2015 54th IEEE Conference on Decision and Control (CDC) 2015
DOI: 10.1109/cdc.2015.7403407
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Hard limits on robust control over delayed and quantized communication channels with applications to sensorimotor control

Abstract: The modern view of the nervous system as layering distributed computation and communication for the purpose of sensorimotor control and homeostasis has much experimental evidence but little theoretical foundation, leaving unresolved the connection between diverse components and complex behavior. As a simple starting point, we address a fundamental tradeoff when robust control is done using communication with both delay and quantization error, which are both extremely heterogeneous and highly constrained in hum… Show more

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Cited by 15 publications
(23 citation statements)
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“…Combining this with the LQ cost (8), we can observe a tradeoff between signaling speed and accuracy on system performance, analogously to the one in the ∞ system [4]. Larger bandwidth reduces the quantization cost but increases the delay cost.…”
Section: A the Speed Vs Accuracy Tradeoffsmentioning
confidence: 91%
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“…Combining this with the LQ cost (8), we can observe a tradeoff between signaling speed and accuracy on system performance, analogously to the one in the ∞ system [4]. Larger bandwidth reduces the quantization cost but increases the delay cost.…”
Section: A the Speed Vs Accuracy Tradeoffsmentioning
confidence: 91%
“…In the sensorimotor system, the body corresponds to the plant, the central nervous system to the controller having delay and limited bandwidth. The speed/accuracy tradeoff (4) for spiking neurons is given by R ∝ d in [4], [1] if we assume the space and energy for those neurons are fixed.…”
Section: Model Descriptionmentioning
confidence: 99%
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