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2006 IEEE/RSJ International conference on Intelligent Robots and Systems

作者： D. O. Popa M. F. Mysorewala F. L. Lewis Automation & Robotics Research Institute (ARRI) University of Texas Arlington Fort Worth TX USA

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 (EKF) framework. We present simulation and experimental results of 2D deployment scenarios using low-cost mobile sensor robots developed in our lab

关键词： Sampling methods Mobile robots Robot sensing systems sensor phenomena and characterization Monitoring sensor systems Constraint optimization Water pollution Lakes Air pollution

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fusion of Surveillance Information for Visual sensor Networks

Fusion of Surveillance Information for Visual Sensor Network...

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International conference on Information fusion

作者： Oscar Perez Miguel A. Patricio Jesus Garcia Javier Carbo Jose M. Molina Computer Science Department-GIAA Universidad Carlos 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： Surveillance sensor fusion Cameras Computer science Software agents sensor systems Intelligent agent Application software Scalability Computer architecture

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A probabilistic algorithm for efficient and robust data propagation in wireless sensor networks

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Ad Hoc Networks 2006年第5期4卷 621-635页

作者： Chatzigiannakis, Ioannis Dimitriou, Tassos Nikoletseas, Sotiris Spirakis, Paul Patras University P.O. Box 1122 261 10 Patras Greece Athens Greece

We study the problem of data propagation in sensor networks, comprised of a large number of very small and low-cost nodes, capable of sensing, communicating and computing. The distributed co-operation of such nodes may lead to the accomplishment of large sensing tasks, having useful applications in practice. We present a new protocol for data propagation towards a control center ("sink") that avoids flooding by probabilistically favoring certain ("close to optimal") data transmissions. Motivated by certain applications (see [I.F. Akyildiz, W. Su, Y. Sankarasubramaniam, E. Cayirci, Wireless sensor networks: a survey, Journal of Computer Networks 38 (2002) 393-422], [C. Intanagonwiwat, R. Govindan, D. Estrin, Directed diffusion: a scalable and robust communication paradigm for sensor networks, in: 6th ACM/IEEE Annual International conference on Mobile Computing (MOBICOM 2000), 2000, pp. 56-67]) and also as a starting point for a rigorous analysis, we study here lattice-shaped sensor networks. We however show that this lattice shape emerges even in randomly deployed sensor networks of sufficient sensor density. Our work is inspired and builds upon the directed diffusion paradigm of [C. Intanagonwiwat, R. Govindan, D. Estrin, Directed diffusion: a scalable and robust communication paradigm for sensor networks, in: 6th ACM/IEEE Annual International conference on Mobile Computing (MOBICOM 2000), 2000, pp. 56-67]. This protocol is very simple to implement in sensor devices, uses only local information and operates under total absence of co-ordination between sensors. We consider a network model of randomly deployed sensors of sufficient density. As shown by a geometry analysis, the protocol is correct, since it always propagates data to the sink, under ideal network conditions (no failures). Using stochastic processes, we show that the protocol is very energy efficient. Also, when part of the network is inoperative, the protocol manages to propagate data very close to the

关键词： Wireless telecommunication systems

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

作者： D. O. Popa M. F. Mysorewala F. L. Lewis Automation & Robotics Research Institute University of Texas Arlington Fort Worth TX USA

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： Sampling methods Mobile robots Robot sensing systems Wireless sensor networks Sea measurements sensor phenomena and characterization robotics and automation sensor fusion Monitoring Chemical and biological sensors

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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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International conference on Information fusion

作者： Marion G. Ceruti Tedd L. Wright Brenda J. Powers Scott C. McGirr Space and Naval Warfare Systems Center San Diego CA USA

ISBN: (纸本)1424409535

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 in fusion tasks

关键词： sensor fusion Space technology Knowledge management Research and development Ontologies Intelligent agent Decision making Target tracking Intelligent sensors Uncertainty

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Scalable Decentralised Decision Making and Optimisation in Heterogeneous Teams

Scalable Decentralised Decision Making and Optimisation in H...

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International conference on Multisensor fusion and Integration for Intelligent Systems (MFI)

作者： George M. Mathews Hugh F. Durrant-whyte Mikhail Prokopenko ARC Centre of Excellence for Autonomous Systems University of Sydney Sydney NSW Australia CSIRO ICT Centre NSW Australia

This paper considers the scenario where multiple autonomous agents must cooperate in making decisions to minimise a common team cost function. A distributed optimisation algorithm is presented. This allows each agent to incrementally refine their decisions while intermittently receiving updates from the team. A convergence analysis provides quantitative requirements on the frequency agents must communicate that is prescribed by the problem structure. The general problem requires every agent to have a model of every other agent in the system. To overcome this, a specific subset of systems, called partially separable, is defined. These systems only require each agent to have a combined summary of the rest of the system. This leads to the definition of an infinitely scalable system, which may contain an infinite number of agents while ensuring the local decisions will converge to the optimal team decision. Examples are given for reconnaissance or information gathering tasks

关键词： Decision making Cost function Control systems Australia sensor systems Convergence Intelligent systems Intelligent networks sensor fusion Robot sensing systems

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Modeling of Agent Migration for Collaborative and distributed Processing

Modeling of Agent Migration for Collaborative and Distribute...

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IEEE International conference on Networking, Sensing and Control

作者： Yingyue Xu Hairong Qi Intelligent Automation Inc. Rockville MD USA Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

The mobile agent based paradigm is a promising computing paradigm in wireless sensor networks, which has many unique advantages over the traditional client/server paradigm. However, the question on how to model the mobile agent itinerary in sensor networks, is left unsolved. The design of the mobile agent migration itinerary has a large impact on the performance of collaborative processing, which is the focus of this paper. We first model both the static and dynamic mobile agent planning problems, then a performance evaluation between these two models is conducted. Three metrics (energy consumption, network lifetime, and the number of hops) are used in the simulation to quantitatively measure the performance of different itinerary planning methods. Simulation results show that the dynamic itinerary planning has considerable advantages over the static itinerary

关键词： Collaboration distributed processing Mobile agents Wireless sensor networks Computer networks Network servers Energy consumption Acoustic sensors sensor fusion Intelligent sensors

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Intelligent and efficient strategy for unstructured environment sensing using mobile robot agents

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JOURNAL OF INTELLIGENT & robotic SYSTEMS 2005年第2-4期43卷 217-253页

作者： Sujan, VA Meggiolaro, MA Cummins Engine Co Air Handling & Combust Control Div Columbus IN 47201 USA Pontificia Univ Catolica Rio de Janeiro Dept Mech Engn BR-22453900 Rio De Janeiro Brazil

In field environments it is not usually possible to provide robots in advance with valid geometric models of its task and environment. The robot or robot teams need to create these models by scanning the environment with its sensors. Here, an information-based iterative algorithm to plan the robot's visual exploration strategy is proposed to enable it to most efficiently build 3D models of its environment and task. The method assumes mobile robot (or vehicle) with vision sensors mounted at a manipulator end-effector (eye-in-hand system). This algorithm efficiently repositions the systems' sensing agents using an information theoretic approach and fuses sensory information using physical models to yield a geometrically consistent environment map. This is achieved by utilizing a metric derived from Shannon's information theory to determine optimal sensing poses for the agent(s) mapping a highly unstructured environment. This map is then distributed among the agents using an information-based relevant data reduction scheme. This method is particularly well suited to unstructured environments, where sensor uncertainty is significant. Issues addressed include model-based multiple sensor data fusion, and uncertainty and vehicle suspension motion compensation. Simulation results show the effectiveness of this algorithm.

关键词： visual mapping cooperative robots information theory unstructured environments data fusion

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A knowledge processing middleware framework and its relation to the JDL data fusion model

A knowledge processing middleware framework and its relation...

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7th International conference on Information fusion (fusion)

作者： Heintz, F Doherty, P Linkoping Univ Dept Comp & Informat Sci S-58183 Linkoping Sweden

ISBN: (纸本)0780392868

Any autonomous system embedded in a dynamic and changing environment must be able to create qualitative knowledge and object structures representing aspects of its environment on the fly from raw or preprocessed sensor data in order to reason qualitatively about the environment and to supply such state information to other nodes in the distributed network in which it is embedded. These structures must be managed and made accessible to deliberative and reactive functionalities whose succesful operation is dependent on being situationally aware of the changes in both the robotic agent's embedding and internal environments. DyKnow is a knowledge processing middleware framework which provides a set of functionalities for contextually creating, storing, accessing and processing such structures. The framework is implemented and has been deployed as part of a deliberativelreactive architecture for an autonomous unmanned aerial vehicle. The architecture itself is distributed and uses real-time CORBA as a communications infrastructure. We describe the system and show how it can be used to create more abstract entity and state representations of the world which can then be used for situation awareness by an unmanned aerial vehicle in achieving mission goals. We also show that the framework is a working instantiation of many aspects of the revised JDL data fusion model.(1).

关键词： Middleware

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Managed traffic evacuation using distributed sensor processing

Managed traffic evacuation using distributed sensor processi...

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conference on Nondestructive Detection and Measurement for Homeland Security III

作者： Ramuhalli, P Biswas, S Michigan State Univ Dept Elect & Comp Engn E Lansing MI 48824 USA

ISBN: (纸本)0819457507

This paper presents an integrated sensor network and distributed event processing architecture for managed in-building traffic evacuation during natural and human-caused disasters, including earthquakes, fire and biological/chemical terrorist attacks. The proposed wireless sensor network protocols and distributed event processing mechanisms offer a new distributed paradigm for improving reliability in building evacuation and disaster management. The networking component of the system is constructed using distributed wireless sensors for measuring environmental parameters such as temperature, humidity, and detecting unusual events such as smoke, structural failures, vibration, biological/chemical or nuclear agents. distributed event processing algorithms will be executed by these sensor nodes to detect the propagation pattern of the disaster and to measure the concentration and activity of human traffic in different parts of the building. Based on this information, dynamic evacuation decisions are taken for maximizing the evacuation speed and minimizing unwanted incidents such as human exposure to harmful agents and stampedes near exits. A set of audiovisual indicators and actuators are used for aiding the automated evacuation process. In this paper we develop integrated protocols, algorithms and their simulation models for the proposed sensor networking and the distributed event processing framework. Also, efficient harnessing of the individually low, but collectively massive, processing abilities of the sensor nodes is a powerful concept behind our proposed distributed event processing algorithms. Results obtained through simulation in this paper are used for a detailed characterization of the proposed evacuation management system and its associated algorithmic components.

关键词： wireless sensor networks distributed detection managed in-building evacuation homeland security NDE data fusion

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