Title :
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
fDate :
June 29 2011-July 1 2011
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;
Conference_Titel :
American Control Conference (ACC), 2011
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-4577-0080-4
DOI :
10.1109/ACC.2011.5991065
