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 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 languageEnglish (US)
Title of host publicationProceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5078-5083
Number of pages6
ISBN (Print)1424401712, 9781424401710
DOIs
StatePublished - 2006
Event45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States
Duration: Dec 13 2006Dec 15 2006

Publication series

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

Other

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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  • Cite this

    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