2006-ICRA

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)

BibTeX entry:

@INPROCEEDINGS{CBM06,
  author = {{Timothy H. Chung and Joel W. Burdick and Richard M. Murray}},
  month = {May},
  year = 2006,
  title = {{Decentralized Motion Control of Mobile Sensing Agents in a Network}},
  booktitle = {{Intl. Conference on Robotics and Automation}},
  organization = {ICRA},
  keywords = {distributed sensing}
}