Management and control in decentralised networks
Hugh F Durrant-Whyte, Ben Grocholsky · 2003
This paper addresses the problem of sensor management and coordinated sensor control in decen- tralised sensing networks. Sensor management and control in a decentralised network is posed naturally as a problem of maximising information gain. This paper describes two algorithms, the Jirst addresses the problem of target cuing and target hand-off in decentralised sensing networks, the second seeks a solution to the problem of generating a co- ordinated trajectory for a platform on which the sensors are placed. It is shown that with mutual information gain as the an objective function, decentralised sensor control policies can be developed.