Stability analysis of information based control for biochemical source localization
| Autor: | Milos Zefran, Panos Tzanos |
|---|---|
| Rok vydání: | 2006 |
| Předmět: |
Equilibrium point
Robot kinematics Engineering Degree (graph theory) urogenital system business.industry Quantitative Biology::Molecular Networks food and beverages Motion control Stability (probability) carbohydrates (lipids) symbols.namesake Control theory parasitic diseases symbols Trajectory lipids (amino acids peptides and proteins) Diffusion (business) Fisher information Biological system business |
| Zdroj: | ICRA |
| DOI: | 10.1109/robot.2006.1642175 |
| Popis: | 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 the biochemical source is located with a high degree of accuracy while the trajectory of the sensor converges to the source |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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