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ACE in the hole: adaptive contour estimation using collaborating mobile sensors

DSpace at IIT Bombay

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Title ACE in the hole: adaptive contour estimation using collaborating mobile sensors
 
Creator SRINIVASAN, SUMANA
RAMAMRITHAM, KRITHI
KULKARNI, PURUSHOTTAM
 
Subject adaptive algorithms
computer networks
gradient methods
wireless sensor networks
 
Description This paper focuses on the use of mobile sensors to estimate contours in a field. In particular, we focus on strategies to estimate the contour with minimum latency and maximum precision. We propose a novel algorithm, ACE (adaptive contour estimation), that (a) estimates and exploits information regarding the gradients in the field to move towards the contour and (b) uses a spread component to surround the contour in order to optimize latency. While it is possible for sensors to spread as they approach the contour, it is crucial to judiciously determine when and how much to spread. Spreading too early or too much may result in increasing the latency or affecting the precision. ACE dynamically makes this decision using local sensor measurements, history of measurements as well as collaboration between sensors while adapting to different types of deployment, distance from the contour and shapes of the contour. We demonstrate that ACE, in the absence of energy constraints precisely determines the contour with a lower latency than when only gradients are used for movement or when the sensors spread out right from the start of estimation. Additionally, we show that ACE significantly improves precision of contour estimation in the presence of energy constraints. We also demonstrate a proof of concept implementation on a mobile robot testbed.
 
Publisher IEEE
 
Date 2009-05-08T02:41:00Z
2011-11-28T07:53:06Z
2011-12-15T09:58:18Z
2009-05-08T02:41:00Z
2011-11-28T07:53:06Z
2011-12-15T09:58:18Z
2008
 
Type Article
 
Identifier Proceedings of the International Conference on Information Processing in Sensor Networks, St.Louis, USA, 22-24 April 2008, 147-158
978-0-7695-3157-1
10.1109/IPSN.2008.38
http://hdl.handle.net/10054/1315
http://dspace.library.iitb.ac.in/xmlui/handle/10054/1315
 
Language en