A sensor selection method considering communication delays

Shingo Kagami, Masatoshi Ishikawa

Research output: Contribution to journalConference article

30 Citations (Scopus)

Abstract

A sensor selection method for distributed real-time sensing is proposed where the effect of communication delays is taken into account. First, a multi-sensor fusion algorithm that allows communication delays is proposed. This method takes advantage of the information form of Kalman filtering in order to maintain scalability with the number of sensors. Based on this algorithm, an algorithm is developed that calculates mutual information between an observation and the state to be estimated, which provides a criterion for sensor selection. Simulated results of a target-tracking task show its effectiveness.

Original languageEnglish
Pages (from-to)206-211
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2004
Issue number1
Publication statusPublished - 2004 Jul 5
Externally publishedYes
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: 2004 Apr 262004 May 1

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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