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Dynamic space reconfiguration for Bayesian search and tracking with moving targets

Benjamin Lavis, Tomonari Furukawa, Hugh F. Durrant Whyte
2008 Autonomous Robots  
This paper presents a technique for dynamically reconfiguring search spaces in order to enable Bayesian autonomous search and tracking missions with moving targets.  ...  In particular, marine search and rescue scenarios are considered, highlighting the need for space reconfiguration in situations where moving targets are involved.  ...  Conclusions and future work A technique which dynamically reconfigures the search space of moving targets during Bayesian SAT operations was presented.  ... 
doi:10.1007/s10514-007-9081-4 fatcat:3ywuoqdncna2zbfmbid6z72c3a

HyPE: Hybrid Particle-Element Approach for Recursive Bayesian Searching and Tracking

Benjamin Lavis, Tomonari Furukawa
2008 Robotics: Science and Systems IV  
HyPE eliminates the need for computationally expensive numerical integration in the prediction stage and allows space reconfiguration, via remeshing, at minimal computational cost.  ...  This paper presents a hybrid particle-element approach, HyPE, suitable for recursive Bayesian searching-andtracking (SAT).  ...  The control limits of the sensor platform and targets are given in Fig. 5 . 5 Search and Tracking Scenarios reconfiguration technique for the EBM was prohibitively slow for meeting the iteration time  ... 
doi:10.15607/rss.2008.iv.018 dblp:conf/rss/LavisF08 fatcat:mys767t4ifa2nhteduwrtdbfyq

A system on chip-based real-time tracking system for amphibious spherical robots

Shuxiang Guo, Shaowu Pan, Xiaoqiong Li, Liwei Shi, Pengyi Zhang, Ping Guo, Yanlin He
2017 International Journal of Advanced Robotic Systems  
Moreover, dynamic reconfiguration was used to switch accelerators online for reducing resource consumption and improving system adaptability.  ...  monitoring and multi-target tracking.  ...  Declaration of conflicting interests The author(s) declared no potential conflicts of interest with respect to the research, authorship and/or publication of this article.  ... 
doi:10.1177/1729881417716559 fatcat:mezol6kpxrfkvcwb3jcwwnujqy

Acoustic Target Tracking Through a Cluster of Mobile Agents

Carlo Drioli, Giulia Giordano, Daniele Salvati, Franco Blanchini, Gian Luca Foresti
2019 IEEE Transactions on Cybernetics  
This paper discusses the problem of tracking a moving target by means of a cluster of mobile agents that is able to sense the acoustic emissions of the target, with the aim of improving the target localization  ...  The tracking scheme iterates, at each observation frame, the computation of the target compatible set, the reconfiguration of the cluster, and the target acoustic localization.  ...  Fig. 11 illustrates the result of the tracking and of the cluster dynamic reconfiguration obtained through the GPSA algorithm when the acoustic target moves through the search region with a linear motion  ... 
doi:10.1109/tcyb.2019.2908697 pmid:31021784 fatcat:3tgz6v6drbfnni23mfaeppvdfy

Subspace Hierarchical Particle Filter

Bruno Brandao, Jacques Wainer, Siome Goldenstein
2006 Computer Graphics and Image Processing (SIBGRAPI), Proceedings of the Brazilian Symposium on  
We validate our method with different graph structures withing a simple hand tracking experiment with both synthetic and real data.  ...  One of its major drawbacks is the exponential growth in the number of particles for increasing dimensions in the search space.  ...  Their choice is more appropriate for multi-target tracking.  ... 
doi:10.1109/sibgrapi.2006.42 dblp:conf/sibgrapi/BrandaoWG06 fatcat:qxsj7geuefb4ln2shb3l634lbi

Online Parameter Estimation for Safety-Critical Systems with Gaussian Processes [article]

Mouhyemen Khan, Abhijit Chatterjee
2020 arXiv   pre-print
Parameter estimation is crucial for modeling, tracking, and control of complex dynamical systems.  ...  It uses an efficient search strategy over a response surface in the parameter space for finding the global optima with minimal function evaluations.  ...  As seen in Figure 4 , MSE for tracking is the least when reconfigured with parameters estimated using our methodology.  ... 
arXiv:2002.07870v1 fatcat:7znnupu5xzdrrj7saeaiyf2mne

Dynamic View Planning by Effective Particles for Three-Dimensional Tracking

Huiying Chen, Youfu Li
2009 IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)  
Her research interests include robot vision, visual tracking, and dynamic view planning.  ...  In this paper, we propose a new approach to dynamically manage the viewpoint of a vision system for optimal 3-D tracking using particle techniques.  ...  Gupta and Das [12] developed a simple algorithm that detected and tracked a moving target, with Berkeley motes [13] , a kind of radio sensor network.  ... 
doi:10.1109/tsmcb.2008.2005113 pmid:19068437 fatcat:rv76mxiytfbbjcdpinwts64lsm

OPTIMIZED PARTICLES FOR 3D TRACKING

HUIYING CHEN, YOUFU LI
2011 International Journal of Humanoid Robotics  
On the other hand, we develop a method for reconfigurable vision systems to maximize the effective sampling size in particle filter, which consequentially helps to solve the degeneracy problem and minimize  ...  3D visual tracking is useful for many applications.  ...  We used a concave object as the target (Fig. 6) , which was moved arbitrarily by hand in 3D space to give motions with 3-DOF translational and 2-DOF rotational.  ... 
doi:10.1142/s021984361100268x fatcat:gpsp5asufrhezg3ev76gwthc5e

Optimized Particles for 3-D Tracking [chapter]

Huiying Chen, Youfu Li
2010 Lecture Notes in Computer Science  
On the other hand, we develop a method for reconfigurable vision systems to maximize the effective sampling size in particle filter, which consequentially helps to solve the degeneracy problem and minimize  ...  3D visual tracking is useful for many applications.  ...  We used a concave object as the target (Fig. 6) , which was moved arbitrarily by hand in 3D space to give motions with 3-DOF translational and 2-DOF rotational.  ... 
doi:10.1007/978-3-642-16584-9_71 fatcat:yfxoss74rzcupcppwwnn2xpssm

Table of Contents

2021 IEEE Transactions on Aerospace and Electronic Systems  
Acar and U. Orguner 404 Antenna Selection for Target Tracking in Collocated MIMO Radar . . . . . H. Zhang, J. Shi, Q. Zhang, B. Zong, and J.  ...  Sherbondy 690 Dynamic Discrete Pigeon-Inspired Optimization for Multi-UAV Cooperative Search-Attack Mission Planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ... 
doi:10.1109/taes.2020.3039720 fatcat:poup5tolkbhclirihn44htwfgu

A Random Traffic Assignment Model for Networks Based on Discrete Dynamic Bayesian Algorithms

Wei Zhou, Gengxin Sun
2022 Discrete Dynamics in Nature and Society  
In this paper, a stochastic traffic assignment model for networks is proposed for the study of discrete dynamic Bayesian algorithms.  ...  The corresponding algorithm is designed for the model with roadway traffic as input, and the reliability of the algorithm is verified in the arithmetic example.  ...  discrete, the formula for the joint probability distribution corresponding to this Bayesian network is P X e 􏼁 � 􏽘 P X e 􏼁 − X e p(e) . ( 1 ) Traditional target tracking methods view a target only  ... 
doi:10.1155/2022/8998352 fatcat:nzjoighvwnhmveq5fr74krk6ru

A Geometric Optimization Approach to Detecting and Intercepting Dynamic Targets Using a Mobile Sensor Network

Silvia Ferrari, Rafael Fierro, Brent Perteet, Chenghui Cai, Kelli Baumgartner
2009 SIAM Journal of Control and Optimization  
A methodology is developed to deploy a mobile sensor network for the purpose of detecting and capturing mobile targets in the plane.  ...  In this paper, the mobile sensor network consists of a set of robotic sensors that must track and capture mobile targets based on the information obtained through cooperative detections.  ...  Fierro is supported by NSF grant CAREER #0348637 and by the U.S. Army Research Office under grant DAAD19-03-1-0142 (through the University of Oklahoma).  ... 
doi:10.1137/07067934x fatcat:gdwjjmu25nhh3cf65mft5hcf5i

A Geometric Optimization Approach to Detecting and Intercepting Dynamic Targets

Silvia Ferrari, Chenghui Cai, Rafael Fierro, Brent Perteet
2007 American Control Conference (ACC)  
A methodology is developed to deploy a mobile sensor network for the purpose of detecting and capturing mobile targets in the plane.  ...  In this paper, the mobile sensor network consists of a set of robotic sensors that must track and capture mobile targets based on the information obtained through cooperative detections.  ...  Fierro is supported by NSF grant CAREER #0348637 and by the U.S. Army Research Office under grant DAAD19-03-1-0142 (through the University of Oklahoma).  ... 
doi:10.1109/acc.2007.4282986 dblp:conf/acc/FerrariCFP07 fatcat:25crxrtwf5gslclmh4ivlzb2fq

Active vision in robotic systems: A survey of recent developments

Shengyong Chen, Youfu Li, Ngai Ming Kwok
2011 The international journal of robotics research  
This paper describes such problems arising from many applications, e.g. object recognition and modeling, site reconstruction and inspection, surveillance, tracking and search, as well as robotic manipulation  ...  With increasing demand for robotic automation, research in this area has received much attention.  ...  For simultaneous tracking of multiple moving targets using an active stereo, Barreto et al.  ... 
doi:10.1177/0278364911410755 fatcat:pdpxmt4a5nhdvdojcsassxox6i

OPTIMUSCLOUD: Heterogeneous Configuration Optimization for Distributed Databases in the Cloud

Ashraf Mahgoub, Alexander Medoff, Rakesh Kumar, Subrata Mitra, Ana Klimovic, Somali Chaterji, Saurabh Bagchi
2020 USENIX Annual Technical Conference  
We present OPTIMUSCLOUD, an online reconfiguration system that can efficiently perform such joint and heterogeneous configuration for dynamic workloads.  ...  Achieving cost and performance efficiency for cloud-hosted databases requires exploring a large configuration space, including the parameters exposed by the database along with the variety of VM configurations  ...  Table 2 : 2 (MC stands for Markov Chain). Workload prediction RMSE for MG-RAST and Bus-tracking workloads with different lookahead periods.  ... 
dblp:conf/usenix/MahgoubMKMKCB20 fatcat:7pzbqzl3mjg2fnzsweaxcf2dbu
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