262 research outputs found
An Optimal Transmission Strategy for Kalman Filtering over Packet Dropping Links with Imperfect Acknowledgements
This paper presents a novel design methodology for optimal transmission
policies at a smart sensor to remotely estimate the state of a stable linear
stochastic dynamical system. The sensor makes measurements of the process and
forms estimates of the state using a local Kalman filter. The sensor transmits
quantized information over a packet dropping link to the remote receiver. The
receiver sends packet receipt acknowledgments back to the sensor via an
erroneous feedback communication channel which is itself packet dropping. The
key novelty of this formulation is that the smart sensor decides, at each
discrete time instant, whether to transmit a quantized version of either its
local state estimate or its local innovation. The objective is to design
optimal transmission policies in order to minimize a long term average cost
function as a convex combination of the receiver's expected estimation error
covariance and the energy needed to transmit the packets. The optimal
transmission policy is obtained by the use of dynamic programming techniques.
Using the concept of submodularity, the optimality of a threshold policy in the
case of scalar systems with perfect packet receipt acknowledgments is proved.
Suboptimal solutions and their structural results are also discussed. Numerical
results are presented illustrating the performance of the optimal and
suboptimal transmission policies.Comment: Conditionally accepted in IEEE Transactions on Control of Network
System
On Predictive Coding for Erasure Channels Using a Kalman Framework
We present a new design method for robust low-delay coding of autoregressive (AR) sources for transmission across erasure channels. It is a fundamental rethinking of existing concepts. It considers the encoder a mechanism that produces signal measurements from which the decoder estimates the original signal. The method is based on linear predictive coding and Kalman estimation at the decoder. We employ a novel encoder state-space representation with a linear quantization noise model. The encoder is represented by the Kalman measurement at the decoder. The presented method designs the encoder and decoder offline through an iterative algorithm based on closed-form minimization of the trace of the decoder state error covariance. The design method is shown to provide considerable performance gains, when the transmitted quantized prediction errors are subject to loss, in terms of signal-to-noise ratio (SNR) compared to the same coding framework optimized for no loss. The design method applies to stationary auto-regressive sources of any order. We demonstrate the method in a framework based on a generalized differential pulse code modulation (DPCM) encoder. The presented principles can be applied to more complicated coding systems that incorporate predictive coding as well
Enabling error-resilient internet broadcasting using motion compensated spatial partitioning and packet FEC for the dirac video codec
Video transmission over the wireless or wired
network require protection from channel errors since compressed video bitstreams are very sensitive to transmission errors because of the use of predictive coding and variable length coding. In this paper, a simple, low complexity and patent free error-resilient coding is proposed. It is based upon the idea of using spatial partitioning on the motion compensated residual frame without employing the transform coefficient coding. The proposed scheme is intended for open source Dirac video codec in order to enable the codec to be used for Internet
broadcasting. By partitioning the wavelet transform coefficients of the motion compensated residual frame into groups and independently processing each group using arithmetic coding and Forward Error Correction (FEC), robustness to transmission errors over the packet erasure
wired network could be achieved. Using the Rate
Compatibles Punctured Code (RCPC) and Turbo Code
(TC) as the FEC, the proposed technique provides
gracefully decreasing perceptual quality over packet loss rates up to 30%. The PSNR performance is much better when compared with the conventional data partitioning only methods. Simulation results show that the use of multiple
partitioning of wavelet coefficient in Dirac can achieve up to 8 dB PSNR gain over its existing un-partitioned method
Stabilizing Error Correction Codes for Controlling LTI Systems over Erasure Channels
We propose (k,k') stabilizing codes, which is a type of delayless error
correction codes that are useful for control over networks with erasures. For
each input symbol, k output symbols are generated by the stabilizing code.
Receiving any k' of these outputs guarantees stability. Thus, the system to be
stabilized is taken into account in the design of the erasure codes. Our focus
is on LTI systems, and we construct codes based on independent encodings and
multiple descriptions. The theoretical efficiency and performance of the codes
are assessed, and their practical performances are demonstrated in a simulation
study. There is a significant gain over other delayless codes such as
repetition codes.Comment: Accepted and presented at the IEEE 60th Conference on Decision and
Control (CDC). arXiv admin note: substantial text overlap with
arXiv:2112.1171
Tracking and Control of Gauss-Markov Processes over Packet-Drop Channels with Acknowledgments
We consider the problem of tracking the state of GaussâMarkov processes over rate-limited erasure-prone links. We concentrate first on the scenario in which several independent processes are seen by a single observer. The observer maps the processes into finite-rate packets that are sent over the erasure-prone links to a state estimator, and are acknowledged upon packet arrivals. The aim of the state estimator is to track the processes with zero delay and with minimum mean square error (MMSE). We show that, in the limit of many processes, greedy quantization with respect to the squared error distortion is optimal. That is, there is no tension between optimizing the MMSE of the process in the current time instant and that of future times. For the case of packet erasures with delayed acknowledgments, we connect the problem to that of compression with side information that is known at the observer and may be known at the state estimatorâwhere the most recent packets serve as side information that may have been erased, and demonstrate that the loss due to a delay by one time unit is rather small. For the scenario where only one process is tracked by the observerâstate estimator system, we further show that variable-length coding techniques are within a small gap of the many-process outer bound. We demonstrate the usefulness of the proposed approach for the simple setting of discrete-time scalar linear quadratic Gaussian control with a limited data-rate feedback that is susceptible to packet erasures
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