Gaussian process-based online sensor selection for source localization

Abstract

This paper addresses the sensor selection problem for source localization within cyber–physical systems (CPSs). While recent machine learning and reinforcement learning approaches aim to optimize sensor selection and placement within the Area of Interest (AoI), their need for intensive data collection and training precludes online operation. Furthermore, these methods often require prior knowledge of the unknown source’s characteristics and lack adaptability to the dynamic nature of CPSs, leading to inefficiencies in unseen environments. This paper addresses these shortcomings using Gaussian process Optimization coupled with an active sensor selection mechanism to locate the unknown source within the AoI. The proposed approach first builds a probabilistic model of the environment, which is discretized into a grid, without prior training using a Gaussian Process surrogate model. Next, the model iteratively and systematically learns the underlying spatial phenomenon using Gaussian Process optimization. Concurrently, the approach selects a subset of sensors by optimizing a fitness function that advocates selecting informative and energy-efficient sensors. Next, the probabilistic model, having accurately learned the environment, directs the algorithm to the unknown source by identifying the cell with the highest likelihood of containing it. Finally, a peak refinement step is performed, which computes the exact location of the source within the designated cell. The proposed method’s efficacy is validated through experiments in radioactive source localization, validation studies, and adaptability assessments across various environments. In terms of quality of localization (QoL), it outperforms recent localization benchmarks, such as a reinforcement learning-based approach and DANS, by around 18% and 100%, respectively.