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Adaptive Sampling with Mobile Wsn: Simultaneous Robot Localisation and Mapping of Paramagnetic Spatio-Temporal Fields
Hardcover
Series: Control, Robotics and Sensors
ISBN13: 9781849192576
Publisher: Inst Of Electrical Engine (Nj)
Published: Feb 11 2011
Pages: 208
Weight: 0.90
Height: 0.60 Width: 6.30 Depth: 9.30
Language: English
Adaptive Sampling with Mobile WSN develops algorithms for optimal estimation
of environmental parametric fields. With a single mobile sensor, several approaches
are presented to solve the problem of where to sample next to maximally and
simultaneously reduce uncertainty in the field estimate and uncertainty in the localisation
of the mobile sensor while respecting the dynamics of the time-varying field and the
mobile sensor. A case study of mapping a forest fire is presented. Multiple static and
mobile sensors are considered next, and distributed algorithms for adaptive sampling are
developed resulting in the Distributed Federated Kalman Filter. However, with multiple
resources a possibility of deadlock arises and a matrix-based discrete-event controller is
used to implement a deadlock avoidance policy. Deadlock prevention in the presence
of shared and routing resources is also considered. Finally, a simultaneous and adaptive
localisation strategy is developed to simultaneously localise static and mobile sensors in
the WSN in an adaptive manner. Experimental validation of several of these algorithms is
discussed throughout the book.
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