Scalar field estimation with mobile sensor networks

DOI10.1002/RNC.5469MaRDI QIDQ6089761zbMATH OpenOpenAlexFDO

Authors Rihab Abdul Razak, Srikant Sukumar, Hoam Chung

Publication date 13 November 2023

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1907.01309

zbMATH Keywords

adaptive controlLyapunov methodsmulti-agent systemsparameter estimationradial basis function networks

Mathematics Subject Classification ID

Multi-agent systems (93A16) Networked control (93B70) Adaptive control/observation systems (93C40)

Abstract: In this paper, we consider the problem of estimating a scalar field using a network of mobile sensors which can measure the value of the field at their instantaneous location. The scalar field to be estimated is assumed to be represented by positive definite radial basis kernels and we use techniques from adaptive control and Lyapunov analysis to prove the stability of the proposed estimation algorithm. The convergence of the estimated parameter values to the true values is guaranteed by planning the motion of the mobile sensors to satisfy persistence-like conditions.

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Cites work

• Adaptive Information Collection by Robotic Sensor Networks for Spatial Estimation
• Cooperative exploration of level surfaces of three dimensional scalar fields
• Decentralized and adaptive control of multiple nonholonomic robots for sensing coverage
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Cited in

(4)

• Distributed Field Estimation with One–bit Sensors
• Dynamic Field Estimation Using Wireless Sensor Networks: Tradeoffs Between Estimation Error and Communication Cost
• Adaptive estimation of external fields in reproducing kernel Hilbert spaces
• On minimal trajectories for mobile sampling of bandlimited fields

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