Distributed Robotic Radiation Mapping

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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.