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Information-Theoretic Integration of Sensing and Communication for Active Robot Networks

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Abstract

This paper presents an information-theoretic approach to sensor placement that incorporates communication capacity into an optimal formulation. A new formulation is presented that maximizes the information rate achievable by a set of sensors communicating wirelessly to a single collection node. Shannon capacity and the standard radio propagation model are used to model the throughput achievable by a sensor configuration. Likewise, the d-optimality criterion from the active sensing literature is used to model information gain provided by range and bearing sensors. The combination of information-theoretic measures leads to a metric equivalent to the expected information rate achievable by the system. Sensor positions are selected that optimize this measure.

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Notes

  1. In general, the capacity of a network of nodes is greater than the route capacity defined here. However, the variable defined here gives the route capacity given the assumed network architecture.

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Authors and Affiliations

  1. Aerospace Engineering Sciences Department, University of Colorado, Boulder, CO, 80309, USA

    Eric W. Frew

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  1. Eric W. Frew
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Frew, E.W. Information-Theoretic Integration of Sensing and Communication for Active Robot Networks. Mobile Netw Appl 14, 267–280 (2009). https://doi.org/10.1007/s11036-008-0103-z

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