Optimal sensor scheduling of sensors in a sensor network for mobile robot navigation

Shogo Arai; Yasushi Iwatani; Koichi Hashimoto

doi:10.1109/ACC.2007.4283086

Optimal sensor scheduling of sensors in a sensor network for mobile robot navigation

Shogo Arai, Yasushi Iwatani, Koichi Hashimoto

INF - System Information Sciences

Tohoku University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Citations (Scopus)

Abstract

This paper examines sensor scheduling problems for multi-sensor systems when only one sensor is allowed to take a measurement at each time. In particular, this paper formulates an optimal sensor scheduling problem for mobile robot exploration and navigation using a sensor network whose sensors are placed on the ground. The sensors are position sensors, and each measurement noise depends on the distance between the positions of the sensor and the robot. This paper provides an optimal sensor selection policy which minimizes a given quadratic cost function. In addition, we characterize the set of points where the available sensor is switched under the optimal sensor scheduling.

Original language	English
Title of host publication	Proceedings of the 2007 American Control Conference, ACC
Pages	1027-1032
Number of pages	6
DOIs	https://doi.org/10.1109/ACC.2007.4283086
Publication status	Published - 2007
Event	2007 American Control Conference, ACC - New York, NY, United States Duration: 2007 Jul 9 → 2007 Jul 13

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Conference

Conference	2007 American Control Conference, ACC
Country/Territory	United States
City	New York, NY
Period	07/7/9 → 07/7/13

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10.1109/ACC.2007.4283086

Cite this

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title = "Optimal sensor scheduling of sensors in a sensor network for mobile robot navigation",

abstract = "This paper examines sensor scheduling problems for multi-sensor systems when only one sensor is allowed to take a measurement at each time. In particular, this paper formulates an optimal sensor scheduling problem for mobile robot exploration and navigation using a sensor network whose sensors are placed on the ground. The sensors are position sensors, and each measurement noise depends on the distance between the positions of the sensor and the robot. This paper provides an optimal sensor selection policy which minimizes a given quadratic cost function. In addition, we characterize the set of points where the available sensor is switched under the optimal sensor scheduling.",

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year = "2007",

doi = "10.1109/ACC.2007.4283086",

language = "English",

isbn = "1424409888",

series = "Proceedings of the American Control Conference",

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Arai, S, Iwatani, Y & Hashimoto, K 2007, Optimal sensor scheduling of sensors in a sensor network for mobile robot navigation. in Proceedings of the 2007 American Control Conference, ACC., 4283086, Proceedings of the American Control Conference, pp. 1027-1032, 2007 American Control Conference, ACC, New York, NY, United States, 07/7/9. https://doi.org/10.1109/ACC.2007.4283086

Optimal sensor scheduling of sensors in a sensor network for mobile robot navigation. / Arai, Shogo; Iwatani, Yasushi; Hashimoto, Koichi.
Proceedings of the 2007 American Control Conference, ACC. 2007. p. 1027-1032 4283086 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This paper examines sensor scheduling problems for multi-sensor systems when only one sensor is allowed to take a measurement at each time. In particular, this paper formulates an optimal sensor scheduling problem for mobile robot exploration and navigation using a sensor network whose sensors are placed on the ground. The sensors are position sensors, and each measurement noise depends on the distance between the positions of the sensor and the robot. This paper provides an optimal sensor selection policy which minimizes a given quadratic cost function. In addition, we characterize the set of points where the available sensor is switched under the optimal sensor scheduling.

AB - This paper examines sensor scheduling problems for multi-sensor systems when only one sensor is allowed to take a measurement at each time. In particular, this paper formulates an optimal sensor scheduling problem for mobile robot exploration and navigation using a sensor network whose sensors are placed on the ground. The sensors are position sensors, and each measurement noise depends on the distance between the positions of the sensor and the robot. This paper provides an optimal sensor selection policy which minimizes a given quadratic cost function. In addition, we characterize the set of points where the available sensor is switched under the optimal sensor scheduling.

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Optimal sensor scheduling of sensors in a sensor network for mobile robot navigation

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