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distributed, agent-based high level information: Challenges and solutions

Distributed, agent-based high level information: Challenges ...

引用

International conference on Information fusion

作者： Katia Sycara Carnegie Mellon University USA

ISBN: (纸本)9780662478300;0662478304

In today's fast paced military operational environment, vast amounts of information must be sorted out and fused not only to allow commanders to make situation assessments, but also to support the generation of hypotheses about enemy force disposition and enemy intent. An automation methodology and support tools are required to allow commanders to model and assess dynamic situations such as the behavior and intentions of enemy forces based on the flow and fusion of collected information from various sensors. Battlefield situation awareness, including location, movement, and deployment of enemy forces, is essential for commanders to make better decisions than adversaries. Agent-based information fusion and dissemination has great promise to considerably enhance current fusion technology. However, in order for agent-based information fusion to become a reality it must address a multitude of challenges. These challenges can be divided into three general categories: (a) challenges that relate to communication and information dissemination among the different agents in the system, (b) challenges pertaining to algorithms that individual agents use for effective reasoning, and (c) challenges related to integration of overall system aspects and components. In the rest of this overview, we present and discuss what we consider the most important subcategories within these three categories of challenges and briefly summarize work we have done to address them.

关键词： sensor fusion Unmanned aerial vehicles Force sensors Large-scale systems Context modeling Context awareness fusion power generation Information filtering Information filters Path planning

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Statistical fusion of Unmanned Aerial Vehicle Observations for Aided Target Recognition

Statistical Fusion of Unmanned Aerial Vehicle Observations f...

引用

International conference on Integration of Knowledge Intensive Multi-Agent Systems (KIMAS)

作者： Michael Simon Stephen O'Hara Plamen Petrov 21 Century Systems Inc. Omaha NE USA 21 Century Systems Inc. Omaha NE

The use of computers and sensors to detect and classify targets, often called aided target recognition (ATR), is an important component of military and civilian surveillance. Carrying it out from unmanned aerial vehicles is expensive in terms of both manpower and hardware. In this paper, we discuss the creation of a distributed ATR (DATR) method which replaces a single monolithic approach to ATR with a more robust multi-agent method. We present software and algorithms which have been developed for the purpose of testing and proving the validity of DATR, as well as some of the implementation possibilities and steps which we have taken to further prove the validity of the approach. Our examples and experiments with the normal light-weight ATR algorithms for our agents, combined with a fusion method based on belief calculus to demonstrate what DATR would perform like, show the validity of the approach

关键词： Unmanned aerial vehicles Target recognition Military computing Surveillance Costs Protection sensor fusion Cameras Law enforcement Information security

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EKF-based adaptive sampling with mobile robotic sensor nodes

EKF-based adaptive sampling with mobile robotic sensor nodes

引用

IEEE/RSJ International conference on Intelligent Robots and Systems

作者： Popa, D. O. Mysorewala, M. F. Lewis, F. L. Univ Texas Arlington Automat & Robot Res Inst Ft Worth TX 76019 USA

ISBN: (纸本)9781424402588

The use of robotics in environmental monitoring applications requires distributed sensor systems optimized for effective estimation of relevant models subject to energy and environmental constraints. The mobile robot nodes are agents facilitating the repositioning of sensors in order to estimate a field distribution. This field distribution could be, for instance, water salinity in a lake, or air pollution over an industrial area. Each mobile robot node is characterized by sensor measurement noise in addition to localization uncertainty. This paper addresses an important problem for the robotic deployment of sensor networks, namely adaptive sampling (AS) by selection and repositioning of nodes in order to optimally estimate the parameters of distributed variable field models. The AS problem is posed as a sensor fusion problem within the Extended Kalman Filter (EIKF) framework We present simulation and experimental results of 2D deployment scenarios using low-cost mobile sensor robots developed in our lab.

关键词： adaptive sampling sensor fusion Kalman filter environmental monitoring

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Algorithm comparison for autonomous distributed fusion

Algorithm comparison for autonomous distributed fusion

引用

conference on Signal Processing, sensor fusion, and Target Recognition XV

作者： Liggins, Martin Chang, K. C. George Mason Univ Dept Syst Engn & Operat Res Fairfax VA 22030 USA

ISBN: (纸本)0819462918

The concept of network centric operations is a process the military is just beginning to struggle with. distributed information and data fusion provides the foundation to determine target track state estimation within a network centric structure. This paper addresses the overall effectiveness of two popular fusion approaches - the information filter and the channel filter for selected network architectures. Specifically, we compare algorithm performance for two special network cases - the cyclic network and the broadcast network. We will show the scalability of the channel filter when agents are added to the cyclic network and provide an assessment under conditions of random link failure between agents.

关键词： distributed fusion information filter channel filter Kalman filter information graph network centric operations fusion performance comparison

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Adaptive sampling using non-linear EKF with mobile robotic wireless sensor nodes

Adaptive sampling using non-linear EKF with mobile robotic w...

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9th International conference on Control, Automation, robotics and Vision

作者： Popa, D. O. Mysorewala, M. F. Lewis, F. L. Univ Texas Arlington Automat & Robot Res Inst Arlington TX 76019 USA

ISBN: (纸本)9781424403417

The use of robotics in distributed monitoring applications requires mobile wireless sensors that are deployed efficiently. Efficiency can be defined in multiple ways, such as in terms of the amount of energy expenditure, communication bandwidth or information content. A very important aspect of mobile sensor deployment includes sampling algorithms at location most likely to yield useful information about a field variable of interest. In this paper, we use inexpensive mobile robot nodes built in our lab (ARRI-Bots) as wireless sensor deployment agents, and we use them to demonstrate information efficient algorithms (e.g., "adaptive sampling"). Each mobile robot node is characterized by sensor measurement noise in addition to localization uncertainty. We use the Extended Kalman Filter (EKF) to derive quantitative information measures for sampling locations most likely to yield optimal information about the sampled field distribution. We present simulation and experimental results using this approach.

关键词： adaptive sampling sensor fusion kahnan filter field distribution monitoring

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A framework for using agents in distributed sensor networks (Non-Refereed)

A framework for using agents in distributed sensor networks ...

引用

IEEE SoutheastCon 2006

作者： Anthony, Anish Jannett, Thomas Univ Alabama Dept Elect & Comp Engn Birmingham AL 35294 USA

ISBN: (纸本)1424401682

Agent systems and multi-agent systems are a new and robust paradigm for designing flexible architectures for systems with disparate needs. Conceptually speaking, an agent is an entity that acts in the place of another, with their authority, in order to bring about a desired result. Thus agents are entities that are capable of carrying out goals either alone or as a part of a larger community in which these agents work together to meet goals. agents provide a certain level of abstraction for achieving goals in a system, thereby potentially simplifying the design of a complex system. agents are gaining popularity because of their flexibility, modularity, and their general applicability especially in the field of distributed computing. distributed sensor networks are being increasingly used in a number of application domains as they offer advantages of reliability, accuracy, cost effectiveness, flexibility, and ease of deployment. But distributed sensor networks also face some unique challenges due to ad-hoc deployment, unattended operation, dynamic changes, and power constraints. For an underwater distributed sensor network application, efficient sensing, data fusion, target tracking and power management are some of the factors that have to be considered. Simulation is used for developing and testing alternative algorithms, considering tradeoffs, and evaluating the ability of the distributed system to achieve its objectives when presented with a set of operational challenges. These simulations will allow design alternatives to be explored, expose trade-offs, provide insight into the parameters that impact overall system performance, and facilitate the identification of requirements for further development. This paper describes a framework for using agents for multiple objective optimization in distributed sensor networks. A modular framework based on object oriented design is developed, which will facilitate the use of different agent based systems in simulations for

关键词： Multi agent systems

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fusion of surveillance information for visual sensor networks

Fusion of surveillance information for visual sensor network...

引用

2006 9th International conference on Information fusion, fusion

作者： Pérez, Óscar Patricio, Miguel A. García, Jesus Carbo, Javier Molina, Jose M. Computer Science Department-GIAA Universidad Carlos III de Madrid Colmenarejo Spain

ISBN: (纸本)1424409535

The growing interest in surveillance in public, military and commercial scenarios is increasing the need to create intelligent or automated distributed visual surveillance systems. Many applications based on distributed resources use the software agent paradigm. In this work, a multi-agent framework is applied to coordinate an indoor-surveillance system based on video cameras. The capacity of coordination will allow the improvement of the global image and the effectiveness of the task distribution. Software agents are embedded in each camera and control the capture parameters. The multi-agent framework allows the coordination of the acquisition procedure based on high level messages and the fusion of information among agents. The agent paradigm uses the internal interpretation of the situation from each agent to improve the global coordination.

关键词： Image enhancement

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Data pedigree and strategies for dynamic level-one sensor data fusion

Data pedigree and strategies for dynamic level-one sensor da...

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9th International conference on Information fusion

作者： Ceruti, Marion G. Wright, Tedd L. Powers, Brenda J. McGirr, Scott C. Space & Naval Warfare Syst Ctr Code 246206 53560 Hull St San Diego CA 92152 USA

ISBN: (纸本)9781424409532

Knowledge Management for distributed-tracking (KMDT) is a U.S. Naval research and development project to improve military-communications and information functions in the battle space. These functions include command, control, data fusion, and decision support. It features a scenario for modeling and simulation that shows how knowledge-management technologies, such as ontologies and intelligent agents can improve battle-space awareness and the decision-making process in command centers with respect to distributed tracking and threat identification of targets. Data on cross lines of bearings can be acquired from sensors using a secure network. These data and their associated pedigree metadata from multiple platforms in the battle space can be fused to reduce the uncertainty in platform detection, localization, classification and identification (level-one data-fusion object refinement). The pedigree metadata can affect how data are used infusion tasks.

关键词： decision support distributed sensing level-one data fusion pedigree metadata sensors tracking

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Hierarchical environment model for fusing information from human operators and robots

Hierarchical environment model for fusing information from h...

引用

IEEE/RSJ International conference on Intelligent Robots and Systems

作者： Kaupp, Tobias Douillard, Bertrand Upcroft, Ben Makarenko, Alexei Univ Sydney ARC Ctr Excellence Autonomous Syst CAS Sydney NSW 2006 Australia

ISBN: (纸本)9781424402588

This paper considers the problem of building environment models by fusing information gathered by robotic platforms with human perceptual information. Rich environment models are required in real applications for both autonomous operation of robots and to support human decision-making. Hierarchical models are well suited to represent complex environments because they: offer multiple abstractions of the available information to support analysis and decision-making, and permit the incorporation of higher-level human observations. The contributions of this paper are two-fold: (1) development of a probabilistic three-level environment model for distributed information gathering, and (2) experimental demonstration of fully decentralized, cooperative human-robot information gathering using an outdoor sensor network comprised of an unmanned air vehicle, a ground vehicle, and two human operators. Several information exchange patterns are presented which qualitatively demonstrate human-robot information fusion.

关键词： information fusion human-robot teams hierarchical model sensor network

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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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