Distributed cooperative active sensing using consensus filters

Peng Yang*, Randy A. Freeman, Kevin M. Lynch

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

82 Scopus citations

Abstract

We consider the problem of multiple mobile sensor agents tracking the position of one or more moving targets. In our formulation, each agent maintains a target estimate, and each agent moves so as to maximize the expected information from its sensor, relative to the current uncertainty in the estimate. The novelty of our approach is that each agent need only communicate with one-hop neighbors in a communication network, resulting in a fully distributed and scalable algorithm, yet the performance of the system approximates that of a centralized optimal solution to the same problem. We provide two fully distributed algorithms based on one-time measurements and a Kalman filter approach, and we validate the algorithms with simulations.

Original languageEnglish (US)
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages405-410
Number of pages6
DOIs
StatePublished - Nov 27 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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