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GRASP / PRECISE Seminar: Nuno Martins, University of Maryland, “Remote and Distributed Estimation over Shared Networks: New Results and Open Problems”

December 10, 2014 @ 11:00 am - 12:00 pm

Abstract: This talk will focus on the design of distributed estimation systems
that are formed by multiple non-collocated components. A shared network
is used to disseminate information among the components.
I will discuss two recent results: Assuming that the network is
characterized by an incomplete directed communication graph, the first
result characterizes the existence of omniscience-achieving schemes for
which all components that observe only a portion of the output of an
underlying plant can estimate the entire state with error that vanishes
asymptotically. Our approach hinges on key concepts from decentralized
control that are systematic and constructive. The second result
characterizes the structure of certain optimal policies for the case in
which the number of components exceeds the maximal number of
simultaneous transmissions that the network can accept. In order to
obtain a tractable framework for which design principles can be
characterized analytically, I will consider the case in which there are
two estimators that rely on information sent to them by two sensors that
access dissimilar measurements. I will show the optimality of certain
threshold-based policies, establish a connection with a problem of
optimal quantization for which the distortion is non-uniform across
representation symbols, present numerical approaches, discuss
interpretations of the results and list related open issues.


- Learn More

Nuno Martins is Associate Professor of Electrical and Computer
Engineering at the University of Maryland, College Park, where he also
holds a joint appointment with the Institute for Systems Research. From
2012 until 2014 he was the Director of the Maryland Robotics Center.
Martins holds a Ph.D. degree in Electrical Engineering and Computer
Science with a minor in Mathematics from Massachusetts Institute of
Technology (MIT), Cambridge. His research interests are in distributed
control and estimation, team decision, optimization, networked control
and communications. He received a National Science Foundation CAREER
award in 2007, the 2006 American Automatic Control Council O. Hugo
Schuck Award, the 2010 Outstanding Institute for Systems Research
Faculty award and the 2008 IEEE CSS Axelby Award for the best paper in
the IEEE Transactions on Automatic Control. He has served as a member of
the editorial board of Systems and Control Letters (Elsevier),
Automatica and of the IEEE Control Systems Society Conference Editorial
Board. He was a program vice-chair for the IEEE Conference on Decision
and Control in 2013 and 2014.


December 10, 2014
11:00 am - 12:00 pm
Event Category: