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检索条件"任意字段=Conference on Sensor Fusion and Distributed Robotic Agents"

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A framework for using agents in distributed sensor networks (Non-Refereed)

A framework for using agents in distributed sensor networks ...

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IEEE SoutheastCon 2006

作者： Anthony, Anish Jannett, Thomas Univ Alabama Dept Elect & Comp Engn Birmingham AL 35294 USA

ISBN: (纸本)1424401682

Agent systems and multi-agent systems are a new and robust paradigm for designing flexible architectures for systems with disparate needs. Conceptually speaking, an agent is an entity that acts in the place of another, with their authority, in order to bring about a desired result. Thus agents are entities that are capable of carrying out goals either alone or as a part of a larger community in which these agents work together to meet goals. agents provide a certain level of abstraction for achieving goals in a system, thereby potentially simplifying the design of a complex system. agents are gaining popularity because of their flexibility, modularity, and their general applicability especially in the field of distributed computing. distributed sensor networks are being increasingly used in a number of application domains as they offer advantages of reliability, accuracy, cost effectiveness, flexibility, and ease of deployment. But distributed sensor networks also face some unique challenges due to ad-hoc deployment, unattended operation, dynamic changes, and power constraints. For an underwater distributed sensor network application, efficient sensing, data fusion, target tracking and power management are some of the factors that have to be considered. Simulation is used for developing and testing alternative algorithms, considering tradeoffs, and evaluating the ability of the distributed system to achieve its objectives when presented with a set of operational challenges. These simulations will allow design alternatives to be explored, expose trade-offs, provide insight into the parameters that impact overall system performance, and facilitate the identification of requirements for further development. This paper describes a framework for using agents for multiple objective optimization in distributed sensor networks. A modular framework based on object oriented design is developed, which will facilitate the use of different agent based systems in simulations for

关键词： Multi agent systems

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A knowledge processing middleware framework and its relation to the JDL data fusion model

A knowledge processing middleware framework and its relation...

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7th International conference on Information fusion (fusion)

作者： Heintz, F Doherty, P Linkoping Univ Dept Comp & Informat Sci S-58183 Linkoping Sweden

ISBN: (纸本)0780392868

Any autonomous system embedded in a dynamic and changing environment must be able to create qualitative knowledge and object structures representing aspects of its environment on the fly from raw or preprocessed sensor data in order to reason qualitatively about the environment and to supply such state information to other nodes in the distributed network in which it is embedded. These structures must be managed and made accessible to deliberative and reactive functionalities whose succesful operation is dependent on being situationally aware of the changes in both the robotic agent's embedding and internal environments. DyKnow is a knowledge processing middleware framework which provides a set of functionalities for contextually creating, storing, accessing and processing such structures. The framework is implemented and has been deployed as part of a deliberativelreactive architecture for an autonomous unmanned aerial vehicle. The architecture itself is distributed and uses real-time CORBA as a communications infrastructure. We describe the system and show how it can be used to create more abstract entity and state representations of the world which can then be used for situation awareness by an unmanned aerial vehicle in achieving mission goals. We also show that the framework is a working instantiation of many aspects of the revised JDL data fusion model.(1).

关键词： Middleware

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distributed Agent-Based Collaborative Learning in Cross-Individual Wearable sensor-Based Human Activity Recognition 17

Distributed Agent-Based Collaborative Learning in Cross-Indi...

引用

7th IEEE International conference on robotic Computing (IRC)

作者： Esmaeili, Ahmad Ghorrati, Zahra Matson, Eric T. Purdue Univ Comp & Informat Technol W Lafayette IN 47907 USA

ISBN: (纸本)9798350395747

The rapid growth of wearable sensor technologies holds substantial promise for the field of personalized and context-aware Human Activity Recognition. Given the inherently decentralized nature of data sources within this domain, the utilization of multi-agent systems with their inherent decentralization capabilities presents an opportunity to facilitate the development of scalable, adaptable, and privacy-conscious methodologies. This paper introduces a collaborative distributed learning approach rooted in multi-agent principles, wherein individual users of sensor-equipped devices function as agents within a distributed network, collectively contributing to the comprehensive process of learning and classifying human activities. In this proposed methodology, not only is the privacy of activity monitoring data upheld for each individual, eliminating the need for an external server to oversee the learning process, but the system also exhibits the potential to surmount the limitations of conventional centralized models and adapt to the unique attributes of each user. The proposed approach has been empirically tested on two publicly accessible human activity recognition datasets, specifically PAMAP2 and HARTH, across varying settings. The provided empirical results conclusively highlight the efficacy of inter-individual collaborative learning when contrasted with centralized configurations, both in terms of local and global generalization.

关键词： Human Activity Recognition Collaborative Learning Multi-agent Systems Wearable sensors

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Coordinated perception by teams of aerial and ground robots

Coordinated perception by teams of aerial and ground robots

引用

conference on Mobile Robots XVII

作者： Grocholsky, B Swaminathan, R Kumar, V Taylor, C Pappas, G Univ Penn GRASP Lab Philadelphia PA 19104 USA

ISBN: (纸本)0819455628

Air and ground vehicles exhibit complementary capabilities and characteristics as robotic sensor platforms. Fixed wing aircraft offer broad field of view and rapid coverage of search areas. However, minimum operating airspeed and altitude limits, combined with attitude uncertainty, place a lower limit on their ability to detect and localize ground features. Ground vehicles on the other hand offer high resolution sensing over relatively short ranges with the disadvantaue of slow coverage. This paper presents a decentralized architecture and solution methodology for seamlessly realizing the collaborative potential of air and ground robotic sensor platforms. We provide a framework based on an established approach to the underlying sensor fusion problem. This provides transparent integration of information from heterogeneous sources. An information-theoretic utility measure captures the task objective and robot inter-dependencies. A simple distributed solution mechanism is employed to determine team member sensing trajectories subject to the constraints of individual vehicle and sensor sub-systems. The architecture is applied to a mission involving searching for and localizing an unknown number of targets in an user specified search area. Results for a team of two fixed wing UAVs and two all terrain UGVs equipped with vision sensors are presented.

关键词： heterogeneous robot teams active sensing sensor fusion coordinated control

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distributed motion planning for modular robots

Distributed motion planning for modular robots

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sensor fusion and Decentralized Control in robotic Systems IV conference

作者： Gregersen, K Petersen, HG Petersen, ML Univ So Denmark Maersck McKinney Moller Inst Prod Technol Odense Denmark

ISBN: (纸本)0819442992

On the software side of modular robotics, there are many challenging steps towards the ultimate intelligent and autonomous robot module (sub-component). Examples of such challenges are to derive distributed task planning, distributed motion planning and distributed control methods. In this paper we focus on the derivation of a distributed or "truly modular" local motion planner. Such a motion planner must as input take tasks for the assembled modular robot and without any central intelligence deliver the necessary robot motion. More specifically, we illustrate how the method of artificial forces together with a new description of the robot kinematics can be used for developing a distributed local motion planner. The motion planner is truly distributed as the software on each module only needs information about the module itself and of modules which are physically directly connected to it. Although the method is essentially very general, we for simplicity only illustrate it for planar K-linked modular robots. We present the motion planning algorithms for link and joint processors for this special case and we show output of simulations. Furthermore, we present results from applying the motion planner to a planar truly modular robot consisting of 4 links and 4 revolute joints each with their own on-board processor.

关键词： motion planning distributed computing modular robots

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Open platform and open software for an Intelligent Wheelchair with autonomous navigation using sensor fusion 42

Open platform and open software for an Intelligent Wheelchai...

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42nd Annual conference of the IEEE-Industrial-Electronics-Society (IECON)

作者： Marron, Marta Garcia, Juan C. Ksiezak, Lukasz del Moral, Pedro Pinedo, David Leon, Javier Univ Alcala UAH Dept Elect Edificio PolitecnCampus Univ Alcala De Henares 28871 Madrid Spain

ISBN: (纸本)9781509034741

This paper is focused in the inclusion of open software tools and standard hardware devices into advanced mobility aids. Its urgency is due to the incorporation need of the numerous advances in mobile robotics to the area of the Assistive Technologies, and more specifically in the field of the so called Intelligent Wheelchairs (IW). In this paper we propose a common core for IWs based both on an open robotic platform and an open and a well extended software for robotics (ROS "robotic Operating System"). Such an IW core has got a distributed architecture whose processing nodes are linked through a CAN standard bus, which connects the low level control functions based on low cost and highly portable Cortex platforms. This paper describes also the autonomous navigation algorithm developed for the Intelligent Wheelchair by using an Extended Kalman Filter. In the chosen approach the absolute position of the IW (a mobile robot) is estimated using sensor fusion which combines data from two of the sensory systems included in the described open platform: the dead-reckoning system and a visual system based on QR landmarks located on the ceiling. Within this context, the paper demonstrates the potential of the platform proposal in relation to the quick and easy incorporation of recent advances in mobile robotics.

关键词： Intelligent wheelchair open software ROS open hardware sensor fusion Assistive Technologies

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Multi sensor information fusion: distributed agents-based paradigm

Multi sensor information fusion: Distributed agents-based pa...

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2008 International conference on Information and Knowledge Engineering, IKE 2008

作者： Murthy, V.K. Krishnamurthy, E.V. Australian National University Canberra ACT 0200 Australia

ISBN: (纸本)1601320752

This paper describes a distributed agent-based paradigm for hybrid (soft and hard) computation involved in multisensor information (data) fusion. The computations are interpreted as the outcome arising out of deterministic, nondeterministic or stochastic interaction among the agents, in an environment containing multiple sensors. These interactions are like chemical reactions and the evolution of the multiset of agents can mimic the data fusion arising in a complex sensory system to achieve a required outcome. Since the reaction rules are inherently parallel, any number of actions can be performed cooperatively or competitively among the subsets of the agents. We also describe how scale-free and small world networks arise in the connectivity structure of agents during the information fusion. We also describe some aspects of modeling conscious systems.

关键词： Information fusion

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Fast weighted exponential product rules for robust general multi-robot data fusion

Fast weighted exponential product rules for robust general m...

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International conference on robotics Science and Systems, RSS 2012

作者： Ahmed, Nisar Schoenberg, Jonathan Campbell, Mark Autonomous Systems Laboratory Cornell University IthacaNY14853 United States

ISBN: (纸本)9780262519687

This paper considers the distributed data fusion (DDF) problem for general multi-Agent robotic sensor networks in applications such as 3D mapping and target search. In particular, this paper focuses on the use of conservative fusion via the weighted exponential product (WEP) rule to combat inconsistencies that arise from double-counting common information between fusion agents. WEP fusion is ideal for fusing arbitrarily distributed estimates in ad-hoc communication network topologies, but current WEP rule variants have limited applicability to general multi-robot DDF. To address these issues, new information-Theoretic WEP metrics are presented along with novel optimization algorithms for efficiently performing DDF within a recursive Bayesian estimation framework. While the proposed WEP fusion methods are generalizable to arbitrary probability distribution functions (pdfs), emphasis is placed here on widely-used Bernoulli and Gaussian mixture pdfs. Experimental results for multi-robot 3D mapping and target search applications show the effectiveness of the proposed methods. © 2013 Massachusetts Institute of Technology.

关键词： Mapping

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Real time distributed map building in large environments

Real time distributed map building in large environments

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conference on sensor fusion and Decentralized Control in robotic Systems III

作者： Julier, SJ Uhlmann, JK Naval Research Lab. (United States) Univ. of Missouri/Columbia (United States)

ISBN: (纸本)0819438618

Many of the future missions for mobile robots demand multi-robot systems which are capable of operating in large environments for long periods of time. One of the most critical capabilities is the ability to localize - a mobile robot must be able to estimate its own position and to consistently transmit this information to other robots and control sites. Although state-of-the-art GPS is capable of yielding unmatched performance over large areas, it is not applicable in many environments (such as within city streets, under water, indoors, beneath foliage or extra-terrestrial robotic missions) where mobile robots are likely to become commonplace. A widely researched alternative is Simultaneous Localization and Map Building (SLAM): the vehicle constructs a map and, concurrently, estimates its own position. However, most approaches are non-scalable (the storage and computational costs vary quadratically and cubically with the number of beacons in the map) and can only be used with multiple robotic vehicles with a great degree of difficulty. In this paper, we describe the development of a scalable, multiple-vehicle SLAM system. This system, based on the Covariance Intersection algorithm, is scalable - its storage and computational costs are linearly proportional to the number of beacons in the map. Furthermore, it is scalable to multiple robots - each has complete freedom to exchange partial or full map information with any other robot at any other time step. We demonstrate the real-time performance of this system in a scenario of 15,000 beacons.

关键词： Robots Mobile robots sensors Algorithm development Process modeling Data fusion Filtering (signal processing) robotics Computing systems robotic systems

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Achieving Consensus Under Bounded Confidence in Multi-Agent distributed Decision-Making 22

Achieving Consensus Under Bounded Confidence in Multi-Agent ...

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22nd International conference on Information fusion (fusion)

作者： Dabarera, Ranga Wickramarathne, Thanuka L. Premaratne, Kamal Murthi, Manohar N. Amazon Com Inc Boston MA 02210 USA Univ Massachusetts Lowell Dept Elect & Comp Engn Lowell MA 01854 USA Univ Miami Dept Elect & Comp Engn Coral Gables FL 33124 USA

ISBN: (纸本)9780996452786

Understanding the conditions under which a multi agent system reaches a consensus has wide applicability in distributed decision-making environments. The iterative exchange of local states (or opinions) between agents must usually adhere to various constraints. For example, an agent may update its state only from neighboring agents whose state does not differ by more than the agent's bound of confidence (BoC). In this paper, a novel method for generating an Erdols-Renyi random network that guarantees a consensus in a multi-agent system subject to agents' BoC constraints is presented. For the case when agents maintain binary uniformly distributed states, we provide theoretical results on the sensitivity of the network structure generated with respect to changes in the agent BoCs. To allow for more general types of uncertainty to be captured in agent states and the state update scheme, a Dempster-Shafer (DS) belief theoretic opinion model along with a non-parametric kernel density estimation method is utilized and the results are illustrated via a simulation. The method presented has numerous applications in social networks, autonomous mobile robots, distributed sensor systems, and viral marketing, to name a few. Furthermore, the model can be utilized to generate fault-tolerant multi-agent systems where the random network generation makes it difficult to fragment the agents via pre-planned attacks. A case study on autonomous robot soldiers is used for an illustration of these ideas.

关键词： distributed decision-making opinion dynamics bounded confidence Dempster-Shafer theory

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