On Optimal Sensor Placement and Motion Coordination for Target Tracking

Abstract

This work studies optimal sensor placement and motion coordination strategies for mobile sensor networks. For a target tracking application with range sensors, we investigate the determinant of the Cramer-Rao Lower Bound and compute it in the 2D and 3D cases. We characterize the global minima of the 2D case. We propose and characterize motion coordination algorithms that steer the mobile sensor network to an optimal deployment and that are amenable to a decentralized implementation. Finally, our numerical simulations illustrate how the proposed motion coordination algorithms lead to the improved performance of an extended Kalman filter in a target tracking scenario.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2004
Accession Number
ADA460179

Entities

People

  • Francesco Bullo
  • Sonia Martı́nez
  • Sulema Aranda

Organizations

  • University of California, Santa Barbara

Tags

Communities of Interest

  • Sensors

DTIC Thesaurus Topics

  • Algorithms
  • Boundaries
  • Closed Loop Systems
  • Computations
  • Control Systems
  • Convex Sets
  • Detectors
  • Eigenvalues
  • Engineering
  • Equations
  • Filters
  • Kalman Filters
  • Sensor Networks
  • Simulations
  • Target Tracking
  • Three Dimensional
  • Two Dimensional

Fields of Study

  • Computer science
  • Engineering

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Computer Networking