A Distributed Multi-robot Adaptive Sampling Scheme for Complex Field Estimation

Monitoring widespread environmental fields is a complex task that is of great use in many areas, such as building models of natural phenomenon: e.g. moisture in a crop field, oil reservoirs, etc. A successful monitoring of such spatio-temporally distributed fields hinges upon the use of wireless sensor networks which, through their distributed nature, allow for an effective adaptive sampling procedure to gather the statistical information necessary for field density estimation. The adaptive nature of the sampling procedure used embodies a strategy which selects the next sampling location based on the gathered statistical information, and which evolves with past measurements. This paper presents a novel distributed multi-robot "Adaptive sampling algorithm", which is an extension of the algorithm proposed earlier for complex field estimation using a single-robot only. New formulations of sensor fusion in a centralized, decentralized, federated-decentralized, and distributed sensor network are presented for field density estimation, and not just cloud boundary determination. A comparison of the various computational loads involved is included. Simulation results show that adding an efficient partitioning of the sampling area and parallel multi-robot sampling improves the field reconstruction time. With N robots, more than an N-fold reduction in the number of sampling times is observed. The federated and distributed scheme also leads to an improved communication and computational efficiency.