Distributed Robotic Radiation Mapping

  • R. Andres Cortez
  • Herbert G. Tanner
  • Ron Lumia
Conference paper

DOI: 10.1007/978-3-642-00196-3_17

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 54)
Cite this paper as:
Cortez R.A., Tanner H.G., Lumia R. (2009) Distributed Robotic Radiation Mapping. In: Khatib O., Kumar V., Pappas G.J. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 54. Springer, Berlin, Heidelberg

Summary

We develop a control scheme to coordinate a group of mobile sensors for radiation mapping of a given planar polygon region. The scheme is based on the concept of information surfing, where navigation is done by following information gradients, taking into account sensing performance as well as dynamics of the observed process. The control scheme steers mobile sensors to locations at which they maximize the information content of their measurement data. The resulting controllers depend on both time, sensor measurements and local robot configurations, and the approach exploits the asymptotic properties of mutual information to offer an invariance-type stability result for a time-varying distributed cooperative system.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • R. Andres Cortez
    • 1
  • Herbert G. Tanner
    • 1
  • Ron Lumia
    • 1
  1. 1.Mechanical Engineering DepartmentUniversity of New Mexico 

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