Estimation and Control of Noisy Riemannian Systems

许多应用领域，如卫星控制，计算机视觉，刚体协调，需要估计和控制系统的几何约束。大多数当前的算法都是确定性的，并且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： (i)分析和重新设计确定性算法以确保噪声存在时的稳定性的方法; (ii)以最佳方式处理噪声的新设计方法 (iii)分布式一致性寻求系统和协同控制系统的抗噪声方法。 这些成果将促进和有益于运输、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.