A sensor selection method considering communication delays

被引：17

作者：

Kagami, S ^{[1
]}

Ishikawa, M ^{[1
]}

机构：

[1] Univ Tokyo, Dept Informat Phys & Comp, Bunkyo Ku, Tokyo 1138656, Japan

来源：

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年

关键词：

D O I：

10.1109/ROBOT.2004.1307152

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A sensor selection method for distributed real-time sensing is proposed where the effect of communication delays is taken into account. First, a multi-sensor fusion algorithm that allows communication delays is proposed. This method takes advantage of the information form of Kalman filtering in order to maintain scalability with the number of sensors. Based on this algorithm, an algorithm is developed that calculates mutual information between an observation and the state to be estimated, which provides a criterion for sensor selection. Simulated results or a target-tracking task show its effectiveness.

引用

页码：206 / 211

页数：6

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