Large-Scale Information Acquisition for Data and Information Fusion
2006 (English)Doctoral thesis, monograph (Other scientific)
The purpose of information acquisition for data and information fusion is to provide relevant and timely information. The acquired information is integrated (or fused) to estimate the state of some environment. The success of information acquisition can be measured in the quality of the environment state estimates generated by the data and information fusion process.
In this thesis, we introduce and set out to characterise the concept of large-scale information acquisition. Our interest in this subject is justified both by the identified lack of research on a holistic view on data and information fusion, and the proliferation of networked sensors which promises to enable handy access to a multitude of information sources. We identify a number of properties that could be considered in the context of large-scale information acquisition. The sensors used could be large in number, heterogeneous, complex, and distributed. Also, algorithms for large-scale information acquisition may have to deal with decentralised control and multiple and varying objectives.
In the literature, a process that realises information acquisition is frequently denoted sensor management. We, however, introduce the term perception management instead, which encourages an agent perspective on information acquisition. Apart from explictly inviting the wealth of agent theory research into the data and information fusion research, it also highlights that the resource usage of perception management is constrained by the overall control of a system that uses data and information fusion.
To address the challenges posed by the concept of large-scale information acquisition, we present a framework which highlights some of its pertinent aspects. We have implemented some important parts of the framework. What becomes evident in our study is the innate complexity of information acquisition for data and information fusion, which suggests approximative solutions.
We, furthermore, study one of the possibly most important properties of large-scale information acquisition, decentralised control, in more detail. We propose a recurrent negotiation protocol for (decentralised) multi-agent coordination. Our approach to the negotiations is from an axiomatic bargaining theory perspective; an economics discipline. We identify shortcomings of the most commonly applied bargaining solution and demonstrate in simulations a problem instance where it is inferior to an alternative solution. However, we can not conclude that one of the solutions dominates the other in general. They are both preferable in different situations. We have also implemented the recurrent negotiation protocol on a group of mobile robots.
We note some subtle difficulties with transferring bargaining solutions from economics to our computational problem. For instance, the characterising axioms of solutions in bargaining theory are useful to qualitatively compare different solutions, but care has to be taken when translating the solution to algorithms in computer science as some properties might be undesirable, unimportant or risk being lost in the translation.
Place, publisher, year, edition, pages
Stockholm: KTH , 2006. , xv, 204 p.
Trita-CSC-A, ISSN 1653-5723 ; 2006:2
sensor management, perception management, data fusion, information fusion, large-scale information acquisition, multi-agent coordination protocol, axiomatic bargaining theory, particle filter tracking, pyro-electric infrared sensor, multi-robot system
IdentifiersURN: urn:nbn:se:kth:diva-3890ISBN: 91-7178-300-8OAI: oai:DiVA.org:kth-3890DiVA: diva2:9892
2006-04-07, F3, Lindstedtsvägen 26, Stockholm, 14:00
Nicholson, David, Dr.
Christensen, Henrik I.
QC 201009032006-03-212006-03-212010-09-03Bibliographically approved