[en] This paper addresses the design of mobile sensor networks for optimal data collection. The development is strongly motivated by the application to adaptive ocean sampling for an autonomous ocean observing and prediction system. A performance metric, used to derive optimal paths for the network of mobile sensors, defines the optimal data set as one which minimizes error in a model estimate of the sampled field. Feedback control laws are presented that stably coordinate sensors on structured tracks that have been optimized over a minimal set of parameters. Optimal, closed-loop solutions are computed in a number of low-dimensional cases to illustrate the methodology. Robustness of the performance to the influence of a steady flow field on relatively slow-moving mobile sensors is also explored.
Disciplines :
Electrical & electronics engineering
Author, co-author :
Leonard, Naomi Ehrich; Princeton University > Department of Mechanical and Aerospace Engineering
Paley, Derek; Princeton University
Lekien, François
Sepulchre, Rodolphe ; Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation
Fratantoni, David M.
Davis, R. E.
Language :
English
Title :
Collective motion, sensor networks, and ocean sampling
Publication date :
January 2007
Journal title :
Proceedings of the IEEE
ISSN :
0018-9219
eISSN :
1558-2256
Publisher :
Ieee-Inst Electrical Electronics Engineers Inc, Piscataway, United States - New Jersey
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