Author: Allison Denise Ryan
Publisher:
ISBN:
Category :
Languages : en
Pages : 336

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Book Description

Author: Parisa Jalalkamali
Publisher:
ISBN:
Category :
Languages : en
Pages : 238

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Book Description
"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: Xiao Xiao
Publisher:
ISBN:
Category :
Languages : en
Pages : 326

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Book Description

Author: Zhijun Tang
Publisher:
ISBN:
Category : Multisensor data fusion
Languages : en
Pages :

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Book Description
Abstract: Sensor management (SM) is one of the key factors that determine the performance of a multi-sensor system, especially when the system consists of mobile sensor agents (MSA). Due to the strong interconnection between information processing and MSA motion control, a new set of theoretical foundations, design principles and performance metrics are needed. This dissertation presents a few attempts toward this goal by jointly studying the target-track-maintenance problem and the MSA motion-planning problem through the MSA-target scenario. First, a generic method for target track maintenance, the BF-HMap approach, is proposed based on the Bayesian filtering method and the hospitability map . An advanced version of this approach with much less computational and memory load using a particle filter, the PF-HMap algorithm, is also introduced in this work. Both BF-HMap and PF-HMap are capable of exploiting non-analytic prior environmental knowledge as well as handling intermittent and regional measurements caused by the coverage and motion constraints on MSAs. Meanwhile, a generalized particle filter for both in-sequence and out-of-sequence measurements is developed for possible extensions of the PF-HMap algorithm to distributed MSA networks. Secondly, the MSA motion-control problem is studied in such an information-theoretic way that the conditional entropy (i.e. given the measurements) of the target state is chosen as a generic performance metric. Several key properties of the evolution of the entropy are identified, which are further exploited to model the sensor management problem in two cases of studies: target search and target surveillance, which are modeled as a stabilization problem of the entropy and an optimization problem to minimize the average revisit time on each target, respectively. Based on that, a necessary condition and a sufficient condition by means of the number of MSAs to perform a non-escape search for a moving target are derived. In the meantime, a cooperative on-line motion-planning approach for multi-target surveillance by multiple non-holonomic MSAs is proposed. The dissertation concludes with a summary of the current work and a discussion on possible extensions of the proposed methodologies in future work.

Author: Henrik I. Christensen
Publisher: Springer
ISBN: 331929363X
Category : Technology & Engineering
Languages : en
Pages : 646

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Book Description
This volume presents a collection of papers presented at the 15th International Symposium of Robotic Research (ISRR). ISRR is the biennial meeting of the International Foundation of Robotic Research (IFRR) and its 15th edition took place in Flagstaff, Arizona on December 9 to December 12, 2011. As for the previous symposia, ISRR 2011 followed up on the successful concept of a mixture of invited contributions and open submissions. Therefore approximately half of the 37 contributions were invited contributions from outstanding researchers selected by the IFRR officers and the program committee, and the other half were chosen among the open submissions after peer review. This selection process resulted in a truly excellent technical program which featured some of the very best of robotic research. The program was organized around oral presentation in a single-track format and included for the first time a small number of interactive presentations. The symposium contributions contained in this volume report on a variety of new robotics research results covering a broad spectrum including perception, manipulation, grasping, vehicles and design, navigation, control and integration, estimation and SLAM.

Author: Max Suell Dutra
Publisher: Bentham Science Publishers
ISBN: 1608050815
Category : Technology & Engineering
Languages : en
Pages : 194

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Book Description
Intelligent transportation vehicles brings the latest advances and developments in intelligent vehicles to readers on the basis of their significance and quality. Wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field. This Ebook series includes key contributions presented by different researchers. These contributions represent a wide coverage of the state-of-the-art and the emerging research directions in intelligent transportation vehicles. (A cura dell'editore).

Author: Liang Yan
Publisher: Springer Nature
ISBN: 9811966133
Category : Technology & Engineering
Languages : en
Pages : 7455

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Book Description
This book features the latest theoretical results and techniques in the field of guidance, navigation, and control (GNC) of vehicles and aircrafts. It covers a wide range of topics, including but not limited to, intelligent computing communication and control; new methods of navigation, estimation and tracking; control of multiple moving objects; manned and autonomous unmanned systems; guidance, navigation and control of miniature aircraft; and sensor systems for guidance, navigation and control etc. Presenting recent advances in the form of illustrations, tables, and text, it also provides detailed information of a number of the studies, to offer readers insights for their own research. In addition, the book addresses fundamental concepts and studies in the development of GNC, making it a valuable resource for both beginners and researchers wanting to further their understanding of guidance, navigation, and control.

Author: Alfred Olivier Hero
Publisher: Springer Science & Business Media
ISBN: 0387498192
Category : Technology & Engineering
Languages : en
Pages : 317

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Book Description
This book covers control theory signal processing and relevant applications in a unified manner. It introduces the area, takes stock of advances, and describes open problems and challenges in order to advance the field. The editors and contributors to this book are pioneers in the area of active sensing and sensor management, and represent the diverse communities that are targeted.

Author: Andrey V. Savkin
Publisher: John Wiley & Sons
ISBN: 1119025222
Category : Technology & Engineering
Languages : en
Pages : 203

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Book Description
This book introduces various coverage control problems for mobile sensor networks including barrier, sweep and blanket. Unlike many existing algorithms, all of the robotic sensor and actuator motion algorithms developed in the book are fully decentralized or distributed, computationally efficient, easily implementable in engineering practice and based only on information on the closest neighbours of each mobile sensor and actuator and local information about the environment. Moreover, the mobile robotic sensors have no prior information about the environment in which they operation. These various types of coverage problems have never been covered before by a single book in a systematic way. Another topic of this book is the study of mobile robotic sensor and actuator networks. Many modern engineering applications include the use of sensor and actuator networks to provide efficient and effective monitoring and control of industrial and environmental processes. Such mobile sensor and actuator networks are able to achieve improved performance and efficient monitoring together with reduction in power consumption and production cost.

Author: Jaydev P. Desai
Publisher: Springer
ISBN: 3319000659
Category : Technology & Engineering
Languages : en
Pages : 966

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Book Description
The International Symposium on Experimental Robotics (ISER) is a series of bi-annual meetings, which are organized, in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a forum for research in robotics that focuses on novelty of theoretical contributions validated by experimental results. The meetings are conceived to bring together, in a small group setting, researchers from around the world who are in the forefront of experimental robotics research. This unique reference presents the latest advances across the various fields of robotics, with ideas that are not only conceived conceptually but also explored experimentally. It collects robotics contributions on the current developments and new directions in the field of experimental robotics, which are based on the papers presented at the 13the ISER held in Québec City, Canada, at the Fairmont Le Château Frontenac, on June 18-21, 2012. This present thirteenth edition of Experimental Robotics edited by Jaydev P. Desai, Gregory Dudek, Oussama Khatib, and Vijay Kumar offers a collection of a broad range of topics in field and human-centered robotics.