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distributed H_∞ filtering over sensor networks with heterogeneous Markovian coupling intercommunication delays

IET CONTROL THEORY AND APPLICATIONS 2015年第1期9卷 82-90页

作者： Ge, Xiaohua Han, Qing-Long Jiang, Xiefu Cent Queensland Univ Ctr Intelligent & Networked Syst Rockhampton Qld 4702 Australia Griffith Univ Griffith Sch Engn Brisbane Qld 4222 Australia Hangzhou Dianzi Univ Sch Automat Hangzhou 310018 Zhejiang Peoples R China

This study is concerned with distributed H filtering for continuous-time linear systems over sensor networks with heterogeneous Markovian coupling intercommunication delays. The set of sensor nodes forms a sensing and communication network whose topology is modelled by a directed graph that describes the measurement exchanged among neighbouring sensor nodes. Heterogeneous random coupling delays modelled by a Markov process are considered in the intercommunication between interacting sensor nodes. A refined two-step decoupling technique is presented to deal with the complicated coupling of exchanged measurement in the presence of the delays. A sufficient condition on the existence of desired distributed H filters is derived such that the resultant filtering error system is mean square exponentially stable with prescribed weighting average H performance. Two illustrative examples are given to show the effectiveness of the proposed results.

关键词： H filters filtering theory distributed sensors delays Markov processes asymptotic stability linear systems continuous time systems distributed parameter systems distributed H filtering sensor networks heterogeneous Markovian coupling intercommunication delays continuous-time linear systems sensing network communication network neighbouring sensor nodes directed graph heterogeneous random coupling delays Markov process refined two-step decoupling technique resultant filtering error system mean square exponential stability weighting average H performance

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Approaches to multisensor data fusion in target tracking: A survey

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IEEE TRANSACTIONS ON KNOWLEDGE AND DATA ENGINEERING 2006年第12期18卷 1696-1710页

作者： Smith, Duncan Singh, Sameer Loughborough Univ Technol Res Sch Informat Loughborough LE11 3TU Leics England QinetiQ Winfrith Technol Ctr Dorchester DT2 8XJ Dorset England Loughborough Univ Technol Res Sch Informat Loughborough LE11 3TU Leics England

The tracking of objects using distributed multiple sensors is an important field of work in the application areas of autonomous robotics, military applications, and mobile systems. In this survey, we review a number of computationally intelligent methods that are used for developing robust tracking schemes through sensor data fusion. The survey discusses the application of the various algorithms at different layers of the JDL model and highlights the weaknesses and strengths of the approaches in the context of different applications.

关键词： distributed sensors tracking information fusion data fusion

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Efficient sensor characteristic selection for cost-effective distributed sensor networks

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IEEE JOURNAL OF OCEANIC ENGINEERING 2006年第2期31卷 480-486页

作者： Traweek, C. Michael Wettergren, Thomas A. USN Res Off Arlington VA 22217 USA USN Undersea Warfare Ctr Newport RI 02841 USA

For distributed sensor technologies whose costs are understood (or which may be estimated in some reasonable manner), we derive a simple analytic means by which to estimate the most cost-effective sensor detection range. Specifically, we consider design of sensor nodes whose purpose is to exploit a set of coherent acoustic array technologies to detect a target with a specified radiated signature in an environment characterized by the sonar equation. We define a simplified calculus of distributed search that exploits simple target motion as a means to enhance spatial coverage for a sparse field of uniformly distributed sensor nodes. We examine this strategy in the context of both area (two-dimensional) and volume (three-dimensional) surveillance coverage under both cylindrical and spherical spreading models. In all situations, cost-effective design guidance is given based on maintaining spatial detection coverage.

关键词： cost modeling distributed search distributed sensors performance tradeoffs sensor networks

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To Smart City: Public Safety Network Design for Emergency

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IEEE ACCESS 2018年 6卷 1451-1460页

作者： Wan, Shuo Lu, Jiaxun Fan, Pingyi Letaief, Khaled B. Tsinghua Univ Dept Elect Engn Tsinghua Natl Lab Informat Sci & Technol Beijing 100084 Peoples R China Hong Kong Univ Sci & Technol Dept Elect Engn Hong Kong Hong Kong Peoples R China

In smart cities, there are always unpredicted emergencies, which must be handled to maintain the regular order. Then a smart system is needed to detect threats and deal with them. In this paper, we propose a system structure composed of a central agent and three layers: unmanned aerial vehicle (UAV) layer, multi robot layer and sensor network layer. The UAVs act as moving sensors and conveyors in the air. They provide the overall rough monitoring data from the air and transport robots to the emergency occurring places. The robots on the ground are responsible for obtaining detailed monitoring data and dealing with the emergencies. The sensor networks keep monitoring the environment and assist robots and UAVs in the range to complete their tasks. The central agent can adjust the system according to the specific task requirements. We provide a general system design and review main required technologies, highlighting the challenges and some possible solutions. The future researching directions are presented to guide the system design.

关键词： UAV multi-robot system distributed sensors smart city emergency

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Adaptive Clutter-Map CFAR detection in distributed sensor networks

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AEU-INTERNATIONAL JOURNAL OF ELECTRONICS AND COMMUNICATIONS 2016年第9期70卷 1288-1294页

作者： Bouchelaghem, H. E. Hamadouche, M. Soltani, F. Baddari, K. Boumerdes Univ Lab Comp Sci Modeling Optimizat & Elect Syst LIMO Boumerdes Algeria Univ Freres Mentouri Constantine Lab Signals & Commun Syst SISCOM Constantine Algeria

In this paper, the problem of Clutter Map Constant False Alarm Rate (CMAP-CFAR) detection is considered for a distributed detection with two and three sensors and a data fusion centre. We assume that the sensors are identical and that the target is a fluctuating according to the Swerling I model, embedded in a white Gaussian noise of unknown variance. Closed form expressions of the global probabilities of detection and false alarm for the 'AND', 'OR' and 'MAJORITY' rules and the Adaptive Detection Threshold are determined and the performance of the system is investigated and analyzed. (C) 2016 Elsevier GmbH. All rights reserved.

关键词： CMAP-CFAR distributed sensors ADT Data fusion centre

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Probability of Target Presence for Multistatic Sonar Ping Sequencing

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IEEE JOURNAL OF OCEANIC ENGINEERING 2009年第4期34卷 603-609页

作者： Krout, David W. Fox, Warren L. J. El-Sharkawi, Mohamed A. Univ Washington Appl Phys Lab Seattle WA 98125 USA

In this communication, the problem of determining effective pinging strategies in multistatic sonar systems with multiple transmitters is addressed. New algorithms are presented to determine effective pinging strategies for generalized search scenarios. An important part of this work is the development of metrics to be used in the optimization procedures. For maintaining search coverage, a "probability of target presence" metric formulation is used. This formulation utilizes sonar performance prediction and a Bayesian update to incorporate negative information (i.e., searching an area but finding no targets) into the optimization procedure. The possibility of targets moving into previously searched areas is accounted for by using a Fokker-Planck (FP) drift/diffusion formulation. Monte Carlo simulations are used to show the accuracy and efficiency of this formulation. This formulation is shown to be computationally efficient compared to Monte Carlo simulations. It is also demonstrated that by choosing the ping sequence intelligently, the field performance can be improved compared to random or sequential ping sequencing.

关键词： distributed sensors resource allocation sensor management

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Green Energy Optimization in Energy Harvesting Wireless Sensor Networks

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IEEE COMMUNICATIONS MAGAZINE 2015年第11期53卷 150-157页

作者： Zheng, Jianchao Cai, Yueming Shen, Xuemin (Sherman) Zheng, Zhongming Yang, Weiwei PLA Univ Sci & Technol Nanjing Jiangsu Peoples R China Univ Waterloo Dept Elect & Comp Engn Waterloo ON N2L 3G1 Canada Univ Waterloo Waterloo ON N2L 3G1 Canada

This article studies the sensor activation control for the optimization of green energy utilization in an EH-WSN, where both energy generation and target distribution exhibit temporal and spatial diversities. Decentralized operation is considered for the green energy optimization in the EH-WSN. The optimization is achieved in two dimensions: dynamic (activation) mode adaptation in the temporal dimension and energy balancing in the spatial dimension. Due to the interactions among autonomous distributed sensors, game theory is applied to the local information based decentralized optimization for the spatial energy balancing problem. In addition, reinforcement learning techniques are proposed to address the temporal mode adaptation in the dynamic and unknown environment. Simulation results are provided to demonstrate the effectiveness of the proposed approaches.

关键词： RESEARCH Clean energy distributed sensors Game theory Reinforcement learning Wireless sensor networks research

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distributed Kalman filtering: a bibliographic review

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IET CONTROL THEORY AND APPLICATIONS 2013年第4期7卷 483-501页

作者： Mahmoud, Magdi S. Khalid, Haris M. King Fahd Univ Petr & Minerals Dept Syst Engn Dhahran 31261 Saudi Arabia

In recent years, a compelling need has arisen to understand the effects of distributed information structures on estimation and filtering. In this study, a bibliographical review on distributed Kalman filtering (DKF) is provided. The study contains a classification of different approaches and methods involved to DKF. The applications of DKF are also discussed and explained separately. A comparison of different approaches is briefly carried out. Focuses on the contemporary research are also addressed with emphasis on the practical applications of the techniques. An exhaustive list of publications, linked directly or indirectly to DKF in the open literature, is compiled to provide an overall picture of different developing aspects of this area.

关键词： distributed sensors Kalman filters sensor fusion distributed sensor fusion DKF classification methods distributed information structures bibliographic review distributed Kalman filtering distributed sensors Kalman filters sensor fusion distributed sensor fusion DKF classification methods distributed information structures bibliographic review distributed Kalman filtering

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Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas

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sensors 2010年第3期10卷 2274-2314页

作者： Sanfeliu, Alberto Andrade-Cetto, Juan Barbosa, Marco Bowden, Richard Capitan, Jesus Corominas, Andreu Gilbert, Andrew Illingworth, John Merino, Luis Mirats, Josep M. Moreno, Plinio Ollero, Anibal Sequeira, Joao Spaan, Matthijs T. J. UPC CSIC Inst Robot & Informat Ind Barcelona Spain Inst Super Tecn Lisbon Portugal Inst Syst & Robot Lisbon Portugal Univ Surrey Ctr Vis Speech & Signal Proc Guildford GU2 5XH Surrey England Pablo Olavide Univ Seville Spain Univ Seville Robot Vis & Control Grp Seville Spain Ctr Adv Aerosp Technol Seville Spain

In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking Robotics in Urban Sites), a project whose objective is to develop an adaptable network robot architecture for cooperation between network robots and human beings and/or the environment in urban areas. The project goal is to deploy a team of robots in an urban area to give a set of services to a user community. This paper addresses the sensor architecture devised for URUS and the type of robots and sensors used, including environment sensors and sensors onboard the robots. Furthermore, we also explain how sensor fusion takes place to achieve urban outdoor execution of robotic services. Finally some results of the project related to the sensor network are highlighted.

关键词： network robot systems distributed sensors robot sensors camera network

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Achieving reliable and timely task execution in mobile embedded applications

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COMPUTER SYSTEMS SCIENCE AND ENGINEERING 2009年第1期24卷 33-42页

作者： Schemmer, Stefan Nett, Edgar Univ Magdeburg Inst Distributed Syst D-39106 Magdeburg Germany

We consider the real-time scheduling of the local processing tasks of a distributed sensor fusion application. The particular problem lies in the environment dependent and hence unpredictable execution times of these tasks, which do not allow using worst-case values. The TAFT (time-aware fault-tolerant) scheduling concept works with expected-case execution times, yet still achieves a predictable timing behavior. it aborts task instances that would miss their deadline and ensures a timely exception handling. Using measurements from a prototype of the application, we illustrate the TAFT concept and show how application-inherent redundancy can be exploited to tolerate the task abortions.

关键词： PROTOTYPE time characteristic exception handling embedded application Legal Executions Religious Missions Mobile distributed sensors execution time Task execution time schedule

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