State estimation of spatially distributed processes using mobile sensing agents

Author

Demetriou, Michael A. ; Ucinski, Dariusz

Author_Institution

Dept. of Mech. Eng., Worcester Polytech. Inst., Worcester, MA, USA

fYear

2011

fDate

June 29 2011-July 1 2011

Firstpage

1770

Lastpage

1776

Abstract

This work is intended as an attempt to develop a simple real-time guidance scheme for mobile sensors used to enhance estimation of a spatially distributed process described by a partial differential equation. Using Lyapunov stability arguments, a stable control law is provided for each of the mobile agents while taking account of the dynamics of sensor movements, collision avoidance conditions and various modes of inter-agent connectivity. Numerical simulations for a 1D diffusion equation with three sensor agents are included to demonstrate the effectiveness of such a mobile sensor network in improving the system performance.

Keywords

Lyapunov methods; diffusion; distributed sensors; mobile agents; partial differential equations; stability; state estimation; vehicles; 1D diffusion equation; Lyapunov stability; collision avoidance conditions; interagent connectivity; mobile sensing agents; mobile sensor network; numerical simulation; partial differential equation; real-time guidance scheme; spatially distributed process state estimation; Lyapunov methods; Mobile communication; Sensor systems; State estimation; Vehicles; PDEs; Spatial processes; collision avoidance; limited communication; mobile sensors; state estimation;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2011

Conference_Location

San Francisco, CA

ISSN

0743-1619

Print_ISBN

978-1-4577-0080-4

Type

conf

DOI

10.1109/ACC.2011.5991065

Filename

5991065