1st International ICST Conference on Robot Communication and Coordination

Research Article

Distributed Adaptive Sampling Using Bounded-Errors

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  • @INPROCEEDINGS{10.4108/ICST.ROBOCOMM2007.2185,
        author={K\^{e}vin Huguenin and M. Jo\"{a}o Rendas},
        title={Distributed Adaptive Sampling Using Bounded-Errors},
        proceedings={1st International ICST Conference on Robot Communication and Coordination},
        proceedings_a={ROBOCOMM},
        year={2010},
        month={5},
        keywords={},
        doi={10.4108/ICST.ROBOCOMM2007.2185}
    }
    
  • Kévin Huguenin
    M. João Rendas
    Year: 2010
    Distributed Adaptive Sampling Using Bounded-Errors
    ROBOCOMM
    ICST
    DOI: 10.4108/ICST.ROBOCOMM2007.2185
Kévin Huguenin1,*, M. João Rendas2,*
  • 1: ENS Cachan / Lab. I3S, CNRS-UNSA Sophia Antipolis, France
  • 2: Lab. I3S, CNRS-UNSA Sophia Antipolis, France
*Contact email: huguenin@i3s.unice.fr, rendas@i3s.unice.fr

Abstract

This paper presents a communication/coordination/ processing architecture for distributed adaptive observation of a spatial field using a fleet of autonomous mobile sensors. One of the key difficulties in this context is to design scalable algorithms for incremental fusion of information across platforms robust to what is known as the “rumor problem”. Incremental fusion is in general based on a Bayesian approach, and algorithms (e.g. the Covariance Intersection, CI) which propagate consistent characterizations of the estimation error under this challenging situation have been proposed. In this paper, we propose to base inter-sensor fusion on a deterministic approach which considers that bounds to the observation errors are known, wich is intrinsically robust to the rumor problem. We present the equations that enable the determination of the ellipsoidal domain of uncertainty that covers the intersection of the individual sets describing sensor’s uncertainty, and show that they solve some pathologies associated to CI. The results presented corroborate a previous claim of the robustness of our control strategy (the criterion used for adaptively choosing the nodes positions) with respect to the conservativeness of fusion methods able to handle rumor