TY - GEN
T1 - Environmental estimation with distributed finite element agents
AU - Elwin, Matthew
AU - Freeman, Randy A
AU - Lynch, Kevin M
N1 - Funding Information:
This work is supported by the Office of Naval Research, Grant N00014-13-1-0331
Publisher Copyright:
© 2016 IEEE.
PY - 2016/12/27
Y1 - 2016/12/27
N2 - We develop an environmental estimation method that allows large groups of agents to infer the value of an environmental field using measurements. Agents maintain estimates for subregions of the domain and communicate with local neighbors, so the method's communication and memory requirements do not increase with the number of agents, the size of the environment representation, or the agents' density in the environment. Despite the distributed representation, the union of individual estimates matches an estimate generated by a central computer with access to all measurements employing the variational inverse method, a finite element-based interpolation procedure. We also introduce a distributed query system, allowing users to determine an estimate anywhere in the domain without accessing all measurements or the full environment representation.
AB - We develop an environmental estimation method that allows large groups of agents to infer the value of an environmental field using measurements. Agents maintain estimates for subregions of the domain and communicate with local neighbors, so the method's communication and memory requirements do not increase with the number of agents, the size of the environment representation, or the agents' density in the environment. Despite the distributed representation, the union of individual estimates matches an estimate generated by a central computer with access to all measurements employing the variational inverse method, a finite element-based interpolation procedure. We also introduce a distributed query system, allowing users to determine an estimate anywhere in the domain without accessing all measurements or the full environment representation.
UR - http://www.scopus.com/inward/record.url?scp=85010782605&partnerID=8YFLogxK
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U2 - 10.1109/CDC.2016.7799180
DO - 10.1109/CDC.2016.7799180
M3 - Conference contribution
AN - SCOPUS:85010782605
T3 - 2016 IEEE 55th Conference on Decision and Control, CDC 2016
SP - 5918
EP - 5924
BT - 2016 IEEE 55th Conference on Decision and Control, CDC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 55th IEEE Conference on Decision and Control, CDC 2016
Y2 - 12 December 2016 through 14 December 2016
ER -