Diffusion-based path planning in mobile actuator-sensor networks (MAS-net): some preliminary results

Kevin L. Moore; YangQuan Chen; Zhen Song

doi:10.1117/12.543813

12 April 2004 Diffusion-based path planning in mobile actuator-sensor networks (MAS-net): some preliminary results

Kevin L. Moore, YangQuan Chen, Zhen Song

Proceedings Volume 5421, Intelligent Computing: Theory and Applications II; (2004) https://doi.org/10.1117/12.543813
Event: Defense and Security, 2004, Orlando, Florida, United States

Abstract

In this paper we present preliminary results related to path-planning problems when it is known that the quantities of interest in the system are generated via a diffusion process. The use of mobile sensor-actuator networks (MAS-Net) is proposed for such problems. A discussion of such networks is given, followed by a description of the general framework of the problem. Our strategy assumes that a network of mobile sensors can be commanded to collect samples of the distribution of interest. These samples are then used as constraints for a predictive model of the process. The predicted distribution from the model is then used to determine new sampling locations. A 2-D testbed for studying these ideas is described. The testbed includes a network of ten robots operating as a network using Intel Motes. We also present simulation results from our initial partial differential equation model of the diffusion process in the testbed.

Citation Download Citation

Kevin L. Moore, YangQuan Chen, and Zhen Song "Diffusion-based path planning in mobile actuator-sensor networks (MAS-net): some preliminary results", Proc. SPIE 5421, Intelligent Computing: Theory and Applications II, (12 April 2004); https://doi.org/10.1117/12.543813

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