Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Deployment of an unreliable robotic sensor network for spatial estimation
J. Cortés
Systems and Control Letters 61 (1) (2012), 41-49
Abstract
This paper studies an optimal deployment problem for a network of
robotic sensors moving in the real line. Given a spatial process of
interest, each individual sensor sends a packet that contains a
measurement of the process to a data fusion center. We assume that,
due to communication limitations or hardware unreliability, only a
fraction of the packets arrive at the center. Using convex
analysis, nonsmooth analysis, and combinatorics, we show that, for
various fractional rates of packet arrival, the optimal deployment
configuration has the following features: agents group into
clusters, clusters deploy optimally as if at least one packet from
each cluster was guaranteed to reach the center, and there is an
optimal cluster size for each fractional arrival rate.
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Mechanical and Aerospace Engineering,
University of California, San Diego
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