Adaptive multiscale sampling in robotic sensor networks

Author

Hombal, Vadiraj ; Sanderson, Arthur ; Blidberg, D. Richard

Author_Institution

Dept. of Electr., Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA

fYear

2009

fDate

10-15 Oct. 2009

Firstpage

122

Lastpage

128

Abstract

This work focuses on the observation of environmental phenomena that occur as spatial distributions in two and three dimensions, using sensor-enabled mobile vehicle (ground,air or undersea). Algorithms to guide an adaptive exploration of a given region through systematic choice of sampling locations under the constraints imposed by vehicles are presented. Variation sensitive multiresolution sample distributions are achieved through an iterative variation sensitive estimation of the unknown process.

Keywords

iterative methods; mobile robots; sensors; vehicles; adaptive exploration; adaptive multiscale sampling; iterative variation sensitive estimation; robotic sensor networks; sensor-enabled mobile vehicles; variation sensitive multiresolution sample distributions; Biosensors; Energy resolution; Intelligent robots; Mobile robots; Monitoring; Robot sensing systems; Sampling methods; Sensor phenomena and characterization; Spatial resolution; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Conference_Location

St. Louis, MO

Print_ISBN

978-1-4244-3803-7

Electronic_ISBN

978-1-4244-3804-4

Type

conf

DOI

10.1109/IROS.2009.5354236

Filename

5354236