Co-optimization of communication, sensing, and computation for information gathering using cloud computing
Sangwoo Moon, Vinod Ramaswamy, Eric W. Frew, Nisar R. Ahmed · 2017 IEEE Conference on Control Technology and Applications (CCTA) · 2017
This paper describes a co-optimization method for communication-aware information gathering in multi-agent systems using cloud computing. The cloud process complements the local estimate of each agent by sending more accurate information to the agent. However, using cloud computing to improve local information gathering can lead to asynchronous delays in processing estimation and sending its results to each agent. This paper describes how information flows and channel selection can be used to manage information between the cloud and the agent, as well as among agents. Since centralized optimization cannot be performed realistically due imperfect communication, this paper uses a game-theoretic distributed optimization approach when evaluating the co-optimization method. A set of simulations show that the estimates from the distributed, cloud-based approach converge to those from a single centralized estimator.