On a decentralized active sensing strategy using mobile sensor platforms in a network

Abstract

In this paper, we consider the problem of active sensing using mobile nodes as a sensor network to estimate the state of a dynamic target. We propose a gradient-search-based decentralized algorithm that demonstrates the benefits of distributed sensing. We then examine the task of tracking multiple targets, and address it via a simple extension to our algorithm. Simulation results show that our simple decentralized approach performs quite well and leads to interesting cooperative behavior.