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Update of time-invalid information in Knowledge Bases through Mobile Agents
In this paper, we investigate the use of a mobile, autonomous agent to update knowledge bases containing statements that lose validity with time. This constitutes a key issue in terms of knowledge acquisition and representation, because dynamic data need to be constantly re-evaluated to allow reasoning. We focus on the way to represent the time- validity of statements in a knowledge base, and on the use of a mobile agent to update time-invalid statements while planning for “information freshness” as the main objective. We propose to use Semantic Web standards, namely the RDF model and the SPARQL query language, to represent time-validity of information and decide how long this will be considered valid. Using such a representation, a plan is created for the agent to update the knowledge, focusing mostly on guaranteeing the time-validity of the information collected. To show the feasibility of our approach and discuss its limitations, we test its implementation on scenarios in the working environment of our research lab, where an autonomous robot is used to sense temperature, humidity, wifi signal and number of people on demand, updating the knowledge base with time- valid information
Design of a multiple bloom filter for distributed navigation routing
Unmanned navigation of vehicles and mobile robots can be greatly simplified by providing environmental intelligence with dispersed wireless sensors. The wireless sensors can work as active landmarks for vehicle localization and routing. However, wireless sensors are often resource scarce and require a resource-saving design. In this paper, a multiple Bloom-filter scheme is proposed to compress a global routing table for a wireless sensor. It is used as a lookup table for routing a vehicle to any destination but requires significantly less memory space and search effort. An error-expectation-based design for a multiple Bloom filter is proposed as an improvement to the conventional false-positive-rate-based design. The new design is shown to provide an equal relative error expectation for all branched paths, which ensures a better network load balance and uses less memory space. The scheme is implemented in a project for wheelchair navigation using wireless camera motes. © 2013 IEEE
Closed-loop Bayesian Semantic Data Fusion for Collaborative Human-Autonomy Target Search
In search applications, autonomous unmanned vehicles must be able to
efficiently reacquire and localize mobile targets that can remain out of view
for long periods of time in large spaces. As such, all available information
sources must be actively leveraged -- including imprecise but readily available
semantic observations provided by humans. To achieve this, this work develops
and validates a novel collaborative human-machine sensing solution for dynamic
target search. Our approach uses continuous partially observable Markov
decision process (CPOMDP) planning to generate vehicle trajectories that
optimally exploit imperfect detection data from onboard sensors, as well as
semantic natural language observations that can be specifically requested from
human sensors. The key innovation is a scalable hierarchical Gaussian mixture
model formulation for efficiently solving CPOMDPs with semantic observations in
continuous dynamic state spaces. The approach is demonstrated and validated
with a real human-robot team engaged in dynamic indoor target search and
capture scenarios on a custom testbed.Comment: Final version accepted and submitted to 2018 FUSION Conference
(Cambridge, UK, July 2018
When Things Matter: A Data-Centric View of the Internet of Things
With the recent advances in radio-frequency identification (RFID), low-cost
wireless sensor devices, and Web technologies, the Internet of Things (IoT)
approach has gained momentum in connecting everyday objects to the Internet and
facilitating machine-to-human and machine-to-machine communication with the
physical world. While IoT offers the capability to connect and integrate both
digital and physical entities, enabling a whole new class of applications and
services, several significant challenges need to be addressed before these
applications and services can be fully realized. A fundamental challenge
centers around managing IoT data, typically produced in dynamic and volatile
environments, which is not only extremely large in scale and volume, but also
noisy, and continuous. This article surveys the main techniques and
state-of-the-art research efforts in IoT from data-centric perspectives,
including data stream processing, data storage models, complex event
processing, and searching in IoT. Open research issues for IoT data management
are also discussed
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