Source Localization from Moving Arrays of Sensors

We consider the problem of using multiple mobile sensors as sensor arrays for the purpose of emitter location. Mobility suggests that intersensor positions and times are imprecisely known. We characterize the variance in the location estimation as a function of these uncertainties. Mobility also allows the array to reconfigure itself to improve localizations. We examine the use of a cost function and a look-ahead control algorithm that accounts for both mobility and location variance to maneuver sensor clusters into optimal position for source localization, while using partially distributed computations