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Control and Management of Autonomous Mobile Sensors using the MaxSum Algorithm
"... In this paper, we describe the initial work carried out within the ‘Control and Management of Autonomous Mobile Sensors ’ project of the SEAS DTC. Specifically, we consider the need for online, decentralised coordination algorithms that allow teams of mobile sensors to monitor an environmental fiel ..."
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Gaussian processes to allow sensors to model and predict measurements at unobserved locations, and uses the maxsum message passing algorithm for decentralised coordination. We empirically evaluate our algorithm against several online adaptive coordination mechanisms, and report a reduction in root mean
Decentralised Coordination of Mobile Sensors Using the MaxSum Algorithm
"... In this paper, we introduce an online, 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. Th ..."
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. 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 maxsum message passing algorithm for decentralised coordination, for which we
AgentBased Decentralised Coordination for Sensor Networks using the MaxSum Algorithm
"... In this paper, we consider the generic problem of how a network of physically distributed, computationally constrained devices can make coordinated decisions to maximise the effectiveness of the whole sensor network. In particular, we propose a new agentbased representation of the problem, based ..."
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, based on the factor graph, and use stateoftheart DCOP heuristics (i.e., DSA and the maxsum algorithm) to generate suboptimal solutions. In more detail, we formally model a specific realworld problem where energyharvesting sensors are deployed within an urban environment to detect vehicle
Binary maxsum for multiteam task allocation in RoboCup Rescue
"... Abstract. Coordination of agents involved in rescue missions is an important open research problem. We focus on the RoboCup Rescue Simulation (RCS) challenge, where different teams of agents perform urban rescue operations. Previous approaches typically cast such coordination problem as separate sin ..."
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singleteam allocation problems, and solve them separately. Our first key contribution is to focus on the maxsum approach, which has been successfully applied in this setting. We show that it is possible to reduce the computational complexity associated to maxsum from exponential to polynomial time
Decentralised Coordination of Continuously Valued Control Parameters using the MaxSum Algorithm
, 2009
"... In this paper we address the problem of decentralised coordination for agents that must make coordinated decisions over continuously valued control parameters (as is required in many real world applications). In particular, we tackle the social welfare maximisation problem, and derive a novel contin ..."
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continuous version of the maxsum algorithm. In order to do so, we represent the utility function of the agents by multivariate piecewise linear functions, which in turn are encoded as simplexes. We then derive analytical solutions for the fundamental operations required to implement the maxsum algorithm
Decentralised Coordination of Unmanned Aerial Vehicles for Target Search using the MaxSum Algorithm
"... This paper considers the coordination of a team of Unmanned Aerial Vehicles (UAVs) that are deployed to search for a moving target within a continuous space. We present an online and decentralised coordination mechanism, based on the maxsum algorithm, to address this problem. In doing so, we introd ..."
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This paper considers the coordination of a team of Unmanned Aerial Vehicles (UAVs) that are deployed to search for a moving target within a continuous space. We present an online and decentralised coordination mechanism, based on the maxsum algorithm, to address this problem. In doing so, we
MaxSum Decentralised Coordination for Sensor Systems
, 2008
"... A key challenge for the successful deployment of systems consisting of multiple autonomous networked sensors is the development of decentralised mechanisms to coordinate the activities of these physically distributed devices in order to achieve good systemwide performance. Such mechanisms must act ..."
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Cited by 4 (1 self)
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in the presence of local constraints (such as limited power, communication and computational resources) and dynamic environments (where the topology, constraints and utility of the sensor network may change at any time). We propose the use of message passing techniques based on the maxsum algorithm to address
Bounded approximate decentralised coordination using the maxsum algorithm
 IN DISTRIBUTED CONSTRAINT REASONING WORKSHOP
, 2009
"... In this paper we propose a novel algorithm that provides bounded approximate solutions for decentralised coordination problems. Our approach removes cycles in any general constraint network by eliminating dependencies between functions and variables which have the least impact on the solution qualit ..."
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Cited by 29 (9 self)
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quality. It uses the maxsum algorithm to optimally solve the resulting tree structured constraint network, providing a bounded approximation specific to the particular problem instance. We formally prove that our algorithm provides a bounded approximation of the original problem and we present
A Methodology for Deploying the MaxSum Algorithm and a Case Study on Unmanned Aerial Vehicles
"... We present a methodology for the deployment of the maxsum algorithm, a well known decentralised algorithm for coordinating autonomous agents, for problems related to situational awareness. In these settings, unmanned autonomous vehicles are deployed to collect information about an unknown environmen ..."
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We present a methodology for the deployment of the maxsum algorithm, a well known decentralised algorithm for coordinating autonomous agents, for problems related to situational awareness. In these settings, unmanned autonomous vehicles are deployed to collect information about an unknown
SelfOrganising Sensors for Wide Area Surveillance using the MaxSum Algorithm
"... Abstract—In this paper, we consider the selforganisation of sensors within a network deployed for wide area surveillance. We present a decentralised coordination algorithm based upon the maxsum algorithm and demonstrate how selforganisation can be achieved within a setting where sensors are deplo ..."
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are deployed with no a priori information regarding their local environment. These energyconstrained sensors first learn how their actions interact with those of neighbouring sensors, and then use the maxsum algorithm to coordinate their sense/sleep schedules in order to maximise the effectiveness
Results 1  10
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