Title :
A sensor selection method considering communication delays
Author :
Kagami, Shingo ; Ishikawa, Masatoshi
Author_Institution :
Dept. of Inf. Phys. & Comput., Tokyo Univ., Japan
fDate :
26 April-1 May 2004
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;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1307152
