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Published May 2004 | Submitted + Published
Book Section - Chapter Open

Sensor scheduling algorithms requiring limited computation

Abstract

In this paper, we consider the scenario where many sensors co-operate to estimate a process. Only one sensor can take a measurement at any time step. We wish to come up with optimal sensor scheduling algorithms. The problem is motivated by the use of sonar range-finders used by the vehicles on the Caltech Multi-Vehicle Wireless Testbed. We see that this problem involves searching a tree in general and propose and analyze two strategies for pruning the tree to keep the computation limited. The first is a sliding window strategy motivated by the Viterbi algorithm, and the second one uses thresholding. We also study a technique that employs choosing the sensors randomly from a probability distribution which can then be optimized. The performance of the algorithms are illustrated with the help of numerical examples.

Additional Information

© 2004 IEEE. Work supported in part by AFOSR grant F49620-01-1-0460. Work supported in part by the Engineering Research Centers Program of the National Science Foundation under Award Number EEC-9402726 and also a grant from NASA.

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Submitted - SENSOR_SCHEDULING_ALGORITHMS_REQUIRING_LIMITED_COMPUTATION.pdf

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