Transcript Powerpoint presentation

Distributed Sensor Tracking:
using the Physical Model
Bart Selman, Carla Gomes, Scott Kirkpatrick,
Ramon Bejar, Bhaskar Krishnamachari,
Johannes Schneider
Intelligent Information Systems Institute, Cornell
University & Hebrew University
Autonomous Negotiating Teams
Oct. 31, 2001
Outline
Overview of our approach
Ants - Challenge Problem (Sensor Domain)
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Movie – 100 sensors, 10 moving targets
Overview of Approach
Approach based on an “energy function”
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Sensors independently and asynchronously decide
which target to track, based on closest neighbors’
status information. Make tradeoffs.
 Metropolis dynamics permits reassignments
 Simulated annealing controls process
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Constraints are relatively easy to incorporate:
 Time dependent communications failures
 Communications delays, sensor orientation issues
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Tuning of method in progress, full report in Dec.
First results: Movie
10x10 field of sensors
Track 10 moving, turning targets
Picture shows
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Target detection range (green circles)
Target clusters (>3 communicating
sensors) are red lines to the target from
the sensors