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A Multi-agent Architecture Based on the BDI Model for Data fusion in Visual sensor Networks

JOURNAL OF INTELLIGENT & robotic SYSTEMS 2011年第3-4期62卷 299-328页

作者： Castanedo, Federico Garcia, Jesus Patricio, Miguel A. Molina, Jose M. Univ Carlos III Madrid Dept Comp Sci Appl Artificial Intelligence Grp Madrid Spain

The newest surveillance applications is attempting more complex tasks such as the analysis of the behavior of individuals and crowds. These complex tasks may use a distributed visual sensor network in order to gain coverage and exploit the inherent redundancy of the overlapped field of views. This article, presents a Multi-agent architecture based on the Belief-Desire-Intention (BDI) model for processing the information and fusing the data in a distributed visual sensor network. Instead of exchanging raw images between the agents involved in the visual network, local signal processing is performed and only the key observed features are shared. After a registration or calibration phase, the proposed architecture performs tracking, data fusion and coordination. Using the proposed Multi-agent architecture, we focus on the means of fusing the estimated positions on the ground plane from different agents which are applied to the same object. This fusion process is used for two different purposes: (1) to obtain a continuity in the tracking along the field of view of the cameras involved in the distributed network, (2) to improve the quality of the tracking by means of data fusion techniques, and by discarding non reliable sensors. Experimental results on two different scenarios show that the designed architecture can successfully track an object even when occlusions or sensor's errors take place. The sensor's errors are reduced by exploiting the inherent redundancy of a visual sensor network with overlapped field of views.

关键词： distributed visual sensor networks Multi-agent Systems Data fusion

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Multi-sensor detection schemes for mobile robots

Multi-sensor detection schemes for mobile robots

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Conference on sensor fusion and distributed robotic agents

作者： Fatemi, A Lecocq, H Univ. de Liege (Belgium)

ISBN: (纸本)0819423076

In this work, Mobile robot distributed detection systems are described that use multiple sources of information to construct an internal representation of its environment. We begin by considering a Decision fusion Model employing the parallel fusion topology. Based on their observations, local sensors make local binary decisions and transmit them to the Decision fusion Center where they are combined to yield the global decision. Decisions rules are obtained by using different probabilistic methods. The optimal decision scheme at the fusion center is derived, by optimising three criterions: the mean square error, the maximum a posterio error, and the Bayesian risk. We, then, consider an optimal data fusion where the local decisions are simply added. Finally, an application to the fusion of ultrasound sonar data is presented and discussed.

关键词： mobile robot multi-sensor fusion sensor modelling and decision theory

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Utilization of Riemann surfaces in sensor data fusion

Utilization of Riemann surfaces in sensor data fusion

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Conference on sensor fusion and distributed robotic agents

作者： Cain, MP Booz Allen & Hamilton Inc. (United States)

ISBN: (纸本)0819423076

The use of Riemann surfaces offers an alternative approach to the characterization of object classes. In a situation where data from multiple sensors is available, the sensor observables can be used as the coordinates which define the space occupied by the class surfaces. The curvature of the surfaces will be governed by the underlying correlations between the phenomenologies of interest and the viewing conditions. The result is a natural coordinate system in which to implement classification algorithms. In this paper, a simple two-dimensional example is presented which introduces the underlying mathematics of the approach. A traditional statistical classifier is then used to examine classification performance. Extending the approach to include non-collocated sensors, sensor measurement error, and noise sources is also briefly discussed.

关键词： Riemann non-Euclidean data fusion feature extraction classification

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Cooperative robot programming based on the parallel logic language KL1

Cooperative robot programming based on the parallel logic la...

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Conference on sensor fusion and distributed robotic agents

作者： Mizoguchi, F Iizuka, K Nishiyama, H Ohwada, H Science Univ. of Tokyo (Japan)

ISBN: (纸本)0819423076

Multi-agent robot systems for the real world, must handle negotiations between agents. In this paper, we present a robot language which makes it easy to describe negotiation processes. This language provides concurrency and synchronization based on the logic programing language KL1. We incorporate the language into a look-ahead facility for handling emergent situations. Thus, reactive actions can be described in the language. We illustrate these facilities through cooperate tasks in pick-and-place problems.

关键词： Computer programming robotic systems Logic Space robots Telecommunications Computer programming languages Cameras Robot vision Head Inspection

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An intelligent sensor fusion architecture for autonomous microgravity experiments

An intelligent sensor fusion architecture for autonomous mic...

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Conference on sensor fusion and distributed robotic agents

作者： Rokonuzzaman, M Gosine, RG Faculty of Engineering and Applied Science/C-CORE Memorial University of Newfoundland St. John's NL A1B 3X5 Canada

ISBN: (纸本)0819423076

Perception for an intelligent system is partially accomplished through fusing information from a number of complementary and redundant sensors. The application of intelligent system technology to sense, reason, and control unsupervised autonomous microgravity experiments requires a sensor fusion unit (SFU) that is fault-tolerant, highly available, and intelligent Also, it should have a generic architecture to enhance the system development methodology. A generic architecture for fusion of environmental sensors for autonomous deployment of microgravity experiments is proposed in this paper. The proposed SFU has the characteristics of high data integrity, resource redundancy, on-line autonomous serviceability, and operating status reporting ability. A discrete event system (DES) model to quantify the performance of the SFU in terms of functionality (i.e., predictable redundancy management), reliability, and availability has been developed.

关键词： sensor fusion unit fault-tolerance intelligent system generic architecture DES model predictable redundancy management microgravity experiments

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Experimental validation of likelihood ratio and CFAR detectors for multi-frequency radar data fusion .2.

Experimental validation of likelihood ratio and CFAR detecto...

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Conference on sensor fusion and distributed robotic agents

作者： Thomopoulos, SCA Keller, MR INTELNET Inc. (United States) The Pennsylvania State Univ. (United States)

ISBN: (纸本)0819423076

This paper, which is the second part of a two-paper series, summarizes some key theoretical results in distributed decision fusion and provides new experimental evidence that validates these results. The experimental evidence is important in that it provides a guideline for designing and optimizing a distributed decision fusion system. Furthermore, it demonstrates that the performance of a distributed decision fusion system, when properly designed, may have performance which is comparable to the optimal centralized fusion. The objective of this paper is to benchmark centralized and distributed hypothesis testing algorithms and validate theoretical results from distributed decision fusion using the experimental multifrequency radar data from the Pome Lab Predetection fusion Program. In a series of papers Thomopoulos et al. have designed and evaluated a robust CFAR detector (code-named RobCFAR) for the distributed fusion of multi-frequency radar data from the Pome Lab Predetection fusion Program. In this paper the optimal centralized and distributed detectors fbr the same multi-frequency radar data are developed and their performance is compared with that of the RobCFAR detectors. Several problems that occur due to the necessity of on-line evaluation of the data statistics are addressed. The experimental results are used to validate several theoretical results from distributed decision fusion and benchmark the performance of a CFAR fusion design against the optimal centralized and distributed data fusion design.

关键词： fusion detector multi-frequency radar CFAR robust

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Nonlinear sensor fusion for a mobile robot

Nonlinear sensor fusion for a mobile robot

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Conference on sensor fusion and distributed robotic agents

作者： Mutambara, AGO Florida State Univ. (United States)

ISBN: (纸本)0819423076

This paper proposes an estimation technique which employs measures of information for nonlinear systems. General recursive estimation and in particular the Kalman filter is discussed. A Bayesian approach to probabilistic information fusion is outlined. The notion and measures of information are defined. This leads to the derivation of the algebraic equivalent of the Kalman filter, the linear information filter. The characteristics of this filter and the advantages of information space estimation are discussed. State estimation for systems with nonlinearities is considered and the extended Kalman filter treated. Linear information space is then extended to nonlinear information space by deriving the extended information filter. This establishes all the necessary mathematical tools required for exhaustive information space estimation. The advantages of the extended information filter over the extended Kalman filter are presented and demonstrated. This extended information filter constitute an original and significant contribution to estimation theory made in this paper. It forms the basis of the decentralized data fusion techniques which can be applied to a modular wheeled mobile robot.

关键词： estimation nonlinearities extended information filter data fusion decentralized modular

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Autonomous synthesis of goal-oriented behaviors for planetary robotic sampling

Autonomous synthesis of goal-oriented behaviors for planetar...

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Conference on sensor fusion and distributed robotic agents

作者： Lee, SH Schenker, PS Jet Propulsion Lab. and Univ. of Southern California (United States) Jet Propulsion Lab. (United States)

ISBN: (纸本)0819423076

An intelligent robotic architecture that autonomously synthesizes goal-oriented behaviors, while connecting sensing and action in real-time, is presented with applications to loosely defined planetary sampling missions. By the goal-oriented behaviors, we mean sequences of actions generated from automatic task monitoring and replanning toward set goals in the presence of uncertainties as well as errors and faults. This architecture is composed of perception and action nets interconnected in closed loops. The perception net, represented as a hierarchy of features that can be extracted from physical as well as logical sensors, manages uncertainties with sensor fusion, sensor planning, and consistency maintenance. The action net, represented as a hierarchy of state transition in which all the possible system behaviors are embedded, generates robust and fault-tolerant system behaviors with on-line adaptive task monitoring and replanning. The proposed intelligent robotic architecture is significant for autonomous planetary robotic sampling - and related robotic tasks in unstructured environments - that require robust and fault tolerant behaviors due to expected uncertainties as well as errors in sensing, actuation, and environmental constraints. We use a typical Mars planetary sampling scenario to evaluate the proposed architecture: autonomous soil science where a robot arm trenches soil to examine and deposit soil samples to lander based science instrumentation.

关键词： perception net action net intelligent robotic architecture goal-oriented behaviors planetary sampling

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Intelligent robotic sensor agents for environment monitoring

Intelligent Robotic Sensor Agents for environment monitoring

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IEEE International Symposium on Virtual and Intelligent Measurement Systems

作者： Petriu, EM Patry, GG Whalen, TE Al-Dhaher, A Groza, VZ Univ Ottawa Ottawa ON K1N 6N5 Canada

ISBN: (纸本)0780373448

This paper discusses development aspects of a wireless network of mobile autonomous robotic Intelligent sensor agents deployed in the field for active investigation of multiple environmental parameters. The collected sensor data are fused in a world model, which is available to remote human supervisors as an interactive virtual Virtualized Reality(TM) environment model.

关键词： intelligent sensors mobile agents distributed sensor networks wireless sensors multi-sensor data fusion behavior-based robots Virtualized Reality(TM) human computer interaction

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Ultrasonic data fusion as a function of robot velocity

Ultrasonic data fusion as a function of robot velocity

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Conference on sensor fusion and distributed robotic agents

作者： Murphy, RR Gomes, K Hershberger, D Colorado School of Mines (United States)

ISBN: (纸本)0819423076

Occupancy grids are a common representation for mobile robot activities such as obstacle avoidance, map making, localization, and place recognition. An important issue is how to accurately update the grid with new sensor readings rapidly enough to support real-time navigation. The HIMM/VFH methodology works wells for a robot navigating at high speeds, but the algorithms show poor performance at lower speeds in cluttered areas. Our approach to overcoming these deficiencies is twofold. First, Dempster-Shafer theory is used for fusion because it provides a well-understood updating scheme and has been demonstrated to have additional desirable properties. Second, the number of grid elements updated varies as a function of the robot's velocity Experiments using with Clementine, a Denning-Branch MRV4 mobile robot, demonstrate that varying the beam width with the velocity of the robot improves the updating of an occupancy grid using Dempster-Shafer theory versus that of HIMM. Furthermore, the Dempster-Shafer method tends to handle noise better and make smoother and more realistic maps.

关键词： mobile robots occupancy grid map making ultrasonics sensor fusion Dempster-Shafer

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