Estimating Scalar Fields with Mobile Sensor Networks

In this paper, we consider the problem of estimating a scalar field using mobile sensor networks equipped with sensors which can measure the value of the field at their instantaneous location. The scalar field to be estimated is assumed to be represented by positive definite radial basis kernels and we use techniques from adaptive control and Lyapunov analysis to prove the stability of the proposed estimation algorithm. The convergence of the estimated parameter values to the true values is guaranteed by planning the motion of the mobile sensors to satisfy persistence-like conditions.