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sensor fusion and Decentralized Control in robotic Systems II conference

作者： Feddema, J Lewis, C Klarer, P Eisler, R Caprihan, R Sandia Natl Labs Intelligent Syst & Robot Ctr Albuquerque NM 87185 USA

ISBN: (纸本)0819434329

As part of a project for the Defense Advanced Research Projects Agency, Sandia National Laboratories' Intelligent Systems & robotics Center is developing and testing the feasibility of a cooperative team of robotic sentry vehicles to guard a perimeter and to perform a surround task. This paper describes on-going activities in the development of these robotic sentry vehicles. To date, we have developed a robotic perimeter detection system which consists of eight "Roving All Terrain Lunar Explorer Rovers" (RATLER(TM)), a laptop-based base-station, and several Miniature Intrusion Detection sensors (MIDS). A radio frequency receiver on each of the RATLER vehicles alerts the sentry vehicles of alarms from the hidden MIDS. When an alarm is received, each vehicle decides whether it should investigate the alarm based on the proximity of itself and the other vehicles to the alarm As one vehicle attends an alarm, the other vehicles adjust their position around the perimeter to better prepare for another alarm For the surround task both potential field and A* search path planners have been added to the base-station and vehicles. At the base-station, the operator specifies goal and exclusion regions on a GIS map. The path planner generates vehicle paths that are previewed by the operator. Once the operator has validated the path, the appropriate information is downloaded to the vehicles. For the potential field path planner, the polygons and line segments that represent the obstacles and goals are downloaded to the vehicles, instead of the simulated paths. On board the vehicles, the same potential field path planner generates the path except that it uses the true location of itself and the nearest neighboring vehicle. For the A* path planner, the actual path is downloaded to the vehicles because of limited on-board computational power.

关键词： mobile robots cooperative control distributed autonomous systems

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fusion of surveillance information for visual sensor networks

Fusion of surveillance information for visual sensor network...

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2006 9th International conference on Information fusion, fusion

作者： Pérez, Óscar Patricio, Miguel A. García, Jesus Carbo, Javier Molina, Jose M. Computer Science Department-GIAA Universidad Carlos III de Madrid Colmenarejo Spain

ISBN: (纸本)1424409535

The growing interest in surveillance in public, military and commercial scenarios is increasing the need to create intelligent or automated distributed visual surveillance systems. Many applications based on distributed resources use the software agent paradigm. In this work, a multi-agent framework is applied to coordinate an indoor-surveillance system based on video cameras. The capacity of coordination will allow the improvement of the global image and the effectiveness of the task distribution. Software agents are embedded in each camera and control the capture parameters. The multi-agent framework allows the coordination of the acquisition procedure based on high level messages and the fusion of information among agents. The agent paradigm uses the internal interpretation of the situation from each agent to improve the global coordination.

关键词： Image enhancement

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distributed Mobility and Power Control for Noncooperative robotic Ad Hoc and sensor Networks

Distributed Mobility and Power Control for Noncooperative Ro...

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50th IEEE conference of Decision and Control (CDC)/European Control conference (ECC)

作者： Stankovic, Milos S. Johansson, Karl H. KTH Royal Inst Technol ACCESS Linnaeus Ctr Sch Elect Engn S-10044 Stockholm Sweden

ISBN: (纸本)9781612848013

In this paper we propose novel algorithms for noncooperative power and position control in mobile ad hoc networks. The algorithms are distributed and adaptive, i.e., they are able to deal with the agents' lack of knowledge about the environmental conditions and about the actions, positions and properties of the other agents, which is the essential challenge in these networks. The agents' cost functions consist of a term proportional to the achievable rate of communication with the neighbors, explicitly depending on the interference from the other agents, and a pricing term penalizing excessive power (for the power control scheme) or deviation from predefined positions (for the position control scheme). We formulate conditions for the existence and uniqueness of the Nash equilibrium and prove that the algorithms converge to it almost surely, based only on local measurements and local signaling between the neighbors. The position control algorithm can be adopted to specific motion dynamics of the networked mobile robots. We illustrate the main properties of the algorithms through simulations.

关键词： Position control

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Multi sensor fusion Using Fitness Adaptive Differential Evolution

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1st International conference on Swarm, Evolutionary, and Memetic Computing

作者： Giri, Ritwik Ghosh, Arnob Chowdhury, Aritra Das, Swagatam Jadavpur Univ Dept Elect & Telecommun Engg Kolkata 700032 India

ISBN: (纸本)9783642175626

The rising popularity of multi-source, multi-sensor networks supports real-life applications calls for an efficient and intelligent approach to information fusion. Traditional optimization techniques often fail to meet the demands. The evolutionary approach provides a valuable alternative due to its inherent parallel nature and its ability to deal with difficult problems. We present a new evolutionary approach based on a modified version of Differential Evolution (DE), called Fitness Adaptive Differential Evolution (FiADE). FiADE treats sensors in the network as distributed intelligent agents with various degrees of autonomy. Existing approaches based on intelligent agents cannot completely answer the question of how their agents could coordinate their decisions in a complex environment. The proposed approach is formulated to produce good result for the problems that are high-dimensional, highly nonlinear, and random. The proposed approach gives better result in case of optimal allocation of sensors. The performance of the proposed approach is compared with an evolutionary algorithm coordination generalized particle model (C-GPM).

关键词： Multi-sensor fusion sensor behavior Evolutionary algorithm Dynamic sensor resource allocation problem Differential Evolution (DE)

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distributed information-based guidance of multiple mobile sensors for urban target search

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AUTONOMOUS ROBOTS 2018年第2期42卷 375-389页

作者： Ramirez-Paredes, Juan-Pablo Doucette, Emily A. Curtis, Jess W. Gans, Nicholas R. Univ Florida Res Engn & Educ Facil Shalimar FL USA Air Force Res Lab Weapon Dynam & Control Sci Branch Munit Directorate Eglin AFB FL USA Univ Texas Dallas Richardson TX 75083 USA

We present a framework for distributed mobile sensor guidance to locate and track a target inside an urban environment. Our approach leverages the communications between robots when a link is available, but it also allows them to act independently. Each robot actively seeks the target using information maximization. The robots are assumed to be capable of communicating with their peers within some distance radius, and the sensor payload of each robot is a camera modeled to have target detection errors of types I and II. Our contributions include an optimal information fusion algorithm for discrete distributions which allows each agent to combine its local information with that of its neighbors, and a path planner that uses the fused estimate and a recent coverage result for information maximization to guide the agents. We include simulations and laboratory experiments involving multiple robots searching for a moving target within model cities of different sizes.

关键词： Probabilistic methods Information-theoretical control distributed systems Target search

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A Scalable and distributed Approach for Self-Assembly and Self-Healing of a Differentiated Shape

A Scalable and Distributed Approach for Self-Assembly and Se...

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IEEE/RSJ International conference on Intelligent Robots and Systems

作者： Rubenstein, Michael Shen, Wei-Min Univ So Calif Inst Informat Sci Los Angeles CA 90089 USA

ISBN: (纸本)9781424420575

As the ability to produce a large number of small, simple robotic agents improves, it becomes essential to control the behavior of these robots in such a way that the sum of their actions gives rise to the desired overall result These robots are modeled as homogeneous, distributed robots, with only one simple short range sensor. Our simple robots are tasked to form and hold a desired swarm shape, independent of the total number of agents. If this shape is damaged by the removal of some of the robots, the remaining agents will recover the former shape, but on a smaller scale. These shapes can also have a pattern such as a picture or drawing displayed on them by controlling the individual robots color, symbolically representing the differentiation of agents within the swarm. This pattern will resize to fit the existing swarm. With the ability to synchronize in time, the swarm gains the ability to change the pattern displayed, resulting in a moving image.

关键词： Robots

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sensor fusion for autonomous drone waypoint navigation using ROS and numerical P systems: a critical analysis of its advantages and limitations 22

Sensor fusion for autonomous drone waypoint navigation using...

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22nd International conference on Control Systems and Computer Science (CSCS)

作者： Florea, Andrei George Buiu, Catalin Politeh Univ Bucharest Dept Automat Control & Syst Engn Bucharest Romania

ISBN: (纸本)9781728123318

Membrane computing (or P systems) is already a mature area of natural computing, inspired by the architecture and functioning of biological cells. Numerous theoretical results and application studies have demonstrated the power of P systems as distributed and parallel computing models. In this regard, there has been an increasing interest lately in the application of membrane computing in robotics. This has led to the introduction of new theoretical models of membrane systems (e.g. enzymatic numerical P systems) and the design of novel ways to control robots and swarms of robots using membrane systems. The problem addressed in this paper is sensor fusion for autonomous drone waypoint navigation, and a solution based on numerical P systems and Robot Operating System (ROS, a widely used software framework for building robotic systems) is developed and presented here. A critical analysis of the results offers new insights into the advantages and limitations of the use of membrane computing in controlling robots and drones.

关键词： quadcopter waypoint fiducial sensor fusion membrane computing

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Competition-Based Resilience in distributed Quadratic Optimization 61

Competition-Based Resilience in Distributed Quadratic Optimi...

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IEEE 61st conference on Decision and Control (CDC)

作者： Ballotta, Luca Como, Giacomo Shamma, Jeff S. Schenato, Luca Univ Padua Dept Informat Engn I-35131 Padua Italy Politecn Torino Dept Math Sci Corso Duca Abruzzi 24 I-10129 Turin Italy Univ Illinois Ind & Enterprise Syst Engn ISE Urbana IL USA

ISBN: (纸本)9781665467612

We propose a competition-based approach to resilient distributed optimization with quadratic costs in Net-worked Control Systems (e.g., wireless sensor network, power grid, robotic team) where a fraction of agents may misbehave (through, e.g., hacking or power outage). Departing from classical filtering strategies proposed in literature, and inspired by a game-theoretic interpretation of consensus, we propose to introduce competition among normally behaving agents as a mean to enhance resilience against malicious attacks. Our proposal is supported by formal and heuristic results which show that i) there exists a nontrivial trade-off between blind collaboration and full competition and ii) the proposed approach can outperform standard techniques based on the algorithm Mean Subsequence Reduced.

关键词： Wireless sensor networks

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Spatial statistics and distributed estimation by robotic sensor networks

Spatial statistics and distributed estimation by robotic sen...

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作者： Graham, Rishi Cortés, Jorge Department of Applied Mathematics and Statistics University of California Santa Cruz United States Department of Mechanical and Aerospace Engineering University of California San Diego United States

ISBN: (纸本)9781424474264

Networks of environmental sensors are playing an increasingly important role in scientific studies of the ocean, rivers, and the atmosphere. robotic sensors can improve the efficiency of data collection, adapt to changes in the environment, and provide a robust response to individual failures. Their operation must be driven by statistically-aware algorithms that make the most of the network capabilities for data collection and fusion. At the same time, such algorithms need to be distributed and scalable to make robotic networks capable of operating in an autonomous and robust fashion. The combination of these two objectives, complex statistical modeling and distributed coordination, presents grand technical challenges: traditional statistical modeling and inference assume full availability of all measurements and central computation. While the availability of data at a central location is certainly a desirable property, the paradigm for distributed motion coordination builds on partial, fragmented information. This work surveys recent progress at bridging the gap between sophisticated statistical modeling and distributed motion coordination. © 2010 AACC.

关键词： Coordination reactions

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Data pedigree and strategies for dynamic level-one sensor data fusion

Data pedigree and strategies for dynamic level-one sensor da...

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9th International conference on Information fusion

作者： Ceruti, Marion G. Wright, Tedd L. Powers, Brenda J. McGirr, Scott C. Space & Naval Warfare Syst Ctr Code 246206 53560 Hull St San Diego CA 92152 USA

ISBN: (纸本)9781424409532

Knowledge Management for distributed-tracking (KMDT) is a U.S. Naval research and development project to improve military-communications and information functions in the battle space. These functions include command, control, data fusion, and decision support. It features a scenario for modeling and simulation that shows how knowledge-management technologies, such as ontologies and intelligent agents can improve battle-space awareness and the decision-making process in command centers with respect to distributed tracking and threat identification of targets. Data on cross lines of bearings can be acquired from sensors using a secure network. These data and their associated pedigree metadata from multiple platforms in the battle space can be fused to reduce the uncertainty in platform detection, localization, classification and identification (level-one data-fusion object refinement). The pedigree metadata can affect how data are used infusion tasks.

关键词： decision support distributed sensing level-one data fusion pedigree metadata sensors tracking

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