Adaptive multiscale sampling in robotic sensor networks

  • Authors:
  • Vadiraj Hombal;Arthur Sanderson;D. Richard Blidberg

  • Affiliations:
  • Dept. of Electrical, Computer & Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY;Dept. of Electrical, Computer & Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY;Autonomous Undersea Research Institute, Lee, New Hampshire

  • Venue:
  • IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
  • Year:
  • 2009

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Abstract

This work focuses on the observation of environmental phenomena that occur as spatial distributions in two and three dimensions, using sensor-enabled mobile vehicles(ground,air or undersea). Algorithms to guide an adaptive exploration of a given region through systematic choice of sampling locations under the constraints imposed by vehicles are presented. Variation sensitive multiresolution sample distributions are achieved through an iterative variation sensitive estimation of the unknown process.