Jorge Cortés
Professor
Cymer Corporation Endowed Chair
A cooperative deployment strategy for optimal sampling in
spatiotemporal estimation
R. Graham, J. Cortés
Proceedings of the IEEE Conference on Decision and Control, Cancun, Mexico, 2008, pp. 2432-2437
Abstract
This paper considers a network composed of robotic agents
and static nodes performing spatial estimation of a dynamic physical
processes. The physical process is modeled as a spatiotemporal
random field with finite spatial correlation range. We propose a
distributed coordination algorithm to optimize data acquisition
across time. The robotic agents take measurements of the processes
and relay them to the static nodes. The static nodes collectively
compute directions of maximum descent of the estimation uncertainty,
and relay them back to the robotic agents. The technical approach
combines tools from geostatistics, parallel computing, and systems
and control. We illustrate the soundness of the algorithm in
simulation.
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Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
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cortes at ucsd.edu
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