Path planning for data assimilation in mobile environmental monitoring systems
Author(s)Hover, Franz S.
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By combining a low-order model of forecast errors, the extended Kalman filter, and classical continuous optimization, we develop an integrated methodology for planning mobile sensor paths to sample continuous fields. Agent trajectories are developed that specifically take into account the fact that data collected will be used for near real-time assimilation with large predictive models. This aspect of the problem has significant implications because the trajectories generated are very different from those which do not take the assimilation step into account, and their performance in controlling error is notably better.
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, IROS 2009
Institute of Electrical and Electronics Engineers
Hover, F.S. “Path planning for data assimilation in mobile environmental monitoring systems.” Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on. 2009. 213-218. ©2009 Institute of Electrical and Electronics Engineers.
Final published version
INSPEC Accession Number: 11046499