关键词：光机电；传感器；路由；资源
摘 要：In the first part of this chapter, some fundamental results of modern optimum experimental design theory were adopted to the framework of sensor networks with mobile nodes following the so-called 'direct approach' presented in the seminal paper [232]. The problem reduces to solving at each time instant a separate optimization task to which classical design algorithms can be applied. The drawbacks of this technique are the high demand for computational power due to the complexity of the resulting mathematical programming task, and the fact that only the measurability of the sensor trajectories can be guaranteed. It was shown that these difficulties can be reduced to some extent by suitable parametrization of the sensor paths. However, imposing additional control constraints (e.g., for collision avoidance or the sensor dynamics) complicates further the computational task and restricts the spectrum of potential applications.