Error Scaling Laws for Linear Optimal Estimation from Relative Measurements (2009)
Barooah, Prabir, Hespanha, Joao P.
We study the problem of estimating vector-valued variables from noisy "relative" measurements. This problem arises in several sensor network applications. The measurement model can be expressed in...
Prabir Barooah, João P. Hespanha
We consider the problem of estimating vector-valued variables from noisy “relative ” measurements. The measurement model can be expressed in terms of a graph. The vertices, or nodes, of the graph...
Optimal Estimation from Relative Measurements: Error Scaling (Extended Abstract) (2009)
Prabir Barooah, João P. Hespanha
We consider the problem of estimating a number of vector valued variables from a number of noisy “relative measurements”, i.e., measurement of the difference between certain pairs of these...
Edmond A. Jonckheere, Mingji Lou, João Hespanha, Prabir Barooah
Abstract — The technique of effective resistance has seen growing popularity in problems ranging from escape probability of random walks on graphs to asymptotic space localization in sensor...
DECENTRALIZED CONTROL OF VEHICULAR PLATOONS: IMPROVING CLOSED LOOP STABILITY BY MISTUNING (2008)
Prabir Barooah, Prashant G. Mehta, João P. Hespanha
We consider decentralized control of a platoon of N identical vehicles moving in a straight line. The control objective is for each vehicle to maintain a constant velocity and inter-vehicular...
ON THE EFFECT OF ASYMMETRIC COMMUNICATION ON DISTRIBUTED TIME SYNCHRONIZATION (2008)
Prabir Barooah, João P. Hespanha, Ananthram Swami
Abstract — Several distributed algorithms have been recently proposed to estimate clock offsets and skews in a network of processors from a set of noisy measurements of the difference between clock...
Mistuning-based Control Design to Improve Closed-Loop Stability of Vehicular Platoons (2008)
Barooah, Prabir, Mehta, Prashant G., Hespanha, Joao P
We consider a decentralized bidirectional control of a platoon of N identical vehicles moving in a straight line. The control objective is for each vehicle to maintain a constant velocity and...
Prabir Barooah, João P. Hespanha, Psfrag Replacements
Abstract — We consider the problem of controlling a string of vehicles moving in one dimension so that they all follow a lead vehicle with a constant spacing between successive vehicles. We examine...
DISTRIBUTED ALGORITHMS AND FUNDAMENTAL LIMITS (2008)
Prabir Barooah, João P. Hespanha
Asensor network is a collection of interconnected nodes that are deployed in a geographic area to perform monitoring tasks. Each node is equipped with sensing and computing capability. Sensor...
Control of Large Vehicular Platoons: Improving Closed Loop Stability by Mistuning (2008)
Prabir Barooah, Prashant G. Mehta, João P. Hespanha
Abstract — We consider decentralized control of a platoon of N identical vehicles moving in a straight line following a single lead vehicle moving at constant velocity. The control objective is for...
Graph effective resistances and distributed control: Spectral properties and applications (2006)
Prabir Barooah, João P. Hespanha
We introduce the concept of matrix-valued effective resistance for undirected matrix-weighted graphs. These effective resistances are defined to be the square blocks that appear in the diagonal of...
Distributed optimal estimation from relative measurements (2006)
Prabir Barooah, João P. Hespanha
Abstract. We consider the problem of estimating vector-valued variables from noisy “relative ” measurements. The measurement model can be expressed in terms of a graph, whose nodes correspond to...
Optimal estimation from relative measurements: Electrical analogy and error bounds (2003)
Prabir Barooah, João P. Hespanha
We examine the problem of estimating vector-valued variables from noisy measurements of the difference between certain pairs of them. This problem, which is naturally posed in terms of a measure-ment...
Optimal estimation from relative measurements: Electrical analogy and error bounds (2003)
Prabir Barooah, Student Member, João P. Hespanha
Abstract — We examine the problem of estimating vectorvalued variables from noisy measurements of the difference between certain pairs of them. This problem, which is naturally posed in terms of a...
Principal faculty adviser: Jian-Qiao Sun, Dept. of Mechanical Engineering.