Evidence Based Navigation in Swarms

D.A Dewasurendra; P.H Bauer; M Scheutz; K Premaratne

doi:10.1109/CDC.2006.377459

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Conference proceeding

Evidence Based Navigation in Swarms

D.A Dewasurendra, P.H Bauer, M Scheutz and K Premaratne

Proceedings of the 45th IEEE Conference on Decision and Control, pp.5078-5083

2006-12

DOI: https://doi.org/10.1109/CDC.2006.377459

Abstract

Computer science

Contacts

Cranes

Event detection

Multimodal sensors

Navigation

Sensor phenomena and characterization

Signal detection

Turning

USA Councils

A low-complexity, evidence based navigation algorithm for swarms of mobile sensors is presented. It can be effectively used in scenarios where a particular event signature is characterized by a mix of weak signal modalities with certain degrees of intensity, distributed in a local region. The method is based on Dempster-Shafer (DS) evidence theory and enables the mobile nodes to process temporally ordered sensor data and accommodate imprecise information from multi-modal sensors on board. Local decisions are made based on fused evidence triggering an attractive beacon, which in turn draws other agents for further detection and tracking. Simulation results are presented for a multi-modal signal signature tracking scenario

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Details

Title: Evidence Based Navigation in Swarms
Creators: D.A Dewasurendra - Dept. of Electr. Eng., Notre Dame Univ., IN
P.H Bauer - Dept. of Electr. Eng., Notre Dame Univ., IN
M Scheutz
K Premaratne
Publication Details: Proceedings of the 45th IEEE Conference on Decision and Control, pp.5078-5083
Publisher: IEEE
Academic Unit: College of Engineering; CoE - Electrical & Computer Engineering
Language: English
Resource Type: Conference proceeding
Record Identifier: 991031620139102976