Paper ID sheet - Systems and Control at ULg
- TITLE: Collective motion, Sensor networks, and
- AUTHORS: N. Leonard, D. Paley, F. Lekien, R. Sepulchre, D.M. Fratantoni and R. Davi.
- ABSTRACT: 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.
- STATUS: Published in the Proceedings
of the IEEE, special issue on sensor networks.
- DATE OF ENTRY: June 2005.
- Paper: pdf
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