Abstract
This chapter introduces a numerical procedure for optimal sensor-motion scheduling of diffusion systems for parameter estimation. With the knowledge of the PDE governing a given DPS, mobile sensors find an initial trajectory to follow and refine the trajectory as their measurements allow finding a better estimate of the system parameters. Using the MATLAB PDE toolbox for the system’s simulations, RIOTS MATLAB toolbox for solving the optimal path-planning problem, and MATLAB Optimization toolbox for the estimation of the system parameters, we can successfully solve this parameter identification problem in an interlaced manner. Simulation results are presented to show both the advantages of the strategy and the convergence of the estimation. We show in this chapter that the concept of communication topology can be introduced into the framework of optimal sensor-motion scheduling of diffusion systems for parameter estimation. The method is successfully applied to an illustrative example. Our results show that when the sensors are not communicating, the lack of information greatly decreases the performance of the strategy.
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Tricaud, C., Chen, Y. (2012). Online Optimal Mobile Sensing Policies: Finite-Horizon Control Framework. In: Optimal Mobile Sensing and Actuation Policies in Cyber-physical Systems. Springer, London. https://doi.org/10.1007/978-1-4471-2262-3_5
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DOI: https://doi.org/10.1007/978-1-4471-2262-3_5
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