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Consistency in models for communication constrained distributed learning

17th Annual conference on Learning Theory (COLT 2004)

作者： Predd, JB Kulkarni, SR Poor, HV Princeton Univ Dept Elect Engn Princeton NJ 08540 USA

ISBN: (纸本)3540222820

Motivated by sensor networks and other distributed settings, several models for distributed learning are presented. The models differ from classical works in statistical pattern recognition by allocating observations of an i.i.d. sampling process amongst members of a network of learning agents. The agents are limited in their ability to communicate to a fusion center;the amount of information available for classification or regression is constrained. For several simple communication models, questions of universal consistency are addressed;i.e., the asymptotics of several agent decision rules and fusion rules are considered in both binary classification and regression frameworks. These models resemble distributed environments and introduce new questions regarding universal consistency. Insofar as these models offer a useful picture of distributed scenarios, this paper considers whether the guarantees provided by Stone's Theorem in centralized environments hold in distributed settings.

关键词： Classification (of information)

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distributed microscopy: Toward a 3D computer graphic-based multi user microscopic manipulation, imaging and measurement system

Distributed microscopy: Toward a 3D computer graphic-based m...

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sensor fusion and distributed robotic agents

作者： Sulzmann, Armin Carlier, Jerome Jacot, Jacques CH-1015 Lausanne Switzerland

The aim of this project is to telecontrol the movements in 3D-space of a microscope in order to manipulate and measure microsystems or micro parts aided by multi-user virtual reality (VR) environments. Presently microsystems are gaining in interest. Microsystems are small, independent modules, incorporating various functions, such as electronic, micro mechanical, data processing, optical, chemical, medical and biological functions. Though improving the manufacturing technologies, the measurement of the small structures to insure the quality of the process is a key information for the development. So far to measure the micro structures strong microscopes are needed. The use of highly magnifying computerized microscopes is expensive. To insure high quality measurements and distribute the acquired information to multi-user our proposed system is divided into three parts: the virtual reality microscopic environment (VRME)-based user-interface on a SGI workstation to prepare the manipulations and measurements. Secondly the computerized light microscope with the vision system inspecting the scene and getting the images of the specimen. Newly developed vision algorithms are used to analyze micro structures in the scene corresponding to the known a priori model. This vision is extracting position and shape of the objects and then transmitted as feedback to the user of the VRME-system to update his virtual environment. The internet demon is the third part of the system and distributes the information about the position of the micro structures, their shape and the images to the connected users who themselves may interact with the microscope (turn and displace the specimen on the back of a moving platform, or adding their structures to the scene and compare). The key idea behind our project VRME is to use the intuitiveness and the 3D visualization of VR environments coupled with a vision system to perform measurements of micro structures at a high accuracy. The direct feedback

关键词： Computer vision

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Cooperative motion control and sensing architecture in compliant framed modular mobile robots

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IEEE TRANSACTIONS ON roboticS 2007年第5期23卷 1095-1101页

作者： Zhu, Xiaorui Kim, Youngshik Merrell, Roy Minor, Mark A. Univ Utah Dept Mech Engn Salt Lake City UT 84112 USA Harbin Inst Technol Guangdong 518055 Peoples R China ATK Launch Syst Salt Lake City UT USA

A novel motion control and sensing architecture for a two-axle Compliant Framed wheeled Modular Mobile Robot (CFMMR) is proposed in this paper. The CFMMR is essentially a cooperative mobile robotic system with complex physical constraints and highly nonlinear interaction forces. The architecture combines a kinematic controller for coordinating motion and providing reference commands, robust dynamic controllers for following these commands and rejecting disturbances, and a sensor fusion system designed to provide accurate relative posture estimates. Requirements, for each of these subsystems and their respective interconnections are defined in this paper in order to optimize system performance. Experimental results compare performance of the proposed architecture to suboptimal configurations. Results derived from seven groups of experiments based upon 35 individual tests validate superiority of the architecture.

关键词： cooperative systems distributed control motion control robot sensing systems tracking

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Dynamic area coverage using faulty multi-agent swarms

Dynamic area coverage using faulty multi-agent swarms

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IEEE/WIC/ACM International conference on Intelligent Agent Technology and Web Intelligence

作者： Cheng, Ke Dasgupta, Prithviraj Univ Nebraska Dept Comp Sci Omaha NE 68182 USA

ISBN: (纸本)9780769530277

We consider the problem of distributed coverage of an unknown two-dimensional environment using a swarm of mobile mini-robots. In contrast to previous approaches for robotic area cove-rage, we assume that each robot(agent) in our system is limited in its communication range and memory capacity. agents are also susceptible to sensor noise while communicating with other agents, and, can be subject to transient or permanent failures. The objective of the agents is to cover the entire environment while reducing the coverage time and the redundancy in the area covered by different agents. First, we describe our distributed coverage algorithm where each agent uses a local heuristic based on Manhattan distances and the information gained from other agents at each step to decide on its next action(movement). We then describe and analyze the fault model of out, agents and show that the local heuristic used by the agents deteriorate linearly as the communication noise increases. Finally, we verify the performance of our system empirically within a simulated environment and show that the system is able to scale efficiently in the number of robots and size of the environment, and, determine the effect of communication faults and robot failures on the system performance.

关键词： swarming distributed area coverage fault failure

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Cooperative Sensing in Mobile sensor Networks Based on distributed Consensus

Cooperative Sensing in Mobile Sensor Networks Based on Distr...

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conference on Signal and Data Processing of Small Targets

作者： La, Hung Manh Sheng, Weihua Oklahoma State Univ Sch Elect & Comp Engn Stillwater OK 74078 USA

ISBN: (纸本)9780819487476

Mobile sensor networks (MSNs) have wide applications such as military target detection and tracking, detection of toxic chemicals in contaminated environments, and search and rescues after disasters. etc. In many applications, a core problem is to conduct cooperative scalar field mapping (or searching) over a large area of interest. Centralized solutions to the scalar field mapping may not fit for large mobile sensor network due to the single-point-of-failure problem and the limited scalability. In this paper, autonomous mobile sensor networks are deployed to map a scalar field in a cooperative and distributed fashion. We develop a cooperative sensor fusion algorithm based on distributed consensus filters. In this algorithm each agent receives measurements from its neighboring agents within its communication range, and iteratively updates the estimate of the unknown scalar field and an associated confidence map. A motion planning algorithm is used to obtain a path for complete coverage of the field of interest. A distributed flocking control algorithm is adopted to drive the center of the mobile sensor network to track the desired paths. Computer simulations are conducted to validate the proposed algorithms. We evaluate the mapping performance by comparing it with a centralized mapping algorithm. Such a cooperative sensing approach can be used in many military surveillance applications where targets may be small and elusive.

关键词： Cooperative sensing sensor fusion Flocking control Mobile sensor networks

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Tier-scalable reconnaissance: The challenge of sensor optimization, sensor deployment, sensor fusion, and sensor interoperability

Tier-scalable reconnaissance: The challenge of sensor optimi...

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conference on Micro (MEMS) and Nanotechnologies for Defense and Security

作者： Fink, Wolfgang George, Thomas Tarbell, Mark A. CALTECH Visual & Autonomous Explorat Syst Res Lab Div Phys Math & Astron 1200 E Calif BlvdMail Code 103-33 Pasadena CA 91125 USA ViaLogy LLC Altadena CA 91001 USA

ISBN: (纸本)9780819466785

robotic reconnaissance operations are called for in extreme environments, not only those such as space, including planetary atmospheres, surfaces, and subsurfaces, but also in potentially hazardous or inaccessible operational areas on Earth, such as mine fields, battlefield environments, enemy occupied territories, terrorist infiltrated environments, or areas that have been exposed to biochemical agents or radiation. Real time reconnaissance enables the identification and characterization of transient events. A fundamentally new mission concept for tier-scalable reconnaissance of operational areas, originated by Fink et al., is aimed at replacing the engineering and safety constrained mission designs of the past. The tier-scalable paradigm integrates multi-tier (orbit double left right arrow atmosphere double left right arrow surface/subsurface) and multi-agent (satellite double left right arrow UAV/blimp double left right arrow surface/subsurface sensing platforms) hierarchical mission architectures, introducing not only mission redundancy and safety, but also enabling and optimizing intelligent, less constrained, and distributed reconnaissance in real time. Given the mass, size, and power constraints faced by such a multi-platform approach, this is an ideal application scenario for a diverse set of MEMS sensors. To support such mission architectures, a high degree of operational autonomy is required. Essential elements of such operational autonomy are: (1) automatic mapping of an operational area from different vantage points (including vehicle health monitoring);(2) automatic feature extraction and target/region-of-interest identification within the mapped operational area;and (3) automatic target prioritization for close-up examination. These requirements imply the optimal deployment of MEMS sensors and sensor platforms, sensor fusion, and sensor interoperability.

关键词： tier-scalable reconnaissance space exploration hazardous environment mission autonomy integrated vehicle health management multi-parameter optimization design/performance optimization (MEMS) sensors sensor fusion sensor interoperability

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A decentralized approach for multi-UAV multitarget tracking and surveillance

A decentralized approach for multi-UAV multitarget tracking ...

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conference on Ground/Air Multisensor Interoperability, Integration and Networking for Persistent ISR III

作者： Adamey, Emrah Ozguner, Umit Ohio State Univ Dept Elect & Comp Engn Columbus OH 43210 USA

ISBN: (纸本)9780819490674

In this paper, we consider the problem of cooperative multitarget tracking and surveillance with multiple UAVs in a decentralized network architecture. In sensor fusion, we developed a decentralized particle filtering approach to maintain target location estimates. Sample sets are converted to Gaussian Mixtures using expectation maximization, and communicated between agents using are rquest/response strategy. Upon receiving Gaussian Mixtures from other agents, each UAV fuses them into its own estimates using generalized covariance intersection. In decision making, we decoupled the problem into two abstraction levels. At the higher level, leaders are selected for each subnetwork. Each leader, then, assigns operating regions to other agents within its subnetwork. At the lower level, individual agents plan their own motions to actively track targets within their assigned regions. Our approach is evaluated in a number of simulation runs. The results demonstrate the effectiveness of our decentralized approach.

关键词： mobile robots robotic networks mobile sensor agents MSA UAV estimation decision making multitarget tracking surveillance particle filter decentralized data fusion

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Virtual Organizations of agents for Monitoring Elderly and Disabled People in Geriatric Residences

Virtual Organizations of Agents for Monitoring Elderly and D...

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16th International conference on Information fusion (fusion)

作者： Zato, Carolina Rodriguez, Sara Tapia, Dante I. Corchado, Juan M. Bajo, Javier Univ Salamanca Fac Sci Comp & Automat Control Dept E-37008 Salamanca Spain Tech Univ Madrid Fac Comp Sci Dept Artificial Intelligence Madrid Spain

ISBN: (纸本)9786058631113

This paper presents the use of PANGEA platform applied to improve healthcare and assistance to elderly and dependent people in geriatric residences. PANGEA is based on Virtual Organizations of agents (VO) and integrates a set of autonomous deliberative agents designed to support the carers' activities and to guarantee that the patients are given the right care. The system makes use of Wireless sensor Networks and a Real-Time Locating System for providing autonomous responses according to the environment status. agents are a suitable alternative to manage the enormous quantity of data provided of sensors because they can represent autonomous entities by modelling their capabilities, expertise and intentions. This approach facilitates the inclusion of context-aware capabilities when developing intelligent and adaptable systems, where functionalities can communicate in a distributed and collaborative way. Several tests have been performed to evaluate this framework and preliminary results and conclusions are presented

关键词： multi-agent systems virtual organizations deliberative agents real-time locating systems wireless sensor networks information fusion process health care

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A novel approach towards computing global maps for multi-robotic operation in tactical environments 4

A novel approach towards computing global maps for multi-rob...

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conference on Disruptive Technologies in Information Sciences IV

作者： Johnson-bey, Ishmael Dasari, Venkateswara R. CCDC US Army Res Lab Aberdeen Proving Ground MD 21005 USA

ISBN: (纸本)9781510636163

During multi-robot simultaneous localization and mapping (SLAM) tasks, a team of robot agents must efficiently synthesize a global map from individual local maps. One method to accomplish this is reserving a subset of robots to perform data fusion and assigning the others to collect and generate local maps. While this solves, the division of labor problem, it requires humans to explicitly designate which robots handle what tasks and it does not scale well to large teams. Moreover, when robots are operating in tactical environments, they may be placed on a heterogeneous team, with limited or unreliable communication infrastructure. To assist with the task of role assignment, we describe a novel decentralized message passing algorithm, for what we are calling distributed Leader Consensus (DLC). DLC helps a set of agents self-organize into structured groups by giving them the ability to autonomously come to a consensus on the group leader. Our approach is entirely distributed, easily configurable, and is robust to agents being dynamically added to or removed from the system. DLC may be configured to limit group sizes, assign multiple leaders, and select leaders based on computational power and/or physical proximity. We test our approach in simulation by having a set of agents adapt to changing teammate availability.

关键词： multi-agent systems decentralized control multi-agent coordination distributed consensus

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Managed traffic evacuation using distributed sensor processing

Managed traffic evacuation using distributed sensor processi...

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conference on Nondestructive Detection and Measurement for Homeland Security III

作者： Ramuhalli, P Biswas, S Michigan State Univ Dept Elect & Comp Engn E Lansing MI 48824 USA

ISBN: (纸本)0819457507

This paper presents an integrated sensor network and distributed event processing architecture for managed in-building traffic evacuation during natural and human-caused disasters, including earthquakes, fire and biological/chemical terrorist attacks. The proposed wireless sensor network protocols and distributed event processing mechanisms offer a new distributed paradigm for improving reliability in building evacuation and disaster management. The networking component of the system is constructed using distributed wireless sensors for measuring environmental parameters such as temperature, humidity, and detecting unusual events such as smoke, structural failures, vibration, biological/chemical or nuclear agents. distributed event processing algorithms will be executed by these sensor nodes to detect the propagation pattern of the disaster and to measure the concentration and activity of human traffic in different parts of the building. Based on this information, dynamic evacuation decisions are taken for maximizing the evacuation speed and minimizing unwanted incidents such as human exposure to harmful agents and stampedes near exits. A set of audiovisual indicators and actuators are used for aiding the automated evacuation process. In this paper we develop integrated protocols, algorithms and their simulation models for the proposed sensor networking and the distributed event processing framework. Also, efficient harnessing of the individually low, but collectively massive, processing abilities of the sensor nodes is a powerful concept behind our proposed distributed event processing algorithms. Results obtained through simulation in this paper are used for a detailed characterization of the proposed evacuation management system and its associated algorithmic components.

关键词： wireless sensor networks distributed detection managed in-building evacuation homeland security NDE data fusion

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