检索结果-内蒙古大学图书馆

27th International conference on Information fusion (fusion)

作者： Schmitt, Eva Julia Noack, Benjamin Otto von Guericke Univ Inst Intelligent Cooperating Syst Autonomous Multisensor Syst Grp Magdeburg Germany

ISBN: (纸本)9798350371420;9781737749769

Many automation tasks require to fuse information that is acquired by distributed sensors and passed through a wireless network across multiple nodes. The growing number of connected sensors and agents increases the burden on the communications network and the energy consumption. Further challenges in information fusion arise from correlated data shared between nodes. To mitigate the negative effects, an efficient multi-sensor fusion approach is presented in this paper. A system design that uses stochastic event-based instead of periodic transmissions is proposed based on two different algorithms, the augmented state approach and fast covariance intersection. Furthermore, two different network topologies are investigated and a methodology to handle correlations among both finite impulse response and recursive estimates is developed. Together, the results represent a wide range of network topologies and possible correlation structures and give insights into the estimation performance and network utilization.

关键词： Multisensor fusion event-based estimation correlated inputs

来源：评论

学校读者我要写书评

暂无评论

distributed multi-agent magnetic field norm SLAM with Gaussian processes 26

Distributed multi-agent magnetic field norm SLAM with Gaussi...

引用

26th International conference on Information fusion, fusion 2023

作者： Viset, Frida Helmons, Rudy Kok, Manon Delft University of Technology Delft Center for Systems and Control Netherlands Delft University of Technology Norwegian University of Science and Technology Maritime and Transport Technology Institute for Geoscience and Petroleum Norway

ISBN: (纸本)9798890344854

Accurately estimating the positions of multi-agent systems in indoor environments is challenging due to the lack of Global Navigation Satelite System (GNSS) signals. Noisy measurements of position and orientation can cause the integrated position estimate to drift without bound. Previous research has proposed using magnetic field simultaneous localization and mapping (SLAM) to compensate for position drift in a single agent. Here, we propose two novel algorithms that allow multiple agents to apply magnetic field SLAM using their own and other agents' *** first algorithm is a centralized approach that uses all measurements collected by all agents in a single extended Kalman filter. This algorithm simultaneously estimates the agents' position and orientation and the magnetic field norm in a central unit that can communicate with all agents at all times. In cases where a central unit is not available, and there are communication drop-outs between agents, our second algorithm is a distributed approach that can be *** tested both algorithms by estimating the position of magnetometers carried by three people in an optical motion capture lab with simulated odometry and simulated communication dropouts between agents. We show that both algorithms are able to compensate for drift in a case where single-agent SLAM is not. We also discuss the conditions for the estimate from our distributed algorithm to converge to the estimate from the centralized algorithm, both theoretically and experimentally. Our experiments show that, for a communication drop-out rate of 80%, our proposed distributed algorithm, on average, provides a more accurate position estimate than single-agent SLAM. Finally, we demonstrate the drift-compensating abilities of our centralized algorithm on a real-life pedestrian localization problem with multiple agents moving inside a building. © 2023 International Society of Information fusion.

关键词： Magnetic fields

来源：评论

学校读者我要写书评

暂无评论

distributed Kalman Filtering: Consensus, Diffusion, and Mixed 2

Distributed Kalman Filtering: Consensus, Diffusion, and Mixe...

引用

2nd IEEE conference on Control Technology and Applications (CCTA)

作者： Talebi, Sayed Pouria Werner, Stefan Aalto Univ Dept Signal Proc & Acoust Sch Elect Engn FI-02150 Espoo Finland Norwegian Univ Sci & Technol Dept Elect Syst Fac Informat Technol & Elect Engn NO-7491 Trondheim Norway

ISBN: (纸本)9781538676981

A distributed Kalman filtering technique is developed for tracking state-space processes via sensor networks. Considering the optimal solution to multi-agent sequential filtering of linear Gaussian state-space processes, that is the centralized Kalman filter, this work focuses on decomposing and distributing the operation of the centralized Kalman filter among the agents of the sensor network. This decomposition is performed in a fashion that allows each agent to maintain a local Kalman filtering operation and an intermediate estimate of the state vector, providing for a robust distributed Kalman filtering technique that is scalable with the size of the network. In contrast to state-of-the-art distributed Kalman filtering approaches that focus on the use of consensus or diffusion as the basis of their information fusion, a mixed approach is proposed that exploits advantages of both methods. The performance of the proposed distributed Kalman filtering technique is verified in a simulation example, where the proposed technique is shown to outperform state-of-the-art distributed Kalman filtering algorithms.

关键词： Kalman filters Covariance matrices Noise measurement Timing Estimation Electrical engineering

来源：评论

学校读者我要写书评

暂无评论

Fuzzy logic based sensor skin for robotic applications

Fuzzy logic based sensor skin for robotic applications

引用

2012 International conference on Artificial Intelligence, ICAI 2012

作者： Meister, E. Zilberman, I. Levi, P. Institute of Parallel and Distributed Systems University of Stuttgart Germany

ISBN: (纸本)1601322186

Tactile sensors play an important role in many robotic applications providing information about shape, roughness, frictions and acting forces. However, it is challenging cover large robots with tactile sensors. In this paper we introduce a modular tactile sensor skin built on master and slave principle. The structure of the sensor skin was inspired by the biological multi layered skin from humans. Modular design principle allows covering different flat and rough robot geometries. The skin is able to detect tactile and pressure sensor values and is therefore applicable to different applications. Fuzzy logic based data fusion method allows the input values to be fuzzy while receiving numerical values as the output. This concept reduces the number of required sensor to a minimum and consequently also the computational effort and production costs.

关键词： Fuzzy logic

来源：评论

学校读者我要写书评

暂无评论

A Stochastic and Dynamic Vehicle Routing Problem with Time Windows and Customer Impatience

引用

MOBILE NETWORKS & APPLICATIONS 2009年第3期14卷 350-364页

作者： Pavone, M. Bisnik, N. Frazzoli, E. Isler, V. MIT Informat & Decis Syst Lab Cambridge MA 02139 USA MIT Dept Aeronaut & Astronaut Cambridge MA 02139 USA Rensselaer Polytech Inst Troy NY 12180 USA

In this paper, we study the problem of designing motion strategies for a team of mobile agents, required to fulfill request for on-site service in a given planar region. In our model, each service request is generated by a spatio-temporal stochastic process;once a service request has been generated, it remains active for a certain deterministic amount of time, and then expires. An active service request is fulfilled when one of the mobile agents visits the location of the request. Specific problems we investigate are the following: what is the minimum number of mobile agents needed to ensure that a certain fraction of service requests is fulfilled before expiration? What strategy should they use to ensure that this objective is attained? This problem can be viewed as the stochastic and dynamic version of the well-known vehicle routing problem with time windows. We also extend our analysis to the case in which the time service requests remain active is itself a random variable, describing customer impatience. The customers' impatience is only known to the mobile agents via prior statistics. In this case, it is desired to minimize the fraction of service requests missed because of impatience. Finally, we show how the routing strategies presented in the paper can be executed in a distributed fashion.

关键词： mobile robotic networks sensor networks traveling salesman problem vehicle routing problem with time windows customer impatience

来源：评论

学校读者我要写书评

暂无评论

Cooperative target convergence using multiple agents

Cooperative target convergence using multiple agents

引用

conference on sensor fusion and Decentralized Control in Autonomous robotic Systems

作者： Kwok, KS Driessen, BJ Sandia National Labs. (United States)

ISBN: (纸本)0819426415

This work considers the problem of causing multiple (100's) autonomous mobile robots to converge to a target and provides a ''follow-the-leader'' approach to the problem. Each robot has only a limited-range sensor for sensing the target and also larger but also limited-range robot-to-robot communication capability. Because of the small amount of information available to the robots, a practical approach to improve convergence to the target is to have a robot follow the robot with the best quality of information. Specifically, each robot emits a signal that informs in-range robots what its status is. A robot has a status value of 0 if it is itself in range of the target. A robot has a status of 1 if it is not in range of the target but is is communication range of a robot that is in range of the target. A robot has a status of 2 if it is not in range of the target but is within range of another robot that has status 1, and so on. Of all the mobile robots that any given robot is in range of, it follows the one with the best status. The emergent behavior is the ant-like trails of robots following each other toward the target. If the robot is nor in range of another robot that is either in range of the target or following another robot, the robot will assign -1 to its quality-of-information, and will execute an exhaustive search. The exhuastive search will continue until it encounters either the target or another robot with a nonnegative quality-of-information. The quality of information approach was extended to the case where each robot only has two-bit signals informing it of distance to in-range robots.

关键词： cooperative behavior multiple agent emergent behavior fuzzy logic multiple target

来源：评论

学校读者我要写书评

暂无评论

Deployment algorithms and indoor experimental vehicles for studying mobile wireless sensor networks

Deployment algorithms and indoor experimental vehicles for s...

引用

1st International conference on New Materials for Extreme Environments

作者： Popa, Dan O. Mysorewala, Muhammad F. Lewis, Frank L. Univ Texas Arlington ARRI Ft Worth TX 76118 USA

Wireless communication has been traditionally used in robotics to transmit sensory and telemetry information between a robot and a base station. Because research in mobile robotics has typically focused on navigation, mapping and sensor fusion, network oriented problems such as communication bandwidth optimisation, coverage and fault tolerance are not usually considered in this context. The motivation behind this research is formulating and solving combined robot navigation issues (such as obstacle avoidance, environment mapping and coverage) with sensor network issues (such as congestion control, routing and node energy minimisation). In this paper we present several types of algorithms for Mobile Wireless sensor Nodes (MWSN) as well as experimental results with a fleet of mobile robots and sensors in our lab. The algorithms include Adaptive Sampling (AS) for distributed field estimation, Potential Fields (PF) for communication bandwidth optimisation, and a Discrete Event Controller (DEC) for mission planning.

关键词： mobile wireless sensor networks robotic deployment adaptive sampling discrete event controller potential fields

来源：评论

学校读者我要写书评

暂无评论

Augmented distributed Gradient Methods for Multi-agent Optimization Under Uncoordinated Constant Stepsizes 54

Augmented Distributed Gradient Methods for Multi-agent Optim...

引用

54th IEEE conference on Decision and Control (CDC)

作者： Xu, Jinming Zhu, Shanying Soh, Yeng Chai Xie, Lihua Nanyang Technol Univ EXQUISITUS Sch Elect & Elect Engn 50 Nanyang Ave Singapore 639798 Singapore

ISBN: (纸本)9781479978861

We consider distributed optimization problems in which a number of agents are to seek the optimum of a global objective function through merely local information sharing. The problem arises in various application domains, such as resource allocation, sensor fusion and distributed learning. In particular, we are interested in scenarios where agents use uncoordinated (different) constant stepsizes for local optimization. According to most existing works, using this kind of stepsize rule for update, which is necessary in asynchronous scenarios, will lead to some gap (error) between the estimated result and the exact optimum. To deal with this issue, we develop a new augmented distributed gradient method (termed Aug-DGM) based on consensus theory. The proposed algorithm not only allows for using uncoordinated stepsizes but also, most importantly, be able to seek the exact optimum even with constant stepsizes assuming that the global objective function has Lipschitz gradient. A simple numerical example is provided to illustrate the effectiveness of the algorithm.

关键词： Gradient methods

来源：评论

学校读者我要写书评

暂无评论

Decentralized commanding and supervision: The distributed projective virtual reality approach

Decentralized commanding and supervision: The distributed pr...

引用

conference on sensor fusion and Decentralized Control in robotic Systems III

作者： Rossmann, J Univ Dortmund Inst Robot Res D-44227 Dortmund Germany

ISBN: (纸本)0819438618

As part of the cooperation between the University of Southern California (USC) and the Institute of robotics Research (IRF) of the University of Dortmund experiments regarding the control of robots over long distances by means of virtual reality based man machine interfaces have been successfully carried out. In this paper, the newly developed virtual reality system that is being used for the control of a multi-robot system for space applications as well as for the control and supervision of industrial robotics and automation applications is presented. The general aim of the development was to provide the framework for Projective Virtual Reality which allows users to "project" their actions in the virtual world into the real world primarily by means of robots but also by other means of automation. The framework is based on a new approach which builds on the "task deduction" capabilities of a newly developed virtual reality system and a task planning component. The advantage of this new approach is that robots which work at great distances from the control station can be controlled as easily and intuitively as robots that work right next to the control station. Robot control technology now provides the user in the virtual world with a "prolonged arm" into the physical environment, thus paving the way for a new quality of user-friendly man machine interfaces for automation applications. Lately, this work has been enhanced by a new structure that allows to distribute the virtual reality application over multiple computers. With this new step, it is now possible for multiple users to work together in the same virtual room, although they may physically be thousands of miles apart. They only need an Internet or ISDN connection to share this new experience. Last but not least, the distributution technology has been further developed to not just allow users to cooperate but to be able to run the virtual world on many synchronized PCs so that a panorama projection or even a

关键词： decentralized system distributed simulation projective virtual reality forest machine simulator stereoscopic viewing

来源：评论

学校读者我要写书评

暂无评论

An Ubiquitous Multi-Agent Mobile Platform for distributed Crowd Sensing and Social Mining 5

An Ubiquitous Multi-Agent Mobile Platform for Distributed Cr...

引用

IEEE 5th International conference on Future Internet of Things and Cloud (FiCloud)

作者： Bosse, Stefan Pournaras, Evangelos Univ Bremen Dept Math & Comp Sci Bremen Germany ETH Chair Sociol Particular Modeling & Simulat Zurich Switzerland

ISBN: (纸本)9781538620748

Smart mobile devices are fundamental date sources for crowd activity tracing. Large-scale mobile networks and the Internet-of-Things (IoT) expand and become part of pervasive and ubiquitous computing offering distributed and transparent services. With the IoT, Crowd Sensing is extended by Things Sensing, creating heterogeneous smart environments. A unified and common data processing and communication methodology is required so that the IoT, mobile networks, and Cloud-based environments seamlessly integrate, which can be fulfilled by self-organizing mobile agents, discussed in this work. Currently, portability, resource constraints, security, and scalability of Agent Processing Platforms (APP) are essential issues for the deployment of Multi-agent Systems (MAS) in highly heterogeneous networks. Beside the operational aspects of MAS, an organizational structure is required for the deployment of MAS in crowd sensing and social mining applications. The Planetary Nervous system (Nervousnet) consists of virtual sensors building the core functionality for such applications running on smart phones with a Cloud-like architecture. The virtual sensors enable a holistic composition and modelling approach. Self-organizing and adaptive mobile agents are well known as the core cells of holistic and modular systems. In this work, both concepts are combined. JavaScript agents are introduced as virtual sensors in the Nervousnet environment, evaluated with a simulation of a distributed sensor fusion use case in a mobile network based on real-world data from Nervousnet, showing the suitability of the hybrid approach, benefiting from local and event-based sensor processing performed by the MAS.

关键词： Crowd Sensing Pervasive Computing Ubiquitous Computing agents Self-organizing systems

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：