Download Adaptive Sampling with Mobile WSN: Simultaneous robot by Koushil Sreenath, M.F. Mysorewalla, Dan O. Popa, Frank L. PDF

By Koushil Sreenath, M.F. Mysorewalla, Dan O. Popa, Frank L. Lewis

This informative textual content for graduate scholars, researchers and practitioners engaged on cellular instant sensor networks presents theoretical dependent algorithms with a spotlight in the direction of functional implementation.

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Additional info for Adaptive Sampling with Mobile WSN: Simultaneous robot localisation and mapping of paramagnetic spatio-temporal fields

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However, one drawback of using this standard approach of AS is that it is computationally complex because it calculates the anticipated error covariance of the locations in the entire search space. To overcome this drawback, a heuristic GAS is used to indirectly incorporate the time to move for the robot and reduce complexity. 2 Heuristic greedy AS If the sampling area is large, the optimal sampling position could be far away from current robot location, and it will not be efficient in minimizing the sampling time.

3 ... 6 4 Z1 ... 2 ð3:19Þ where Mn is an n  m matrix. 19) is simply ... @ A^n ¼ ð 1 g i ðX j Þ Þþ i m, j n Z1 1 0 A ¼ M nþ@ Z1 ... 0 Zn 1 A ð3:20Þ Zn where M n þ is the Moore–Penrose inverse of Mn. Moreover, the pseudo-inverse has a closed-form solution given by M n þ ¼ ðM n T M n ÞÀ1 M n T ð3:21Þ leading to a parameter estimate closed form, as follows: ... B BX B B n B 1 Á Á Á g ðX Þ Á Á Á g ðX Þ ð Þ A^n ¼ B i j m j B g i ðX j Þ B @ @ j¼1 0 11À1 CC CC CC CC AA gm ðX j Þ n X j¼1 1 1 ... 1 B B g ðX Þ ZjB B i j @ ...

We also investigated the effect of changing grid sizes for the sampling simulations. We used the following numerical assumptions: ● ● ● ● ● ● Actual parameters: ½ a s x0 y0 Š ¼ ½ 100 50 40 Initial parameter estimates: ½ 80 40 35 75 Š. 2 3 10 0 0 0 6 0 10 0 07 7. Initial error covariance: P ¼ 6 4 0 0 10 0 5 0 0 0 10 60 Š. Model error covariance: Q ¼ 0. Measurement error covariance: R ¼ 1. Convergence criteria: jj A À A^kþ1 jj < 2:5. 15 for the three sampling schemes for individual parameter estimates, error covariance of individual parameters, error in individual parameter estimates, error in individual error covariance, 2-norm of parameter estimates and 2-norm of error covariance of parameters.

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