Formation Control of Rigid Graphs with a Flex Node Addition

This paper examines stability properties of distance-based formation control when the underlying topology consists of a rigid graph and a flex node addition. It is shown that the desired equilibrium set is locally asymptotically stable but there exist undesired equilibria. Specifically, we further consider two cases where the rigid graph is a triangle in 2-D and a tetrahedral in 3-D, and prove that any undesired equilibrium point in these cases is unstable. Thus in these cases, the desired formations are almost globally asymptotically stable.Comment: The full version of this paper with general extensions has been submitted to a journal for publicatio

Partial Relaxation Approach: An Eigenvalue-Based DOA Estimator Framework

In this paper, the partial relaxation approach is introduced and applied to DOA estimation using spectral search. Unlike existing methods like Capon or MUSIC which can be considered as single source approximations of multi-source estimation criteria, the proposed approach accounts for the existence of multiple sources. At each considered direction, the manifold structure of the remaining interfering signals impinging on the sensor array is relaxed, which results in closed form estimates for the interference parameters. The conventional multidimensional optimization problem reduces, thanks to this relaxation, to a simple spectral search. Following this principle, we propose estimators based on the Deterministic Maximum Likelihood, Weighted Subspace Fitting and covariance fitting methods. To calculate the pseudo-spectra efficiently, an iterative rooting scheme based on the rational function approximation is applied to the partial relaxation methods. Simulation results show that the performance of the proposed estimators is superior to the conventional methods especially in the case of low Signal-to-Noise-Ratio and low number of snapshots, irrespectively of any specific structure of the sensor array while maintaining a comparable computational cost as MUSIC.Comment: This work has been submitted to IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessibl

Finite-time bearing-based maneuver of acyclic leader-follower formations

This letter proposes two finite-time bearing-based control laws for acyclic leader-follower formations. The leaders in formation move with a bounded continuous reference velocity and each follower controls its position with regard to three agents in the formation. The first control law uses only bearing vectors, and finite-time convergence is achieved by properly selecting two state-dependent control gains. The second control law requires both bearing vectors and communications between agents. Each agent simultaneously localizes and follows a virtual target. Finite-time convergence of the desired formation under both control laws is proved by mathematical induction and supported by numerical simulations. 10.1109/LCSYS.2021.3088299Comment: Preprint, accepted to L-CS

Costs and Benefits of a Greener Alternative for the Development of Vietnam's power sector

International audienceIn this study, BAU (a scenario based on current trends) and ALT (a greener alternative with more renewables, higher energy efficiency) are developed. The external costs of CO 2 , NOx, SO 2 and PM 10 in the Vietnamese power sector are estimated at 20, 1328, 2047 and 1460 US$/ton, respectively. The authors find that the electricity price and the domestic trade balance in ALT are less sensitive to fluctuations in the international price of coal than in BAU. The total costs accumulated between period 2010-2040 would be lower in ALT: 632 billion US$ compared with 974 billion US$. This difference arises from several factors: lower investment in new capacity (226 vs 306 billion US$); lower local pollution costs (73 vs 137 billion US$); and lower expenditures on imported fuels (57 vs 115 billion US$). The outcomes of ALT are in accord with the targets in the most recent Green Growth Strategy of Vietnam

Perspective of CO2 capture & storage (CCS) development in Vietnam: Results from expert interviews

International audienceThis paper summarizes expert opinions regarding crucial factors that mayinfluence Vietnam’s future use of carbon capture and storage (CCS) based onface-to-face interviews in December 2013 with 16 CCS-related experts fromthe Vietnamese government, research institutes, universities and the energyindustrial sector. This study finds that financial incentives and climate policyare the most important factors for the development of CCS technologies inVietnam in the next two decades. Financial incentives involve direct subsidiesfrom the government, such as tax exemptions for land use and the importationof CCS-related equipment. In addition, all the experts agree that internationalfinancial support is important to initiate a large deployment of CCStechnologies in Vietnam by implementing demonstrative/pilot projects to proveCCS’s working efficiency

Three more Decades in Array Signal Processing Research: An Optimization and Structure Exploitation Perspective

The signal processing community currently witnesses the emergence of sensor array processing and Direction-of-Arrival (DoA) estimation in various modern applications, such as automotive radar, mobile user and millimeter wave indoor localization, drone surveillance, as well as in new paradigms, such as joint sensing and communication in future wireless systems. This trend is further enhanced by technology leaps and availability of powerful and affordable multi-antenna hardware platforms. The history of advances in super resolution DoA estimation techniques is long, starting from the early parametric multi-source methods such as the computationally expensive maximum likelihood (ML) techniques to the early subspace-based techniques such as Pisarenko and MUSIC. Inspired by the seminal review paper Two Decades of Array Signal Processing Research: The Parametric Approach by Krim and Viberg published in the IEEE Signal Processing Magazine, we are looking back at another three decades in Array Signal Processing Research under the classical narrowband array processing model based on second order statistics. We revisit major trends in the field and retell the story of array signal processing from a modern optimization and structure exploitation perspective. In our overview, through prominent examples, we illustrate how different DoA estimation methods can be cast as optimization problems with side constraints originating from prior knowledge regarding the structure of the measurement system. Due to space limitations, our review of the DoA estimation research in the past three decades is by no means complete. For didactic reasons, we mainly focus on developments in the field that easily relate the traditional multi-source estimation criteria and choose simple illustrative examples.Comment: 16 pages, 8 figures. This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessibl

Low Carbon Scenario for the Power Sector of Vietnam: Externality and Comparison Approach

International audienceIn this paper, BAU (a scenario based on current trends) and ALT (a greener alternative with more renewables, higher energy efficiency) are developed. The external costs of CO2, NOx, SO2 and PM10 in the Vietnamese power sector are estimated at 20, 1328, 2047 and 1460 US$/ton, respectively. The authors find the electricity price and the domestic trade balance in ALT less sensitive to fluctuations in the international price of coal than in BAU. The total costs accumulated between the period of 2010-2040 would be lower in ALT: 632 billion US$ compared with 974 billion US$. This difference arises from several factors: lower investment in new capacity (226 vs 306 billion US$); lower local pollution costs (73 vs 137 billion US$); and lower expenditures on imported fuels (57 vs 115 billion US$). The outcomes of ALT are in accord with the targets in the most recent Green Growth Strategy of Vietnam and the Intended Nationally Determined Contributions (INDCs) of the country to UNFCCC and COP21

Bearing-Based Network Localization Under Gossip Protocol

This paper proposes a bearing-based network localization algorithm with a randomized gossip protocol. Each sensor node is assumed to be able to obtain the bearing vectors and communicate its position estimates with several neighboring agents. Each update involves two agents, and the update sequence follows a stochastic process. Under the assumption that the network is infinitesimally bearing rigid and contains at least two beacon nodes, we show that the proposed algorithm could successfully estimate the actual positions of the network in probability. The randomized update protocol provides a simple, distributed, and reduces the communication cost of the network. The theoretical result is then supported by a simulation of a 1089-node sensor network.Comment: preprint, 7 pages, 2 figure

Randomized Matrix Weighted Consensus

In this paper, randomized gossip-type matrix-weighted consensus algorithms are proposed for both leaderless and leader-follower topologies. First, we introduce the notion of expected matrix-weighted network, which captures the multi-dimensional interactions between any two agents in a probabilistic sense. Under some mild assumptions on the distribution of the expected matrix weights and the upper bound of the updating step size, the proposed asynchronous pairwise update algorithms drive the network to achieve a consensus in expectation. An upper bound of the $\epsilon$-convergence time of the algorithm is then derived. Furthermore, the proposed algorithms are applied to the bearing-based network localization and formation control problems. The theoretical results are supported by several numerical examples.Comment: 32 pages, 6 figures, preprin