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Dynamic Sensor Coverage with Uncertainty Feedback : Analysis Using Iterated Maps

Tiwari, Abhishek and Murray, Richard M. (2006) Dynamic Sensor Coverage with Uncertainty Feedback : Analysis Using Iterated Maps. In: Proceedings of the 2006 American Control Conference. IEEE , New York, NY, pp. 5929-5934. ISBN 1-4244-0209-3 . http://resolver.caltech.edu/CaltechAUTHORS:20110629-092232291

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Abstract

This paper presents an analysis of the dynamic sensor coverage problem with uncertainty feedback. We consider a simple case of two spatially separate uncertain systems 1 and 2. In an earlier paper we introduced the dynamic sensor coverage problem and gave two stochastic sensor motion algorithms to solve the problem. We take a deterministic approach in this paper, the sensor decides to measure system 1 or 2 based on the relative uncertainty of its estimates of the states of the two systems. Error covariance is used as a metric for uncertainty of estimates. Based on the sensor measurements the error covariance evolves according to the Lyapunov or the Riccati map. The uncertainty space is partitioned and each partition has a different sensor motion decision associated with it. For a certain class of partitions we prove the existence and local stability of a unique periodic steady state orbit. We prove global stability for a scalar special case. We also show by way of an example that by changing certain parameters in these partitions stable orbits of higher periods can be obtained. Implications of this work and comparisons with existing work in the sensor scheduling and sensor coverage literature are also presented. In the end we present a discussion on future extensions of this work. Simulation examples are provided to illustrate the main concepts.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/ACC.2006.1657671 DOIUNSPECIFIED
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1657671PublisherUNSPECIFIED
ORCID:
AuthorORCID
Murray, Richard M. 0000-0002-5785-7481
Additional Information:©2006 IEEE. Issue Date: 14-16 June 2006. Date of Current Version: 24 July 2006. This work was not supported by any organization. The authors would like to thank Vadim Kaloshin, Cédric Langbort and Michael Epstein for enlightening discussions. The authors would also like to thank the anonymous reviewers, whose constructive reviews helped us improve the quality of this paper.
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INSPEC Accession Number9046877
Record Number:CaltechAUTHORS:20110629-092232291
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20110629-092232291
Official Citation:Tiwari, A.; Murray, R.M.; , "Dynamic Sensor Coverage with Uncertainty Feedback : Analysis Using Iterated Maps.," American Control Conference, 2006 , vol., no., pp.5929-5934, 14-16 June 2006 doi: 10.1109/ACC.2006.1657671 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1657671&isnumber=34689
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:24246
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:29 Jun 2011 21:14
Last Modified:23 Aug 2016 10:03

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