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

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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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When collective dynamic knowledge is greater than the sum of its parts: the case for mobile wireless sensor networks

When collective dynamic knowledge is greater than the sum of...

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2008 International conference on Wireless Networks, ICWN 2008

作者： García, Oscar N. Fu, Shengli Li, Xinrong Department of Electrical Engineering University of North Texas United States

ISBN: (纸本)1601320914

The use of wireless sensor networks is one of the most rapidly growing areas because of their broad applications - from medical care to environmental monitoring to military surveillance. This review paper surveys the use of collaborative mobile robotic agents in wireless sensor networks to improve detection and tracking performance. We first identify five major conditions influencing the applications in wireless sensor networks: situation awareness, priorities and metrics for goals or tasks, control and optimization, location and distribution of computing power, and location and distribution of electrical power. We then present a summary of design topics: coverage and deployment, localization, data fusion, communication protocols, and energy consumption and management. Anticipated research directions are also discussed in the conclusions.

关键词： Wireless sensor networks

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

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

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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

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Aggregation in multiagent systems and the problem of truth-tracking 07

Aggregation in multiagent systems and the problem of truth-t...

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6th International Joint conference on Autonomous agents and Multiagent Systems, AAMAS'07

作者： Pigozzi, Gabriella Hartmann, Stephan University of Luxembourg L-1359 Luxembourg Luxembourg Department of Philosophy London School of Economics London WC2A 2AE United Kingdom

ISBN: (纸本)9788190426275

One of the major problems that artificial intelligence needs to tackle is the combination of different and potentially conflicting sources of information. Examples are multi-sensor fusion, database integration and expert systems development. In this paper we are interested in the aggregation of propositional logic-based information, a problem recently addressed in the literature on information fusion. It has applications in multiagent systems that aim at aggregating the distributed agent-based knowledge into an (ideally) unique set of propositions. We consider a group of autonomous agents who individually hold a logically consistent set of propositions. Each set of propositions represents an agent's beliefs on issues on which the group has to make a collective decision. To make the collective decision, several aggregation procedures have been proposed in the literature. Assuming that all propositions in question are factually right or wrong, we ask how good belief fusion is as a truth tracker. Will it single out the true set of propositions? And how does information fusion compare with other aggregation procedures? We address these questions in a probabilistic framework and show that information fusion does especially well for agents with a middling competence of hitting the truth of an individual proposition. © 2007 IFAAMAS.

关键词： Information fusion

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Decentralized commanding and supervision: The distributed projective virtual reality approach

Decentralized commanding and supervision: The distributed pr...

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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

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Scalable and reliable data delivery in mobile ad hoc sensor networks 06

Scalable and reliable data delivery in mobile ad hoc sensor ...

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Fifth International Joint conference on Autonomous agents and Multiagent Systems, AAMAS

作者： Bin, Yu Scerri, Paul Sycara, Katia Yang, Xu Lewis, Michael School of Computer Science Carnegie Mellon University Pittsburgh PA 15213 United States School of Information Sciences University of Pittsburgh Pittsburgh PA 15260 United States

ISBN: (纸本)1595933034

This paper studies scalable data delivery algorithms in mobile ad hoc sensor networks with node and link failures. Many algorithms have been developed for data delivery and fusion in static microsensor networks, but most of them are not appropriate for mobile sensor networks due to their heavy traffic and long latency. In this paper we propose an efficient and robust data delivery algorithm for distributed data fusion in mobile ad hoc sensor networks, where each node controls its data flows and learns routing decisions solely based on their local knowledge. We analyze the localized algorithm in a formal model and validate our model using simulations. The experiments indicate that controlled data, delivery processes significantly increase the probability of relevant data being fused in the network even with limited local knowledge of each node and relatively small hops of data delivery. Copyright 2006 ACM.

关键词： Ad hoc networks

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Differentially private iterative synchronous consensus

Differentially private iterative synchronous consensus

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2012 ACM Workshop on Privacy in the Electronic Society, WPES 2012

作者： Huang, Zhenqi Mitra, Sayan Dullerud, Geir Coordinate Science Laboratory University of Illinois at Urbana Champaign Urbana IL 61801 United States

ISBN: (纸本)9781450316637

The iterative consensus problem requires a set of processes or agents with different initial values, to interact and update their states to eventually converge to a common value. Protocols solving iterative consensus serve as building blocks in a variety of systems where distributed coordination is required for load balancing, data aggregation, sensor fusion, filtering, and synchronization. In this paper, we introduce the private iterative consensus problem where agents are required to converge while protecting the privacy of their initial values from honest but curious adversaries. Protecting the initial states, in many applications, suffice to protect all subsequent states of the individual participants. We adapt the notion of differential privacy in this setting of iterative computation. Next, we present (i) a server-based and (ii) a completely distributed randomized mechanism for solving differentially private iterative consensus with adversaries who can observe the messages as well as the internal states of the server and a subset of the clients. Our analysis establishes the tradeoff between privacy and the accuracy: for given Ε, b > 0, the Ε-differentially private mechanism for N agents, is guaranteed to convergence to a value within O( 1/Ε √ bN ) of the average of the initial values, with probability at least (1 - b). Copyright 2012 ACM.

关键词： sensor data fusion

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A Characterization of the Error Exponent for the Byzantine CEO Problem

A Characterization of the Error Exponent for the Byzantine C...

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46th Annual Allerton conference on Communication, Control and Computing

作者： Kosut, Oliver Tong, Lang Cornell Univ Ithaca NY 14853 USA

ISBN: (纸本)9781424429257

The discrete CEO Problem is considered when the agents are under Byzantine attack. That is, a malicious intruder has captured an unknown subset of the agents and reprogrammed them to increase the probability of error. Two traitor models are considered, depending on whether the traitors are able to see honest agents' messages before choosing their own. If they can, bounds are given on the error exponent with respect to the sum-rate as a function of the fraction of agents that are traitors. The number of traitors is assumed to be known to the CEO, but not their identity. If they are not able to see the honest agents' messages, an exact but uncomputable characterization of the error exponent is given. It is shown that for a given sum-rate, the minimum achievable probability of error is within a factor of two of a quantity based on the traitors simulating a false distribution to generate messages they send to the CEO. This false distribution is chosen by the traitors to increase the probability of error as much as possible without revealing their identities to the CEO. Because this quantity is always within a constant factor of the probability of error, it gives the error exponent directly.

关键词： distributed Source Coding Byzantine Attack sensor fusion Network Security

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distributed SENSING AND PROBING WITH MULTIPLE SEARCH agents - TOWARD SYSTEM-LEVEL LANDMINE DETECTION SOLUTIONS

DISTRIBUTED SENSING AND PROBING WITH MULTIPLE SEARCH AGENTS ...

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conference on Detection Technologies for Mines and Minelike Targets

作者： FRANKLIN, DE KAHNG, AB LEWIS, MA UNIV CALIF LOS ANGELES DEPT CS COMMOT LAB LOS ANGELES CA 90024 USA

ISBN: (纸本)0819418528

The problem of landmine detection has been studied for decades. Mine detection systems have typically been developed by first identifying a sensor technology, then testing on particular manmade testbeds, then deploying the sensor on a vehicle or manportable device. Despite much effort, current systems still exhibit gaps between existing and desired capability, e.g., in terms of rate of advance, detection rate, and false alarm rate within demonstration testbeds. In this paper, we propose a new system-level approach to landmine detection. We argue that 'the landmine detection problem' cannot be attacked in a piecewise fashion: system-level solutions must simultaneously consider functional requirements, sensor technologies, models of sensors, the method of sensor application, and the platforms from which sensors are applied. This perspective allows us to shift our focus from the previous emphasis on novel sensor technology, and to go somewhat beyond traditional doctrines governing standoff or manportable detection. We first propose a new theory of geometric sensing and probing in the mine detection context. Specifically, we propose new formulations of 'object identification by probing' which correspond to various sensing modalities. We demonstrate that multiple agents can achieve probe classes that are not serializable for emulation by a single probe agent. With this in mind, our second main contribution lies in proposing a new paradigm for landmine detection, based on (i) close-in observation with simple spectra, and (ii) small, inexpensive, networkable robotic sensing platforms which can act in a cooperative fashion to implement powerful multi-agent probing strategies.

关键词： LANDMINE DETECTION GEOMETRIC PROBING AUTONOMOUS ROBOTS MULTIAGENT SEARCH sensor PLATFORMS MULTISPECTRAL SENSING

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SIROM³ - A Scalable Intelligent ROaming Multi-Modal Multi-sensor Framework 38

SIROM<SUP>3</SUP> - A Scalable Intelligent ROaming Multi-Mod...

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IEEE 38th Annual International Computers, Software and Applications conference (COMPSAC)

作者： Zhang, Jiaxing Qiu, Hanjiao Shamsabadi, Salar Shahini Birken, Ralf Schirner, Gunar Northeastern Univ Dept ECE Boston MA 02115 USA Northeastern Univ CIV Boston MA 02115 USA

ISBN: (纸本)9781479935741

Understanding the future transportation infrastructure performance demands a smart Cyber-Physical Systems (CPS) approach integrating heterogeneous sensors, versatile computing systems, and mobile agents. However, due to sensor versatility and computing intricacy, designing such systems faces challenges of immense complexity in mobile sensor fusion, big data handling, system scalability, and integration. This paper introduces SIROM3, a Scalable Intelligent ROaming Multi-Modal Multi-sensor framework, for next generation transportation infrastructure performance inspection. SIROM3 offers a scalable and expandable framework through orthogonally abstracting software / hardware structures in a layered Run-Time Environment (RTE), which facilities sensor fusion, distributed computing, communication and mobile services. A Heterogeneous Stream File-system Overlay (HSFO) and a flexible plugin system (PLEX) are embedded in SIROM3 to simplify big data storage, processing, and correlation. To evaluate the scalability of SIROM3, we implemented a mobile sensing system of 30 heterogeneous sensors and 5 computing platforms coordinated by 1 data center. SIROM3's expandability is highlighted by adding an advanced radar platform which required less than 50 lines of C++ code for integration. Over 20 terabytes of data covering 300 miles have been collected, aggregated, and fused using SIROM3 for comprehending the pavement dynamics of the entire city of Brockton, MA. SIROM3 offers a unified solution and ideal research platform for rapid, intelligent and comprehensive evaluation of tomorrow's transportation infrastructure performance using heterogeneous systems.

关键词： distributed Systems Cyber-Physical Systems Smart Transportation Big Data Management

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