TY - GEN
T1 - Optimal sensor scheduling of sensors in a sensor network for mobile robot navigation
AU - Arai, Shogo
AU - Iwatani, Yasushi
AU - Hashimoto, Koichi
PY - 2007
Y1 - 2007
N2 - This paper examines sensor scheduling problems for multi-sensor systems when only one sensor is allowed to take a measurement at each time. In particular, this paper formulates an optimal sensor scheduling problem for mobile robot exploration and navigation using a sensor network whose sensors are placed on the ground. The sensors are position sensors, and each measurement noise depends on the distance between the positions of the sensor and the robot. This paper provides an optimal sensor selection policy which minimizes a given quadratic cost function. In addition, we characterize the set of points where the available sensor is switched under the optimal sensor scheduling.
AB - This paper examines sensor scheduling problems for multi-sensor systems when only one sensor is allowed to take a measurement at each time. In particular, this paper formulates an optimal sensor scheduling problem for mobile robot exploration and navigation using a sensor network whose sensors are placed on the ground. The sensors are position sensors, and each measurement noise depends on the distance between the positions of the sensor and the robot. This paper provides an optimal sensor selection policy which minimizes a given quadratic cost function. In addition, we characterize the set of points where the available sensor is switched under the optimal sensor scheduling.
UR - https://www.scopus.com/pages/publications/46449084090
U2 - 10.1109/ACC.2007.4283086
DO - 10.1109/ACC.2007.4283086
M3 - Conference contribution
AN - SCOPUS:46449084090
SN - 1424409888
SN - 9781424409884
T3 - Proceedings of the American Control Conference
SP - 1027
EP - 1032
BT - Proceedings of the 2007 American Control Conference, ACC
T2 - 2007 American Control Conference, ACC
Y2 - 9 July 2007 through 13 July 2007
ER -