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International conference on Information fusion

作者： Dante I. Tapia Ricardo S. Alonso Sara Rodríguez Juan F. de Paz Angélica González Juan M. Corchado Department of Informatics University of Sakamanca Salamanca Spain

Information fusion systems can be improved by developing solutions that integrate distributed intelligent systems with context-aware technologies. In this sense, Wireless sensor Networks is a key technology for gathering remote and heterogeneous context information. However, it is not easy to integrate devices from different technologies into a single network. distributed architectures, such as Multi-Agent Systems, can facilitate integrating such heterogeneous devices. In addition, Multi-Agent Systems expand the sensors' context-aware capabilities changing their behavior dynamically and personalizing their reactions. This paper presents the new Hardware-Embedded Reactive agents (HERA) platform, that allows developing information fusion applications where agents are directly embedded in heterogeneous wireless sensor nodes with small resources.

关键词： Wireless sensor networks Peer to peer computing Wireless communication Multiagent systems Protocols Mobile agents Context

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Decentralized sensing and tracking for UAV scheduling

Decentralized sensing and tracking for UAV scheduling

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conference on sensors and Command, Control, Communications and Intelligence (C31) Technologies for Homeland Security and Homeland Defense III

作者： Crespi, V Chung, W Jordan, AB Calif State Univ Los Angeles Los Angeles CA 90032 USA

ISBN: (纸本)0819453269

This paper presents a fully automated and decentralized surveillance system for the problem of detecting and possibly tracking mobile unknown ground vehicles in a bounded area. The system consists ideally of unmanned aerial vehicles (UAVs) and unattended fixed sensors with limited communication and detection range that are deployed in the area of interest. Each component of the system (UAV and/or sensor) is completely autonomous and programmed to scan the area searching for targets and share its knowledge with other components within communication ran,e. We assume that both UAVs and sensors have similar computing and sensing capabilities and differ only in their mobility (sensors are stationary while UAVs are mobile). Gathered information is reported to a base station (monitor) that computes an estimate of the global state of the system and quantifies the quality of the surveillance based on a measure of the uncertainty on the number and position of the targets overtime. The present solution has been achieved through a robotic implementation of a software simulation that was in turn realized under the principles of a novel top-down methodology for the design of provably performant agent-based control systems. In this paper we provide a description of our solution including the distributed algorithms that have been employed in the control of the UAV navigation and monitoring. Finally we show the results of an novel experimental performance analysis of our surveillance system.

关键词： unmanned aerial vehicle UAVs distributed computing autonomous agents target tracking surveillance

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Robot Intelligence Technology and Applications 5: Results from the 5th International conference on Robot Intelligence Technology and Applications

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2018年

作者： Jong-hwan Kim Hyun Myung Junmo Kim Weiliang Xu Eric T Matson Jin-woo Jung Han-lim Choi

ISBN: (纸本)9783319784519

This book includes papers from the 5th International conference on Robot Intelligence Technologyand Applications held at KAIST, Daejeon, Korea on December 1315, 2017. It covers the following areas: artificial intelligence, autonomous robot navigation, intelligent robot system design, intelligent sensing and control, and machine vision. The topics included in this book are deep learning, deep neural networks, image understanding, natural language processing, speech/voice/text recognition, reasoning & inference, sensor integration/fusion/perception, multisensor data fusion, navigation/SLAM/localization, distributed intelligent algorithms and techniques, ubiquitous computing, digital creatures, intelligent agents, computer vision, virtual/augmented reality, surveillance, pattern recognition, gesture recognition, fingerprint recognition, animation and virtual characters, and emerging applications. This book is a valuable resource for robotics scientists, computer scientists, artificial intelligence researchers and professionals in universities, research institutes and laboratories.

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Spatially-distributed Prediction with Mobile robotic Wireless sensor Networks

Spatially-Distributed Prediction with Mobile Robotic Wireles...

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International conference on Control, Automation, robotics & Vision

作者： Linh Van Nguyen Sarath Kodagoda Ravindra Ranasinghe Gamini Dissanayake Centre for Autonomous Systems (CAS) Faculty of Engineering and Information Technology University of Technology Sydney (UTS) Sydney Australia

ISBN: (纸本)9781479952007

This paper presents a distributed spatial estimation and prediction approach to address the centrally-computed scheme of Gaussian Process regression at each robotic sensor in resource-constrained networks of mobile, wireless and noisy agents monitoring physical phenomena of interest. A mobile sensor independently estimate its own parameters using collective measurements from itself and local neighboring agents as they navigate through the environment. A spatially-distributed prediction algorithm is designed utilizing methods of Jacobi over-relaxation and discrete-time average consensus to enable a robotic sensor to update its estimation of obtaining the global model parameters and recursively compute the global goal of inference. A distributed navigation strategy is also considered to drive sensors to the most uncertain locations enhancing the quality of prediction and learning parameters. Experimental results in a real-world data set illustrate the effectiveness of the proposed approach and is highly comparable to those of the centralized scheme.

关键词： sensors Mobile Prediction algorithms Physical Phenomena Wireless sensor networks

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Toward robotic sensor webs: Algorithms, systems, and experiments

Toward robotic sensor webs: Algorithms, systems, and experim...

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作者： Chung, Hoam Oh, Songhwai Shim, David Hyunchul Sastry, S. Shankar Department of Mechanical and Aerospace Engineering Monash University Clayton VIC. 3800 Australia Seoul National University Seoul 151-744 Korea Republic of Department of Aerospace Engineering Korea Advanced Institute of Science and Technology Daejon 305-701 Korea Republic of Department of Electrical Engineering and Computer Science University of California Berkeley Berkeley CA 94720 United States

This paper presents recent advances in multiagent sensing and operation in dynamic environments. Technology trends point towards a fusion of wireless sensor networks with robotic swarms of mobile robots. In this paper, we discuss the coordination and collaboration between networked robotic systems, featuring algorithms for cooperative operations such as unmanned aerial vehicles (UAVs) swarming. We have developed cooperative actions of groups of agents such as probabilistic pursuit-evasion game for search and rescue operations, protection of resources, and security applications. We have demonstrated a hierarchical system architecture which provides wide-range sensing capabilities to unmanned vehicles through spatially deployed wireless sensor networks, highlighting the potential collaboration between wireless sensor networks and unmanned vehicles. This paper also includes a short review of our current research efforts in heterogeneous sensor networks, which is being evolved into mobile sensor networks with swarm mobility. In a very essential way, this represents the fusion of mobility of ensembles with the network embedded systems, the robotic sensor web. © 2011 IEEE.

关键词： Wireless sensor networks

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Battlespace situation awareness for force XXI

Battlespace situation awareness for force XXI

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conference on Digitization of the Battlefield II

作者： Moellman, DE SRI International (United States)

ISBN: (纸本)0819424951

Timely battlefield digitization and battlespace visualization is a requirement to keep pace with ever-diminishing military decision cycle times driven by evolving weapons systems and pacing military doctrine for Force XXI. One ingredient to battlefield situation awareness is imagery intelligence. This paper proposes a novel architecture for an imagery analysis environment to seamlessly provide imagery intelligence. A critical component of this proposed architecture is emerging intelligent software agent technology levering human-computer interface (HCI) technology. This combination enables a modular, scaleable, and reconfigurable battlefield situation awareness and exploitation environment. The consequent impact of this paper is the definition of an entirely new method to support military intelligence, planning and execution processes. The proposed architecture effectively provides real-time/near real-time sensor fusion, sensor management, and battle management in a single collaborative environment. This paper provides the design and describes the technologies necessary to make this system a reality. The proposed design employs the following emerging technologies: open agent architecture - information gathering/data mining, processing, and dynamic aggregation of agents;multimodal data entry with command and query interfaces - interact/communicate through voice, writing or gestures;speech recognition and natural language understanding - speech recognition and speech-to-text translation;procedural and evidential reasoning - dynamic process control, planning, spatial reasoning, and correlation and behavior;and collaboration - shared work space and applications, wireless and hardwired networks, multiple and distributed participants In the image analyst-centric environment, this state-of-the-art system will manage automatic and assisted target recognition, and imagery exploitation components, while providing a system capable of ingesting and fusing available tactical, na

关键词： intelligent software agents human-computer interface situation awareness imagery exploitation collaboration

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C2SM-a mobile system for detecting and 3D mapping of Chemical, Radiological and Nuclear contamination

C2SM-a mobile system for detecting and 3D mapping of Chemica...

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conference on sensors, and Command, Control, Communications, and Intelligence (C3I) Technologies for Homeland Security and Homeland Defense VIII

作者： Jasiobedzki, Piotr Ng, Ho-Kong Bondy, Michel McDiarmid, C. H. (Carl) MDA 9445 Airport Rd Brampton ON L6S 4J3 Canada Royal Canadian Mounted Police Ottawa ON K1A 0R2 Canada

ISBN: (纸本)9780819475718

CBRN Crime Scene Modeler (C2SM) is a prototype mobile CBRN mapping system for First Responders in events where Chemical, Biological, Radiological and Nuclear agents where used. The prototype operates on board a small robotic platform, increases situational awareness of the robot operator by providing geo-located images and data, and current robot location. The sensor suite includes stereo and high resolution cameras, a long wave infra red (thermal) camera and gamma and chemical detectors. The system collects and sends geo-located data to a remote command post in near real-time and automatically creates 3D photorealistic model augmented with CBRN measurements. Two prototypes have been successfully tested in field trials and a fully ruggedised commercial version is expected in 2010.

关键词： CBRN multi sensor data fusion 3D modeling stereo gamma radiation detector

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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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Bout-based Gas Source Localization using Aerial Robot Swarms

Bout-based Gas Source Localization using Aerial Robot Swarms

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IEEE sensors conference

作者： Haeusler, Felix Stuehrenberg, Jan Smarsly, Kay Neumann, Patrick P. Hamburg Univ Technol Hamburg Germany BAM Fed Inst Mat Res & Testing Berlin Germany

ISBN: (纸本)9798350303872

Gas source localization (GSL) helps mitigate the impact of industrial accidents and natural disasters. While GSL may be dangerous and time-consuming when performed by humans, swarms of agile and inexpensive nano aerial robots may increase the safety and efficiency of gas source localizations. Since the small payloads of nano aerial robots limit the sensing and computing resources, strategies adapted from biological swarms, such as colonies of social insects, are used to coordinate robot swarms. Most swarm GSL strategies are based on the assumption that the maxima of gas concentrations are sufficiently close to the gas sources. However, prior studies have indicated that the occurrence of "bouts", a metric for the intermittency of gas distributions, may advantageously be used as a more accurate gas source proximity indicator. This paper presents a swarm GSL strategy employing bouts as source proximity indicators and a bio-inspired pheromone system for communication. Nano aerial robots, deployed in this study, act as agents and emit pheromone markers in an artificial environment upon detecting bouts. Leveraging the concept of artificial potential fields, the agents switch between exploiting the knowledge of the swarm by following pheromone gradients and exploring the search space by targeting a random point. The agents are repelled by each other and by walls to avoid collisions. The swarm GSL strategy is implemented into three nano aerial robots and validated in a real-world experiment in an indoor environment with a single gas source. The results indicate that the the swarm GSL strategy presented in this paper is capable of GSL in indoor environments and that the intermittency of gas distributions is a better source proximity indicator than the mean concentration.

关键词： Mobile robotic olfaction nano aerial robot gas source localization bouts distributed robotics

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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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