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In this paper, the authors consider the problem where a fixed fusion center utilizes a number of mobile sensors in order to estimate the spatial variations of a field. The sensors measure the variations of the field in regions around their current positions and send their sensory data back to the fixed fusion center, by communicating over realistic fading wireless channels. The goal is to maximize the estimation performance at the fusion center, while maintaining the connectivity of the mobile sensors to it. In order to achieve this, they propose a localized gradient-based exploration strategy, which is based on switching between three modes of operation.
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