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— In this paper, we consider the problem of active sensing using mobile nodes as a sensor network to estimate the state of a dynamic target. We propose a gradient-search-based decentralized algorithm that demonstrates the benefits of distributed sensing. We then examine the task of tracking multiple targets, and address it via a simple extension to our(More)
This article provides a survey on state estimation (SE) in electric power grids and examines the impact on SE of the technological changes being proposed as a part of the smart grid development. Although SE at the transmission level has a long history, further research and development of innovative SE schemes, including those for distribution systems, are(More)
— This work proposes a novel metric to characterize the resilience of stochastic cyber-physical systems to attacks and faults. We consider a single-input single-output plant regulated by a control law based on the estimate of a Kalman filter. We allow for the presence of an attacker able to hijack and replace the control signal. The objective of the(More)
In this note we consider the following problem. Suppose a set of sensors is jointly trying to estimate a process. One sensor takes a measurement at every time step and the measurements are then exchanged among all the sensors. What is the sensor schedule that results in the minimum error covariance? We describe a stochastic sensor selection strategy that is(More)
This paper focuses on the design phase of the system lifecycle and proposes a passivity-based approach to decouple system stability from cyber timing uncertainties. ABSTRACT | System integration is the elephant in the china store of large-scale cyber–physical system (CPS) design. It would be hard to find any other technology that is more under-valued(More)
We examine two special cases of the problem of optimal Linear Quadratic Gaussian control of a system whose state is being measured by sensors that communicate with the controller over packet-dropping links. We pose the problem as an information transmission problem. Using a separation principle, we decompose the problem into a standard LQR state-feedback(More)
— This paper deals with the design of control systems over lossy networks. A network is assumed to exist between the sensor and the controller and between the latter and the actuator. Packets are dropped according to a Bernoulli independent process, with γ and µ being the probabilities of losing an observation packet and a control packet respectively, at(More)
In this paper, we consider the scenario where many sensors cooperate to estimate a process. Only one sensor can take a measurement at any time step. We wish to come up with optimal sensor scheduling algorithms. The problem is motivated by the use of sonar range-finders used by the vehicles on the Caltech Multi-Vehicle Wireless Testbed. We see that this(More)