Stability analysis of information based control for biochemical source localization

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2006, Issue , 2006, Pages 3116-3121

  Tzanos, Panos ^a   Žefran, Miloš ^a  

^a 1120 Science and Engineering Offices   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; BIOCHEMISTRY; COMPUTER SIMULATION; MATRIX ALGEBRA; SENSORS; SYSTEM STABILITY;

BIOCHEMICAL AGENTS; BIOCHEMICAL SOURCES; FISHER INFORMATION MATRIX (FIM); STABILITY ANALYSIS;

MOTION CONTROL;

EID: 33845612846     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2006.1642175     Document Type: Conference Paper

References (23)

1. J. Fitch, E. Raber, and D. Imbro, "Technology challenges in responding to biological or chemical attacks in the civilian sector," Science, vol. 32, pp. 1350-1354, Nov. 2003.
2. A. Jeremić and A. Nehorai, "Landmine detection and localization using chemical sensor array processing," IEEE Trans. Signal Processing, vol. 48, no. 5, pp. 1295-1305, May 2000.
3. E. Kaltenbacher, R. Byrne, and E. Steimle, "Design and applications of a chemical sensor compatible with autonomous ocean-sampling networks," IEEE J. Oceanic Eng., vol. 26, no. 4, pp. 667-670, Oct. 2001.
4. A. Nehorai, B. Porat, and E. Paldi, "Detection and localization of vapor-emitting sources," IEEE Trans. Signal Processing, vol. 43, no. 1, pp. 243-253, Jan. 1995.
5. J. Cortés, S. Martínez, T. Karatas, and F. Bullo, "Coverage control for mobile sensing networks," IEEE Trans. Robotics and Automation, vol. 20, no. 2, pp. 243-255, Apr. 2004.
6. D. Estrin, R. Govindan, J. Heidemann, and S. Kumar, "Next century challenges: scalable coordination in sensor networks," in Proceedings of the Fifth Annual International Conference on Mobile Computing and Networks, Aug. 1999.
7. H. Ishida, T. Nakamoto, and T. Morizumi, "Remote sensing of gas/odor source location and concentration distribution using mobile system," Sensors and actuators B, vol. 49, no. 1-2, pp. 52-57, 1998.
8. S. Kazadi, R. Goodman, D. Tsikata, D. Green, and H. Lin, "An autonomous water vapor plume tracking robot using passive resistive polymer sensors," Autonomous robots, vol. 9, no. 2, pp. 175-188, 2000.
9. F. W. Grasso, "Invertebrate-inspired sensory-motor systems and autonomous, olfactory-guided exploration," Biological bulletin, vol. 200, no. 2, pp. 160-168, 2001.
10. R. A. Russell, "Survey of robotic applications for odor-sensing technology," International Journal of Robotics Research, vol. 20, no. 2, pp. 144-162, 2001.
11. L. Marques, U. Nunes, and A. de Almeida, "Olfaction-based mobile robot navigation," Thin solid films, vol. 418, no. 1, pp. 51-58, 2002.
12. B. Porat and A. Nehorai, "Localizing vapor-emitting sources by moving sensors," IEEE Trans. Signal Processing, vol. 44, no. 4, pp. 1018-1021, Apr. 1996.
13. P. Tzanos, M. Žefran, and A. Nehorai, "Information based distributed control for biochemical source detection and localization," in Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Apr. 2005, pp. 4468-4473.
14. J. Helferty and D. Mudgett, "Optimal observer trajectories for bearings-only tracking by minimizing the trace of the crámer-rao lower bound," in Proceedings of the 32nd Conference on Decision and Control, Dec. 1993, pp. 936-939.
15. D. Uciński, "Optimal sensor location for parameter estimation of distributed processes," Int. J. of Control, vol. 73, no. 13, pp. 1235-1248, 2000.
16. T. Chung, V. Gupta, J. Burdick, and R. Murray, "On a decentralized active sensing strategy using mobile sensor platforms in a network," in 43rd IEEE Conference on Decision and Control, Dec. 2004, pp. 1914-1919.
17. V. Christopoulos and S. Roumeliotis, "Adaptive sensing for instantaneous gas release parameter estimation," in Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Apr. 2005, pp. 4461-4467.
18. M. Moeneclaey, "On the true and the modified cramer-rao bounds for the estimation of a scalar parameter in the presence of nuisance parameters," IEEE Trans. Communications, vol. 46, no. 11, pp. 1536-1544, Nov. 1998.
19. J. Crank, The Mathematics of Diffusion. Oxford University Press, 1956.
20. C. Rao, Linear Statistical Inference and its Applications. New York: Wiley, 1973.
21. S. M. Kay, Fundamentals of Statistical Signal Processing: Estimation Theory. Upper Saddle River, NJ: Prentice Hall, 1993.
22. H. Stark and J. W. Woods, Probability, Random Processes, and Estimation Theory for Engineers. Upper Saddle River, NJ: Prentice Hall, 1994.
23. P. Stoica and A. Nehorai, "MUSIC, maximum likelihood, and Cramér-Rao bound," IEEE Trans. Acoust., Speech, Signal Processing, vol. 37, no. 5, pp. 720-741, May 1989.