Fast sensor scheduling or mobile sensor networks

In this paper, a sensor scheduling problem for a class of mobile sensor networks is addressed. It is assumed that the measurement noises of the sensors depend on the state of the system and all sensors have the same characteristics. In mobile sensor networks, the positions of the sensors have stochastic uncertainties. We show consider a sensor model which has stochastic uncertainties for the positions of the mobile sensors. The sensor scheduling problem is formulated as the model predictive control problem and a fast and optimal sensor scheduling algorithm is proposed. Computation time of the proposed algorithm is proportional to the number of the sensors and does not depend on the prediction horizon.