NDLI: Two-dimensional optimal sensor placement

Content Provider	IEEE Xplore Digital Library
Author	Hong Zhang
Copyright Year	1971
Abstract	A method for determining the optimal two-dimensional spatial placement of multiple sensors participating in a robot perception task is introduced in this paper. This work is motivated by the fact that sensor data fusion is an effective means of reducing uncertainties in sensor observations, and that the combined uncertainty varies with the relative placement of the sensors with respect to each other. The problem of optimal sensor placement is formulated and a solution is presented in two dimensional space. The algebraic structure of the combined sensor uncertainty with respect to the placement of sensors is studied. A necessary condition for optimal placement is derived and this necessary condition is used to obtain an efficient closed-form solution for the global optimal placement. Numerical examples are provided to illustrate the effectiveness and efficiency of the solution.<>
Starting Page	781
Ending Page	792
Page Count	12
File Size	1014957
File Format	PDF
ISSN	00189472
Volume Number	25
Issue Number	5
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-05-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Uncertainty Sensor fusion Sensor phenomena and characterization Sensor systems Mobile robots Robot vision systems Acoustic sensors Orbital robotics Robotics and automation
Content Type	Text
Resource Type	Article
Subject	Engineering

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