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Proceedings Paper

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

Paper Details

Date Published: 12 April 2004
PDF: 12 pages
Proc. SPIE 5421, Intelligent Computing: Theory and Applications II, (12 April 2004); doi: 10.1117/12.543813
Show Author Affiliations
Kevin L. Moore, Utah State Univ. (United States)
YangQuan Chen, Utah State Univ. (United States)
Zhen Song, Utah State Univ. (United States)


Published in SPIE Proceedings Vol. 5421:
Intelligent Computing: Theory and Applications II
Kevin L. Priddy, Editor(s)

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