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

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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...

引用

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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Tea table, come closer to me

Tea table, come closer to me

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4th ACM/IEEE International conference on Human-Robot Interaction, HRI'09

作者： Enti, Vikas Reddy Arumugam, Rajesh Baskaran, Krishnamoorthy Bingbing, Liu Kong, Foong Foo Kumar, A.Senthil Meng, Kang Dee Waikit, Goh Xiaojun, Wu STAR Data Storage Institute Singapore Singapore

ISBN: (纸本)9781605584041

We present a new concept (named DA vinCi) of distributed agents, sensor networks and an intelligent server catered to the home environment. Instead of a single multi-tasking human-like robot, we propose a team of networked task-specific robotic agents that interface with each other and the environment through a spatial map built by the server. We also highlight how our server will be a proxy for all the human-robot interactions (HRI) in the system and discuss the challenges involved. The paper's title captures the jist of our system where even a tea table can be inexpensively mobilized and interacted with via the DA vinCi *** is held by the author/owner(s).

关键词： sensor networks

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Resolving Inconsistencies in Shared Context Models using Multiagent Systems

Resolving Inconsistencies in Shared Context Models using Mul...

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10th International conference on Intelligent Autonomous Systems

作者： Kaeppeler, Uwe-Philipp Benkmann, Ruben Zweigle, Oliver Lafrenz, Reinhard Levi, Paul Univ Stuttgart Inst Parallel & Distributed Syst IPVS D-70569 Stuttgart Germany

ISBN: (纸本)9781586038878

agents acting in physical space use perception in combination with their own world models and shared context models. The shared context models have to be adapted permanently to the conditions of the real world. If a measurement of an agent's sensor does not fit to the corresponding data in the shared context model the system contains an inconsistency. In this case it is necessary to decide whether the reason for the discrepancy is a change in the real world or a measurement error. A solution has to be based on only a limited number of measurements from different agents and a reduction of noise in the sensor data. The study reported in this paper evaluates procedures that combine a multitude of measurements to a single result that can be integrated in the shared context model. The statistically optimized procedure based on ratings of the participating agents is enhanced using scaled weighted arithmetic means which prevents the system from running into singularities caused by the feedback from the ratings. The method is combined with an additional preprocessing based on fuzzy clustering that detects aberrant measurements which can be excluded from further processing.

关键词： sensor Data fusion Fuzzy Clustering Weighted Arithmetic Mean

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Mobile Agent-based Remote Vision sensor fusion

Mobile Agent-based Remote Vision Sensor Fusion

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IEEE/ASME International conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Stephen S. Nestinger David Ko Alex Rumer Harry H. Cheng Department of Mechanical and Aeronautical Engineering University of California Davis Davis CA USA Department of Mechanical and Aeronautical Engineering University of California슠Davis Davis CA USA

Vision systems have become popular for remote vision sensing in geographically distributed environments due to vast amount of information they provide. However, remote vision sensors are generally plagued with power and communication bandwidth constraints. Mobile agent technology is a salient solution to geographically distributed and dynamic domains that require subsystems to interact with each other. Mobile agent technology increases power efficiency by reducing communication requirements and increases fusion processing by allowing in-situ integration of on-demand visual processing and analysis algorithms. A mobile agent can dynamically migrate from one vision sensor to another and combine all necessary sensor data in a desired manner specific to the system requesting the data. This paper presents a remote vision fusion architecture based on mobile agent technology that provides a flexible vision fusion solution. The architecture utilizes the Mobile-C library as a basis for the mobile agency along with OpenCV and ImageMagick for vision processing and manipulation. An application example is provided that demonstrates the benefit of using mobile agents for vision fusion in remote vision systems. The validity of the architecture is proven in an experimental setup with a retrofitted robotic cell comprised of a Puma 560, IBM 7575, a conveyor system, and a vision system.

关键词： sensor fusion Machine vision sensor systems Mobile agents Robot sensing systems Mobile robots Robot vision systems Mobile communication Electrical equipment industry Industrial control

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Analysis of distributed fusion alternatives in coordinated vision agents

Analysis of distributed fusion alternatives in coordinated v...

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International conference on Information fusion

作者： Federico Castanedo Jesus Garcia Miguel A. Patricio Jose M. Molina Applied Artificial Intelligence Group Computer Science Department Universidad Carlos III de Madrid Spain

In this paper, we detail some technical alternatives when building a coherent distributed visual sensor network by using the multi-agent paradigm. We argue that the multi-agent paradigm fits well within the visual sensor network architecture and in this paper we specially focus on the problem of distributed data fusion. Three different data fusion coordination schemes are proposed and experimental results of passive fusion are presented and discussed. The main contributions of this paper are twofold, first we propose the use of multi-agent paradigm as the visual sensor architecture and present a real system results. Secondly, the use of feedback information in the visual sensors, called active fusion, is proposed. The experimental results prove that the multi-agent paradigm fits well within the visual sensor network and provide a novel mechanism to develop a real visual sensor network system.

关键词： Visualization Computer architecture Cameras distributed databases Surveillance Multiagent systems Target tracking

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A multi-agent architecture to support active fusion in a visual sensor network

A multi-agent architecture to support active fusion in a vis...

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ACM/IEEE International conference on distributed Smart Cameras, ICDSC

作者： Federico Castanedo Jesus Garcia Miguel A. Patricio Jose M. Molina Applied Artificial Intelligence Group Computer Science Department Universidad Carlos III de Madrid Spain

One of the main characteristics of a visual sensor network environment is the high amount of data generated. In addition, the application of some process, as for example tracking objects, generate a highly noisy output which may potentially produce an inconsistent system output. By inconsistent output we mean highly differences between tracking information provided by the visual sensors. A visual sensor network, with overlapped field of views, could exploit the redundancy between the field of view of each visual sensor to avoid inconsistencies and obtain more accurate results. In this paper, we present a visual sensor network system with overlapped field of views, modeled as a network of software agents. The communication of each software agent allows the use of feedback information in the visual sensors, called active fusion. Results of the software architecture to support active fusion scheme in an indoor scenario evaluation are presented.

关键词： Visualization Cameras Computer architecture Target tracking Multiagent systems Computational modeling Software agents

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A scalable and distributed model for self-organization and self-healing 08

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

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Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 3

作者： Michael Rubenstein Wei-Min Shen University of Southern California

ISBN: (纸本)9780981738123

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.

关键词： self-healing swarms robots self-organization

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A scalable and distributed approach for self-assembly and self-healing of a differentiated shape

A scalable and distributed approach for self-assembly and se...

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2008 IEEE/RSJ International conference on Intelligent Robots and Systems

作者： Michael Rubenstein Wei-Min Shen Information Sciences Institute University of Southern California USA

ISBN: (纸本)9781424420575

As the ability to produce a large number of small, simple robotic agents improves, it becomes essential to control the behavior of these robots in such a way that the sum of their actions gives rise to the desired overall result. These robots are modeled as homogeneous, distributed robots, with only one simple short range sensor. Our simple robots 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 robots, 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.

关键词： Robots Robot kinematics Shape Robot sensing systems Color Synchronization Self-assembly

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Optimal Mobile Agent Routing for Data fusion in distributed sensor Networks Using Improved Ant Colony Algorithm

Optimal Mobile Agent Routing for Data Fusion in Distributed ...

引用

IEEE Instrumentation and Measurement Technology conference

作者： Zhiliang Tu Qiang Wang Yi Shen Department of Control Science and Engineering Harbin Institute of Technology Harbin China

With data correlation considered, this paper formulates the route computation problem in terms of maximizing an objective function, which is directly proportional to the received signal strength and inversely proportional to the path loss. Further, we propose an improved ant colony algorithm to compute a suboptimal solution of the NP-hard problem by adjusting local pheromone decay parameter p and pheromone quantity parameter Q adoptively. The simulation results demonstrate the superior performance both in solution quality and convergence speed of our algorithm over other two heuristics, i.e., local closest first and ant-cycle system.

关键词： Mobile agents Routing sensor fusion sensor phenomena and characterization IEEE members Wireless sensor networks Wireless communication Bandwidth Energy consumption Instrumentation and measurement

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Routing mobile agent to local regions for data fusion in distributed sensor networks

Routing mobile agent to local regions for data fusion in dis...

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IEEE International conference on Automation and Logistics

作者： Zhiliang Tu Qiang Wang Yi Shen Department of Control Science and Engineering Harbin Institute of Technology China

ISBN: (纸本)9781424425020

The problem of computing a route for a mobile agent to local regions or specified nodes in a distributed sensor network is considered, both in a single region or multi-region cases. With all specified nodes visited, this paper formulates the route computation problem in terms of minimizing an objective function, which is directly proportional to the energy consumption and path loss. Further, we propose heuristic algorithms based on local closest first methods, shortest path algorithm and algorithms for Steiner tree problem, and an improved ant colony algorithm to compute a suboptimal solution. The proposed ant colony algorithm enhances convergence speed while ensuring solution quality by adjusting pheromone decay parameter rho and importance of exploitation versus exploration adaptively. Simulation results are presented for comparison between the two kinds of algorithms.

关键词： Mobile agents Heuristic algorithms Routing Energy consumption Distance measurement Convergence sensors

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