Multi-Step Sensor Selection with Position Uncertainty Constraints
Paper i proceeding, 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.

Författare

Markus Fröhle

Chalmers, Signaler och system, Kommunikationssystem, informationsteori och antenner, Kommunikationssystem

Ali Abbas Syed Zaidi

Chalmers, Signaler och system, System- och reglerteknik, Reglerteknik

Erik Ström

Chalmers, Signaler och system, Kommunikationssystem, informationsteori och antenner, Kommunikationssystem

Henk Wymeersch

Chalmers, Signaler och system, Kommunikationssystem, informationsteori och antenner, Kommunikationssystem

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

1439-1444

Styrkeområden

Informations- och kommunikationsteknik

Ämneskategorier

Kommunikationssystem

DOI

10.1109/GLOCOMW.2014.7063636

ISBN

978-147997470-2

Mer information

Skapat

2017-10-07