NDLI: EKF-based Adaptive Sampling with Mobile Robotic Sensor Nodes

Content Provider	IEEE Xplore Digital Library
Author	Popa, D.O. Mysorewala, M.F. Lewis, F.L.
Copyright Year	2006
Description	Author affiliation: Autom. & Robotics Res. Inst., Texas Univ., Arlington, TX (Popa, D.O.; Mysorewala, M.F.; Lewis, F.L.)
Abstract	The use of robotics in environmental monitoring applications requires distributed sensor systems optimized for effective estimation of relevant models subject to energy and environmental constraints. The mobile robot nodes are agents facilitating the repositioning of sensors in order to estimate a field distribution. This field distribution could be, for instance, water salinity in a lake, or air pollution over an industrial area. Each mobile robot node is characterized by sensor measurement noise in addition to localization uncertainty. This paper addresses an important problem for the robotic deployment of sensor networks, namely adaptive sampling (AS) by selection and repositioning of nodes in order to optimally estimate the parameters of distributed variable field models. The AS problem is posed as a sensor fusion problem within the extended Kalman filter (EKF) framework. We present simulation and experimental results of 2D deployment scenarios using low-cost mobile sensor robots developed in our lab
Starting Page	2451
Ending Page	2456
File Size	6824051
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281687
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Sampling methods Mobile robots Robot sensing systems Sensor phenomena and characterization Monitoring Sensor systems Constraint optimization Water pollution Lakes Air pollution Environmental Monitoring Adaptive Sampling Sensor Fusion Kalman Filter
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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