Decentralized Environmental Modeling by Mobile Sensor Networks

  title={Decentralized Environmental Modeling by Mobile Sensor Networks},
  author={Kevin M. Lynch and Ira B. Schwartz and Peng Yang and Randy A. Freeman},
  journal={IEEE Transactions on Robotics},
Cooperating mobile sensors can be used to model environmental functions such as the temperature or salinity of a region of ocean. In this paper, we adopt an optimal filtering approach to fusing local sensor data into a global model of the environment. Our approach is based on the use of proportional-integral (PI) average consensus estimators, whereby information from each mobile sensor diffuses through the communication network. As a result, this approach is scalable and fully decentralized… CONTINUE READING
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Special issue on technology of networked control systems

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