[PDF] Active Information Gathering Using Distributed Mobile Sensing Networks eBook

Author : Jun Chen
Publisher :
Page : 179 pages
File Size : 45,49 MB
Release : 2021
Category :
ISBN :

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An autonomous robot system requires robots to actively gather information using sensors in order to make control decisions. Some problems where autonomous robots are useful include mapping, environmental monitoring, and surveillance. In some cases, information gathering turns into a multiple target tracking (MTT) problem. Usually, an MTT tracker is utilized to recursively estimate both the number of targets and the state of each target. In order to estimate more efficiently and reliably, sensors must balance exploiting current knowledge to track known targets while simultaneously exploring to find information about new targets. This yields to the coverage control problem, which is aimed at maximizing the total sensing capability of a sensing network over the entire mission space. Many applications of sensing networks benefit from utilizing distributed manners, in which cases networks are able to be scaled to large swarms and better tolerate failures of individual sensors. A distributed network requires sensors to exchange data locally and cooperate in decision making globally.This dissertation studies MTT based on random finite set (RFS) for iterative target states estimation and Voronoi-based coverage control algorithms for target tracking. We address a series of four main problems aiming at allowing reliable and efficient target tracking for distributed multi-robot systems in complicated real-world scenarios and push forward the realization of robot coordination techniques. Firstly, we propose novel target estimation and coverage control schemes to incorporate robots with localization uncertainty. Secondly, we improve target search efficiency for teams of robot with no prior knowledge of target models or distributions by enabling active search and environment learning. Thirdly, we allow robots with heterogeneous capacities in perception and kinematics to cooperatively search and track in an efficient way. Lastly, we develop an improved MTT tracker to allow estimating semantic object labels over time. The efficacy of the proposed methods has been validated in series of simulations and/or hardware validations.

Author : Teresa Vazão
Publisher : Springer
Page : 858 pages
File Size : 50,41 MB
Release : 2008-11-20
Category : Computers
ISBN : 3540895248

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This volume contains the set of revised selected papers presented at the 21st International Conference on Information Networking (ICOIN 2007), which was held in Estoril, Portugal, January 23–25, 2007. The conference series started under the name of Joint Workshop on Computer Communications, in 1986. At that time, it constituted a technical meeting for researchersand engineers on - ternet technologies in East Asian countries, where several technical networking issues were discussed. In 1993, the meeting was reorganized as an international conference known as ICOIN. Recent conferences were held in Sendai, Japan (2006),Jeju,Korea(2005),Pusan,Korea(2004),Jeju,Korea(2003),Jeju,Korea (2002), Beppu City, Japan (2001), Hsin-chu, Taiwan (2000), and Tokyo, Japan (1999). In 2007, for the ?rst time since its creation, ICOIN took place outside Asia, and we were very pleased to host it in Portugal. ICOIN 2007 was or- nized by INESC-ID and IST/Technical University of Lisbon (Portugal) with the technical co-sponsorship of IEEE Communications Society and IEEE Portugal Section-Computer Society Chapter, in cooperation with the Order of Engineers CollegeofInformaticsEngineering(Portugal),IPSJ(InformationProcessing- ciety of Japan), KISS (Korea Information Science Society), and Lecture Notes in Computer Science (LNCS), Springer, Germany. The papers presented in this volume were selected in two stages: 1) revi- ing and selection for the ICOIN program and 2) on-site presentation review by session chairs or by program committee chairs.

Author : Ivan Stojmenovic
Publisher : John Wiley & Sons
Page : 552 pages
File Size : 31,94 MB
Release : 2005-09-19
Category : Technology & Engineering
ISBN : 0471744131

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The State Of The Art Of Sensor Networks Written by an international team of recognized experts in sensor networks from prestigious organizations such as Motorola, Fujitsu, the Massachusetts Institute of Technology, Cornell University, and the University of Illinois, Handbook of Sensor Networks: Algorithms and Architectures tackles important challenges and presents the latest trends and innovations in this growing field. Striking a balance between theoretical and practical coverage, this comprehensive reference explores a myriad of possible architectures for future commercial, social, and educational applications, and offers insightful information and analyses of critical issues, including: * Sensor training and security * Embedded operating systems * Signal processing and medium access * Target location, tracking, and sensor localization * Broadcasting, routing, and sensor area coverage * Topology construction and maintenance * Data-centric protocols and data gathering * Time synchronization and calibration * Energy scavenging and power sources With exercises throughout, students, researchers, and professionals in computer science, electrical engineering, and telecommunications will find this an essential read to bring themselves up to date on the key challenges affecting the sensors industry.

Author : Ning Zhong
Publisher : Springer
Page : 369 pages
File Size : 22,22 MB
Release : 2011-08-19
Category : Computers
ISBN : 3642236200

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This book constitutes the refereed proceedings of the 7th International Conference on Active Media Technology, AMT 2011, held in Lanzhou, China, in September 2011. The 30 revised full papers and 6 keynote talks were carefully reviewed and selected for inclusion in the book. They are grouped in topcial sections on data mining and pattern analysis in active media; active human-Web interaction and social media; active Web intelligence applications; active multi-agent and network systems; as well as technology intelligence.

Author : Habib M. Ammari
Publisher : Springer
Page : 360 pages
File Size : 50,81 MB
Release : 2009-08-05
Category : Technology & Engineering
ISBN : 3642018785

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“The decomposition of the difficulties to be resolved, or the objects to be known, should be pushed up to the simplest elements ... Such elements are seized directly and completely by the intuition. ” René Descartes, Discours de la méthode (1637) Wireless sensor networks have received significant attention because of their - portant role and many conveniences in our lives. Indeed, the recent and fast - vances in inexpensive sensor technology and wireless communications have made the design and development of large-scale wireless sensor networks cost-effective and appealing to a wide range of mission-critical situations, including civilian, natural, industrial, and military applications, such as health and environmental monitoring, seism monitoring, industrial process automation, and battlefields s- veillance, respectively. A wireless sensor network consists of a large number of - ny, low-powered devices, called sensors, which are randomly or deterministically deployed in a field of interest while collaborating and coordinating for the successful accomplishment of their mission. These sensors suffer from very scarce resources and capabilities, such as bandwidth, storage, CPU, battery power (or - ergy), sensing, and communication, to name a few, with energy being the most critical one. The major challenge in the design process of this type of network is mainly due to the limited capabilities of the sensors, and particularly, their energy, which makes them unreliable.

Author : Krishna Kant
Publisher : Springer Science & Business Media
Page : 539 pages
File Size : 29,24 MB
Release : 2010-02-18
Category : Computers
ISBN : 3642113214

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This book constitutes the refereed proceedings of the 11th International Conference on Distributed Computing and Networking, ICDCN 2010, held in Kolkata, India, during January 3-6, 2010. There were 169 submissions, 96 to the networking track and 73 to the distributed computing track. After review the committee selected 23 papers for the networking and 21 for the distributed computing track. The topics addressed are network protocol and applications, fault-tolerance and security, sensor networks, distributed algorithms and optimization, peer-to-peer networks and network tracing, parallel and distributed systems, wireless networks, applications and distributed systems, optical, cellular and mobile ad hoc networks, and theory of distributed systems.

Author : Mohamed Abdelkader
Publisher : Springer Nature
Page : 404 pages
File Size : 34,80 MB
Release : 2023-06-29
Category : Technology & Engineering
ISBN : 3031320379

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This is a book that covers different aspects of UAV technology, including design and development, applications, security and communication, and legal and regulatory challenges. The book is divided into 13 chapters, grouped into four parts. The first part discusses the design and development of UAVs, including ROS customization, structured designs, and intelligent trajectory tracking. The second part explores diverse applications such as search and rescue, monitoring distributed parameter systems, and leveraging drone technology in accounting. The third part focuses on security and communication challenges, including security concerns, multi-UAV systems, and communications security. The final part delves into the legal and regulatory challenges of integrating UAVs into non-segregated airspace. The book serves as a valuable resource for researchers, practitioners, and students in the field of unmanned aerial vehicles, providing a comprehensive understanding of UAV technology and its applications.

Author : Giuseppe De Pietro
Publisher : Springer
Page : 725 pages
File Size : 23,10 MB
Release : 2016-06-03
Category : Technology & Engineering
ISBN : 3319393456

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This book contains the contributions presented at the ninth international KES conference on Intelligent Interactive Multimedia: Systems and Services, which took place in Puerto de la Cruz, Tenerife, Spain, June 15-17, 2016. It contains 65 peer-reviewed book chapters that focus on issues ranging from intelligent image or video storage, retrieval, transmission and analysis to knowledge-based technologies, from advanced information technology architectures for video processing and transmission to advanced functionalities of information and knowledge-based services. We believe that this book will serve as a useful source of knowledge for both academia and industry, for all those faculty members, research scientists, scholars, Ph.D. students and practitioners, who are interested in fundamental and applied facets of intelligent interactive multimedia.

Author : Parisa Jalalkamali
Publisher :
Page : 238 pages
File Size : 42,91 MB
Release : 2012
Category :
ISBN :

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"The main research objective of this thesis is to address distributed target tracking for mobile sensor networks. Based on real-life limitations, we are particularly interested in mobile sensors with Limited Sensing Range (LSR). There are three possible multi-target tracking scenarios for n mobile sensors tracking m targets: i) many sensors tracking few targets n ” m (e.g. tracking high-valued targets), ii) a few sensors track many targets n “ m (e.g. the sensor coverage problem and situational awareness in a crowded airport terminal), and iii) swarms of sensors tracking swarms of targets n,m ” 1 (e.g. selflocalization of autonomous vehicles in intellegent transportation systems). First, we show that all three problems can be posed as coupled distributed estimation and control problems for mobile sensor networks. To tackle this estimation and control problem, we propose a unified theoretical framework in which every mobile agent (or sensor) has a two-fold objective: a) maintaining a safe distance (or minimum separation) from neighboring mobile agents during target tracking and b) enhancing the quality of sensed information collectively by the team of sensors to improve the performance of distributed estimation. In many real-life applications, the quality of sensed data is a function of the proximity to the target. We propose an information-theoretic measure for quality of sensed data by each sensor called the information value as the trace of the Fisher Information Matrix (FIM). This metric of quality of sensed data plays a key role in all of our proposed distributed tracking and control algorithms. We show that objective a) of any mobile agent is fundamentally a "collision-avoidance" (or "separation") objective that is a byproduct of flocking behavior for multi-agent systems [48], while objective b) for LSR-type sensors requires solving an additional control problem to enhance the collective information value of the team of agents. We refer to the latter problem as the information-driven control problem. For distributed tracking on mobile networks, we apply Information Filter and Kalman-Consensus Filter (KCF) as effective algorithms for distributed multi-target tracking on networks. The other problem of interest is the formal stability analysis of the coupled distributed estimation and flocking-based mobility-control and self-deployment algorithms for problems i) and ii). We prove that the error dynamics of the KCF and the structural dynamics of the flock of sensors from a cascade nonlinear system and provide a Lyapunov-based stability analysis of case i). We present additional theoretical results on analysis of information-driven control and tracking algoritjms for problems i) and ii) together with successful experimental results. In addition, we identify the key questions regarding problem iii) that remains the subject of ongoing and future research."

Author : Zhang Ren
Publisher : Springer Nature
Page : 1902 pages
File Size : 46,55 MB
Release : 2022-07-29
Category : Technology & Engineering
ISBN : 9811939985

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This book includes original, peer-reviewed research papers from the 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control (CCSICC2021), held in Shenzhen, China on January 19-22, 2022. The topics covered include but are not limited to: reviews and discussions of swarm intelligence, basic theories on swarm intelligence, swarm communication and networking, swarm perception, awareness and location, swarm decision and planning, cooperative control, cooperative guidance, swarm simulation and assessment. The papers showcased here share the latest findings on theories, algorithms and applications in swarm intelligence and cooperative control, making the book a valuable asset for researchers, engineers, and university students alike.