报告题目：Distributed Approaches to Estimation, Control and Localization
报告人：Minyue Fu, University of Newcastle, Australia
Abstract: 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.
Biography: Minyue Fu received the B.Sc. degree in electrical engineering from the University of Science and Technology of China, Hefei, China, in 1982, and the M.S. and Ph.D. degrees in electrical engineering from the University of Wisconsin- Madison, Madison, WI, USA. in 1983 and 1987, respectively. From 1987 to 1989, he was an Assistant Professor in the Department of Electrical and Computer Engineering, Wayne State University, USA. He joined the Department of Electrical and Computer Engineering at the University of Newcastle, Australia, in 1989, where he is a Chair Professor of Electrical Engineering. He has been Visiting Professors at the University of Iowa, USA, Nanyang Technological University, Singapore and Tokyo University, Tokyo, Japan. He has held ChangJiang Visiting Professorship at Shandong University, Jinan, China, Qian-ren Professorship at Zhejiang University, China, and Qian-ren Professorship at Guangdong University of Technology, China. He has been an Associate Editor for the IEEE Transactions on Automatic Control, Automatica, IEEE Transactions on Signal Processing, and the Journal of Optimization and Engineering. His main research interests include control systems, signal processing, and communications. His current research projects include networked control systems, distributed control, smart electricity networks, and super-precision positioning control systems. He is a Fellow of IEEE.