DocumentCode
7039
Title
Environmental Monitoring Using Autonomous Aquatic Robots: Sampling Algorithms and Experiments
Author
Jadaliha, Mahdi ; Jongeun Choi
Author_Institution
Dept. of Mech. Eng., Michigan State Univ., East Lansing, MI, USA
Volume
21
Issue
3
fYear
2013
fDate
May-13
Firstpage
899
Lastpage
905
Abstract
This brief presents a practical solution to the problem of monitoring an environmental process in a large region by a small number of robotic sensors. Optimal sampling strategies are developed, taking into account the quality of the estimated environmental field and the lifetime of the sensors. We also present experimental results for monitoring a temperature field of an outdoor swimming pool sampled by an autonomous aquatic surface robot. Simulation and experimental results are provided to validate the proposed scheme.
Keywords
environmental factors; mobile robots; sampling methods; underwater vehicles; autonomous aquatic surface robot; environmental monitoring; optimal sampling strategies; outdoor swimming pool; robotic sensors; sampling algorithms; Cost function; Estimation error; Monitoring; Robot sensing systems; Vectors; Environmental monitoring; Kalman filter (KF); mobile sensor networks; sampling algorithms;
fLanguage
English
Journal_Title
Control Systems Technology, IEEE Transactions on
Publisher
ieee
ISSN
1063-6536
Type
jour
DOI
10.1109/TCST.2012.2190070
Filename
6172657
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