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26th IEEE International Instrumentation and Measurement Technology conference

作者： Zhang, Li Wang, Qiang Shu, Xijuan Harbin Inst Technol Dept Control Sci & Engn Harbin 150006 Peoples R China

ISBN: (纸本)9781424433520

Mobile agent system provides us with a new way to realize distributed collaborative information processing in sensor networks. In this paper, we present a middleware to realize mobile-agent-based data fusion on wireless sensor networks nodes, which is implemented entirely in TinyOS and has been tested on TelosB motes. It consists of two parts. One is the strategy for the serialization of algorithm in mobile agents in form of character string. The other is an interpreter written in nesC language which is used to interpret and deserialize the programmed algorithm character string to commands, and execute commands line by line. Finally, experiments are conducted in the environment temperature inspection scenario using wireless sensor networks to evaluate the performances of our mobile-agent-based middleware.

关键词： Wireless sensor networks Data fusion Mobile agent

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Finite-time Consensus for Multi-agent Systems with Application to sensor fusion

Finite-time Consensus for Multi-agent Systems with Applicati...

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Joint 48th IEEE conference on Decision and Control (CDC) / 28th Chinese Control conference (CCC)

作者： Jiang, Fangcui Wang, Long Peking Univ Ctr Syst & Control Dept Mech & Space Technol Coll Engn Beijing 100871 Peoples R China

ISBN: (纸本)9781424438723

This paper studies the finite-time consensus for a group of dynamic agents. For the entire group, we establish the explicit expression of the consensus state, which can be characterized by the new concept of weighted average consensus with respect to a monotonic function. For networks with undirected topology, we prove that the weighted average consensus with respect to a monotonic function can be solved in finite time when the interactions among agents are taken as power-law based function. These results are further extended to a class of networks where the topologies are directed and satisfy a detailed balance condition on coupling weights. As an application of the theoretical results to sensor fusion, we propose a distributed scheme to compute the maximum-likelihood (ML) estimate of unknown parameters. Numerical simulations show that the distributed scheme can be used to compute the ML estimate of unknown parameters effectively.

关键词： Topology

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Localization of the mobile agent using indirect Kalman filter in distributed sensor networks 09

Localization of the mobile agent using indirect Kalman filte...

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3rd International conference on Ubiquitous Information Management and Communication, ICUIMC'09

作者： Kwon, Ji-Wook Park, Mun-Soo Chwa, Dongkyoung Department of Electrical and Computer Engineering Ajou University San 5 Wonchun-Dong Yeongtong-Gu Suwon 443-749 Korea Republic of

ISBN: (纸本)9781605584058

This paper proposes a localization algorithm for mobile agents in sensor networks using the data fusion method based on indirect Kalman filter. The fusion method of an inertial navigation sensor and sensor nodes data is used to acquire the correct position information. Since indirect Kalman filter is used for estimation of the mobile agent position, the position of the mobile agent can be estimated even when the sensor node cannot work or data acquired from the network are not reliable. Because measurement errors are used for estimation, its implementation is easy. Finally, a sequence of simulations is carried out to confirm the performance of the proposed localization algorithm. Copyright 2009 ACM.

关键词： Mobile agents

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PIAX: Toward a framework for sensor overlay network

PIAX: Toward a framework for sensor overlay network

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2009 6th IEEE Consumer Communications and Networking conference, CCNC 2009

作者： Teranishi, Yuuichi Graduate School of Information Science and Technology Osaka University Japan

ISBN: (纸本)9781424423095

In this paper, requirements and technologies for realizing sensor overlay networks are introduced. sensor overlay networks should provide distributed data fusion mechanism, i.e. in-network computing feature, for effective computing on distributed sensors. sensor overlay networks should also have scalability, maintainability and sustainability. To treat such requirements, we have developed an open source framework called 'PIAX'. The overview of PIAX and its technologies to treat sensor overlay networks are described in this paper. ©2009 IEEE.

关键词： Mobile agents

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

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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

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

Deployment algorithms and indoor experimental vehicles for s...

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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

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distributed Estimation through Randomized Gossip Kalman Filter

Distributed Estimation through Randomized Gossip Kalman Filt...

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Joint 48th IEEE conference on Decision and Control (CDC) / 28th Chinese Control conference (CCC)

作者： Del Favero, Simone Zampieri, Sandro Univ Padua Dept Informat Eng Via Gradenigo 9-B I-35131 Padua Italy

ISBN: (纸本)9781424438723

In this paper we consider the problem of estimating a random process from noisy measurements, collected by a sensor network. We analyze a distributed two-stage algorithm. The first stage is a Kalman-like estimate update, in which each agent makes use only of its own measurements. During the second phase agents communicate with their neighbors to improve their estimate. Estimate fusion is operated by running a consensus iteration. In literature it has been considered only the case of a fixed communication strategies, i.e. described by a fixed constant consensus matrix. However, in many practical cases this is just a rough model of communications in a sensor network, that usually happen according to a randomized strategy. This strategy is more properly modeled by assuming that the consensus matrices are drawn, according to a selection probability, from an alphabet of matrices compatible with the communication graph, at each time instant. This work deals therefore with randomized communication strategies and in particular with the symmetric gossip. A mean square performance analysis is carried out and an upper-bound for the trace of the estimation error variance is derived. The proposed upper-bound has to be considered the main technical contribution of the present paper, since it is based on a highly non-trivial inequality on matrix singular values, proved in the appendix. This upper-bound is a good performance assessment index and it is assumed therefore as a cost function to be minimized. We show moreover that problem of minimizing this cost function by choosing the Kalman gain and the selection probability is convex in each of the two variables separately although it is not jointly convex. Finally simulations are presented and the results discussed.

关键词： sensor networks

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Complying with the rules of Asimov

Complying with the rules of Asimov

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5th conference on Professional Knowledge Management, WM 2009

作者： Ackermann, Renate Luise Dürenstr. 29 D - 53173 Bonn Germany

ISBN: (纸本)9783885792390

Social systems are calling attention to adequate sets of rules as e.g. to comply with the rules of Asimov as a codex [BF05]. In the context of Multiple sensor Data fusion (MSDF) a variety of interacting (logical) sensor agents might autonomously self-organize their part of complex tasks' organizational solution processes due to co-operations, communications and co-ordinations. Even computational participants might change (or be changed in) their role according to the open distributed system's organization's needs, the environmental changes, or decisions on their own, e.g. temporarily, as a guide being guided, as a chasing entity being chased, or as a member of a coordination being independent. The goal of this paper is to exemplary discuss the rules (chosen of some divisions of modern robotics) and a derivative set to accomplish the model AIKM [Ac08] in the concern of security and safety taking the knowledge distance as a key-factor focusing decisions, divergent trends, a.o.

关键词： sensor data fusion

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C2SM-a mobile system for detecting and 3D mapping of Chemical, Radiological and Nuclear contamination

C2SM-a mobile system for detecting and 3D mapping of Chemica...

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conference on sensors, and Command, Control, Communications, and Intelligence (C3I) Technologies for Homeland Security and Homeland Defense VIII

作者： Jasiobedzki, Piotr Ng, Ho-Kong Bondy, Michel McDiarmid, C. H. (Carl) MDA 9445 Airport Rd Brampton ON L6S 4J3 Canada Royal Canadian Mounted Police Ottawa ON K1A 0R2 Canada

ISBN: (纸本)9780819475718

CBRN Crime Scene Modeler (C2SM) is a prototype mobile CBRN mapping system for First Responders in events where Chemical, Biological, Radiological and Nuclear agents where used. The prototype operates on board a small robotic platform, increases situational awareness of the robot operator by providing geo-located images and data, and current robot location. The sensor suite includes stereo and high resolution cameras, a long wave infra red (thermal) camera and gamma and chemical detectors. The system collects and sends geo-located data to a remote command post in near real-time and automatically creates 3D photorealistic model augmented with CBRN measurements. Two prototypes have been successfully tested in field trials and a fully ruggedised commercial version is expected in 2010.

关键词： CBRN multi sensor data fusion 3D modeling stereo gamma radiation detector

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Real-time common awareness in communication constrained sensor systems

Real-time common awareness in communication constrained sens...

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International conference on Information fusion

作者： Eelke van Foeken L. J. H. M. Kester M. van Iersel TNO Defence Safety and Security The Hague Netherlands

sensor systems need to be more adaptive to perform well in dynamically changing environments. Common awareness in sensor systems enables distributed agents to perform coordinated actions and reason about other agents. In addition, physical distribution of the agents in the network prevent a single point of failure and provides distributed sensing, but introduces the problem of communication constraints (e.g. bandwidth and latency), especially in complex sensors with large amounts of data. Therefore, the general aim is to develop evaluationmethods that enable each agent to determine the reward of information coming from its own sensors by balancing the value and the cost (determined by the communication constraints). The value of information is determined by the global need for information. These evaluationmethods are adaptive to changing, and possibly multiple and multi-dimensional requests and to changing communication constraints. In this paper the main focus lies on how to deal with latency.

关键词： Real time systems sensor systems Decision support systems Resource management Delay Intelligent sensors distributed processing Communication system security Information security Current measurement

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