Euler, Juliane ; Stryk, Oskar von (2013)
Optimal Cooperative Control of Mobile Sensors for Dynamic Process Estimation.
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
A typical mission for robotic systems in environ- mental monitoring is the identification of dynamic processes like atmospheric dispersion by a group of mobile sensors. Due to this problem’s large-scale and highly dynamic character, an efficient cooperative sampling strategy is required. This paper presents a mathematical concept for estimating the parameters of a Gaussian puff model of the dispersion process based on cooperatively gathered measurement data. The sensors’ cooperative behavior is determined by a distributed model-predictive controller. It combines task allocation and tra- jectory planning in a single mixed-integer problem formulation employing linearly approximated vehicle dynamics models. By integrating the quality of the dispersion model parameters as an additional optimization criterion for the controller, the pro- posed method intends to simultaneously solve both the estimation problem and the cooperative control problem in a near optimal manner.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2013 |
| Autor(en): | Euler, Juliane ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | Optimal Cooperative Control of Mobile Sensors for Dynamic Process Estimation |
| Sprache: | Deutsch |
| Publikationsjahr: | 2013 |
| Kurzbeschreibung (Abstract): | A typical mission for robotic systems in environ- mental monitoring is the identification of dynamic processes like atmospheric dispersion by a group of mobile sensors. Due to this problem’s large-scale and highly dynamic character, an efficient cooperative sampling strategy is required. This paper presents a mathematical concept for estimating the parameters of a Gaussian puff model of the dispersion process based on cooperatively gathered measurement data. The sensors’ cooperative behavior is determined by a distributed model-predictive controller. It combines task allocation and tra- jectory planning in a single mixed-integer problem formulation employing linearly approximated vehicle dynamics models. By integrating the quality of the dispersion model parameters as an additional optimization criterion for the controller, the pro- posed method intends to simultaneously solve both the estimation problem and the cooperative control problem in a near optimal manner. |
| Zusätzliche Informationen: | Workshop on Robotics for Environmental Monitoring at Robotics: Science and Systems 2013, Jun 24 - 28 |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 20 Jun 2016 23:26 |
| Letzte Änderung: | 08 Mai 2019 10:09 |
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