Optimal Mobile Sensing and Actuation Policies in Cyber-Physical Systems

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A successful cyber-physical system, a complex interweaving of hardware and software in direct interaction with some parts of the physical environment, relies heavily on proper identification of the, often pre-existing, physical elements. Based on information from that process, a bespoke “cyber” part of the system may then be designed for a specific purpose. Optimal Mobile Sensing and Actuation Strategies in Cyber-physical Systems focuses on distributed-parameter systems the dynamics of which can be modelled with partial differential equations. Such systems are very challenging to measure, their states being distributed throughout a spatial domain. Consequently, optimal strategies are needed and systematic approaches to the optimization of sensor locations have to be devised for parameter estimation. The text begins by reviewing the newer field of cyber-physical systems and introducing background notions of distributed parameter systems and optimal observation theory. New research opportunities are then defined within this framework. Two important problems considered are optimal mobile sensor trajectory planning and the accuracy effects and allocation of remote sensors. These are followed up with a solution to the problem of optimal robust estimation. Actuation strategies are then introduced into the framework with the purpose of improving estimation and optimizing the trajectories of both mobile sensors and mobile actuators simultaneously. The large number of illustrations within the text will assist the reader to visualize the application of the methods proposed. A group of similar examples are used throughout the book to help the reader assimilate the material more easily.  Under a given cyber-physical systems infrastructure, communications abilities of mobile sensors and/or mobile actuators may be needed, and this can be considered within the framework presented in this text. Application examples cover fields from environmental science to national security so that readers are encouraged to link the ideas of cyber-physical systems with their own research.