Distributed intelligent sensor agent system for environment mapping
This paper discusses a multi-agent system consisting of a limited set of mobile intelligent sensor agents that are exploring an environment with the goal of minimizing the environment mapping uncertainty, i.e. the entropy. A novel tree in-motion mapping method combining simplicity and speed of computation with low storage and communications requirements is proposed for the management of a network of robotic agents, each possessing limited sensing, processing and communicating operational entities. Simulation and experimental results demonstrate the efficiency of the proposed system architecture and mapping method.
intelligent sensor agent sensor network environment monitoring sensor models robotic sensor