Explorative navigation of mobile sensor networks using sparse Gaussian processes

Songhwai Oh, Yunfei Xu, Jongeun Choi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)

Abstract

This paper presents an explorative navigation method using sparse Gaussian processes for mobile sensor networks. We first show that a near-optimal approximation is possible with a subset of measurements if we select the subset carefully, i.e., if the correlation between the selected measurements and the remaining measurements is small and the correlation between the prediction locations and the remaining measurements is small. An estimation method based on a subset of measurements is desirable for mobile sensor networks since we can always bound computational and memory requirements and unprocessed raw measurements can be easily shared with other agents for further processing (e.g., consensus-based distributed algorithms or distributed learning). We then present an explorative navigation method using sparse Gaussian processes with a subset of measurements. Using the explorative navigation method, mobile sensor networks can actively seek for new measurements to reduce the prediction error and maintain high-quality estimation about the field of interest indefinitely with limited memory.

Original languageEnglish
Title of host publication2010 49th IEEE Conference on Decision and Control, CDC 2010
Pages3851-3856
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event2010 49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, GA, United States
Duration: 2010 Dec 152010 Dec 17

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other2010 49th IEEE Conference on Decision and Control, CDC 2010
CountryUnited States
CityAtlanta, GA
Period10/12/1510/12/17

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

Cite this

Oh, S., Xu, Y., & Choi, J. (2010). Explorative navigation of mobile sensor networks using sparse Gaussian processes. In 2010 49th IEEE Conference on Decision and Control, CDC 2010 (pp. 3851-3856). [5717331] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2010.5717331