DocumentCode
413989
Title
A sensor selection method considering communication delays
Author
Kagami, Shingo ; Ishikawa, Masatoshi
Author_Institution
Dept. of Inf. Phys. & Comput., Tokyo Univ., Japan
Volume
1
fYear
2004
fDate
26 April-1 May 2004
Firstpage
206
Abstract
A sensor selection method for distributed real-time sensing is proposed where the effect of communication delays is taken into account. First, a multi-sensor fusion algorithm that allows communication delays is proposed. This method takes advantage of the information form of Kalman filtering in order to maintain scalability with the number of sensors. Based on this algorithm, an algorithm is developed that calculates mutual information between an observation and the state to be estimated, which provides a criterion for sensor selection. Simulated results of a target-tracking task show its effectiveness.
Keywords
Kalman filters; distributed sensors; sensor fusion; Kalman filter; communication delays; distributed real-time sensing; multisensor fusion algorithm; sensor selection method; target-tracking task; Delay effects; Delay estimation; Information filtering; Information filters; Kalman filters; Nonlinear filters; Physics; Recursive estimation; Sensor fusion; State estimation;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1307152
Filename
1307152
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