Evidence based navigation in swarms

Duminda A. Dewasurendra; Peter H. Bauer; Matthias Scheutz; Kamal Premaratne

doi:10.1109/cdc.2006.377459

Evidence based navigation in swarms

Duminda A. Dewasurendra, Peter H. Bauer, Matthias Scheutz, Kamal Premaratne

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Scopus citations

Abstract

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.

Original language	English (US)
Title of host publication	Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5078-5083
Number of pages	6
ISBN (Print)	1424401712, 9781424401710
DOIs	https://doi.org/10.1109/cdc.2006.377459
State	Published - 2006
Event	45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States Duration: Dec 13 2006 → Dec 15 2006

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0191-2216

Other

Other	45th IEEE Conference on Decision and Control 2006, CDC
Country	United States
City	San Diego, CA
Period	12/13/06 → 12/15/06

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

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Dewasurendra, D. A., Bauer, P. H., Scheutz, M., & Premaratne, K. (2006). Evidence based navigation in swarms. In Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC (pp. 5078-5083). [4177471] (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/cdc.2006.377459

Evidence based navigation in swarms. / Dewasurendra, Duminda A.; Bauer, Peter H.; Scheutz, Matthias; Premaratne, Kamal.

Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. Institute of Electrical and Electronics Engineers Inc., 2006. p. 5078-5083 4177471 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Dewasurendra, DA, Bauer, PH, Scheutz, M & Premaratne, K 2006, Evidence based navigation in swarms. in Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC., 4177471, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 5078-5083, 45th IEEE Conference on Decision and Control 2006, CDC, San Diego, CA, United States, 12/13/06. https://doi.org/10.1109/cdc.2006.377459

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AB - 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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Evidence based navigation in swarms

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