CDS 213

Course Schedule

Week	Date	Topic	Reading
1	Introduction to Networked Control Systems (R. Murray)
	27 Mar (M)	Course overview, applications and administration	Syllabus; Template:Ncsbook
	29 Mar (W)	Case study: Alice	Cremean et al, 2005
	Networked embedded systems programming (R. Murray)
	31 Mar (F)	Message transfer systems: spread	Template:Ncsbook; Lamport, 1978
2	3 Apr (M)	Multi-threaded control systems: pthreads	Template:Ncsbook; Pthreads
	5 Apr (W)	Alice: adrive, astate, trajFollower	Template:Ncsbook; GCwiki
	7 Apr* (F)	No class
3	Real-time trajectory generation and receding horizon control (R. Murray)
	10 Apr (M)	Real-time trajectory generation	Template:Ncsbook
	12 Apr* (W)	Receding horizon control (T. Keviczky)	Template:Ncsbook
	14 Apr (F)	Alice: plannerModule	Template:Ncsbook; Kogan, 2005
4	State estimation (H. Sandberg)
	17 Apr (M)	Kalman filtering	Template:Ncsbook; Welch and Bishop
	19 Apr (W)	Moving horizon estimation	Template:Ncsbook
	21 Apr (F)	Alice: roadFollowing (L. Cremean)	Template:Ncsbook
5	Packet-based estimation and control, I (B. Sinopoli)
	24 Apr (M)	Packet-based estimation	Template:Ncsbook
	26 Apr (W)	Packet-based Control: the TCP case	Template:Ncsbook
	28 Apr (F)	Packet-based Control: the UDP case	Template:Ncsbook
6	Packet-based estimation and control, II (L. Shi, Y. Mostofi)
	1 May (M)	Packet-based Control with Norm Bounded Uncertainties	Template:Ncsbook
	3 May (W)	Impact of Communication Noise on Estimation over Wireless Links	Template:Ncsbook
	5 May (F)	Optimum Receiver Design for Estimation over Wireless Links	Template:Ncsbook
7	Distributed estimation and control (V. Gupta)
	8 May* (M)	Distributed Estimation	Template:Ncsbook
	10 May* (W)	Introduction to Distributed Control	Template:Ncsbook
	12 May (F)	Estimation and Control in Networked Systems	Template:Ncsbook
8	Cooperative control of multi-agent systems (Z. Jin, T. Keviczky)
	15 May (M)	Consensus Problem and Algorithms	Template:Ncsbook
	17 May* (W)	Cooperative and Coordinated Control Scheme for Multi-Agent Systems	Template:Ncsbook
	19 May (F)	Distributed Receding Horizon Control	Template:Ncsbook
9	Project Presentations (All)