Information based distributed control for biochemical source detection and localization

Panos Tzanos; Miloš Žefran; Arye Nehorai

doi:10.1109/ROBOT.2005.1570806

Information based distributed control for biochemical source detection and localization

Panos Tzanos
, Miloš Žefran
, Arye Nehorai

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

11 Scopus citations

Abstract

The paper proposes several improvements on the Direction of Gradient (DOG) algorithm proposed in [1] for detecting and localizing a biochemical source with moving sensors. In particular, we show that the DOG algorithm can be turned into a distributed control scheme for a mobile sensing network, and that the maximum likelihood estimation proposed in the original algorithm can be replaced with more computationally efficient numerical procedures. Simulations on a single sensor and on a group of mobile sensors are provided that show that the proposed modifications simplify the original algorithm and improve its performance.

Original language	English
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	4457-4462
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2005.1570806
State	Published - 2005
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: Apr 18 2005 → Apr 22 2005

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2005
ISSN (Print)	1050-4729

Conference

Conference	2005 IEEE International Conference on Robotics and Automation
Country/Territory	Spain
City	Barcelona
Period	04/18/05 → 04/22/05

Keywords

Biochemical source localization
Cramér-Rao bound (CRB)
Mobile sensor networks
Robot coordination algorithms

Access to Document

10.1109/ROBOT.2005.1570806

Cite this

Tzanos, P., Žefran, M., & Nehorai, A. (2005). Information based distributed control for biochemical source detection and localization. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation (pp. 4457-4462). Article 1570806 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570806

@inproceedings{4e4d1fefa29f4319839d27a856004e7d,

title = "Information based distributed control for biochemical source detection and localization",

abstract = "The paper proposes several improvements on the Direction of Gradient (DOG) algorithm proposed in [1] for detecting and localizing a biochemical source with moving sensors. In particular, we show that the DOG algorithm can be turned into a distributed control scheme for a mobile sensing network, and that the maximum likelihood estimation proposed in the original algorithm can be replaced with more computationally efficient numerical procedures. Simulations on a single sensor and on a group of mobile sensors are provided that show that the proposed modifications simplify the original algorithm and improve its performance.",

keywords = "Biochemical source localization, Cram{\'e}r-Rao bound (CRB), Mobile sensor networks, Robot coordination algorithms",

author = "Panos Tzanos and Milo{\v s} {\v Z}efran and Arye Nehorai",

year = "2005",

doi = "10.1109/ROBOT.2005.1570806",

language = "English",

isbn = "078038914X",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "4457--4462",

booktitle = "Proceedings of the 2005 IEEE International Conference on Robotics and Automation",

note = "2005 IEEE International Conference on Robotics and Automation ; Conference date: 18-04-2005 Through 22-04-2005",

}

Tzanos, P, Žefran, M & Nehorai, A 2005, Information based distributed control for biochemical source detection and localization. in Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 1570806, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2005, pp. 4457-4462, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 04/18/05. https://doi.org/10.1109/ROBOT.2005.1570806

Information based distributed control for biochemical source detection and localization. / Tzanos, Panos; Žefran, Miloš; Nehorai, Arye.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 4457-4462 1570806 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Information based distributed control for biochemical source detection and localization

AU - Tzanos, Panos

AU - Žefran, Miloš

AU - Nehorai, Arye

PY - 2005

Y1 - 2005

N2 - The paper proposes several improvements on the Direction of Gradient (DOG) algorithm proposed in [1] for detecting and localizing a biochemical source with moving sensors. In particular, we show that the DOG algorithm can be turned into a distributed control scheme for a mobile sensing network, and that the maximum likelihood estimation proposed in the original algorithm can be replaced with more computationally efficient numerical procedures. Simulations on a single sensor and on a group of mobile sensors are provided that show that the proposed modifications simplify the original algorithm and improve its performance.

AB - The paper proposes several improvements on the Direction of Gradient (DOG) algorithm proposed in [1] for detecting and localizing a biochemical source with moving sensors. In particular, we show that the DOG algorithm can be turned into a distributed control scheme for a mobile sensing network, and that the maximum likelihood estimation proposed in the original algorithm can be replaced with more computationally efficient numerical procedures. Simulations on a single sensor and on a group of mobile sensors are provided that show that the proposed modifications simplify the original algorithm and improve its performance.

KW - Biochemical source localization

KW - Cramér-Rao bound (CRB)

KW - Mobile sensor networks

KW - Robot coordination algorithms

UR - https://www.scopus.com/pages/publications/33846143494

U2 - 10.1109/ROBOT.2005.1570806

DO - 10.1109/ROBOT.2005.1570806

M3 - Conference contribution

AN - SCOPUS:33846143494

SN - 078038914X

SN - 9780780389144

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 4457

EP - 4462

BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation

T2 - 2005 IEEE International Conference on Robotics and Automation

Y2 - 18 April 2005 through 22 April 2005

ER -

Information based distributed control for biochemical source detection and localization

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Keywords

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