Journal
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
Volume 42, Issue 9, Pages 1491-1505Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207721.2011.572198
Keywords
mobile sensor network; model-based; model-free; pollutant monitoring
Categories
Funding
- European Union [ICT-231646]
Ask authors/readers for more resources
This article proposes to deploy a group of mobile sensor agents to cover a polluted region so that they are able to retrieve the pollutant distribution. The deployed mobile sensor agents are capable of making point observation in the natural environment. There are two approaches to modelling the pollutant distribution proposed in this article. One is a model-based approach where the sensor agents sample environmental pollutant, build up an environmental pollutant model and move towards the region where high density pollutant exists. The modelling technique used is a distributed support vector regression and the motion control technique used is a distributed locational optimising algorithm (centroidal Voronoi tessellation). The other is a model-free approach where the sensor agents sample environmental pollutant and directly move towards the region where high density pollutant exists without building up a model. The motion control technique used is a bacteria chemotaxis behaviour. By combining this behaviour with a flocking behaviour, it is possible to form a spatial distribution matched to the underlying pollutant distribution. Both approaches are simulated and tested with a group of real robots.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available