Information Surfing for Radiation Map Building

We develop a control scheme for a group of mobile sensors to map radiation over a given planar polygonal region. The advantage of this methodology is that it provides quick situational awareness regarding radiation levels, which is being updated and refined in real-time as more measurements become available. The control algorithm is based on the concept of information surfing, where navigation is done by following information gradients, taking into account sensing performance and the dynamics of the observed process. It is tailored to cases of weak radioactivity, where source signals may be buried in background. We steer mobile sensors to locations which are critical points of a function that quantifies the information content of the measured signal, while ∗ Corresponding author 

• Type: Journal
• Year: 2011
• Where: IJRA
• Authors: R. Andres Cortez, Herbert G. Tanner, Ron Lumia, Chaouki T. Abdallah
• Keywords: IJRA 2011, Mobile Sensors, Planar Polygonal Region, Quick Situational Awareness