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On a stochastic sensor selection algorithm with applications in sensor scheduling and sensor coverage

Gupta, Vijay and Chung, Timothy H. and Hassibi, Babak and Murray, Richard M. (2006) On a stochastic sensor selection algorithm with applications in sensor scheduling and sensor coverage. Automatica, 42 (2). pp. 251-260. ISSN 0005-1098. doi:10.1016/j.automatica.2005.09.016.

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In this note we consider the following problem. Suppose a set of sensors is jointly trying to estimate a process. One sensor takes a measurement at every time step and the measurements are then exchanged among all the sensors. What is the sensor schedule that results in the minimum error covariance? We describe a stochastic sensor selection strategy that is easy to implement and is computationally tractable. The problem described above comes up in many domains out of which we discuss two. In the sensor selection problem, there are multiple sensors that cannot operate simultaneously (e.g., sonars in the same frequency band). Thus measurements need to be scheduled. In the sensor coverage problem, a geographical area needs to be covered by mobile sensors each with limited range. Thus from every position, the sensors obtain a different view-point of the area and the sensors need to optimize their trajectories. The algorithm is applied to these problems and illustrated through simple examples.

Item Type:Article
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Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2005 Elsevier Ltd. Received 26 September 2004; accepted 18 September 2005. Available online 2 December 2005. A preliminary version of the paper was presented at the 16th IFAC World Congress. This paper was recommended for publication in revised form by Associate Editor Ioannis Paschalidis under the direction of Editor Ian Petersen. The authors would like to thank Prof. Joel Burdick for helpful discussions. Research supported in part by NSF Grant CCR-0326554 for the first author and by the Engineering Research Centers Program of the National Science Foundation under Award Number EEC-9402726 and also a Grant from NASA for the second author.
Funding AgencyGrant Number
NSF Engineering Research Centers ProgramEEC-9402726
Subject Keywords:Sensor selection; Sensor location selection; Distributed sensor networks; Riccati-like equation; Random algorithms
Issue or Number:2
Record Number:CaltechAUTHORS:20110426-130530739
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Official Citation:Vijay Gupta, Timothy H. Chung, Babak Hassibi, Richard M. Murray, On a stochastic sensor selection algorithm with applications in sensor scheduling and sensor coverage, Automatica, Volume 42, Issue 2, February 2006, Pages 251-260, ISSN 0005-1098, DOI: 10.1016/j.automatica.2005.09.016. (
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:23470
Deposited By: Tony Diaz
Deposited On:29 Apr 2011 18:33
Last Modified:09 Nov 2021 16:14

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