Information Based Distributed Control for Biochemical Source Detection and Localization

The paper proposes several improvements on the Direction of Gradient (DOG) algorithm proposed in [1] for detecting and localizing a biochemical source with moving sensors. In particular, we show that the DOG algorithm can be turned into a distributed control scheme for a mobile sensing network, and that the maximum likelihood estimation proposed in the original algorithm can be replaced with more computationally efficient numerical procedures. Simulations on a single sensor and on a group of mobile sensors are provided that show that the proposed modifications simplify the original algorithm and improve its performance.