Title :
Adaptive multiscale sampling in robotic sensor networks
Author :
Hombal, Vadiraj ; Sanderson, Arthur ; Blidberg, D. Richard
Author_Institution :
Dept. of Electr., Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
Abstract :
This work focuses on the observation of environmental phenomena that occur as spatial distributions in two and three dimensions, using sensor-enabled mobile vehicle (ground,air or undersea). Algorithms to guide an adaptive exploration of a given region through systematic choice of sampling locations under the constraints imposed by vehicles are presented. Variation sensitive multiresolution sample distributions are achieved through an iterative variation sensitive estimation of the unknown process.
Keywords :
iterative methods; mobile robots; sensors; vehicles; adaptive exploration; adaptive multiscale sampling; iterative variation sensitive estimation; robotic sensor networks; sensor-enabled mobile vehicles; variation sensitive multiresolution sample distributions; Biosensors; Energy resolution; Intelligent robots; Mobile robots; Monitoring; Robot sensing systems; Sampling methods; Sensor phenomena and characterization; Spatial resolution; Vehicles;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354236
