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

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IEEE International conference on Multisensor fusion and Integration for Intelligent Systems

IEEE International Conference on Multisensor Fusion and Inte...

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13th IEEE International conference on Multisensor fusion and Integration for Intelligent Systems, MFI 2017

ISBN: (纸本)9781509060641

The proceedings contain 108 papers. The topics discussed include: intelligent grasping of various moving objects based upon visual servoing;a patient-to-CT registration method based on spherical unwrapping and H-K curvature descriptors for surgical navigation system;online reliability assessment and reliability-aware fusion for ego-lane detection using influence diagram and Bayes filter;multirotor UAV state prediction through multi-microphone side-channel fusion;global point-to-hyperplane ICP: local and global pose estimation by fusing color and depth;on weak points of the ellipsoidal intersection fusion;facility activity inference using networks of radiation detectors based on SPRT;entropy-based abnormal activity detection fusing RGB-D and domotic sensors;discretization of SO(3) using recursive tesseract subdivision;a deep neural network approach to fusing vision and heteroscedastic motion estimates for low-SWaP robotic applications;relevance and redundancy as selection techniques for human-autonomy sensor fusion;underwater terrain navigation using standard sea charts and magnetic field maps;on state estimation and fusion with elliptical constraints;a general framework for data fusion and outlier removal in distributed sensor networks;and wide bandwidth nonlinear 2-DOF energy harvester: modeling and parameters selection.

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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 ...

引用

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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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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Differentially private iterative synchronous consensus

Differentially private iterative synchronous consensus

引用

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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Vision-Based Multi-agent Cooperative Target Search

Vision-Based Multi-agent Cooperative Target Search

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12th International conference on Control, Automation, robotics and Vision (ICARCV)

作者： Hu, Jinwen Xie, Lihua Xu, Jun Nanyang Technol Univ Sch Elect & Elect Engn Ctr E City EXQUISITUS Singapore 639798 Singapore Natl Univ Singapore Temasek Labs Singapore 117411 Singapore

ISBN: (纸本)9781467318723;9781467318716

This paper addresses vision-based cooperative search for multiple mobile ground targets by a group of unmanned aerial vehicles (UAVs) with limited sensing and communication capabilities. The airborne camera on each UAV has a limited field of view and its target discriminability varies as a function of altitude. First, a general target detection probability model is built based on the physical imaging process of a camera. By dividing the whole surveillance region into cells, a probability map can be formed for each UAV indicating the probability of target existence within each cell. Then, we propose a distributed probability map updating model which includes the fusion of measurement information, information sharing among neighboring agents, information decaying and transmission due to environmental changes such as the target movement. Furthermore, we formulate the target search problem by multiple agents as a cooperative coverage control problem by optimizing the collective coverage area and the detection performance. The proposed map updating model and the cooperative control scheme are distributed, i.e., assuming that each agent only communicates with its neighbors within its communication range. Finally, the effectiveness of the proposed algorithms is illustrated by simulation.

关键词： autonomous aerial vehicles cameras multi-agent systems multi-robot systems object detection probability robot vision search problems sensor fusion surveillance

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WiP Abstract: System-Level Integration of Mobile Multi-Modal Multi-sensor Systems 14

WiP Abstract: System-Level Integration of Mobile Multi-Modal...

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5th ACM/IEEE International conference on Cyber-Physical Systems (ICCPS)

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 USA

ISBN: (纸本)9781479949304

Heterogeneous roaming sensor systems have gained significant importance in many domains of civil infrastructure performance inspection as they accelerate data collection and analysis. However, designing such systems is challenging due to the immense complexity in the heterogeneity and processing demands of the involved sensors. Unifying frameworks are needed to simplify development, deployment and operation of roaming sensors and computing *** address the sensing needs, we propose SIROM3, a Scalable Intelligent Roaming Multi-Modal Multi-sensor framework. SIROM3 incorporates a CPS approach for infrastructure performance monitoring to address the following challenges: 1. Scalability and expandability. It offers a scalable and expandable solution enabling diversity in sensing and the growth in processing platforms from sensors to control centers. 2. fusion foundations. SIROM3 enables fusion of data collected by logically and geo-spatially distributed sensors. 3. Big data handling. Automatic collection, categorization, storage and manipulation of heterogeneous large volume of data streams. 4. Automation. SIROM3 minimizes human interaction through full automation from data acquisition to visualization of the fused *** in Fig. 1, SIROM3 realizes scalability and expandability in a system-level design approach encapsulating common functionality across hierarchical components in a Run-Time Environment (RTE). The RTE deploys a layered design paradigm defining services in both software and hardware architectures. Equipped with multiple RTE-enabled Multi-sensor Aggregators (MSA), an array of Roaming sensor Systems (RSS) operate as mobile agents attached to vehicles to provide distributed computing services regulated by Fleet Control and Management (FCM) center via communication network. A series of foundational services including the Precise Timing Protocol (PTP), GPS timing systems, Distance Measurement Instruments (DMI) through middleware services (CORBA)

关键词： Scalability

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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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Consensus-based Distribution Estimation of 1-D Diffusion Phenomena

Consensus-based Distribution Estimation of 1-D Diffusion Phe...

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American Control conference

作者： Hayashi, Naoki Takai, Shigemasa Osaka Univ Grad Sch Med Div Elect Elect & Informat Engn Suita Osaka 565 Japan

ISBN: (纸本)9781479932740

This paper presents an application of consensus problems to inverse problems of the diffusion equation. We consider a distributed inverse problem in order to estimate an initial distribution of concentration from time-series data measured by agents on a one dimensional (1-D) interval. The inverse problem of the 1-D diffusion equation can be formulated as a linear least squares problem by a difference approximation. To solve the linear least squares problem in a distributed way, we consider a multi-agent system where each agent has a difference approximation of a gradient of concentration as its state. In large-scale sensor networks, communication time-delays cannot be ignored due to large transfer distances under limited link capacity. In this paper, we propose a discrete-time consensus dynamics with communication time-delays which are common for all agents. We show that the multi-agent system can estimate the initial distribution of 1-D diffusion phenomena by the proposed consensus dynamics.

关键词： Diffusion processes Equations Heuristic algorithms Inverse problems Least squares approximations Mathematical model Multi-agent systems Autonomous systems Cooperative control sensor fusion

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Electro-acoustic and acousto-optic communications for robotic agents in smart structures

Electro-acoustic and acousto-optic communications for roboti...

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conference on Smart Structures, Devices, and Systems III

作者： Wild, Graham Hinckley, Steven Edith Cowan Univ Phys Res Grp 100 Joondalup Dr Joondalup WA 6027 Australia

ISBN: (纸本)9780819465221

Electro-Acoustic and Acousto-Optic communications channels have been investigated. The communications channels are intended for use by robotic agents in the Non-Destructive Evaluation (NDE) of structures containing distributed Acoustic Emission (AE) sensors. The AE sensors can be either piezoelectric or optical fibre sensors. The communications channel comprises of a piezoelectric transducer as the transmitter, an aluminium panel as the transmission medium, and either a second piezoelectric transducer or a fibre optics sensor as the receiver. The electro-acoustic communications channel uses the piezoelectric transducers as the transmitter and the receiver. The acousto-optic communications channel uses a piezoelectric transducer as the transmitter, and a fibre optic sensor as the receiver. Acoustic communications represents a wireless communications method that does not require any additional hardware, as piezoelectric transducers are commonly used in the NDE of materials. Phase Shift Keying (PSK) was used for the communications encoding. Successful communications was achieved using both the piezoelectric and fibre optic receivers. The fibre optic sensor used was a Fibre Bragg Grating (FBG), and the piezoelectric transducers were Lead Zirconate Titanate (PZT) piezoceramic disc transducers. The electro-acoustic communications channel gave a data rate of 200kbps with a 1MHz square wave carrier. The acousto-optic communications channel gave a data rate of 6.3568kbps with a 635.68kHz carrier wave.

关键词： acoustic emission fibre optic sensing piezoelectric transducers structural health monitoring wireless communications

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An Optimized fusion Method for Double-wearable-wireless-band Platform on Remote Controller

An Optimized Fusion Method for Double-wearable-wireless-band...

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IEEE International conference on agents (IEEE-ICA)

作者： Xu, Wenchao Liu, Yanbo Yang, Yanqin Liu, Xiaolei Hu, Bai Chu, Tianxing Song, Hongzhi East China Normal Univ Shanghai Key Lab Multidimens Informat Proc Shanghai Peoples R China Texas A&M Univ Conrad Blucher Inst Surveying & Sci Corpus Christi TX 78412 USA

ISBN: (纸本)9781538607688

This paper presents a stable double-wireless wearable-band platform that can detect hand gesture using a wearable wireless sensor platform with a digital accelerometer. The real-time monitoring and control system utilizes an MCU, a Bluetooth transceiver, and a commercial three-axis, digital-output MEMS accelerometer. It is a fairly recent research development to allow the user to specify desired double hand postures for controlling a variety of robotic devices. Compared with a single wearable band, double wearable bands can identify more gestures with improved stability. To detect the user's hand movements, a 3D virtual environment is created via a double wearable band controller. In the system, the defined two-hand postures also allow the user to add control elements to various applications, which bridge the gap between humans and the systems.

关键词： Estimation Field programmable gate arrays OFDM Modulation Filtration Clocks Signal processing algorithms

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