Collective Motion, Sensor Networks and Ocean Sampling
Naomi Ehrich Leonard, Derek Paley, Francois Lekien, Rodolphe Sepulchre, David M. Fratantoni
and Russ Davis,
Proceedings of the IEEE,
Vol 95, No. 1, pp. 48-74, 2007.
This paper addresses the design of mobile sensor networks for optimal data collection.
The development is strongly motivated by the application to adaptive ocean sampling
for an autonomous ocean observing and prediction system. A performance metric,
used to derive optimal paths for the network of mobile sensors, defines the optimal
data set as one which minimizes error in a model estimate of the sampled field.
Feedback control laws are presented that stably coordinate sensors on structured
tracks that have been optimized over a minimal set of parameters.
Optimal, closed-loop solutions are computed in a number of low-dimensional cases
to illustrate the methodology. Robustness of the performance to the influence of
a steady flow field on relatively slow-moving mobile sensors is also explored.
Copyright 2007 IEEE. Personal use of this material is permitted. However,
permission to reprint/republish this material for advertising or promotional
purposes or for creating new collective works for resale or redistribution
to servers or lists, or to reuse any copyrighted component of this work in
other works must be obtained from the IEEE.