Decentralized Estimation and Control for Multisensor Systems
Decentralized Estimation and Control for Multisensor Systems
Microwave Mobile Communications
Microwave Mobile Communications
IPSN '05 Proceedings of the 4th international symposium on Information processing in sensor networks
Decentralized Communication-Aware Motion Planning in Mobile Networks: An Information-Gain Approach
Journal of Intelligent and Robotic Systems
Decentralized Communication-Aware Motion Planning in Mobile Networks: An Information-Gain Approach
Journal of Intelligent and Robotic Systems
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In this paper we consider a team of mobile nodes that are in charge of cooperative target tracking. We propose communication-aware navigation functions that allow the nodes to perform their task while maintaining their connectivity to a fixed base station and avoiding obstacles. More specifically, we show how to incorporate measures of link qualities in the navigation functions. We consider both centralized and decentralized scenarios. We furthermore explore the impact of stochastic channels and channel estimation error on the overall performance.