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Multi-Step Sensor Selection with Position Uncertainty Constraints

Markus Fröhle (Institutionen för signaler och system, Kommunikationssystem) ; Ali Abbas Syed Zaidi (Institutionen för signaler och system, Reglerteknik) ; Erik G. Ström (Institutionen för signaler och system, Kommunikationssystem) ; Henk Wymeersch (Institutionen för signaler och system, Kommunikationssystem)
IEEE Globecom 2014 Workshop - Wireless Networking and Control for Unmanned Autonomous Vehicles p. 1439-1444. (2014)
[Konferensbidrag, refereegranskat]

Research on localization systems has shifted from focusing mainly on accuracy towards a more cognitive design, accounting for communication constraints, energy limitations, and delay. This leads to a variety of sensor selection optimization problems that are solved using techniques from convex optimization. We provide a novel formulation of the sensor selection problem over an extended time horizon, aiming to minimize the sensing cost of an entire path while guaranteeing a certain position accuracy. We state algorithms for determining lower and upper bounds on the sensing cost and utilize these in a path selection problem for autonomous agents. Simulation results confirm the usefulness of our approach, where we observe a benefit of optimizing over longer time horizons in low to medium noise scenarios compared to a myopic sensor selection scheme.

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Denna post skapades 2014-12-22. Senast ändrad 2015-05-12.
CPL Pubid: 208856


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