-- V.
Gupta, T. Chung, B. Hassibi and R. M. Murray, Automatica,
accepted September 2005.
In this note we consider the following problem. Suppose a set of
sensors is jointly trying to estimate a process. One sensor takes a
measurement at every time step and the measurements are then exchanged
among all the sensors. What is the sensor schedule that results in the
minimum error covariance? We describe a stochastic sensor selection
strategy that is easy to implement and is computationally tractable.
The problem described above comes up in many domains out of which we
discuss two. In the sensor selection problem, there are multiple
sensors that cannot operate simultaneously (e.g., sonars in the same
frequency band). Thus measurements need to be scheduled. In the
dynamic sensor
coverage problem, a geographical area needs to be covered by mobile
sensors each with limited range. Thus from every position, the sensors
obtain a different view-point of the area and the sensors need to
optimize their trajectories. The algorithm is applied to these problems
and illustrated through simple examples.
journal submission
back