Control parametrization: a unified approach to optimal control problems with general constraints
Automatica (Journal of IFAC)
Data Fusion and Sensor Management: A Decentralized Information-Theoretic Approach
Data Fusion and Sensor Management: A Decentralized Information-Theoretic Approach
Virtual high-resolution for sensor networks
Proceedings of the 4th international conference on Embedded networked sensor systems
Decentralized Bayesian algorithms for active sensor networks
Information Fusion
Reconfiguration methods for mobile sensor networks
ACM Transactions on Sensor Networks (TOSN)
Applications of hybrid reachability analysis to robotic aerial vehicles
International Journal of Robotics Research
Robotics and Autonomous Systems
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This paper describes an information-theoretic approach to decentralised and coordinated control of multi-robot sensor systems. It builds on techniques long established for the related problem of Decentralised Data Fusion (DDF). The DDF architecture uses information measures to communicate state estimates in a network of sensors. For coordinated control of robot sensors, the control objective becomes maximisation of these information measures. A decentralised coordinated control architecture is presented. The approach taken seeks to achieve scalable solutions that maintain consistent probabalistic sensor fusion and payoff formulations. It inherits the many benefits of the DDF method including scalability, seamless handling of sub-system activation and deactivation, and interoperability among heterogeneous units. These features are demonstrated through application to practical multi-feature localisation problems on a team of indoor robots equipped with laser range finders.