Mobile Sensor Navigation and Estimation of Unknown Spatial Fields
Navigation de capteurs mobiles et estimation de champs spatiaux inconnus
Résumé
This preliminary note focuses on the navigation of mobile sensors for the purpose of estimating unknown spatial fields. Two main approaches are discussed: the first considers the optimal planning of mobile sensors based on maximising a D criterion of the Fisher information matrix. This approach includes mutual avoidance of sensors and domain constraints. The second approach is adaptive and suitable for real-time navigation and estimation. The note also addresses the non-linear case using an extended Kalman filter and an optimal non-linear filter.
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