Name
Abstract | ||
|---|---|---|
In this paper, we introduce a theoretical framework for coupled distributed estimation and motion control of mobile sensor networks for collaborative target tracking. We use a Fisher Information theoretic metric for quality of sensed data. The mobile sensing agents seek to improve the information value of their sensed data while maintaining a safe-distance from other neighboring agents (i.e., perform information-driven flocking). We provide a formal stability analysis of continuous Kalman-Consensus filtering (KCF) algorithm on a mobile sensor network with a flocking-based mobility control model. The discrete-time counterpart of this coupled estimation and control algorithm is successfully applied to tracking of two types of targets with stochastic linear and nonlinear dynamics. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/TAC.2012.2190184 | Automatic Control, IEEE Transactions |
Keywords | Field | DocType |
Kalman filters,control engineering computing,discrete time systems,distributed parameter systems,mobile agents,mobile radio,motion control,nonlinear control systems,stochastic systems,target tracking,telecommunication control,wireless sensor networks,Fisher information theoretic metric,KCF algorithm,collaborative target tracking,continuous Kalman-consensus filtering algorithm,coupled distributed estimation,discrete-time counterpart,flocking-based mobility control model,formal stability analysis,information value,information-driven flocking,mobile sensing agents,mobile sensor networks,motion control,neighboring agents,nonlinear dynamics,safe-distance,sensed sensed data quality,stochastic linear dynamics,Collaborative target tracking,distributed Kalman filtering,flocking,information-driven control,mobile sensor networks | Mobile radio,Flocking (texture),Motion control,Control theory,Computer science,Filter (signal processing),Kalman filter,Distributed parameter system,Fisher information,Wireless sensor network | Journal |
Volume | Issue | ISSN |
57 | 10 | 0018-9286 |
Citations | PageRank | References |
67 | 1.97 | 9 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Reza Olfati-Saber | 1 | 8066 | 549.43 |
| Parisa Jalalkamali | 2 | 67 | 1.97 |