Decentralized Motion Control of Mobile Sensing Agents in a Network
Timothy H. Chung, Joel W. Burdick, and Richard M. Murray
In Proc. of IEEE Intl. Conference on Robotics and Automation, 2006
This paper presents a decentralized motion planning algorithm for the distributed sensing of a noisy dynamical process by multiple cooperating mobile sensor agents. This problem is motivated by localization and tracking tasks of dynamic targets. Our gradient-descent method is based on a cost function that measures the overall quality of sensing. We also investigate the role of imperfect communication between sensor agents in this framework, and examine the trade-offs in performance between sensing and communication. Simulations illustrate the basic characteristics of the algorithms.
Conference paper: pdf (278KB)