DocumentCode
646210
Title
Robust design of sparse relative sensing networks
Author
Schuler, Steffen ; Zelazo, D. ; Allgower, F.
Author_Institution
Inst. for Syst. Theor. & Autom. Control, Univ. of Stuttgart, Stuttgart, Germany
fYear
2013
fDate
17-19 July 2013
Firstpage
1860
Lastpage
1865
Abstract
This paper considers the robust design of sparse relative sensing networks subject to a given H∞-performance constraint. The topology design considers heterogenous agents over weighted graphs. We develop a robust counterpart to the uncertain optimization problem and formulate the sparsity constraint via a convex ℓ1-relaxation. We also demonstrate how this relaxation can be used to embed additional performance criteria, such as the maximization of the algebraic connectivity of the relative sensing network.
Keywords
H∞ control; algebra; control system synthesis; convex programming; graph theory; multi-agent systems; multi-robot systems; sensor fusion; H∞ performance constraint; algebraic connectivity; convex l1-relaxation; robust design; sparse relative sensing networks; sparsity constraint; topology design; uncertain optimization problem; weighted graphs; Algorithm design and analysis; Network topology; Optimization; Robustness; Sensors; Topology; Uncertainty; ℓ0 -minimization; relative sensing networks; robust ℌ∞ -performance; topology design;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 2013 European
Conference_Location
Zurich
Type
conf
Filename
6669618
Link To Document