題目：Distributed Approaches to Estimation, Control and Localization
主講人：付敏躍教授 （澳大利亞紐卡斯爾大學）
時間：2017年11月29日（周三）下午13:30
地點：格致中樓500室
報告摘要: In many applications, a network of autonomous agents holds eminent promises to achieve a desired level of performance, capability, robustness, and efficiency beyond what a single agent can achieve. However, to be advantageous, multiple agents have to work in an coordinated and synchronized manner. This talk considers a network of agents (or sub-systems) and seeks a distributed algorithm to steer the agents so that a global objective is achieved. Three distributed optimization problems will be discussed, namely, distributed estimation, distributed control and distributed localization. Firstly, we will study the weighted least squares (WLS) estimation problem for a networked system and offer a fully distributed algorithm for optimal WLS estimation. This algorithm is then extended to distributed average consensus and distributed Kalman filtering for networked systems. Secondly, we will investigate the formation control for a networked multi-agent systems. We will present a new approach for 2-dimensional and higher dimensional formation. A necessary and sufficient condition will be given in terms of a new type of graph connectedness, called rooted connectivity. A linear distributed control law will be provided using relative position measurements on the local frames attached to the agents. Finally, we will study distributed localization problems for a network of sensors where relative measurements and information exchange between neighbouring sensors are used to determine the physical locations of individual sensors. Several distributed solutions will be discussed.
報告人簡介: 付敏躍：男，澳大利亞紐卡斯爾大學電氣與計算機學院講席教授。1982年在中國科技大學電子工程系自動化專業獲得學士學位, 1984年在美國威斯康星大學獲電氣工程碩士學位， 1987年獲電氣工程博士學位。 長期從事網絡控制系統的估計與控制，分布式控制， 傳感器網絡的估計與控制，高速高精度控制理論與應用等方向研究工作。在國際期刊和會議上發表260余篇論文， 曾擔任 IEEE Transactions on Automatic Control， Automatica, IEEE Transactions on Signal Processing, Journal of Optimization and Engineering等國際期刊副編，并在日本，美國，香港，新加坡，巴西和中國的許多大學和研究所任過客座職位。
歡迎廣大師生參加！
理學院
2017年11月27日
