Mobile Sensor Motion Planning for Identification of a Contamination Source Using Iterative Dynamic Programming
Paweł Ziemniak · Diffusion and defect data, solid state data. Part B, Solid state phenomena/Solid state phenomena · 2013
A systematic iterative dynamic programming procedure is proposed for on-line motion planning of mobile sensor network nodes in a specified spatial domain in such a way as to maximize the identification accuracy of an unknown contamination source. The design criterion is a general scalar measure defined on the Fisher information matrix associated with the estimated coordinates of the contamination source. The approach converts the problem to an optimal control one in which the control forces of the sensors are optimized using iterative dynamic programming.