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Optimal Cooperative Control of Mobile Sensors for Dynamic Process Estimation

Euler, Juliane and Stryk, Oskar von (2013):
Optimal Cooperative Control of Mobile Sensors for Dynamic Process Estimation.
[Conference or Workshop Item]

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.

Item Type: Conference or Workshop Item
Erschienen: 2013
Creators: Euler, Juliane and Stryk, Oskar von
Title: Optimal Cooperative Control of Mobile Sensors for Dynamic Process Estimation
Language: German
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.

Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
Additional Information:

Workshop on Robotics for Environmental Monitoring at Robotics: Science and Systems 2013, Jun 24 - 28

Identification Number: euler13
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