A Communication-Aware Information Measure For Cooperative Information Gathering By Robotic Sensor Networks
2019 AMERICAN CONTROL CONFERENCE (ACC)(2019)
摘要
Computing communication-aware information for cooperative information gathering of multi-agent systems is important but still remains a challenge. In this paper, a mathematical formulation is presented for a communication-aware information measure for problems with non-linear dynamics and non-Gaussian distributions. This paper also presents a particle method for computation of the information measure in order to approximate target state and measurement PDFs given communication-aware measurements. The presented approach is assessed through simulations by comparing with the perfect communication scenario. The simulation results show how communication-aware information is different from the information under perfect communication and how imperfect communication affects the information measure.
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关键词
perfect communication scenario,imperfect communication,communication-aware information measure,cooperative information gathering,robotic sensor networks,multi-agent systems,nonlinear dynamics,nonGaussian distributions,particle method
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