The Kalman filter: an introduction to concepts
Autonomous robot vehicles
A fully decentralized multi-sensor system for tracking and surveillance
International Journal of Robotics Research
CONDENSATION—Conditional Density Propagation forVisual Tracking
International Journal of Computer Vision
A Probabilistic Approach to Collaborative Multi-Robot Localization
Autonomous Robots
Monte Carlo Localization with Mixture Proposal Distribution
Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
Locating moving entities in indoor environments with teams of mobile robots
AAMAS '03 Proceedings of the second international joint conference on Autonomous agents and multiagent systems
Tracking many objects with many sensors
IJCAI'99 Proceedings of the 16th international joint conference on Artificial intelligence - Volume 2
Variable resolution particle filter
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Monitoring a complex physical system using a hybrid dynamic bayes net
UAI'02 Proceedings of the Eighteenth conference on Uncertainty in artificial intelligence
UAI'02 Proceedings of the Eighteenth conference on Uncertainty in artificial intelligence
Distributed particle filters for sensor networks
Proceedings of the 3rd international symposium on Information processing in sensor networks
Decentralized Bayesian algorithms for active sensor networks
Information Fusion
Locating RF emitters with large UAV teams
Proceedings of the 6th international joint conference on Autonomous agents and multiagent systems
A decentralized approach to cooperative situation assessment in multi-robot systems
Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 1
Analyzing the performance of randomized information sharing
Proceedings of The 8th International Conference on Autonomous Agents and Multiagent Systems - Volume 2
A Shape Recognition Scheme for Wireless Sensor Networks Based on a Distance Field Method
ICA3PP '09 Proceedings of the 9th International Conference on Algorithms and Architectures for Parallel Processing
Dealing with perception errors in multi-robot system coordination
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Delayed-state information filter for cooperative decentralized tracking
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Consensus-based distributed particle filters in sensor networks
CCDC'09 Proceedings of the 21st annual international conference on Chinese control and decision conference
The statistical mechanics of belief sharing in multi-agent systems
Information Fusion
Guest Editorial: Agent-based information fusion
Information Fusion
Time-space-sequential distributed particle filtering with low-rate communications
Asilomar'09 Proceedings of the 43rd Asilomar conference on Signals, systems and computers
INES'10 Proceedings of the 14th international conference on Intelligent engineering systems
An introduction to Bayesian techniques for sensor networks
WASA'10 Proceedings of the 5th international conference on Wireless algorithms, systems, and applications
Macro Programming a Spatial Computer with Bayesian Networks
ACM Transactions on Autonomous and Adaptive Systems (TAAS)
Robotics and Autonomous Systems
Optimal paths for mutually visible agents
ISAAC'05 Proceedings of the 16th international conference on Algorithms and Computation
Behavior-Based indoor navigation
Ambient Intelligence for Scientific Discovery
Motion-aided network SLAM with range
International Journal of Robotics Research
Journal of Intelligent and Robotic Systems
Cooperative situation assessment in a maritime scenario
International Journal of Intelligent Systems
Distributed filtering over sensor networks for autonomous navigation of UAVs
Intelligent Service Robotics
| Hi-index | 0.01 |
This paper presents a scalable Bayesian technique for decentralized state estimation from multiple platforms in dynamic environments. As has long been recognized, centralized architectures impose severe scaling limitations for distributed systems due to the enormous communication overheads. We propose a strictly decentralized approach in which only nearby platforms exchange information. They do so through an interactive communication protocol aimed at maximizing information flow. Our approach is evaluated in the context of a distributed surveillance scenario that arises in a robotic system for playing the game of laser tag. Our results, both from simulation and using physical robots, illustrate an unprecedented scaling capability to large teams of vehicles.