Worst-case performance of a mobile sensor network under individual sensor failure

Hyongju Park, Seth Hutchinson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we consider the problem of worst-case performance by a mobile sensor network (MSN) when some of the nodes in the network fail. We formulate the problem as a game in which some subset of the nodes act in an adversarial manner, choosing their motion strategies to maximally degrade overall performance of the network as a whole. We restrict our attention in the present paper to a target detection problem in which the goal is to minimize the probability of missed detection. We use a partitioned cost function that is minimized when each sensor executes a motion strategy given by Lloyd's algorithm (i.e., each agent moves toward the centroid of its Voronoi partition at each time instant), and when the probability of missed detection for each functioning sensor increases with the distance between sensor and target for correctly functioning sensors; adversarial nodes in the network are unable to detect the target, and move to maximally increase the probability of missed detection by the properly functioning sensors. We pose the problem as a multi-stage decision process, and use forward dynamic programming over a finite horizon to numerically compute optimal strategies for the adversaries. We compare the resulting strategies to a greedy algorithm, providing both system trajectories and evolution of the probability of missed detection during execution.

Original languageEnglish (US)
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages895-900
Number of pages6
DOIs
StatePublished - Nov 14 2013
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: May 6 2013May 10 2013

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period5/6/135/10/13

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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