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An Efficient Adaptive Sampling Approach for Mobile Robotic Sensor Networks using Proximal ADMM
  • Viet-Anh Le ,
  • Linh Nguyen ,
  • Truong X. Nghiem
Viet-Anh Le
Northern Arizona University, Northern Arizona University

Corresponding Author:[email protected]

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Linh Nguyen
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Truong X. Nghiem
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Abstract

Adaptive sampling in a resource-constrained mobile robotic sensor network for monitoring a spatial phenomenon is a fundamental but challenging problem. In applications where a Gaussian Process is employed to model a spatial field and then to predict the field at unobserved locations, the adaptive sampling problem can be formulated as minimizing the negative log determinant of a predicted covariance matrix, which is a non-convex and highly complex function. Consequently, this optimization problem is typically addressed in a grid-based discrete domain, although it is combinatorial NP-hard and only a near-optimal solution can be obtained. To overcome this challenge, we propose using a proximal alternating direction method of multipliers (Px-ADMM) technique to solve the adaptive sampling optimization problem in a continuous domain. Numerical simulations using a real-world dataset demonstrate that the proposed PxADMM- based method outperforms a commonly used grid-based greedy method in the final model accuracy.