Affiliation:
1. Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA 19104 e-mail:
2. Department of Electrical Engineering and GERAD, École Polytechnique de Montréal, Montréal, QC H3T-1J4, Canada e-mail:
Abstract
Autonomous robot networks are an effective tool for monitoring large-scale environmental fields. This paper proposes distributed control strategies for localizing the source of a noisy signal, which could represent a physical quantity of interest such as magnetic force, heat, radio signal, or chemical concentration. We develop algorithms specific to two scenarios: one in which the sensors have a precise model of the signal formation process and one in which a signal model is not available. In the model-free scenario, a team of sensors is used to follow a stochastic gradient of the signal field. Our approach is distributed, robust to deformations in the group geometry, does not necessitate global localization, and is guaranteed to lead the sensors to a neighborhood of a local maximum of the field. In the model-based scenario, the sensors follow a stochastic gradient of the mutual information (MI) between their expected measurements and the expected source location in a distributed manner. The performance is demonstrated in simulation using a robot sensor network to localize the source of a wireless radio signal.
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
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