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Full-Text Articles in Computer Engineering

Adaptive Algorithms For Coverage Control And Space Partitioning In Mobile Robotic Networks, Jerome Le Ny, George J. Pappas Mar 2012

Adaptive Algorithms For Coverage Control And Space Partitioning In Mobile Robotic Networks, Jerome Le Ny, George J. Pappas

George J. Pappas

We consider deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic events of interest. Three classes of problems are discussed in detail: coverage control problems, spatial partitioning problems, and dynamic vehicle routing problems. Moreover, we assume that the event distribution is a priori unknown, and can only be progressively inferred from the observation of the location of the actual event occurrences. For each problem we present distributed stochastic gradient algorithms that optimize the performance objective. The stochastic ...


Adaptive Algorithms For Coverage Control And Space Partitioning In Mobile Robotic Networks, Jerome Le Ny, George J. Pappas Mar 2012

Adaptive Algorithms For Coverage Control And Space Partitioning In Mobile Robotic Networks, Jerome Le Ny, George J. Pappas

George J. Pappas

We consider deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic events of interest. Three classes of problems are discussed in detail: coverage control problems, spatial partitioning problems, and dynamic vehicle routing problems. Moreover, we assume that the event distribution is a priori unknown, and can only be progressively inferred from the observation of the location of the actual event occurrences. For each problem we present distributed stochastic gradient algorithms that optimize the performance objective. The stochastic ...


Modeling And Analysis Of Multi-Hop Control Networks, Alur Rajeev, Alessandro D'Innocenzo, Karl H. Johansson, George James Pappas, Gera Weiss Mar 2012

Modeling And Analysis Of Multi-Hop Control Networks, Alur Rajeev, Alessandro D'Innocenzo, Karl H. Johansson, George James Pappas, Gera Weiss

George J. Pappas

We propose a mathematical framework, inspired by the Wireless HART specification, for modeling and analyzing multi-hop communication networks. The framework is designed for systems consisting of multiple control loops closed over a multi-hop communication network. We separate control, topology, routing, and scheduling and propose formal syntax and semantics for the dynamics of the composed system. The main technical contribution of the paper is an explicit translation of multi-hop control networks to switched systems. We describe a Mathematica notebook that automates the translation of multihop control networks to switched systems, and use this tool to show how techniques for analysis of ...


Adaptive Algorithms For Coverage Control And Space Partitioning In Mobile Robotic Networks, Jerome Le Ny, George J. Pappas Mar 2012

Adaptive Algorithms For Coverage Control And Space Partitioning In Mobile Robotic Networks, Jerome Le Ny, George J. Pappas

George J. Pappas

We consider deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic events of interest. Three classes of problems are discussed in detail: coverage control problems, spatial partitioning problems, and dynamic vehicle routing problems. Moreover, we assume that the event distribution is a priori unknown, and can only be progressively inferred from the observation of the location of the actual event occurrences. For each problem we present distributed stochastic gradient algorithms that optimize the performance objective. The stochastic ...


Modeling And Analysis Of Multi-Hop Control Networks, Alur Rajeev, Alessandro D'Innocenzo, Karl H. Johansson, George James Pappas, Gera Weiss Mar 2012

Modeling And Analysis Of Multi-Hop Control Networks, Alur Rajeev, Alessandro D'Innocenzo, Karl H. Johansson, George James Pappas, Gera Weiss

George J. Pappas

We propose a mathematical framework, inspired by the Wireless HART specification, for modeling and analyzing multi-hop communication networks. The framework is designed for systems consisting of multiple control loops closed over a multi-hop communication network. We separate control, topology, routing, and scheduling and propose formal syntax and semantics for the dynamics of the composed system. The main technical contribution of the paper is an explicit translation of multi-hop control networks to switched systems. We describe a Mathematica notebook that automates the translation of multihop control networks to switched systems, and use this tool to show how techniques for analysis of ...