Stranders, R., Farinelli, A., Rogers, A. and Jennings, N. (2009) Decentralised Coordination of Mobile Sensors Using the Max-Sum Algorithm. In: Proceedings of the Twenty-First International Joint Conference on Artificial Intelligence, Pasadena, USA. pp. 299-304.
Download
![[img]](http://eprints.ecs.soton.ac.uk/style/images/fileicons/application_pdf.png)
|
Accepted Version 212Kb |
Abstract
In this paper, we introduce an on-line, decentralised coordination
algorithm for monitoring and predicting the state of spatial phenomena
by a team of mobile sensors. These sensors have their application domain in disaster response, where strict time constraints prohibit path planning in advance. The algorithm enables sensors to coordinate their movements with their direct neighbours to maximise the collective information gain, while predicting measurements at unobserved locations using a Gaussian process. It builds upon the max-sum message passing algorithm for decentralised coordination, for which we present two new generic pruning techniques that result in speed-up of up to 92% for 5 sensors. We empirically evaluate our algorithm against several on-line adaptive coordination mechanisms, and report a reduction in root mean squared error up to 50% compared to a greedy strategy.
| Item Type: | Conference or Workshop Item | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| Creator/Authors: |
| ||||||||
| Research Group: | Current ECS Groups > Agents, Interaction and Complexity Old ECS Groups > Intelligence, Agents, Multimedia | ||||||||
| Date: | 2009 | ||||||||
| Information about this record: | |||||||||
| Citations: | ISI: 1, Google Scholar: 28 | ||||||||
| Downloads (2010): | 97 | ||||||||
| ID Code: | 17268 | ||||||||
| Last Modified: | 02 Jan 2012 09:36 | ||||||||
| Deposited On: | 08 Apr 2009 16:40 by Stranders, Ruben | ||||||||
Tools & Metadata
Download Statistics
Members of ECS may view the download statistics dashboard for this record.
Corrections
ECS staff and postgraduates may modify this record
