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

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Proceedings - IEEE 14th International conference on Mobile Data Management, MDM 2013

Proceedings - IEEE 14th International Conference on Mobile D...

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14th International conference on Mobile Data Management, MDM 2013

The proceedings contain 96 papers. The topics discussed include: personal data management with secure hardware: how to keep your data at hand;crowdsourcing for mobile data management;visual analysis of mobility data;using mobile agents in vehicular networks for data processing;smartphone-assisted mobility in urban environments for visually impaired users through computer vision and sensor fusion;location privacy management and protection in geo-social networks;distributed complex event processing in sensor networks;collaborative mobile application and advanced services for smart parking;building accurate 3D spatial networks to enable next generation intelligent transportation systems;efficient spatio-temporal information fusion in sensor networks;exploiting foursquare and cellular data to infer user activity in urban environments;and continuous query processing for actual and predicted object flow in symbolic space.

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Proceedings - IEEE 14th International conference on Mobile Data Management, MDM 2013

Proceedings - IEEE 14th International Conference on Mobile D...

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14th International conference on Mobile Data Management, MDM 2013

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Cooperative behaviour in multi-sensor systems 6

Cooperative behaviour in multi-sensor systems

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6th International conference on Neural Information Processing, ICONIP 1999

作者： Bowyer, R.S. Bogner, R.E. Electron. Warfare Div. Defence Sci. and Technol. Organ. PO Box 1500 SalisburySA5108 Australia Dept. of Eelcetrical and Electronic Engineering University of Adelaide SA5005 Australia Mawson Lakes Boulevard Mawson LakesSA5095 Australia

ISBN: (纸本)0780358716

The paper describes an approach to heterogeneous sensor integration and information fusion that is based on the concept of cooperating machines. A multi-sensor system comprises sensors that may be grouped together on the same platform, or distributed geographically. Often it is desirable to upgrade the performance and capabilities of a sensor system. We present three models of sensor interaction and explain how such legacy systems may be modified, by incorporating mechanisms for cooperation. This leads to the concept of a community of cooperative machines. A method is outlined for representing the level of sensor interaction in the relation matrix, and propose that intelligent agents be used as a means of implementing this processing. The proposed method is applied to the problem of integrating the sensor sub-systems of an electronic support measures (ESM) system. © 1999 IEEE.

关键词： Legacy systems

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distributed privacy-preserving network size computation: A system-identification based method

Distributed privacy-preserving network size computation: A s...

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52nd IEEE Annual conference on Decision and Control (CDC)

作者： Garin, Federica Yuan, Ye INRIA Grenoble NeCS Team Rhone Alpes France Univ Cambridge Dept Engn Cambridge CB2 1TN England

ISBN: (纸本)9781467357173

In this study, we propose an algorithm for computing the network size of communicating agents. The algorithm is distributed: a) it does not require a leader selection;b) it only requires local exchange of information, and;c) its design can be implemented using local information only, without any global information about the network. It is privacy-preserving, namely it does not require to propagate identifying labels. This algorithm is based on system identification, and more precisely on the identification of the order of a suitably-constructed discrete-time linear time-invariant system over some finite field. We provide a probabilistic guarantee for any randomly picked node to correctly compute the number of nodes in the network. Moreover, numerical implementation has been taken into account to make the algorithm applicable to networks of hundreds of nodes, and therefore make the algorithm applicable in real-world sensor or robotic networks. We finally illustrate our results in simulation and conclude the paper with discussions on how our technique differs from a previously-known strategy based on statistical inference.

关键词： Linear time-invariant system

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Collaborative Localization of robotic Wheeled Walkers using Interlaced Extended Kalman Filters

Collaborative Localization of Robotic Wheeled Walkers using ...

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IEEE International Instrumentation and Measurement Technology conference (I2MTC)

作者： Fontanelli, Daniele Macii, David Nazemzadeh, Payam Palopoli, Luigi Univ Trento DII Via Sommar 9 I-38123 Trento Italy Univ Trento DISI I-38123 Trento Italy

ISBN: (纸本)9781467392204

This paper deals with the problem of localizing a group of robots. Each robot is equipped with an autonomous self-localization system based on both high-rate odometers and a front camera detecting sporadically simple visual landmarks placed on the floor at known positions and with a known attitude within a given 2D reference frame. In addition, the robots can share their own states to improve localization accuracy. In this paper, after reviewing the general problem of collaborative localization, two potential strategies based on a distributed Interlaced Extended Kalman Filter (IEKF) are compared. In the first one, localization is refined through high-rate mutual measurements of Euclidean distance between pairs of robots. The distance values are obtained using an omni-directional wireless ranging system of limited accuracy. In the second one, an on-board Kinect-like front RGB-D vision system is assumed to measure the agent's relative position with respect to other robots in view at a lower rate, but with higher accuracy. To the best of authors' knowledge, this performance comparison is new, since most of previous studies on collaborative localization are overoptimistic as implicitly assume that mutual agent measurements are not intermittent and are available at all sampling times.

关键词： Localization position measurements sensor fusion estimation distributed systems Kalman filters

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Creating an adaptive embedded system by applying multi-agent techniques to reconfigurable hardware

Creating an adaptive embedded system by applying multi-agent...

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International conference on Computational Science (ICCS 2003)

作者： Naji, HR Wells, BE Etzkorn, L Jackson State Univ Dept Comp Engn Jackson MS 39217 USA Univ Alabama Dept Elect & Comp Engn Huntsville AL 35899 USA Univ Alabama Dept Comp Sci Huntsville AL 35899 USA

This paper describes how the multi-agent paradigm that is so prevalent in today's distributed reactive software systems can be extended to operate in a dynamically adaptable embedded system environment. In this model, both reconfigurable hardware and the embedded system software design space can be partitioned into autonomous units of execution that are called agents, where each agent has the capacity to interact with the environment and other agents in an intelligent manner. The incorporation of agents that reside in reconfigurable hardware makes it possible to create an intelligent system that exploits the speed advantages associated with reconfigurable hardware within the framework of a unified system model that spans the entire hardware/software continuum. In addition to dynamic adaptability, this approach has the potential to greatly facilitate the flexibility, efficiency, fault tolerance, scalability, and reliability of embedded systems. This paper highlights agent-based reconfigurable embedded systems, and illustrates how they can be applied to a real-time sensor fusion type application using a conventional hardware description language. (C) 2004 Elsevier B.V. All rights reserved.

关键词： multi-agent reconfigurable hardware sensor/data fusion

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Anomaly Detection and Target Prioritization in Planetary Imagery via the Automated Global Feature Analyzer™ (AGFA™): Progress Towards a Driver for Autonomous C⁴ISR Missions

Anomaly Detection and Target Prioritization in Planetary Ima...

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conference on Micro- and Nanotechnology sensors, Systems, and Applications X

作者： Fink, Wolfgang Brooks, Alexander J. -W. Tarbell, Mark A. Univ Arizona Coll Engn Visual & Autonomous Explorat Syst Res Lab 1230 E Speedway Blvd Tucson AZ 85721 USA

ISBN: (数字)9781510617902

ISBN: (纸本)9781510617902

The Automated Global Feature Analyzer (TM) (AGFA (TM)) is a generically applicable automated sensor-data-fusion, feature extraction, feature vector clustering, anomaly detection, and target prioritization framework. AGFA (TM) operates in the respective feature space delivered by the sensor(s). In this paper we provide an overview of the inner workings of AGFA (TM) and apply AGFA (TM) to planetary imagery, representative of past, current, and future planetary missions, to demonstrate its automated and objective (i.e., unbiased) anomaly detection and target prioritization (i.e., region-of interest delineation) capabilities. Imaged operational areas are locally processed via a cascade of image segmentation, visual and geometric feature extraction, agglomerative clustering, and principal components analysis. Resulting clusters are labeled based on relative size and location in feature space. Anomalous regions may be considered immediate targets for follow-up in-situ investigation by local robotic agents, which can be directed via autonomous telecommanding, e.g., as part of a Tier-Scalable Reconnaissance mission architecture. These capabilities will be essential for driving fully autonomous (CISR)-I-4 missions of the future, since the speed of light prohibits "real time" Earth-controlled conduct of planetary exploration beyond the Moon.

关键词： Autonomous decision making sensor-data-fusion framework objective anomaly detection target prioritization agglomerative clustering principal components analysis autonomous (CISR)-I-4 systems multi-tiered robotic exploration architectures

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Target Tracking Strategy of robotic Fish Based on Multi-sensor distributed Detection Information fusion

Target Tracking Strategy of Robotic Fish Based on Multi-Sens...

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IEEE International conference on robotics and Biomimetics

作者： Youdong Chen Jiawei Yang Yong Zhong Shien-Ming Wu School of Intelligent Engineering South China University of Technology Guangzhou China

ISBN: (纸本)9781665405362

Target tracking for robotic fish is always challenging due to complex fluid dynamics and inherent yaw instability. This paper introduces the design of the robotic fish and presents the target tracking strategy of the robotic fish based on multi-sensor distributed detection information fusion. The robotic fish adopts a semi-sealed design, which is composed of three parts: a rigid head, a wired-driven active body, and a compliant tail. An improved CPG model is utilized for robotic fish to imitate the rhythmic movement of real fish. Instead of using cameras and other expensive sensors, we adopt a low-cost infrared sensor with scarce sensing information as the primary sensor. And then, the target tracking strategy is based on multi-sensor distributed detection information fusion by analyzing and combining the information of two adjacent consecutive moments of the sensors. Finally, several sets of experiments are conducted to verify the effectiveness and robustness of the target tracking strategy.

关键词： Target tracking Biological system modeling Robot vision systems Tail sensor fusion Fish Robot sensing systems

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First Responders robotic Network for Disaster Management 4th

First Responders Robotic Network for Disaster Management

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4th International conference on Modelling and Simulation for Autonomous Systems (MESAS)

作者： Seminara, Giuseppe Fontanelli, Daniele Univ Trento Dept Ind Engn Via Sommar 9 I-38122 Povo Trento Italy

ISBN: (纸本)9783319760728;9783319760711

Disaster management is one of the fields which more can benefit from robotic systems, hence an increasing effort is nowadays employed in designing heterogeneous teams of robots for these scenarios, including human-robot coordination. Communication is the key factor in any search and rescue mission, both for coordinating operations and for interacting with people in danger. However, catastrophic events frequently cause the failure of telecommunication infrastructure, particularly for large disaster areas. We propose a temporary deployable ad-hoc network, whose nodes are robotic agents, covering a set of critical areas selected in a pre-planning phase, called intervention areas, and a set of physical paths connecting them. We developed a suitable algorithm providing the high level topological structure of the network and a coordination strategy for its construction in a distributed framework. The ensuing system is able to serve as a communication infrastructure, to operate as a wireless sensor network and to be integrated with multiple search and rescue teams.

关键词： Ad-hoc networks Delay tolerant networks Multi-robot systems Disaster management Search and rescue missions

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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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