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作者： Latif, Ehsan University of Georgia

学位级别：Ph.D., Doctor of Philosophy

This dissertation contributes to the collaborative multi-robot systems literature, which is predominantly hindered by reliance on expensive sensors and predefined learning models, scalability issues, high communication costs, and difficulties adapting to environmental changes. The research proposes innovative algorithms and strategies for improving localization and exploration capabilities for multi-robot collaboration in ad hoc networks. We introduce an online localization algorithm that enhances accuracy and efficiency by combining wireless sensor nodes (WSN) and mobile robots, leveraging Radio Signal Strength Indicator (RSSI). A relative localization technique is proposed to enhance this algorithm, effectively working in scenarios lacking infrastructure information. It combines graph optimization and Gaussian process regression, surpassing traditional model-based methods. A mechanism is designed to provide resilience to robotic systems, making localization solutions failure-tolerant, thus ensuring high positional accuracy in real-world applications. Additionally, we develop a learning-based framework for simultaneous localization and adaptive exploration by generating virtual maps for efficient exploration in dynamic environments. This methodology is founded on Bayesian inference over the Gaussian probability distribution of wireless signals. A strategy is presented for coordinated map exploration that integrates Q-learning for efficient path planning. We devise a feature-matching map-merger strategy to create a consistent map from sparse maps collected from collaborating robots. An enhanced reinforcement learning technique is deployed for maze exploration, providing superior efficiency in challenging environments by increasing coverage and reducing overlap. We also investigate an integrated framework for simultaneous exploration and localization, which is crucial for robotic operations in dynamic environments. The research comprehensively addresses the critical

关键词： Gaussian process regression collaborative algorithms Exploration Graph optimization Localization Multi-robot systems

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Research on the Stability of Pattern Recognition collaborative algorithms Based on Data Mining 5

Research on the Stability of Pattern Recognition Collaborati...

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5th International Conference on Computers, Information Processing and Advanced Education, CIPAE 2024

作者： Fan, Xue College of Computer Science and Technology Jilin University Changchun China

ISBN: (纸本)9798331527662

The contemporary era and world of big data has seen the stability of advanced pattern recognition and collaborative algorithms that are critical in the practical process of data mining. This research study primarily delves into the factors that significantly enhance algorithms' stability and optimized function. This factor is focused on ensuring reliable and consistent recognition models and patterns. Based on this context, this research primarily focuses on including data mining techniques to bolster collaborative algorithms' optimized functions and robustness. Through a comprehensive analysis of a myriad of data sets, factors that significantly influence the stability of these algorithms are underscored. Findings, therefore, indicate that incorporating pattern recognition and collaborative algorithms based on data mining significantly improves the algorithmic stability of a system. Thus, the research findings validate the extensive and empirical simulation and tests that efficiently maintain stability in a pattern recognition model. © 2024 IEEE.

关键词： Artificial Intelligence Attention Mechanism collaborative algorithms Data Mining Stability Pattern Recognition

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Decentralized collaborative Inertial Tracking 20th

Decentralized Collaborative Inertial Tracking

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20th EAI International Conference on Mobile and Ubiquitous Systems - Computing Networking and Services (EAI MobiQuitous)

作者： Diallo, Alpha Garbinato, Benoit Univ Lausanne Lausanne Switzerland

ISBN: (纸本)9783031639883;9783031639890

Although people spend most of their time indoors, outdoor tracking systems, such as the Global Positioning System (GPS), are predominantly used for location-based services. These systems are accurate outdoors, easy to use, and operate autonomously on each mobile device. In contrast, Indoor Tracking Systems (ITS) lack standardization and are often difficult to operate because they require costly infrastructure. In this paper, we propose an indoor tracking algorithm that uses collected data from inertial sensors embedded in most mobile devices. In this setting, mobile devices autonomously estimate their location, hence removing the burden of deploying and maintaining complex and scattered hardware infrastructure. In addition, these devices collaborate by anonymously exchanging data with other nearby devices, using wireless communication, such as Bluetooth, to correct errors in their location estimates. Our collaborative algorithm relies on low-complexity geometry operations and can be deployed on any recent mobile device with commercial-grade sensors. We evaluate our solution on real-life data collected by different devices. Experimentation with 16 simultaneously moving and collaborating devices shows an average accuracy improvement of 44% compared to the standalone Pedestrian Dead Reckoning algorithm.

关键词： collaborative Indoor Tracking Inertial Systems collaborative algorithms Indoor Localization

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A novel shared control algorithm for industrial robots

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INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 2016年第6期13卷 1-10页

作者： Ramacciotti, Marco Milazzo, Mario Leoni, Fabio Roccella, Stefano Stefanini, Cesare Scuola Super Sant Anna Via Rinaldo Piaggio 34 I-56025 Pontedera Italy Scuola Super Sant Anna BioRobot Inst Pontedera Italy

Human management of robots in many specific industrial activities has long been imperative, due to the elevated levels of complexity involved, which can only be overcome through long and wasteful preprogrammed activities. The shared control approach is one of the most emergent procedures that can compensate and optimally couple human smartness with the high precision and productivity characteristic to mechatronic systems. To explore and to exploit this approach in the industrial field, an innovative shared control algorithm was elaborated, designed and validated in a specific case study.

关键词： Industrial robotics collaborative algorithms shared control human-robot interface

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Connected-Health Algorithm: Development and Evaluation

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JOURNAL OF MEDICAL SYSTEMS 2016年第4期40卷 109-109页

作者： Vlahu-Gjorgievska, Elena Koceski, Saso Kulev, Igor Trajkovik, Vladimir Univ St Kliment Ohridski Fac Informat & Commun Technol Bitola Macedonia Univ Goce Delcev Fac Comp Sci Stip Macedonia Univ Ss Cyril & Methodious Fac Comp Sci & Engn Skopje Macedonia

Nowadays, there is a growing interest towards the adoption of novel ICT technologies in the field of medical monitoring and personal health care systems. This paper proposes design of a connected health algorithm inspired from social computing paradigm. The purpose of the algorithm is to give a recommendation for performing a specific activity that will improve user's health, based on his health condition and set of knowledge derived from the history of the user and users with similar attitudes to him. The algorithm could help users to have bigger confidence in choosing their physical activities that will improve their health. The proposed algorithm has been experimentally validated using real data collected from a community of 1000 active users. The results showed that the recommended physical activity, contributed towards weight loss of at least 0.5 kg, is found in the first half of the ordered list of recommendations, generated by the algorithm, with the probability > 0.6 with 1 % level of significance.

关键词： Healthcare information system Connected health collaborative algorithms e-Health Recommendations

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Emergence of Diversity in a Group of Identical Bio-robots

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INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 2015年第10期12卷 148-148页

作者： Vitanza, Alessandra Patane, Luca Arena, Paolo Univ Catania Catania Italy

Learning capabilities, often guided by competition/cooperation, play a fundamental and ubiquitous role in living beings. Moreover, several behaviours, such as feeding and courtship, involve environmental exploration and exploitation, including local competition, and lead to a global benefit for the colony. This can be considered as a form of global cooperation, even if the individual agent is not aware of the overall effect. This paper aims to demonstrate that identical biorobots, endowed with simple neural controllers, can evolve diversified behaviours and roles when competing for the same resources in the same arena. These behaviours also produce a benefit in terms of time and energy spent by the whole group. The robots are tasked with a classical foraging task structured through the cyclic activation of resources. The result is that each individual robot, while competing to reach the maximum number of available targets, tends to prefer a specific sequence of sub-tasks. This indirectly leads to the global result of task partitioning, whereby the cumulative energy spent, in terms of the overall travelled distance and the time needed to complete the task, tends to be minimized. A series of simulation experiments is conducted using different numbers of robots and scenarios: the common emergent result obtained is the role-specialization of each robot. The description of the neural controller and the specialization mechanisms are reported in detail and discussed.

关键词： Bio-robotics Multi-robot Systems collaborative algorithms Dynamic Simulation Labour Division

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Real-time ML based Algorithm for Localizing Acoustic Source in WSN 22

Real-time ML based Algorithm for Localizing Acoustic Source ...

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22nd Iranian Conference on Electrical Engineering (ICEE)

作者： Faraji, Mohammad Mahdi Rezaie, Amir Hossein Iranmehr, Ensieh Sharif Univ Technol Dept Elect Engn Tehran Iran Amirkabir Univ Technol Fac Elect Engn Tehran Iran Amirkabir Univ Technol Dept Elect Engn Tehran Iran

ISBN: (纸本)9781479944095

Distributed wireless sensor networks, which are consisting of several single sensors, are becoming very popular in many important applications. This paper talks about collaborative algorithms which are implemented on WSN in order to find the location of sound source. In this paper, an algorithm is discussed for each node and a collaborative algorithm is proposed for sink node. The algorithms are designed in order to find the location of acoustic source in real-time. For localizing, 4 nodes are used. Each of them finds the direction of acoustic source individually. Then, they transfer their computed angle to sink node in order to localize acoustic source. Thus, 4 direction finder nodes and 1 sink node are designed. Direction finder nodes, which consist of 2 microphones, compute the angle of acoustic source respect to itself using GCC algorithm. Sink node receives the computed angles through wireless communication. Moreover, sink node computes the probability graph of the environment. Then, the maximum point of this graph determines the location of acoustic source. At last, represented nodes are built and they are tested in practical environment. The experimental results demonstrate that the proposed algorithm is accurate and feasible.

关键词： Acoustic source localization Time Delay Estimation Generalized Cross Correlation ARM processor Wireless Sensor Network Probability function collaborative algorithms

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PROPS : A PRivacy-preserving lOcation Proof System 33

PROPS : A PRivacy-preserving lOcation Proof System

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IEEE 33rd International Symposium on Reliable Distributed Systems

作者： Gambs, Sebastien Killijian, Marc-Olivier Roy, Matthieu Traore, Moussa Univ Rennes 1 Inria Ave Gen Leclerc F-35042 Rennes France CNRS LAAS F-31400 Toulouse France Univ Toulouse INSA LAAS F-31400 Toulouse France Univ Toulouse INP LAAS F-31400 Toulouse France

ISBN: (纸本)9781479955848

A secure location-based service requires that a mobile user certifies his position before gaining access to a resource. Currently, most of the existing solutions addressing this issue assume a trusted third party that can vouch for the position claimed by a user. However, as computation and communication capacities become ubiquitous with the large scale adoption of smartphones by individuals, we propose to leverage on these resources to solve this issue in a collaborative and private manner. More precisely, we introduce PROPS, for PRivacy-preserving lOcation Proof System, which allows users to generate proofs of location in a private and distributed way using neighboring nodes as witnesses. PROPS provides security properties such as unforgeability and non-transferability of the proofs, as well as resistance to classical localization attacks.

关键词： Computer architecture Cryptography Global Positioning System Privacy Protocols Testing collaborative algorithms distance bounding location based services location proof system privacy Privacy Location based services Computer Architecture cryptography Global Positioning Systems protocols proof systems Proof

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Distributed Resource Allocation in Small Cellular Networks - Test-bed Experiments and Results

Distributed Resource Allocation in Small Cellular Networks -...

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7th IEEE International Wireless Communications and Mobile Computing Conference (IWCMC)

作者： Kulkarni, Parag Gormus, Sedat Chin, Woon Hau Haines, Russell J. Toshiba Res Europe Ltd Telecommun Res Lab Bristol BS1 4ND Avon England

ISBN: (纸本)9781424495375

The advent of femto-cellular base stations brings with it a promise for increased cellular coverage and capacity. However, several challenges need to be met in order to fulfil these promises. Femto-cells are likely to be deployed in an adhoc manner due to the infeasibility of carrying out comprehensive spectrum planning as in legacy cellular networks. One of the major issues with such a deployment is the problem of interference between cells. It is possible that femto-cells may interfere with their neighboring cells if they use the same frequency resources. This paper proposes a distributed radio resource management (DRRM) algorithm to address this problem and studies its performance through experiments in a test-bed. Results from this study indicate that the proposed algorithm can significantly improve performance compared to the randomized allocation regime. In light of the deployment considerations, the results are particularly significant given the simplicity and practicality of the proposed solution.

关键词： femto cells collaborative algorithms distributed resource management

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