Sonia Martínez
Jacobs Faculty Scholar
Professor of Mechanical and Aerospace Engineering
On optimal sensor placement
and
motion coordination for target tracking
Sulema Aranda, Sonia MartÃnez and Francesco Bullo
Proceedings of the 2005 IEEE Int. Conf. in Robotics and Automation, Barcelona, Spain, April 2005
Abstract:
This work studies optimal sensor placement and motion coordination strategies for mobile sensor networks. For a target tracking application with range sensors, we investigate the determinant of the Cramer-Rao bound and compute it in the 2D and 3D cases. We characterize the global minima of the 2D case. We propose and characterize motion coordination algorithms that steer the mobile sensor network to an optimal deployment and that are amenable to a decentralized implementation. Finally, our numerical simulations illustrate how the proposed motion coordination algorithms lead to the improved performance of an extended Kalman filter in a target tracking scenario.
File: main.pdf
Bib-tex entry:
@InProceedings{SA-SM-FB:05,
author = {S. Aranda and S. Mart{\'\i}nez and F. Bullo},
booktitle = {2005 IEEE International Conference in
Robotics and Automation},
title = {On optimal sensor placement and
motion coordination for target tracking },
year = {2005},
address = {Barcelona, Spain}
}