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

Shogo Arai, Yasushi Iwatani, Koichi Hashimoto

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Citations (Scopus)


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 languageEnglish
Title of host publicationProceedings of the 2007 American Control Conference, ACC
Number of pages6
Publication statusPublished - 2007
Event2007 American Control Conference, ACC - New York, NY, United States
Duration: 2007 Jul 92007 Jul 13

Publication series

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


Conference2007 American Control Conference, ACC
Country/TerritoryUnited States
CityNew York, NY


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