Multi-Step Sensor Selection with Position Uncertainty Constraints
Paper in proceedings, 2014

Research on localization systems has shifted from focusing mainly on accuracy towards a more cognitive design, accounting for communication constraints, energy limitations, and delay. This leads to a variety of sensor selection optimization problems that are solved using techniques from convex optimization. We provide a novel formulation of the sensor selection problem over an extended time horizon, aiming to minimize the sensing cost of an entire path while guaranteeing a certain position accuracy. We state algorithms for determining lower and upper bounds on the sensing cost and utilize these in a path selection problem for autonomous agents. Simulation results confirm the usefulness of our approach, where we observe a benefit of optimizing over longer time horizons in low to medium noise scenarios compared to a myopic sensor selection scheme.

Author

Markus Fröhle

Chalmers, Signals and Systems, Kommunikationssystem, informationsteori och antenner, Communication Systems

Ali Abbas Syed Zaidi

Chalmers, Signals and Systems, Systems and control, Automatic Control

Erik Ström

Chalmers, Signals and Systems, Kommunikationssystem, informationsteori och antenner, Communication Systems

Henk Wymeersch

Chalmers, Signals and Systems, Kommunikationssystem, informationsteori och antenner, Communication Systems

IEEE Globecom 2014 Workshop - Wireless Networking and Control for Unmanned Autonomous Vehicles

1439-1444

Areas of Advance

Information and Communication Technology

Subject Categories

Communication Systems

DOI

10.1109/GLOCOMW.2014.7063636

ISBN

978-147997470-2

More information

Created

10/7/2017