Evidence based navigation in swarms

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Pages5078-5083
Number of pages6
StatePublished - Dec 1 2006
Event45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States
Duration: Dec 13 2006Dec 15 2006

Other

Other45th IEEE Conference on Decision and Control 2006, CDC
CountryUnited States
CitySan Diego, CA
Period12/13/0612/15/06

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Navigation
Sensors

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality
  • Chemical Health and Safety

Cite this

Dewasurendra, D. A., Bauer, P. H., Scheutz, M., & Premaratne, K. (2006). Evidence based navigation in swarms. In Proceedings of the IEEE Conference on Decision and Control (pp. 5078-5083). [4177471]

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

Proceedings of the IEEE Conference on Decision and Control. 2006. p. 5078-5083 4177471.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Dewasurendra, DA, Bauer, PH, Scheutz, M & Premaratne, K 2006, Evidence based navigation in swarms. in Proceedings of the IEEE Conference on Decision and Control., 4177471, pp. 5078-5083, 45th IEEE Conference on Decision and Control 2006, CDC, San Diego, CA, United States, 12/13/06.
Dewasurendra DA, Bauer PH, Scheutz M, Premaratne K. Evidence based navigation in swarms. In Proceedings of the IEEE Conference on Decision and Control. 2006. p. 5078-5083. 4177471
Dewasurendra, Duminda A. ; Bauer, Peter H. ; Scheutz, Matthias ; Premaratne, Kamal. / Evidence based navigation in swarms. Proceedings of the IEEE Conference on Decision and Control. 2006. pp. 5078-5083
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