ACE in the Hole: Adaptive Contour Estimation Using Collaborating Mobile Sensors
IPSN '08 Proceedings of the 7th international conference on Information processing in sensor networks
Cooperative exploration of level surfaces of three dimensional scalar fields
Automatica (Journal of IFAC)
Method for tracking of environmental level sets by a unicycle-like vehicle
Automatica (Journal of IFAC)
Testbeds for ubiquitous robotics: A survey
Robotics and Autonomous Systems
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This paper describes a cooperative testbed implementation of a new algorithm (Jin and Bertozzi, CDC 2007) for environmental boundary tracking and estimation using only localized noisy sensors. The tracking algorithm is based on Page's cumulative sum algorithm (CUSUM) a method for change-point detection. A geometric, biologically inspired, motion control algorithm allows individual vehicles to track and follow the environmental boundary without external positioning information. Relative positioning between vehicles allows several to maintain a convoy while tracking the boundary. The algorithm performs well in the presence of moderate sensor noise.