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 offers theoretical dependent algorithms with a spotlight in the direction of sensible 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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The rate of convergence of the three algorithms can be compared through the speed of convergence for r0, g0 and b0. The figures also show a camera snapshot of the actual field, estimated field and norm of the error in these coefficients that decreases with the number of samples. The reason for the slight discrepancy is not colour measurement or estimation errors, but differences between screen and printer colours on the laboratory floor. In these experiments, the robot localization is obtained through the overhead camera image, as opposed to dead reckoning.

Effect of system dynamics: À A^kþ1 ¼ A^k À Pkþ1 ¼ Pk ð3:36Þ CH003 15 February 2011; 19:30:53 Adaptive sampling of parametric fields Greedy adaptive sampling with grid size = 5, horizon size = 1 45 Greedy adaptive sampling with grid size = 10, horizon size = 1 100 100 80 80 60 z z 60 40 40 100 20 100 20 80 0 0 60 60 20 80 x (units) a 10 100 b 2 0 0 50 Sample no. 5 0 50 Sample no. 0 0 50 Sample no. Error in a 0 50 Sample no. Error in b 0 50 Sample no. 2-Norm of error 5 0 100 200 300 Distance (units) 2-Norm of error 10 5 0 0 20 40 No.

However, this kind of approach cannot be used to monitor wide areas. Also, a sparse density of placement of static nodes reduces the accuracy of the estimate. Other related problems for static sensor network are coverage and connectivity [77]. The coverage problem is defined as the maximization of the total area covered by the sensors, whereas connectivity is the requirement that every sensor should be CH003 15 February 2011; 19:30:48 Adaptive sampling of parametric fields 29 able to communicate with every other sensor.

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