Paper Info
Title
Distributed Tracking for Mobile Sensor Networks with Information-Driven Mobility
Abstract
In this paper, we address distributed target tracking for mobile sensor networks using the extension of a distributed Kalman filtering (DKF) algorithm introduced by the author in [11]. It is shown that improvement of the quality of tracking by mobile sensors (or agents) leads to the emergence of flocking behavior. We discuss the benefits of a flocking-based mobility model for distributed Kalman filtering over mobile networks. This mobility model uses author's flocking algorithm with a natural choice of a moving rendezvous point that is the target itself. As the agents "flock" towards the target, the information value of their sensor measurements improves in time. During this process, smaller flocks merge and form larger flocks and eventually a single flock with a connected topology emerges. This allows the agents to perform cooperative filtering using the DKF algorithm which considerably improves their tracking performance. We show that this flocking algorithm is in fact an information-driven mobility that acts as a cooperative control strategy that enhances the aggregate information value of all sensor measurements. A metric for information value is given that has close connections to Fisher information. Simulation results are provided for a group of UAVs with embedded sensors tracking a mobile target using cooperative filtering.
Year
DOI
Venue
2007
10.1109/ACC.2007.4282261
New York, NY
Keywords
DocType
ISSN
Kalman filters,distributed tracking,mobile radio,target tracking,telecommunication network topology,wireless sensor networks,connected network topology,distributed Kalman filtering algorithm,distributed target tracking,flocking-based mobility model,information-driven mobility,mobile sensor networks,distributed Kalman filters,flocking,information-driven mobility,mobile sensor networks,target tracking
Conference
0743-1619 E-ISBN : 1-4244-0989-6
ISBN
Citations 
PageRank 
1-4244-0989-6
32
2.75
References 
Authors
14
2
Name
Order
Citations
PageRank
Reza Olfati-Saber18066549.43
Olfati-Saber, R.2322.75