On a Decentralized Active Sensing Strategy using Mobile Sensor Platforms in a Network
Timothy H. Chung, Vijay Gupta, Joel W. Burdick, and Richard M. Murray
2004 International Conference on Decision and Control (CDC)
In this paper, we consider the problem of active sensing using mobile nodes as a sensor network to estimate the state of a dynamic target. We propose a gradient-search-based decentralized algorithm that demonstrates the benefits of distributed sensing. We then examine the task of tracking multiple targets, and address it via a simple extension to our algorithm. Simulation results show that our simple decentralized approach performs quite well and leads to interesting cooperative behavior.