Information
Based Biochemical Source Localization

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*Chief
Investigator:*

*Panos Tzanos*

Project
Description:

We want to develop and analyze information based control
algorithms for single robots and groups of robots equipped with chemical
concentration sensors. Information
based control algorithms are ones in which the robot(s) move to the location(s)
where the information gathered by the sensors is *maximized*. To this end we have achieved the following
goals:

Developed an information based control
algorithm for a *distributed sensor network*.

Developed computationally efficient numerical
procedures to approximate *maximum likelihood estimation*.

Developed an information based motion algorithm, the modified Fisher Information Matrix (FIM) motion algorithm, and showed that for a certain family of concentration functions, it has desirable stability properties.

Applied the modified FIM motion algorithm to a
circular biochemical source, and showed that the equilibrium point of the
system is *unique.*

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` This research is supported by NSF grant CCR-0330342`

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