Conference Proceedings

Co-operative Estimation for Source Localisation using Binary Sensors

Daniel D Selvaratnam, Iman Shames, Dimos V Dimarogonas, Jonathan H Manton, Branko Ristic

2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) | IEEE | Published : 2017

Abstract

This paper considers the problem of localising a signal source using a team of mobile agents that can only detect the presence or absence of the signal. A background false detection rate and missed detection probability are incorporated into the assumptions. An estimation algorithm is proposed that discretizes the search environment into cells, and uses Bayesian techniques to approximate the posterior probability of each cell containing the source. Analytical results are presented for a range of specific cases, and simulations are used to investigate more complex scenarios.

Grants

Awarded by DST Group


Funding Acknowledgements

This research is supported by DST Group under Collaborative Research Agreements MYIP #5922, MYIP #5923, and by the Defence Science Institute as an initiative of the State Government of Victoria.