View source for On a Decentralized Active Sensing Strategy using Mobile Sensor Platforms in a Network

{{HTDB paper
| authors = Timothy H. Chung, Vijay Gupta, Joel W. Burdick, Richard M. Murray
| title = On a Decentralized Active Sensing Strategy using Mobile Sensor Platforms in a Network
| source = 2004 Conference on Decisoin and Control (CDC)
| year = 2004
| type = 
Conference Paper
| funding = AFOSR/info, NSF/ITR
| url = http://www.cds.caltech.edu/~murray/preprints/cgbm04-cdc.pdf
| abstract = 
In this paper, we consider the problem of active
sensing using mobile sensor nodes that are jointly estimating
the state of a dynamic target as a sensor network. We propose
a gradient search-based decentralized algorithm that demonstrates
the benefits of distributed sensing. We then examine the
task of tracking multiple targets. We use a greedy algorithm
for associating sensors with targets along with the gradientsearch
strategy for sensor vehicle motion planning. Simulation
results show that these simple decentralized strategies perform
quite well and the sensor nodes exhibit interesting cooperative
behavior.

| flags = 
| tag = cgbm04-cdc
| id = 2004a
}}