  In this paper, we consider the problem of estimating a scalar field using a
network of mobile sensors which can measure the value of the field at their
instantaneous location. The scalar field to be estimated is assumed to be
represented by positive definite radial basis kernels and we use techniques
from adaptive control and Lyapunov analysis to prove the stability of the
proposed estimation algorithm. The convergence of the estimated parameter
values to the true values is guaranteed by planning the motion of the mobile
sensors to satisfy persistence-like conditions.

Systems and Control;Multiagent Systems;Systems and Control;Optimization and Control