Multiagent Systems

4.8    Control System Implementation

4.8.1    Multisensor fusion module

1.  Signal-Strength Sensor Model: Consider the signal-strength sensor model described in Section III-A. Recall that z_i is the signal strength measured by node i. For each node i, if z_i ≥ θ, where θ is a threshold set for appropriate values of detection and false-positive probabilities, the node transmits z_i to its neighboring nodes, which are, at most, 2R_s away from s_i, and listens to incoming messages from neighboring nodes within a 2R_s radius. We assume that the communication range of each node is larger than a 2R_s. For a node i, if z_i is larger than all incoming messages, z_i1, …, z_i−k, and z_ik = z_i, then the position of an object is estimated by

${\widehat{z}}_i=\frac{{\displaystyle {\sum }_{j=1}^k{Z}_{}}}{}$