Abstract
Most distributed sensing methods assume that the expected value of sensed information is same for all agents - ignoring differences in sensor capabilities due to, for example, environmental factors and sensors' quality and condition. In this paper, we present a distributed sensing framework to exploit heterogeneity in information provided about a dynamic environment using an active-passive networked multiagent systems approach. Specifically, this approach consists of agents subject to exogenous inputs (active agents) and agents without any inputs (passive agents). In addition, if an active agent senses a quantity accurately (resp., not accurately), then it is weighted high (resp., low) in the network such that these weights can be a function of time due to varying environmental factors. The key feature of our approach is that the states of all agents converge to an adjustable neighborhood of the weighted average of the sensed exogenous inputs by the active agents.
Recommended Citation
J. D. Peterson et al., "Exploitation of Heterogeneity in Distributed Sensing: An Active-passive Networked Multiagent Systems Approach," Proceedings of the American Control Conference, pp. 4112 - 4117, article no. 7171974, Institute of Electrical and Electronics Engineers, Jul 2015.
The definitive version is available at https://doi.org/10.1109/ACC.2015.7171974
Department(s)
Mechanical and Aerospace Engineering
International Standard Book Number (ISBN)
978-147998684-2
International Standard Serial Number (ISSN)
0743-1619
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2024 Institute of Electrical and Electronics Engineers, All rights reserved.
Publication Date
28 Jul 2015
