Download Adaptive Sampling with Mobile WSN: Simultaneous robot by Koushil Sreenath, M.F. Mysorewalla, Dan O. Popa, Frank L. PDF

By Koushil Sreenath, M.F. Mysorewalla, Dan O. Popa, Frank L. Lewis

ISBN-10: 184919257X

ISBN-13: 9781849192576

This informative textual content for graduate scholars, researchers and practitioners engaged on cellular instant sensor networks offers theoretical established algorithms with a spotlight in the direction of useful implementation.

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Additional info for Adaptive Sampling with Mobile WSN: Simultaneous robot localisation and mapping of paramagnetic spatio-temporal fields

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5 0 50 Sample no. 0 0 50 Sample no. Error in a 0 50 Sample no. Error in b 0 50 Sample no. 2-Norm of error 5 0 100 200 300 Distance (units) 2-Norm of error 10 5 0 0 20 40 No. of samples 0 60 10 20 Sample no. P(b) 0 10 20 Sample no. –2 10 20 Sample no. 10 0 10 20 Sample no. 100 200 300 Distance (units) 10 5 0 20 40 No. of samples 60 5 0 0 P(c) 0 0 1 10 20 Sample no. Error in c 0 0 5 0 100 200 300 Distance (units) 10 20 Sample no. 5 0 10 0 –10 50 Sample no. c 1 Error in b 2 0 0 5 0 Error in a 10 10 0 0 0 10 20 Sample no.

5 5 0 0 50 Sample no. Error in c 1 –1 0 0 10 20 Sample no. 5 0 b Error covariances:P(a) 10 10 0 0 10 0 P(c) 100 2 0 0 50 Sample no. 2-Norm of error –2 0 y (units) 20 80 4 10 2-Norm of error 50 Sample no. 5 1 5 60 20 y (units) 10 20 No. of samples (a) 2-Norm of error covariance 40 40 2-Norm of error covariance 20 0 80 0 0 –1 0 10 20 Sample no. 10 5 0 0 100 200 300 Distance (units) 10 5 0 0 10 20 No. 11 (see p. 3. The results illustrate the convergence of the field parameters to values close to nominal after successive samples are taken.

Qualitatively, a multi-agent AS problem for spatio-temporal fields can be posed as follows: We wish to describe an unknown non-linear spatio-temporal field variable via a parametric approximation Z ¼ Z(A, X, t) depending on an unknown parameter vector A, position vector X and time t. The field is recovered by using N robotic vehicles, sampling the field with localization and sensing uncertainty. We wish to ● ● ● Decide what sampling locations X ki , 1 i N, 1 k n, should be chosen such that the uncertainty in estimating the unknown parameter vector is minimized.

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