期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 24, 期 3, 页码 710-724出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2008.921567
关键词
average consensus estimation; decentralized control; distributed control; mobile sensor networks; multiagent systems; ocean modeling
类别
Cooperating mobile sensors can be used to model environmental functions such as the temperature or salinity of a region of ocean. In this paper, we adopt an optimal filtering approach to fusing local sensor data into a global model of the environment. Our approach is based on the use of proportional-integral (PI) average consensus estimators, whereby information from each mobile sensor diffuses through the communication network. As a result, this approach is scalable and fully decentralized, and allows changing network topologies and anonymous agents to be added and subtracted at any time. We also derive control laws for mobile sensors to move to maximize their sensory information relative to current uncertainties in the model. The approach is demonstrated by simulations including modeling ocean temperature.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据