Spatially-Distributed Prediction with Mobile Robotic Wireless Sensor Networks

Publisher:
Institute of Electrical and Electronics Engineers Inc.
Publication Type:
Conference Proceeding
Citation:
2014 13th International Conference on Control, Automation, Robotics & Vision, 2014, pp. 1153 - 1158 (6)
Issue Date:
2014-12-12
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This paper presents a distributed spatial estimation and prediction approach to address the centrally-computed scheme of Gaussian Process regression at each robotic sensor in resource-constrained networks of mobile, wireless and noisy agents monitoring physical phenomena of interest. A mobile sensor independently estimate its own parameters using collective measurements from itself and local neighboring agents as they navigate through the environment. A spatially-distributed prediction algorithm is designed utilizing methods of Jacobi overrelaxation and discrete-time average consensus to enable a robotic sensor to update its estimation of obtaining the global model parameters and recursively compute the global goal of inference. A distributed navigation strategy is also considered to drive sensors to the most uncertain locations enhancing the quality of prediction and learning parameters. Experimental results in a real-world data set illustrate the effectiveness of the proposed approach and is highly comparable to those of the centralized scheme.
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