Information-theoretic integration of sensing and communication for active robot networks

Authors:
Eric W. Frew
Affiliations:
University of Colorado, Boulder, CO
Venue:
Proceedings of the 1st international conference on Robot communication and coordination
Year:
2007

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Abstract

This paper presents an information-theoretic approach to sensor placement that incorporates communication capacity into an optimal formulation. A new formulation is presented that maximizes the information rate achievable by a set of sensors communicating wirelessly to a single collection node. Shannon capacity and the standard radio propagation model are used to model the throughput achievable by a sensor configuration. Likewise, the d-optimality criterion from the active sensing literature is used to model information gain provided by range and bearing sensors. The combiniation of information-theoretic measures leads to a metric equivalent to the expected information rate achievable by the system. Sensor positions are selected that optimize this measure.