检索结果-内蒙古大学图书馆

distributed Relative Localization Using the Multidimensional Weighted Centroid

IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS 2020年第3期7卷 1272-1282页

作者： Aragues, Rosario Gonzalez, Antonio Lopez-Nicolas, Gonzalo Sagues, Carlos Univ Zaragoza Inst Invest Ingn Aragon I3A Zaragoza 50009 Spain

A key problem in multiagent systems is the distributed estimation of the localization of agents in a common reference from relative measurements. Estimations can be referred to an anchor node or, as we do here, referred to the weighted centroid of the multiagent system. We propose a Jacobi over-relaxation method for distributed estimation of the weighted centroid of the multiagent system from noisy relative measurements. Contrary to previous approaches, we consider relative multidimensional measurements with general covariance matrices not necessarily diagonal. We prove our weighted centroid method converges faster than anchor-based solutions. We also analyze the method convergence and provide mathematical constraints that ensure avoiding ringing phenomena.

关键词： distributed sensor networks Jacobi over-relaxation (JOR) multiagent localization noisy relative measurements weighted centroid

来源：评论

学校读者我要写书评

暂无评论

Consensus variable structure multiple model filtering for distributed maneuvering tracking

引用

SIGNAL PROCESSING 2019年 162卷 234-241页

作者： Wang, Jinran Dong, Peng Jing, Zhongliang Cheng, Jin Shanghai Jiao Tong Univ Sch Aeronaut & Astronaut Shanghai Peoples R China Beijing Electromech Engn Inst Beijing Peoples R China

This paper considers the problem of maneuvering target tracking for distributed sensor networks. Consensus-based multiple model (MM) filters are effective methods to deal with this problem. However, the model set of these filters is fixed. When the scene is complicated and the model set for MM methods is large, these methods may become inefficient and performance may decrease while the variable structure multiple model (VSMM) method can handle it well. The VSMM version of consensus filter based on the expected mode augmentation (EMA) is presented in this paper to track maneuvering target for distributed sensor networks. The distributed consensus filter for VSMM is presented first and it runs parallel consensus on both the mode probability and the mode-matched probability density function (PDF). Then the EMA algorithm is used to determine the model set utilized at each time step. Simulation results demonstrate the superiority of the proposed method. (C) 2019 Elsevier B.V. All rights reserved.

关键词： Variable structure multiple model Consensus filter Maneuvering target tracking distributed sensor networks

来源：评论

学校读者我要写书评

暂无评论

Image feature set for correspondence mappings

引用

INTERNATIONAL JOURNAL OF HIGH PERFORMANCE COMPUTING APPLICATIONS 2002年第3期16卷 273-283页

作者： Pineda-Torres, IH Gokcen, I Buckles, BP Tulane Univ Dept Elect Engn & Comp Sci New Orleans LA 70118 USA

We present a method to automatically construct features capable of putting images in correspondence with each other (i.e., registration) without requiring control points or landmarks on the images in question. Our method is based primarily on Principal Component Analysis (PCA) and a suitable image representation. The feature set is a collection of weight vectors and the correspondence mapping is done using the distances between those vectors. Only a small number of vectors is needed. While we illustrate the approach in the context of image registration, other applications of this method are possible, like distributed sensor networks, specifically when a sensor network is built up from observing devices, like camcorders, CCDs, etc. Most notably, the method could be used for image matching and retrieval, being insensitive to rotation.

关键词： feature set image registration image matching image retrieval distributed sensor networks principal component analysis

来源：评论

学校读者我要写书评

暂无评论

An Integrated Framework for Autonomous sensor Placement With Aerial Robots

引用

IEEE-ASME TRANSACTIONS ON MECHATRONICS 2023年第1期28卷 38-49页

作者： Stephens, Brett Hai-Nguyen Nguyen Hamaza, Salua Kovac, Mirko Imperial Coll London Dept Aeronaut Aerial Robot Lab London SW7 2BU England Swiss Fed Labs Mat Sci & Technol EMPA CH-8600 Dubendorf Switzerland Imperial Coll London Aerial Robot Lab London SW7 2BU England BioMorph Intelligence Lab Dept Control & Operat Fac Aerosp Engn Mekelweg 5 NL-2628 CD Delft Netherlands

Aerial manipulators have the unique ability to cover wide-spread areas within a single mission, making them ideal for the transport and placement of sensors required to build an instrumented environment. Recent work in the field has focused on controllers for aerial interaction that account for compliance during contact-based tasks, omitting integration concerns that are critical to an automated solution. Furthermore, state-of-the-art flying base manipulators are often mechanically and computationally complex, reducing their endurance. Within this work, we present an interactive framework for autonomous sensor placement that incorporates both mechanical and software based compliance, optimised for use on a simple coplanar quadrotor. Under appropriate actuation and perception constraints, we detail the development of a control, perception, and motion planning strategy to enable sensor placement that relies solely on onboard computation and sensing, thus presenting a fully contained and accessible sensor placement approach capable of robust interaction with the environment. An extended finite-state machine is developed to facilitate automated mission planning. Extensive flight experiments are performed to validate the effectiveness of each sub-system, as well as the integrated solution. Experiments result in trajectory tracking errors under 10 mm as well as onboard mass estimation errors under 0.7 % for sensors of various weights. A statistical analysis of 162 flight experiments shows the proposed framework's ability to autonomously place sensors within 10 cm of the target with a success rate of 93.8 % and 95 % confidence interval of (89%, 97%), thus confirming the robustness of our approach.

关键词： Robot sensing systems sensor placement Manipulators Force Task analysis Attitude control Vehicle dynamics Aerial robotics autonomous sensor placement distributed sensor networks unmanned aerial vehicles (UAVs)

来源：评论

学校读者我要写书评

暂无评论

distributed sensor Management Based on Target Losing Probability for Maneuvering Multi-Target Tracking

引用

IEEE ACCESS 2020年 8卷 113610-113623页

作者： Shan, Ganlin Pang, Ce Army Engn Univ Shijiazhuang Campus Shijiazhuang 050003 Hebei Peoples R China

This paper proposed a distributed sensor management method in the constraint of target losing probability for maneuvering multi-target tracking. Three main contributions existed in this paper, including adding the emission interception risk to the sensor management objective function, analyzing actual working modes of radars and regarding the target losing probability as one of constraints in sensor management. Two kind of radar working modes were introduced. They were the single target tracking mode and the multiple target tracking mode, leading to different kinds of sensor management methods. Then two sensor management models, containing sensor management in a large defending scope and in a small defending scope, were built. After that, the distributed sensor management process was introduced. Finally, simulations were conducted to show the effectiveness and efficiency of the proposed sensor management methods. By applying the proposed sensor management method, targets couldn't be easily lost and radar could be well protected at the same time.

关键词： Target tracking Radar tracking Linear programming Signal to noise ratio Optimization Resource management sensor management target tracking distributed sensor networks target losing probability

来源：评论

学校读者我要写书评

暂无评论

On a stochastic sensor selection algorithm with applications in sensor scheduling and sensor coverage

引用

AUTOMATICA 2006年第2期42卷 251-260页

作者： Gupta, V Chung, TH Hassibi, B Murray, RM CALTECH Div Engn & Appl Sci Pasadena CA 91125 USA

In this note we consider the following problem. Suppose a set of sensors is jointly trying to estimate a process. One sensor takes a measurement at every time step and the measurements are then exchanged among all the sensors. What is the sensor schedule that results in the minimum error covariance? We describe a stochastic sensor selection strategy that is easy to implement and is computationally tractable. The problem described above comes up in many domains out of which we discuss two. In the sensor selection problem, there are multiple sensors that cannot operate simultaneously (e.g., sonars in the same frequency band). Thus measurements need to be scheduled. In the sensor coverage problem, a geographical area needs to be covered by mobile sensors each with limited range. Thus from every position, the sensors obtain a different view-point of the area and the sensors need to optimize their trajectories. The algorithm is applied to these problems and illustrated through simple examples. (c) 2005 Elsevier Ltd. All rights reserved.

关键词： sensor selection sensor location selection distributed sensor networks Riccati-like equation random algorithms

来源：评论

学校读者我要写书评

暂无评论

Efficient disjoint boundary detection algorithm for surveillance capable WSNs

引用

JOURNAL OF PARALLEL AND distributed COMPUTING 2017年 109卷 245-257页

作者： Shukla, Shailendra Misra, Rajiv Prasad, Animesh Jaypee Univ Informat Technol Dept Comp Sci & Engn Shimla India Indian Inst Technol Dept Comp Sci & Engn Patna Bihar India

Wireless sensor networks (WSN) have given a new approach for applications such as surveillance, tracking, and monitoring. In such monitoring systems, the sensor nodes at the network boundary require remaining vigilant to detect events like objects entering and leaving the area under surveillance. Nodes performing surveillance of target area can be classified as boundary node and others as an interior node. Due to continuous vigilance, boundary node suffers from quicker energy exhaustion (compare to internal nodes) which results to a shorter life span of the node. None of the reported works on boundary detection algorithms have considered the problem of maximizing the lifetime of boundary nodes. The problem of maximizing the lifetime of boundary nodes collectively addresses the problem of an optimal number of boundary nodes detection and maximization of boundary node's lifetime. In this work, we formulate the problem of the maximum lifetime of the boundary as the problem of partitioning the boundary region of the network into disjoint dominating sets of a boundary region with the aim of maximizing the number of disjoint dominating sets of a boundary region in the network. This is the problem of the domatic partition of boundary region in graph theory, where each partition is dominating the set of boundary region (i.e., not the dominating set of entire network). Rotating the disjoint dominating sets of boundary region in the network resulting into maximizing the lifetimes of boundary nodes. We found that our disjoint dominating sets of boundary region algorithm have an approximation ratio ((4.8 + 1n 5)opt + 1.2), where opt is the minimum size dominating set which has the same approximation ratio as the minimum dominating set problem. The time complexity of boundary detection algorithm is O(mn(2)) where m = vertical bar E-u(k\1)vertical bar , n = vertical bar N-u(k\1)vertical bar and k is the radius of graph. Simulation results reveal that using our proposed domatic pa

关键词： distributed sensor networks Pervasive computing Surveillance

来源：评论

学校读者我要写书评

暂无评论

Detection Capabilities of Randomly-Deployed sensor Fields

引用

INTERNATIONAL JOURNAL OF distributed sensor networks 2009年第6期5卷 708-728页

作者： Nelson, Jill K. Rowe, Errol G. Carter, G. Clifford George Mason Univ Dept Elect & Comp Engn Fairfax VA 22030 USA USN Undersea Warfare Ctr Newport RI USA

distributed sensor fields have recently gained popularity as a means for detecting intruders moving through a protected area of the ocean. We characterize the detection capabilities of a network of randomly-deployed sensors with varying sensing capabilities. We develop a framework for analytically approximating the probability that such a sensor field detects a constant course target moving through the region as a function of the number of sensors deployed and the statistical properties that govern the sensing range. Analytical and empirical results indicate that, when the total sensing area is fixed, a set of smaller distributed sensors can achieve significantly improved detection performance relative to a single large sensor. We also study the relationship between coverage of a region of interest and likelihood of detecting a constant course intruder moving through that region. We derive expressions for the average number of sensors required to achieve a prescribed likelihood of detection and level of coverage and conclude that detection and coverage are fundamentally different characterizations of the capabilities of a sensor field. In fact, the number of sensors required to achieve a particular detection level may be several orders of magnitude smaller than that required to achieve the same level of coverage.

关键词： distributed sensor networks Heterogeneous sensor Field Spatial Poisson Process Detection Versus Coverage

来源：评论

学校读者我要写书评

暂无评论

A novel Parzen probabilistic neural network based noncoherent detection algorithm for distributed ultra-wideband sensors

引用

JOURNAL OF NETWORK AND COMPUTER APPLICATIONS 2011年第6期34卷 1894-1902页

作者： Li, Bin Zhou, Zheng Li, Dejian Zou, Weixia BUPT Key Lab Universal Wireless Commun Wireless Network Lab MOE Beijing 100876 Peoples R China

Ultra-wideband (UWB) has been widely recommended for significant commercial and military applications. However, the well-derived coherent structures for UWB signal detection are either computationally complex or hardware impractical in the presence of the intensive multipath propagations. In this article, based on the nonparametric Parzen window estimator and the probabilistic neural networks, we suggest a low-complexity and noncoherent UWB detector in the context of distributed wireless sensor networks (WSNs). A novel characteristic spectrum is firstly developed through a sequence of blind signal transforms. Then, from a pattern recognition perspective, four features are extracted from it to fully exploit the inherent property of UWB multipath signals. The established feature space is further mapped into a two-dimensional plane by feature combination in order to simplify algorithm complexity. Consequently, UWB signal detection is formulated to recognize the received patterns in this formed 2-D feature plane. With the excellent capability of fast convergence and parallel implementation, the Parzen Probabilistic Neural Network (PPNN) is introduced to estimate a posteriori probability of the developed patterns. Based on the underlying Bayesian rule of PPNN, the asymptotical optimal decision bound is finally determined in the feature plane. Numerical simulations also validate the advantages of our proposed algorithm. (C) 2010 Elsevier Ltd. All rights reserved.

关键词： Ultra-wideband distributed sensor networks Noncoherent detection Characteristic spectrum Parzen window Probabilistic neural networks Bayesian optimality

来源：评论

学校读者我要写书评

暂无评论

Least-error localization of discrete acoustic sources

引用

APPLIED ACOUSTICS 2005年第11期66卷 1262-1277页

作者： Torney, DC Nemzek, RJ Los Alamos Natl Lab Div Theoret Los Alamos NM 87545 USA Los Alamos Natl Lab ISR Div Los Alamos NM 87545 USA

We describe a new, least-error method for locating a discrete acoustic source (which generates a radially symmetric, outgoing wave) based on time-of-arrival data. This method localizes the source by minimizing the sum of the absolute values of the differences between the squares of the theoretical and actual times of arrival. The method is suited to noisy data, and whenever the errors in the data are unbiased, the more times of arrival used, the greater the expected accuracy of localization. The method is simplest for two dimensional data, requiring only elementary algebra. By means of simulations, we demonstrate the amelioration of localization with the number of times of arrival employed: the average inaccuracy falls asymptotically as the reciprocal of the square root of this number. The new method also yielded more accurate localization, on the average, than a least-square method. We make direct comparison with time-difference-of-arrival localizations, both for simulated data and for experimental data collected at a shooting range, demonstrating the favorability of the new method. We also demonstrate its facilitation of the localization of multiple, cotemporary sources: via partitioning of the data. Our method is suited to sensor networks with computationally empowered nodes. (c) 2005 Elsevier Ltd. All rights reserved.

关键词： distributed sensor networks lagrange multipliers multiple sources optimization quadratic formula time-difference-of-arrival unbiased estimator

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：