94 citations · 391 across the 65 of their papers we have counts for
8 papers · 1 filter
A Convex Approach to Consensus on SO(n)
Nikolai Matni, Matanya B. Horowitz
This paper introduces several new algorithms for consensus over the special orthogonal group. By relying on a convex relaxation of the space of rotation matrices, consensus over ro…
Localized LQR Optimal Control
Yuh-Shyang Wang, Nikolai Matni, John C. Doyle
This paper introduces a receding horizon like control scheme for localizable distributed systems, in which the effect of each local disturbance is limited spatially and temporally.…
Communication Delay Co-Design in Distributed Control Using Atomic Norm Minimization
Nikolai Matni
When designing distributed controllers for large-scale systems, the actuation, sensing and communication architectures of the controller can no longer be taken as given. In particu…
Regularization for Design
Nikolai Matni, Venkat Chandrasekaran
When designing controllers for large-scale systems, the architectural aspects of the controller such as the placement of actuators, sensors, and the communication links between the…
Optimal Two Player LQR State Feedback With Varying Delay
Nikolai Matni, Andrew Lamperski, John C. Doyle
This paper presents an explicit solution to a two player distributed LQR problem in which communication between controllers occurs across a communication link with varying delay. W…
Low-Rank and Low-Order Decompositions for Local System Identification
Nikolai Matni, Anders Rantzer
As distributed systems increase in size, the need for scalable algorithms becomes more and more important. We argue that in the context of system identification, an essential build…
Distributed Control Subject to Delays Satisfying an Norm Bound
Nikolai Matni
This paper presents a characterization of distributed controllers subject to delay constraints induced by a strongly connected communication graph that achieve a prescribed closed…
Convex Relaxations of SE(2) and SE(3) for Visual Pose Estimation
Matanya B. Horowitz, Nikolai Matni, Joel W. Burdick
This paper proposes a new method for rigid body pose estimation based on spectrahedral representations of the tautological orbitopes of and . The approach can use de…