An introduction to signal detection and estimation (2nd ed.)
An introduction to signal detection and estimation (2nd ed.)
The Cricket location-support system
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
Approximation algorithms
Wireless sensor networks for habitat monitoring
WSNA '02 Proceedings of the 1st ACM international workshop on Wireless sensor networks and applications
Sensor network-based countersniper system
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
A wireless sensor network For structural monitoring
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
A line in the sand: a wireless sensor network for target detection, classification, and tracking
Computer Networks: The International Journal of Computer and Telecommunications Networking - Special issue: Military communications systems and technologies
Deploying a Wireless Sensor Network on an Active Volcano
IEEE Internet Computing
A reliable sensor data collection network using unmanned aircraft
REALMAN '06 Proceedings of the 2nd international workshop on Multi-hop ad hoc networks: from theory to reality
An empirical study of collaborative acoustic source localization
Proceedings of the 6th international conference on Information processing in sensor networks
Shooter localization and weapon classification with soldier-wearable networked sensors
Proceedings of the 5th international conference on Mobile systems, applications and services
Optimal angular sensor separation for AOA localization
Signal Processing
Exploiting geometry for improved hybrid AOA/TDOA-based localization
Signal Processing
Optimotaxis: A Stochastic Multi-agent Optimization Procedure with Point Measurements
HSCC '08 Proceedings of the 11th international workshop on Hybrid Systems: Computation and Control
A Stochastic and Dynamic Vehicle Routing Problem with Time Windows and Customer Impatience
Mobile Networks and Applications
Particle filter based information-theoretic active sensing
Robotics and Autonomous Systems
A simple and efficient estimator for hyperbolic location
IEEE Transactions on Signal Processing
Exact and Approximate Solutions of Source Localization Problems
IEEE Transactions on Signal Processing
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We propose and demonstrate a novel architecture for on-the-fly inference while collecting data from sparse sensor networks. In particular, we consider source localization using acoustic sensors dispersed over a large area, with the individual sensors located too far apart for direct connectivity. An Unmanned Aerial Vehicle (UAV) is employed for collecting sensor data, with the UAV route adaptively adjusted based on data from sensors already visited, in order to minimize the time to localize events of interest. The UAV therefore acts as a information-seeking data mule, not only providing connectivity, but also making Bayesian inferences from the data gathered in order to guide its future actions. The system we demonstrate has a modular architecture, comprising efficient algorithms for acoustic signal processing, routing the UAV to the sensors, and source localization. We report on extensive field tests which not only demonstrate the effectiveness of our general approach, but also yield specific practical insights into GPS time synchronization and localization accuracy, acoustic signal and channel characteristics, and the effects of environmental phenomena.