Title:
Realization of the Sensor Web Concept for Earth Science Using Mobile Robotic Platforms
Realization of the Sensor Web Concept for Earth Science Using Mobile Robotic Platforms
Author(s)
Howard, Ayanna M.
Smith, Brian Stephen
Egerstedt, Magnus B.
Smith, Brian Stephen
Egerstedt, Magnus B.
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Abstract
In this paper, we discuss the realization of a
robotic mobile sensor network that allows for controlled
reconfiguration of sensor assets in a decentralized manner.
The motivation is to allow the construction of a new system
of in-situ science observations that requires higher spatial
and temporal resolution models that are needed for
expanding our understanding of Earth system change. These
observations could enable recording of spatial and temporal
variations in environmental parameters required for such
activities as monitoring of seismic activity, monitoring of
civil and engineering infrastructures, and detection of toxic
agents throughout a region of interest. The difficulty in
establishing these science observations are that global
formation properties must be achieved based on the local
interactions between individual sensors. As such, we
present a novel approach that allows for the sensor network
to function in a decentralized manner and is thus able to
achieve global formations despite individual sensor failure,
limitations in communication range, and changing scientific
objectives. Details on the sensing and control algorithms for
controlled reconfiguration will be discussed and results of
field deployment will be presented.
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Date Issued
2007-03
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Text
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Proceedings