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ICRA
2006
IEEE

Stability Analysis of Information based Control for Biochemical Source Localization

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Stability Analysis of Information based Control for Biochemical Source Localization
— The paper proposes an improved model and its approximation for a diffusion of a biochemical agent in the air. Based on the model, a new motion control algorithm based on the Fisher Information Matrix (FIM) for detecting and localizing a biochemical source is proposed. We show that the location of the biochemical source is an equilibrium point of the system under such control. Simulations with a single moving sensor show that that the biochemical source is located with a high degree of accuracy while the trajectory of the sensor converges to the source.
Panos Tzanos, Milos Zefran
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors Panos Tzanos, Milos Zefran
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