A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 1 Issue 1
Jan.  2014

IEEE/CAA Journal of Automatica Sinica

  • JCR Impact Factor: 6.171, Top 11% (SCI Q1)
    CiteScore: 11.2, Top 5% (Q1)
    Google Scholar h5-index: 51, TOP 8
Turn off MathJax
Article Contents
Shiyu Zhao, Ben M Chen and Tong H Lee, "Optimal Deployment of Mobile Sensors for Target Tracking in 2D and 3D Spaces," IEEE/CAA J. of Autom. Sinica, vol. 1, no. 1, pp. 24-30, 2014.
Citation: Shiyu Zhao, Ben M Chen and Tong H Lee, "Optimal Deployment of Mobile Sensors for Target Tracking in 2D and 3D Spaces," IEEE/CAA J. of Autom. Sinica, vol. 1, no. 1, pp. 24-30, 2014.

Optimal Deployment of Mobile Sensors for Target Tracking in 2D and 3D Spaces

  • This paper proposes a control strategy to autonomously deploy optimal placements of range-only mobile sensors in 2D and 3D spaces. Based on artificial potential approaches, the control strategy is designed to minimize the intersensor and external potentials. The inter-sensor potential is the objective function for optimal sensor placements. A placement is optimal when the inter-sensor potential is minimized. The external potential is introduced to fulfill constraints on sensor trajectories. Since artificial potential approaches can handle various issues such as obstacle avoidance and collision avoidance among sensors, the proposed control strategy provides a flexible solution to practical autonomous optimal sensor deployment. The control strategy is applied to several optimal sensor deployment problems in 2D and 3D spaces. Simulation results illustrate how the proposed control strategy can improve target tracking performance.


  • loading
  • [1]
    Ousingsawat J, Campbell M E. Optimal cooperative reconnaissance using multiple vehicles. Journal of Guidance, Control, and Dynamics, 2007, 30(1):122-132
    Sinclair A J, Prazenica R J, Jeffcoat D E. Optimal and feedback path planning for cooperative attack. Journal of Guidance, Control, and Dynamics, 2008, 31(6):1708-1715
    Oshman Y, Davidson P. Optimization of observer trajectories for bearings-only target localization. IEEE Transactions on Aerospace and Electronic Systems, 1999, 35(3):892-902
    Bishop A N, Fidan B, Anderson B D O, Dovggançay K, Pathirana P N. Optimality analysis of sensor-target localization geometries. Automatica, 2010, 46(3):479-492
    Bishop A N, Jensfelt P. An optimality analysis of sensor-target geometries for signal strength based localization. In:Proceedings of the 5th International Conference on Intelligent Sensors, Sensor Networks and Information Processing. Melbourne, Australia:IEEE, 2009. 127-132
    Dovgançay K, Hmam H. Optimal angular sensor separation for AOA localization. Signal Processing, 2008, 88(5):1248-1260
    Martínez S, Bullo F. Optimal sensor placement and motion coordination for target tracking. Automatica, 2006, 42(4):661-668
    Zhang H. Two-dimensional optimal sensor placement. IEEE Transactions on Systems, Man, and Cybernetics, 1995, 25(5):781-792
    Dovgançay K. Online optimization of receiver trajectories for scanbased emitter localization. IEEE Transactions on Aerospace and Electronic Systems, 2007, 43(3):1117-1125
    Isaacs J T, Klein D J, Hespanha J P. Optimal sensor placement for time difference of arrival localization. In:Proceedings of the 48th Conference on Decision and Control, 2009 Held Jointly with the 200928th Chinese Control Conference. Shanghai, China:IEEE, 2009. 7878-7884
    Moreno-Salinas D, Pascoal A M, Aranda J. Optimal sensor placement for underwater positioning with uncertainty in the target location. In:Proceedings of the 2011 IEEE International Conference on Robotics and Automation. Shanghai, China:IEEE, 2011. 2308-2314
    Grocholsky B, Keller J, Kumar V, Pappas G. Cooperative air and ground surveillance. IEEE Robotics & Automation Magazine, 2006, 13(3):16-25
    Zhao S, Chen B M, Lee T H. Optimal sensor placement for target localisation and tracking in 2D and 3D. International Journal of Control, 2013, 86(10):1687-1704
    Zhao S, Chen B M, Lee T H. Optimal placement of bearing-only sensors for target localization. In:Proceedings of the 2012 American Control Conference. Montreal, Canada:IEEE, 2012. 5108-5113
    Casazza P G, Fickus M, Kovavcević J, Leon M T, Tremain J C. A physical interpretation of tight frames. In:Harmonic Analysis and Applications, Applied and Numerical Harmonic Analysis. Cambridge, MA:Birkhäuser Boston, 2006. 51-76
    Olfati-Saber R, Murray R M. Consensus problems in networks of agents with switching topology and time-delays. IEEE Transactions on Automatic Control, 2004, 49(9):1520-1533
    Lin P, Jia Y M. Average consensus in networks of multi-agents with both switching topology and coupling time-delay. Physica A:Statistical Mechanics and Its Applications, 2008, 387(1):303-313
    Ren W, Cao Y C. Distributed Coordination of Multi-agent Networks. New York:Springer, 2011
    Hu J W, Xu J, Xie L H. Cooperative search and exploration in robotic networks. Unmanned Systems, 2013, 1(1):121-142
    Meng W, Xie L H, Xiao W D. Optimality analysis of sensor-source geometries in heterogeneous sensor networks. IEEE Transactions on Wireless Communications, 2013, 12(4):1958-1967


    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views (1073) PDF downloads(8) Cited by()


    DownLoad:  Full-Size Img  PowerPoint