Wireless Sensor Networks

182 Chapter 5 Sensor Tasking and Control

Estimate at t

Belief Communication

Processing Sensor

Sensor

C: Processing node at t+2

B: Processing node at t+1

A: Processing node at t

A

B

C

Estimate at t+1

Estimate at t+2

Figure 5.22 Information migration in tracking a moving target. As the target moves through

the field of sensors, a subset of sensors are activated to carry the belief state. Each

new sensor may be selected according to an information utility measure on the

expected contribution of that sensor conditioned on the predicted location of the

target (adapted from [41]).

position of the target at the next time step. This predicted target

position and the