训和学习至少两种不同的方式。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结果。第二，项目研究生将有助于并参与一个短期课程的主题，我们设想组织和给予接近项目结束。两个研究生在这个项目的工作将来自代表性不足的群体。该项目将至少在两个方面加强研究和教育的基础设施。首先，我们希望继续我们的跨学科合作，与我们的环境生物学家同事，我们？I’我已经工作好几年了。其次，我们希望继续与耶鲁大学和宾夕法尼亚大学的实验学家同事合作，他们正在构建移动的传感器网络测试床，以尝试各种控制算法。我们的大部分研究一直并将继续与B密切合作。D. O.安德森和他的小组在堪培拉的澳大利亚国立大学。我们希望通过组织和举办真正的跨学科技术聚会，如我们共同组织并于2003年6月举行的布洛克岛合作控制讲习班，继续为扩大传播以提高科学和技术认识作出贡献。2009年6月在布洛克岛举行这样一次会议的计划已经在进行中。我们还希望就该主题进行概述性讨论，例如全体会议介绍？多智能体编队与传感器网络这是我们在2006年12月在圣地亚哥的IEEE决策与控制会议上提出的。

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.