State estimation of spatially distributed processes using mobile sensing agents

This work is intended as an attempt to develop a simple real-time guidance scheme for mobile sensors used to enhance estimation of a spatially distributed process described by a partial differential equation. Using Lyapunov stability arguments, a stable control law is provided for each of the mobile agents while taking account of the dynamics of sensor movements, collision avoidance conditions and various modes of inter-agent connectivity. Numerical simulations for a 1D diffusion equation with three sensor agents are included to demonstrate the effectiveness of such a mobile sensor network in improving the system performance.