Recent advances in sensor technology have enabled the fast development of mobile sensor networks operating in various unknown and sometimes hazardous environments. In this paper, we introduce one integrative approach ...
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Recent advances in sensor technology have enabled the fast development of mobile sensor networks operating in various unknown and sometimes hazardous environments. In this paper, we introduce one integrative approach to design, analyze and test distributed control algorithms to coordinate a network of autonomous mobile sensors by utilizing both simulation tools and a robotic testbed. The research has been carried out in the context of the mobile sensing project, PicoSmart, in the northern provinces of the Netherlands for the inspection of natural gas pipelines.
With the enlargement of IVIS's market penetration rate, the phenomenon of Braess paradox will appear. To avoid this phenomenon and lessen congestion, this paper analyses the causes of this phenomenon in detail, pr...
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With the enlargement of IVIS's market penetration rate, the phenomenon of Braess paradox will appear. To avoid this phenomenon and lessen congestion, this paper analyses the causes of this phenomenon in detail, proposes a solution method based on Multi-agent system (MAS). This paper proposes conceptual solution architecture of three layers of agents and gives the corresponding algorithm. The system makes the IVIS agent and Traffic Guidance Center (TGC) agent coordinate with each other and gives the driver a both system optimum and user optimum route during traveling. Thus, vehicles are assigned evenly on the whole road network, so as to better avoid the phenomenon of Braess paradox. Then, this paper uses the Open Cybele version 1.2-agent infrastructure and TRIPS to validate the feasibility of the advised MAS and the algorithm. As a result, such system and algorithm prove to be a better method to avoid Braess paradox and alleviate congestion.
Wide Area Search Munitions are a cross between an unmanned aerial vehicle and a munition. WASM research to develop and test effective human-robot interfaces and scalable team-oriented coordination algorithms have broa...
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Wide Area Search Munitions are a cross between an unmanned aerial vehicle and a munition. WASM research to develop and test effective human-robot interfaces and scalable team-oriented coordination algorithms have broad applicability to intelligent multiagent systems and human control of them.
This paper considers robotic sensor networks performing spatial estimation tasks. We model a physical process of interest as a spatiotemporal random field with mean unknown and covariance known up to a scaling paramet...
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ISBN:
(纸本)9781424445233
This paper considers robotic sensor networks performing spatial estimation tasks. We model a physical process of interest as a spatiotemporal random field with mean unknown and covariance known up to a scaling parameter. We design a distributed coordination algorithm for an heterogeneous network composed of mobile agents that take point measurements of the field and static nodes that fuse the information received from the agents and compute directions of maximum descent of the estimation uncertainty. The technical approach builds on a novel reformulation of Bayesian sequential field estimation, and combines tools from distributed linear iterations, nonlinear programming, and spatial statistics.
This paper considers a robotic sensor network, deployed in an environment of interest, that takes successive measurements of a spatial random field. Taking a Bayesian perspective on the kriging interpolation technique...
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ISBN:
(纸本)9781424414970;1424414970
This paper considers a robotic sensor network, deployed in an environment of interest, that takes successive measurements of a spatial random field. Taking a Bayesian perspective on the kriging interpolation technique from geostatistics, we design the DISTRIBUTED KRIGING algorithm to estimate the distribution of the random field and of its gradient. The proposed algorithm makes use of a novel distributed strategy to compute weighted least squares estimates when measurements are spatially correlated. This strategy results from the combination of the Jacobi overrelaxation method with dynamic consensus algorithms. The network agents use the information gained on the spatial field to implement a gradient ascent coordination algorithm, whose convergence is analyzed via stochastic Lyapunov functions in the absence of measurement errors. We illustrate our results in simulation.
This paper presents a novel class of self-organizing autonomous sensing agents that form a swarm and learn the static field of interest through noisy measurements from neighbors for gradient climbing. In particular, e...
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ISBN:
(纸本)9781424414970;1424414970
This paper presents a novel class of self-organizing autonomous sensing agents that form a swarm and learn the static field of interest through noisy measurements from neighbors for gradient climbing. In particular, each sensing agent maintains its own smooth map which estimates the field. It updates its map using measurements from itself and its neighbors and simultaneously moves toward a maximum of the field using the gradient of its map. The proposed cooperatively learning control consists of motion coordination based on the recursive spatial estimation of an unknown field of interest with measurement noise. The convergence properties of the proposed coordination algorithm are analyzed using the ODE approach and verified by a simulation study.
The use of a distributed memory message-passing multicomputer for dynamic simulation of chemical processes is investigated. The computational speed-up expected from the parallel implementation of the modular integrati...
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The use of a distributed memory message-passing multicomputer for dynamic simulation of chemical processes is investigated. The computational speed-up expected from the parallel implementation of the modular integration approach depends crucially on appropriate partitioning of the overall system into smaller sub-systems (modules), and the need for coordination and synchronization of module integrations to account for the interaction effects among the sub-systems. In this paper, a coordination algorithm based on a dynamic block Jacobi-like iteration is employed. Sufficient conditions for the finite-time convergence of the iterative solution scheme are established. These conditions are shown to be very useful in quantifying the convergence rate that can be used as a basis for adjusting the integration time horizon and selection of the best process system partitioning strategy. Timing results from simulation of the dynamics of a multicomponent distillation column on a distributed memory message-passing multicomputer demonstrate the potential of the proposed implementation. The results suggest that the execution time of modular dynamic process simulation can be reduced very significantly by distributing the module integrations onto several computing nodes communicating via high-performance communication networks. (C) 1999 Elsevier Science Ltd. All rights reserved.
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