TY - GEN

T1 - Generating contour plots using multiple sensor platforms

AU - Zhang, Fumin

AU - Leonard, Naomi Ehrich

PY - 2005

Y1 - 2005

N2 - We prove a convergent strategy for a group of mobile sensors to generate contour plots, i.e., to automatically detect and track level curves of a scalar field in the plane. The group can consist of as few as four mobile sensors, where each sensor can take only a single measurement at a time. The shape of the formation of mobile sensors is determined to minimize the least mean square error in the estimates of the scalar field and its gradient. The algorithm to generate a contour plot is based on feedback control laws for each sensor platform. The control laws serve two purposes: to guarantee that the center of the formation moves along one level curve at unit speed; and to stabilize the shape of the formation. We prove that both goals can be achieved asymptotically. We show simulation results that illustrate the performance of the control laws in noisy environments.

AB - We prove a convergent strategy for a group of mobile sensors to generate contour plots, i.e., to automatically detect and track level curves of a scalar field in the plane. The group can consist of as few as four mobile sensors, where each sensor can take only a single measurement at a time. The shape of the formation of mobile sensors is determined to minimize the least mean square error in the estimates of the scalar field and its gradient. The algorithm to generate a contour plot is based on feedback control laws for each sensor platform. The control laws serve two purposes: to guarantee that the center of the formation moves along one level curve at unit speed; and to stabilize the shape of the formation. We prove that both goals can be achieved asymptotically. We show simulation results that illustrate the performance of the control laws in noisy environments.

UR - http://www.scopus.com/inward/record.url?scp=33745782063&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33745782063&partnerID=8YFLogxK

U2 - 10.1109/SIS.2005.1501637

DO - 10.1109/SIS.2005.1501637

M3 - Conference contribution

AN - SCOPUS:33745782063

SN - 0780389166

SN - 9780780389168

T3 - Proceedings - 2005 IEEE Swarm Intelligence Symposium, SIS 2005

SP - 319

EP - 326

BT - Proceedings - 2005 IEEE Swarm Intelligence Symposium, SIS 2005

T2 - 2005 IEEE Swarm Intelligence Symposium, SIS 2005

Y2 - 8 June 2005 through 10 June 2005

ER -