Multiscale Sensing: A new paradigm for actuated sensing of high frequency dynamic phenomena

Abstract— Many environmental applications require high frequency, spatiotemporally distributed phenomena to be sampled with high fidelity. This requires mobile sensing elements to perform guided sampling in regions of high variability. We propose here a multiscale approach for efficiently sampling such phenomena. This approach introduces a hierarchy of sensors according to the sampling fidelity, spatial coverage and mobility characteristics. In this paper, we studied a two-tier multiscale system where information from a low-fidelity, highspatial (global) sensor actuates a mobile robotic node, carrying a high-fidelity, low-spatial (spot measurement) sensor, to perform guided sampling in the regions of high phenomenon variability. As a case study of the proposed multiscale paradigm, we investigated the spatiotemporal distribution of light intensity in a forest understory. The performance of the multiscale approach is verified in simulation and on a physical system. Results sugges...

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Amarjeet Singh 0003, Diane Budzik, Willie Chen, Maxim A. Batalin, Michael J. Stealey, Per Henrik Borgstrom, William J. Kaiser
• Keywords: IROS 2006, Mobile Sensing Elements, Multiscale Approach, Robotics, Sampling Approoaches Raster