An Improved KF-RBF Based Estimation Algorithm for Coverage Control with Unknown Density Function

Algorithm 2

The improved KF-RBF based estimation algorithm.

Require: The sampling measurements and the agent positions .

Ensure: The estimated density function

 (1) Initialization: The related parameters , , , , , ; The basis function and the estimation

 errors critic ;

 (2) while do

 (3)  and ;

 (4) Compute , and in (18);

 (5) Obtain through the previous estimated density function;

 (6) Calculate the estimation errors ;

 (7) while do

 (8)  Calculate based on (21);

 (9)  Update the covariance matrix ;

 (10)  Substitute into (20) and obtain the coefficient parameters ;

 (11)  Obtain the estimated density function through (18);

 (12) end while

 (13) Remove from and choose another point for estimation;

 (14) Update the related variables: ; ;

 (15) end while