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

共 371 条记录，以下是141-150 订阅

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fusion of Deep Learning Models for Multi-View Image Classification 32

Fusion of Deep Learning Models for Multi-View Image Classifi...

引用

conference on Signal Processing, sensor/Information fusion, and Target Recognition XXXII

作者： Maguire, Brian Seminerio, Eleanor US Army DEVCOM AC Picatinny Arsenal NJ 07806 USA

ISBN: (数字)9781510662117

ISBN: (纸本)9781510662100;9781510662117

Advances in Convolutional Neural Networks (CNN) have demonstrated state of the art performance in the tasks of image classification and object detection over the past decade. While significant progress has been made in development of more efficient networks, the computational and memory requirements still exceed practical limits in many applications. Additionally, the pose variability in such applications requires even larger training datasets for the network to generalize to all possible scenarios. The goal of this work is to develop an architecture for fusion of multiple views of a single target to provide robust classification with a lightweight backbone network used across all agents. Motivated by approaches to ensemble learning, we demonstrate that multiple weak learners with computationally efficient networks can combine to enhance classification accuracy. Three methods of fusion are considered: decision fusion, feature fusion, and multi-scale feature fusion. A novel network architecture is developed and implemented for each approach then trained and evaluated using synthetic data. For the feature fusion models, a custom training scheme is developed to minimize classification error while maintaining a common feature extraction backbone across agents. This conforms to a distributed classification use case where each agent has no prior knowledge of its position relative to target. Finally, we discuss the requirements for shared data of each approach in the context of applications with limited communication bandwidth.

关键词： Deep Learning Image Classification Image fusion

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Multiagent based multisensor resource management system

Multiagent based multisensor resource management system

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Proceedings of the 1998 IEEE/RSJ International conference on Intelligent Robots and Systems. Part 1 (of 3)

作者： Luo, Ren C. Shr, Arthur M.D. Hu, Chi-Yang Natl Chung Cheng Univ Chia-Yi Taiwan

The objective of this paper is to describe the development of a distributed Multi-Agent sensory Information fusion system which integrates data from multiple sensors such as laser radar, weather radar, forward looking infrared sensors (FLIR) and associated important sensory information located in different agents to accomplish requested tasks cooperatively. In this paper, we have developed a system based on the concept of Offboard Augmented Theater Surveillance (OBATS) and Internet network architecture to make the multi-agent resource management system in practice. The architecture of distributed fusion system, the coordination strategy of Global Decision Agent (GDA) and the communication between Service agents (SAs) and GDA have been developed. Furthermore, a scenario application has been implemented to demonstrate the concept of this multi-agent system. Other potential applications have also been discussed.

关键词： sensor data fusion

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Self-Organizable Bluetooth Network for distributed Autonomous robotic System

Self-Organizable Bluetooth Network for Distributed Autonomou...

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30th Annual conference of the IEEE-Industrial-Electronics-Society (IECON)

作者： Whang, Se-Hee Jang, In-Hun Lee, Hong-Gi Sim, Kwee-Bo Chung Ang Univ Sch Elect & Eletron Engn Seoul 156756 South Korea

ISBN: (纸本)9780780387300

distributed Autonomous robotic System (DARS) consists of Central Processing part, Communication part. sensor part, and Etc. It is essential for DARS, which is made of independent agents. Bluetooth [1][2] is developed having the features as low power consumption, standard protocol, small module size and Etc. So it is suitable for DARS. But it has some constraints like network structure, distance of communication, and so on. To overcome these constraints, more dynamic network system is needed for DARS. In this paper, we propose the self-organizable bluetooth network base on the routing-tree that is more adaptable for DARS. This network system is composed of the following four network-organization procedures discovery, organization, maintenance, and re-organization [3]. Also this system can operate in more dynamic environment and organize communication network by itself. By the reasons, this self-organizable bluetooth network is suitable for DARS and other dynamic environment.

关键词： distributed computer systems

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A scalable and distributed model for self-organization and self-healing

A scalable and distributed model for self-organization and s...

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7th International Joint conference on Autonomous agents and Multiagent Systems, AAMAS 2008

作者： Rubenstein, Michael Shen, Wei-Min University of Southern California Information Sciences Institute United States

ISBN: (纸本)9781605604701

As the ability to produce a large number of small, simple robotic agents improves, it becomes essential to control the behavior of these agents in such a way that the sum of their actions gives rise to the desired overall result. These agents are modeled as homogeneous, distributed robots, with only one simple short range sensor. Our simple agents 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 agents, 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. Copyright © 2008, International Foundation for Autonomous agents and Multiagent Systems (***). All rights reserved.

关键词： Robots

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Embedding reactive hardware agents into heterogeneous sensor networks

Embedding reactive hardware agents into heterogeneous sensor...

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作者： Tapia, Dante I. Alonso, Ricardo S. Rodríguez, Sara De Paz, Juan F. González, Angélica Corchado, Juan M. Department of Informatics University of Salamanca Salamanca Spain

ISBN: (纸本)9780982443811

Information fusion systems can be improved by developing solutions that integrate distributed intelligent systems with context-aware technologies. In this sense, Wireless sensor Networks is a key technology for gathering remote and heterogeneous context information. However, it is not easy to integrate devices from different technologies into a single network. distributed architectures, such as Multi-Agent Systems, can facilitate integrating such heterogeneous devices. In addition, Multi-Agent Systems expand the sensors' context-aware capabilities changing their behavior dynamically and personalizing their reactions. This paper presents the new Hardware-Embedded Reactive agents (HERA) platform, that allows developing information fusion applications where agents are directly embedded in heterogeneous wireless sensor nodes with small resources.

关键词： Intelligent systems

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A framework for coordinating multiple robots in cooperative manipulation tasks

A framework for coordinating multiple robots in cooperative ...

引用

sensor fusion and Decentralized Control in robotic Systems IV conference

作者： Chaimowiez, L Kumar, V Campos, M Univ Fed Minas Gerais DCC VERLab BR-31270010 Belo Horizonte MG Brazil

ISBN: (纸本)0819442992

In this paper, we describe a framework for coordinating multiple robots in the execution of a cooperative manipulation task. The coordination is distributed among the robots that use modular, hybrid controllers in order to execute the task. Different plans and models of the environment are built using a mix of global and local information and can be shared by the team members using wireless communication. Our framework uses models and metrics of computation, control, sensing and information in order to dynamically assign roles to the robots, and define the most suitable control hierarchy given the requirements of the task and characteristics of the robots. To test our framework, we have developed a object oriented simulator that allows the user to create different types of robots, to define different environments and to specify various types of control algorithms and communication protocols. Using the simulator, we have been able to test the execution of this task in different scenarios with different numbers of robots. We can verify the efficacy of the robot controllers, the effects of different parameters on the system performance and the ability of the robots to adapt to changes in the environment. Results from experiments with two real robots and with the simulator are used to explore the multi-robot coordination in a cooperative manipulation task.

关键词： cooperative robotics distributed control

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robotic Test Bed for Autonomous Surface Exploration of Titan, Mars, and Other Planetary Bodies

Robotic Test Bed for Autonomous Surface Exploration of Titan...

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IEEE Aerospace conference

作者： Fink, Wolfgang Tarbell, Mark A. Furfaro, Roberto Powers, Linda Kargel, Jeffrey S. Baker, Victor R. Lunine, Jonathan Univ Arizona Dept Elect & Comp Engn Visual & Autonomous Explorat Syst Res Lab Tucson AZ 85721 USA

ISBN: (纸本)9781424473519

Tier-scalable robotic reconnaissance missions are called for in extreme space environments, including planetary atmospheres, surfaces (both solid and liquid), and subsurfaces (e. g., oceans), as well as in potentially hazardous or inaccessible operational areas on Earth. Such future missions will require increasing degrees of operational autonomy: (1) Automatic mapping of an operational area from different vantages (i.e., spaceborne, airborne, surface, subsurface);(2) automatic sensor deployment and sensor data gathering;(3) automatic feature extraction and target/region-of-interest/anomaly identification within the mapped operational area;(4) automatic target prioritization for follow-up or close-up (in-situ) examination;and (5) subsequent automatic, targeted deployment and navigation/relocation of agents/sensors (e. g., to follow up on transient events). We report on recent progress in developing an Earth-based (outdoors) robotic test bed for Tier-scalable Reconnaissance at the University of Arizona and Caltech for distributed, science-driven, and significantly less constrained (compared to state-of-the-art) reconnaissance of prime locations on a variety of planetary bodies, with particular focus on Saturn's moon Titan with its methane/hydrocarbon lakes and Mars. The test bed currently comprises several computer-controlled robotic surface vehicles, i.e., rovers and lake landers/boats equipped with a variety of sensors. To achieve a fully operational Tier-scalable Reconnaissance test bed, aerial platforms will be integrated as a next step. The robotic surface vehicles can be interactively or automatically controlled from anywhere in the world in near real-time via the Internet. The test bed enables the implementation, field-testing, and validation of algorithms and strategies for navigation, exploration, sensor deployment, sensor data gathering, feature extraction, anomaly detection, and science goal prioritization for autonomous planetary exploration. Furthermore,

关键词： Earth Internet Mars Moon Saturn geophysical prospecting mobile robots multi-agent systems planetary rovers remote sensing sensors software packages

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Adaptation and specialization for high performance mobile agents 5

Adaptation and specialization for high performance mobile ag...

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5th USENIX conference on Object-Oriented Technologies and Systems (COOTS 99)

作者： Zhou, D Schwan, K Georgia Inst Technol Coll Comp Atlanta GA 30332 USA

ISBN: (纸本)1880446359

Mobile agents as a new design paradigm for distributed computing potentially permit network applications to operate across dynamic and heterogeneous systems and networks. Agent computing, however, is subject to inefficiencies. Namely, due to the heterogeneous nature of the environments in which agents are executed, agent-based programs must rely on underlying agent systems to mask some of those complexities by using system-wide, uniform representations of agent code and data and by 'hiding' the volatility in agents' 'spatial' relationships. This paper explores runtime adaptation and agent specialization for improving the performance of agent-based programs. Our general aim is to enable programmers to employ these techniques to improve program performance without sacrificing the fundamental advantages promised by mobile agent programming. The specific results in this paper demonstrate the beneficial effects of agent adaptation both for a single mobile agent and for several cooperating agents, using the adaptation techniques of agent morphing and agent fusion. Experimental results are attained with two sample high performance distributed applications, derived from the scientific domain and from sensor-based codes, respectively.

关键词： Mobile agents

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sensor/actuator networks supporting agents for distributed energy management

Sensor/actuator networks supporting agents for distributed e...

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29th Annual IEEE conference on Local Computer Networks

作者： Taylor, K Ward, J Gerasimov, V James, G CSIRO ICT Centre Australia CSIRO Division of Energy Technology Australia

ISBN: (纸本)0769522602

We have demonstrated the use of low-cost sensing devices for intelligent control of typical commercial energy loads: cool rooms for keeping produce fresh and heating, ventilation, and air-conditioning (HVAC) systems for buildings. We provide the sensing devices - Berkeley Motes and X10 sensing and switching equipment - with a presence on the internet to permit sophisticated applications to access their data and control their electrical loads. The ad hoc sensor network is connected to the mobile phone network through a light-weight gateway for long-hall communications. Local control provides failsafe default behaviour in the absence of remote control or when communication is lost. We will use this network to deploy agent-based software to manage distributed energy resources, including local generation plants as well as loads. Our aim is to provide new ways for small-to-medium enterprises, energy retailers, and energy network businesses to obtain commercial benefits in a deregulated energy market.

关键词： sensor data fusion

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Proceedings of the 6th International conference on Information fusion, fusion 2003

Proceedings of the 6th International Conference on Informati...

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6th International conference on Information fusion, fusion 2003

The proceedings contain 192 papers. The topics discussed include: multi sensor fusion for object detection using generalized feature models;joint kinematic and feature tracking using probabilistic argumentation;robust guaranteed cost filtering for a class of nonlinear systems;a quatemion-based unscented kalman filter for orientation tracking;active object localization using speaker arrays;target tracking using passively sensed transient signals;joint sound localization and orientation estimation;distributed information fusion agents;semantic lnteroperability of knowledge bases: how can agents share knowledge if they don't speak the same language?;industrial assessment of horticultural products' quality using image data fusion;distributed classification in a multi-source environment;and error performance bounds for tracking a maneuvering target.

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