-- Timothy
H. Chung, Vijay Gupta, Joel W. Burdick and Richard M. Murray, IEEE
Conference on Decision and Control, 2004 (CDC '04). Volume 2,
14-17 Dec. 2004
Page(s):1914 - 1919.
In this paper, we consider the problem of active sensing using mobile
sensor nodes that are jointly estimating the state of a dynamic target
as a sensor network. We propose a gradient search-based
decentralized algorithm that demonstrates the benefits of distributed
sensing. We then examine the task of tracking multiple targets.
We use a greedy algorithm for associating sensors with targets along
with the gradient-search strategy for sensor vehicle motion planning.
Simulation results show that these simple decentralized strategies
perform quite well and the sensor nodes exhibit interesting cooperative
behavior.
conference submission
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