报告题目: Distributed hybrid information fusion in sensor networks: A unified framework
The problem of distributed dynamic state estimation using networked local agents with sensing and communication abilities, has become a popular research area in recent years due to its wide range of applications such as target tracking, region monitoring and area surveillance. Specifically, we consider the scenario where the local agents take local measurements and communicate with only their nearby neighbors to estimate the state of interest in a cooperative and fully distributed manner. A distributed hybrid information fusion (DHIF) algorithm is first proposed in the scenario where the process model of the target and the sensing models of the local agents are linear and time varying. The proposed DHIF algorithm is shown to be fully distributed and hence scalable, to be run in an automated manner and hence adaptive to locally unknown changes in the network, to have agents communicate for only once during each sampling time interval and hence inexpensive in communication, and to be able to track the interested state with uniformly upper bounded estimate error covariance. It is also explored the very mild conditions on general directed time-varying graphs and joint network observability/detectability to guarantee the stochastic stability of the proposed algorithm. Then the DHIF algorithm is extended to two more general scenarios, namely, the scenario with nonlinearities involved in both the process and the sensing models, and the scenario with uncertain process models.
Wei Ren is currently a Professor with the Department of Electrical and Computer Engineering, University of California, Riverside. He received the Ph.D. degree in Electrical Engineering from Brigham Young University, Provo, UT, in 2004. From 2004 to 2005, he was a Postdoctoral Research Associate with the Department of Aerospace Engineering, University of Maryland, College Park. He was an Assistant Professor (2005-2010) and an Associate Professor (2010-2011) with the Department of Electrical and Computer Engineering, Utah State University. His research focuses on distributed control of multi-agent systems and autonomous control of unmanned vehicles. Dr. Ren is an author of two books Distributed Coordination of Multi-agent Networks (Springer-Verlag, 2011) and Distributed Consensus in Multi-vehicle Cooperative Control (Springer-Verlag, 2008). He was a recipient of the National Science Foundation CAREER Award in 2008. He is currently an Associate Editor for Automatica, Systems and Control Letters, and IEEE Transactions on Control of Network Systems. He is an IEEE Fellow.