Pub Date : 2014-12-01DOI: 10.1109/CDC.2014.7039509
Yueqian Liang, Y. Jia, Junping Du, F. Matsuno
This paper investigates the problem of tracking a moving target using multiple fixed-wing unmanned aerial vehicles (UAVs) under a new bicircular formation. This new formation for cooperative standoff target tracking is first developed by maximizing the amount of Fisher information. Guidance vector fields are designed, and based on them, a cooperation approach is proposed to adapt the unknown target velocity and achieve the cooperative bicircular tracking. Speed and heading rate are firstly controlled to track the guidance vector fields separately for each UAV, then the speed is further adjusted to maintain the desired angular separation between the UAVs. Simulation experiments are given to verify the effectiveness of the proposed approach.
{"title":"Cooperative bicircular target tracking using multiple unmanned aerial vehicles","authors":"Yueqian Liang, Y. Jia, Junping Du, F. Matsuno","doi":"10.1109/CDC.2014.7039509","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039509","url":null,"abstract":"This paper investigates the problem of tracking a moving target using multiple fixed-wing unmanned aerial vehicles (UAVs) under a new bicircular formation. This new formation for cooperative standoff target tracking is first developed by maximizing the amount of Fisher information. Guidance vector fields are designed, and based on them, a cooperation approach is proposed to adapt the unknown target velocity and achieve the cooperative bicircular tracking. Speed and heading rate are firstly controlled to track the guidance vector fields separately for each UAV, then the speed is further adjusted to maintain the desired angular separation between the UAVs. Simulation experiments are given to verify the effectiveness of the proposed approach.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123556993","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-01DOI: 10.1109/CDC.2014.7040012
N. Matni
This paper presents a characterization of distributed controllers subject to delay constraints induced by a strongly connected communication graph that achieve a prescribed closed loop ℋ1 norm. Inspired by the solution to the ℋ2 problem subject to delays, we exploit the fact that the communication graph is strongly connected to decompose the controller into a local finite impulse response component and a global but delayed infinite impulse response component. This allows us to reduce the control synthesis problem to a linear matrix inequality feasibility test.
{"title":"Distributed control subject to delays satisfying an ℋ1 norm bound","authors":"N. Matni","doi":"10.1109/CDC.2014.7040012","DOIUrl":"https://doi.org/10.1109/CDC.2014.7040012","url":null,"abstract":"This paper presents a characterization of distributed controllers subject to delay constraints induced by a strongly connected communication graph that achieve a prescribed closed loop ℋ1 norm. Inspired by the solution to the ℋ2 problem subject to delays, we exploit the fact that the communication graph is strongly connected to decompose the controller into a local finite impulse response component and a global but delayed infinite impulse response component. This allows us to reduce the control synthesis problem to a linear matrix inequality feasibility test.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123696373","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-01DOI: 10.1109/CDC.2014.7039879
L. Jetto, V. Orsini, R. Romagnoli
The purpose of this paper is to propose a new method for the optimization of the transient step response of a linear continuous-time system. The approach situates in the framework of model pseudo-inversion [1]-[3] because the input reference is computed starting from some desired features of the transient output. A significant feature of the new method is that the transition trajectory is not “ad hoc” exactly pre-specified by the designer. Rather, it is implicitly defined by the procedure for the minimization of a suitably multi-objective quadratic cost functional.
{"title":"Output-transition optimization through a multi-objective least square procedure","authors":"L. Jetto, V. Orsini, R. Romagnoli","doi":"10.1109/CDC.2014.7039879","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039879","url":null,"abstract":"The purpose of this paper is to propose a new method for the optimization of the transient step response of a linear continuous-time system. The approach situates in the framework of model pseudo-inversion [1]-[3] because the input reference is computed starting from some desired features of the transient output. A significant feature of the new method is that the transition trajectory is not “ad hoc” exactly pre-specified by the designer. Rather, it is implicitly defined by the procedure for the minimization of a suitably multi-objective quadratic cost functional.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125317632","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-01DOI: 10.1109/CDC.2014.7039727
Minyi Huang, Tao Li, Ji-feng Zhang
This paper considers consensus problems with Markovian switching networks and noisy measurements, and stochastic approximation is used to achieve mean square consensus. The main contribution of this paper is to obtain ergodicity results for backward products of degenerating stochastic matrices with Markovian switches, and subsequently prove mean square consensus for the stochastic approximation algorithm. Our ergodicity proof is to build a higher dimensional dynamical system and exploit its two-scale feature.
{"title":"Stochastic approximation for consensus over general digraphs with Markovian switches","authors":"Minyi Huang, Tao Li, Ji-feng Zhang","doi":"10.1109/CDC.2014.7039727","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039727","url":null,"abstract":"This paper considers consensus problems with Markovian switching networks and noisy measurements, and stochastic approximation is used to achieve mean square consensus. The main contribution of this paper is to obtain ergodicity results for backward products of degenerating stochastic matrices with Markovian switches, and subsequently prove mean square consensus for the stochastic approximation algorithm. Our ergodicity proof is to build a higher dimensional dynamical system and exploit its two-scale feature.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115243629","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-01DOI: 10.1109/CDC.2014.7039647
Saahil Shenoy, D. Gorinevsky
This paper develops a statistical modeling and estimation approach combining robust regression and long tail estimation. The approach can be considered as a generalization of Huber regression in robust statistics. A mixture of asymmetric Laplace and Gaussian distributions is estimated using an EM algorithm. The approach estimates the regression model, distribution body, distribution tails, and boundaries between the body and the tails. As an application example, the model is estimated for historical power load data from an electrical utility. Practical usefulness of the model is illustrated by stochastic optimization of electricity order in day-ahead market. The computed optimal policy improves the cost compared to the baseline approach that relies on a normal distribution model.
{"title":"Gaussian-Laplacian mixture model for electricity market","authors":"Saahil Shenoy, D. Gorinevsky","doi":"10.1109/CDC.2014.7039647","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039647","url":null,"abstract":"This paper develops a statistical modeling and estimation approach combining robust regression and long tail estimation. The approach can be considered as a generalization of Huber regression in robust statistics. A mixture of asymmetric Laplace and Gaussian distributions is estimated using an EM algorithm. The approach estimates the regression model, distribution body, distribution tails, and boundaries between the body and the tails. As an application example, the model is estimated for historical power load data from an electrical utility. Practical usefulness of the model is illustrated by stochastic optimization of electricity order in day-ahead market. The computed optimal policy improves the cost compared to the baseline approach that relies on a normal distribution model.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"413 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115998808","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-01DOI: 10.1109/CDC.2014.7039758
Mo Chen, Zhengyuan Zhou, C. Tomlin
We consider a multiplayer reach-avoid game played between N attackers and N defenders moving with simple dynamics on a general two-dimensional domain. The attackers attempt to win the game by sending at least M of them (1 ≤ M ≤ N) to a target location while the defenders try to prevent the attackers from doing so by capturing them. The analysis of this game plays an important role in collision avoidance, motion planning, and aircraft control, among other applications involving cooperative agents. The high dimensionality of the game makes computing an optimal solution for either side intractable when N > 1. The solution is difficult even when N = 1. To address this issue, we present an efficient, approximate solution to the 1 vs. 1 problem. We call the approximate solution the “path defense solution”, which is conservative towards the defenders. This serves as a building block for an approximate solution of the multiplayer game. Compared to the classical Hamilton-Jacobi-Isaacs approach for solving the 1 vs. 1 game, our new method is orders of magnitude faster, and scales much better with the number of players.
我们考虑一个多人游戏，在一个普通的二维域上，N个攻击者和N个防御者之间进行简单的动态移动。攻击者试图通过发送至少M个(1≤M≤N)到目标位置来赢得游戏，而防御者试图通过捕获它们来阻止攻击者这样做。该博弈的分析在碰撞避免、运动规划和飞机控制等涉及合作agent的应用中起着重要的作用。当N > 1时，游戏的高维性使得计算任意一边的最优解变得棘手。即使N = 1，解也很困难。为了解决这个问题，我们提出了1 vs. 1问题的一个有效的近似解决方案。我们将近似解称为“路径防御解”，它对防御者是保守的。这可以作为多人游戏近似解决方案的构建块。与解决1对1博弈的经典Hamilton-Jacobi-Isaacs方法相比，我们的新方法速度快了几个数量级，并且随着玩家数量的增加而扩展得更好。
{"title":"A path defense approach to the multiplayer reach-avoid game","authors":"Mo Chen, Zhengyuan Zhou, C. Tomlin","doi":"10.1109/CDC.2014.7039758","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039758","url":null,"abstract":"We consider a multiplayer reach-avoid game played between N attackers and N defenders moving with simple dynamics on a general two-dimensional domain. The attackers attempt to win the game by sending at least M of them (1 ≤ M ≤ N) to a target location while the defenders try to prevent the attackers from doing so by capturing them. The analysis of this game plays an important role in collision avoidance, motion planning, and aircraft control, among other applications involving cooperative agents. The high dimensionality of the game makes computing an optimal solution for either side intractable when N > 1. The solution is difficult even when N = 1. To address this issue, we present an efficient, approximate solution to the 1 vs. 1 problem. We call the approximate solution the “path defense solution”, which is conservative towards the defenders. This serves as a building block for an approximate solution of the multiplayer game. Compared to the classical Hamilton-Jacobi-Isaacs approach for solving the 1 vs. 1 game, our new method is orders of magnitude faster, and scales much better with the number of players.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116035035","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-01DOI: 10.1109/CDC.2014.7039602
Amith Somanath, S. Karaman, K. Youcef-Toumi
Forest fires continue to cause considerable social and economic damage. Fortunately, the emergence of new robotics technologies, including capable autonomous unmanned aerial vehicles, may help improve wildfire management in the near future. In this paper, we characterize the number of vehicles required to combat wildfires, using a percolation-theoretic analysis that originated in the mathematical physics community. We model the wildfire as a stochastic growth process on a square lattice, where the local growth probabilities depend on the presence of robotic fire-extinguishing vehicles. We develop two control policies: First treats only a fraction of burning nodes at a given time, and the second treats burning nodes only at finite time intervals. We characterize the conditions under which these policies can stabilize a wildfire, i.e., ensure the fire stops eventually almost surely. We also provide computational results which demonstrate our theoretical analysis.
{"title":"Controlling stochastic growth processes on lattices: Wildfire management with robotic fire extinguishers","authors":"Amith Somanath, S. Karaman, K. Youcef-Toumi","doi":"10.1109/CDC.2014.7039602","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039602","url":null,"abstract":"Forest fires continue to cause considerable social and economic damage. Fortunately, the emergence of new robotics technologies, including capable autonomous unmanned aerial vehicles, may help improve wildfire management in the near future. In this paper, we characterize the number of vehicles required to combat wildfires, using a percolation-theoretic analysis that originated in the mathematical physics community. We model the wildfire as a stochastic growth process on a square lattice, where the local growth probabilities depend on the presence of robotic fire-extinguishing vehicles. We develop two control policies: First treats only a fraction of burning nodes at a given time, and the second treats burning nodes only at finite time intervals. We characterize the conditions under which these policies can stabilize a wildfire, i.e., ensure the fire stops eventually almost surely. We also provide computational results which demonstrate our theoretical analysis.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116109007","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper proposes a distributed optimization algorithm for estimation of spatial rigid motion using multiple image sensors in a connected network. The objective is to increase the estimation precision of translational and rotational motion based on dual quaternion models and cooperation between connected sensors. The distributed Newton optimization method is applied to decompose the filtering task into a series of suboptimal problems and then solve them individually to achieve the global optimality. Our approach assumes that each sensor can communicate with its neighboring sensors to update the individual estimates. Simulation examples are demonstrated to compare the proposed algorithm with other methods in terms of estimation accuracy and converging rate.
{"title":"Distributed estimation for spatial rigid motion based on dual quaternions","authors":"Yue Zu, Chuangchuang Sun, R. Dai","doi":"10.1002/oca.2416","DOIUrl":"https://doi.org/10.1002/oca.2416","url":null,"abstract":"This paper proposes a distributed optimization algorithm for estimation of spatial rigid motion using multiple image sensors in a connected network. The objective is to increase the estimation precision of translational and rotational motion based on dual quaternion models and cooperation between connected sensors. The distributed Newton optimization method is applied to decompose the filtering task into a series of suboptimal problems and then solve them individually to achieve the global optimality. Our approach assumes that each sensor can communicate with its neighboring sensors to update the individual estimates. Simulation examples are demonstrated to compare the proposed algorithm with other methods in terms of estimation accuracy and converging rate.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116131069","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-01DOI: 10.1109/CDC.2014.7040110
A. Milias-Argeitis, M. Khammash
We address the problem of Lyapunov function construction for a class of continuous-time Markov chains with affine transition rates, typically encountered in stochastic chemical kinetics. Following an optimization approach, we take advantage of existing bounds from the Foster-Lyapunov stability theory to obtain functions that enable us to estimate the region of high stationary probability, as well as provide upper bounds on moments of the chain. Our method can be used to study the stationary behavior of a given chain without resorting to stochastic simulation, in a fast and efficient manner.
{"title":"Optimization-based Lyapunov function construction for continuous-time Markov chains with affine transition rates","authors":"A. Milias-Argeitis, M. Khammash","doi":"10.1109/CDC.2014.7040110","DOIUrl":"https://doi.org/10.1109/CDC.2014.7040110","url":null,"abstract":"We address the problem of Lyapunov function construction for a class of continuous-time Markov chains with affine transition rates, typically encountered in stochastic chemical kinetics. Following an optimization approach, we take advantage of existing bounds from the Foster-Lyapunov stability theory to obtain functions that enable us to estimate the region of high stationary probability, as well as provide upper bounds on moments of the chain. Our method can be used to study the stationary behavior of a given chain without resorting to stochastic simulation, in a fast and efficient manner.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116174691","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-01DOI: 10.1109/CDC.2014.7040125
L. Paunonen, S. Pohjolainen
In this paper we employ a new controller structure in solving the robust output regulation problem for a linear distributed parameter system with finite or infinite-dimensional exosystems. In the case of an infinite-dimensional exosystem we also present additional conditions for achieving polynomial or logarithmic nonuniform decay rates for the closed-loop semigroup.
{"title":"A new controller structure for robust output regulation","authors":"L. Paunonen, S. Pohjolainen","doi":"10.1109/CDC.2014.7040125","DOIUrl":"https://doi.org/10.1109/CDC.2014.7040125","url":null,"abstract":"In this paper we employ a new controller structure in solving the robust output regulation problem for a linear distributed parameter system with finite or infinite-dimensional exosystems. In the case of an infinite-dimensional exosystem we also present additional conditions for achieving polynomial or logarithmic nonuniform decay rates for the closed-loop semigroup.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122336679","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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