Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Deployment of an unreliable robotic sensor network for spatial estimation
J. Cortés
Proceedings of the IEEE Conference on Decision and Control, Atlanta, Georgia, USA, 2010, pp. 376-381
Abstract
This paper studies an optimal deployment problem for a
network of robotic sensors moving in the real line. Consider the
scenario where each sensor is to take a measurement of a spatial
process of interest and send it back to a data fusion center. Assume
only a specific fraction of the messages containing the measurements
will arrive at the center. We show that, for several fraction
values, the optimal deployment configurations have the following
features: agents are grouped into clusters, the clusters are
deployed optimally as if at least a message from each cluster was
guaranteed to reach the center, and for each fraction value, there
is a specific optimal cluster size. The technical approach combines
convex analysis, nonsmooth analysis, and combinatorics.
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Mechanical and Aerospace Engineering,
University of California, San Diego
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cortes at ucsd.edu
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