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Tracking and modeling of spatio-temporal fields with a mobile sensor network

Bowen Lu, and Dongbing Gu, and Huosheng Hu, (2014) Tracking and modeling of spatio-temporal fields with a mobile sensor network. In: 2014 11th World Congress on Intelligent Control and Automation (WCICA), 2014-06-29 - 2014-07-04.

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Abstract

This paper presents an approach to modeling and tracking spatio-temporal field functions by using a mobile sensor network. The modeling tool used is the Gaussian process regression (GPR) technique characterized by a spatial kernel function. Due to the dynamic nature of spatio-temporal fields, the sampled data points have to be selected to remove the outdated data points before they are used for modeling. Less data points also reduces the computational complexity of GPR. The data selection is conducted via an information entropy based selection criteria. With the selected data points and the estimated GPR model, the mobile sensor nodes are controlled to cover the interested region and track the field function. The coverage and tacking control are implemented by using the centroidal Voronoi tessellation (CVT) method with a constraint of limited communication range. The algorithms are verified by using simulation and real robot experiments. The environmental field in the practical experiment is a moving light intensity distribution. The experimental results show the robots are able to model and track the moving field.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Published proceedings: Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health
Faculty of Science and Health > Computer Science and Electronic Engineering, School of
SWORD Depositor: Elements
Depositing User: Elements
Date Deposited: 23 Jul 2015 10:06
Last Modified: 15 Jan 2022 00:44
URI: http://repository.essex.ac.uk/id/eprint/14418

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