"Information-Driven Control for Networked Sensing and Control Systems"
Reza Olfati-Saber, Dartmouth College
Cooperative networks of physical “agents” such as robots, vehicles, cameras, and wind turbines with embedded sensing, control, communication, and computing devices interacting with human operators have broad applications in intelligent transportation systems (ITS), security and surveillance systems, and intelligent energy infrastructures. Mobile sensor networks are an important class of such networked multi-agent systems with applications in ITS and security systems. The main objective in deployment of mobile sensor networks is to track a set of critical events (targets) of interest that occur in an environment. We show that distributed tracking of events using mobile sensor networks is fundamentally a coupled estimation and control problem that we call ``information-driven control.” Two main cases of information-driven control for mobile sensor networks will be addressed using a coupled Distributed Kalman Filtering (DKF) and a flocking-based motion control algorithm. A theoretical framework for formal stability analysis of a complex sensing & control system applying the coupled distributed estimation and control algorithm will be provided. Our proposed solution relies on a combination of recently developed DKF and multi-objective flocking algorithms of the speaker as well as the Fisher Information Matrix of the sensed data. Simulation results of the information-driven control algorithms for tracking high-valued targets and distributed deployment of mobile sensors for situational awareness will be presented. Future directions of research on networked hybrid systems that arise in intelligent transportation and human-machine systems will be briefly discussed.
Dr. Olfati-Saber received his PhD and SM degrees from MIT in 2001 and 1997, respectively. He was a postdoctoral scholar at Caltech (2001-04) and a visiting scientist at UCLA (2004-05) prior to joining Dartmouth. He is currently an Assistant Professor at the Thayer School of Engineering. Dr. Olfati-Saber is the recipient of the 2010 PECASE award (Presidential Early Career Award for Scientists and Engineers) and the 2008 NSF CAREER award. He is the author of three seminal papers in systems and control theory. His research interests include distributed control and estimation, robotics, intelligent transportation systems, human-machine systems, and complex networks.