1,902 research outputs found

    Increasing negotiation performance at the edge of the network

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    Automated negotiation has been used in a variety of distributed settings, such as privacy in the Internet of Things (IoT) devices and power distribution in Smart Grids. The most common protocol under which these agents negotiate is the Alternating Offers Protocol (AOP). Under this protocol, agents cannot express any additional information to each other besides a counter offer. This can lead to unnecessarily long negotiations when, for example, negotiations are impossible, risking to waste bandwidth that is a precious resource at the edge of the network. While alternative protocols exist which alleviate this problem, these solutions are too complex for low power devices, such as IoT sensors operating at the edge of the network. To improve this bottleneck, we introduce an extension to AOP called Alternating Constrained Offers Protocol (ACOP), in which agents can also express constraints to each other. This allows agents to both search the possibility space more efficiently and recognise impossible situations sooner. We empirically show that agents using ACOP can significantly reduce the number of messages a negotiation takes, independently of the strategy agents choose. In particular, we show our method significantly reduces the number of messages when an agreement is not possible. Furthermore, when an agreement is possible it reaches this agreement sooner with no negative effect on the utility.Comment: Accepted for presentation at The 7th International Conference on Agreement Technologies (AT 2020

    Cost-Aware Coalitions for Collaborative Tracking in Resource-Constrained Camera Networks

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    Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. J. C. SanMiguel and A. Cavallaro, "Cost-Aware Coalitions for Collaborative Tracking in Resource-Constrained Camera Networks," in IEEE Sensors Journal, vol. 15, no. 5, pp. 2657-2668, May 2015. doi: 10.1109/JSEN.2014.2367015We propose an approach to create camera coalitions in resource-constrained camera networks and demonstrate it for collaborative target tracking. We cast coalition formation as a decentralized resource allocation process where the best cameras among those viewing a target are assigned to a coalition based on marginal utility theory. A manager is dynamically selected to negotiate with cameras whether they will join the coalition and to coordinate the tracking task. This negotiation is based not only on the utility brought by each camera to the coalition, but also on the associated cost (i.e. additional processing and communication). Experimental results and comparisons using simulations and real data show that the proposed approach outperforms related state-of-the-art methods by improving tracking accuracy in cost-free settings. Moreover, under resource limitations, the proposed approach controls the tradeoff between accuracy and cost, and achieves energy savings with only a minor reduction in accuracy.This work was supported in part by the EU Crowded Environments monitoring for Activity Understanding and Recognition (CEN-TAUR, FP7-PEOPLE-2012-IAPP) Project under GA number 324359, and in part by the Artemis JU and U.K. Technology Strategy Board as part of the Cognitive and Perceptive Cameras (COPCAMS) Project under GA number 332913

    Dynamic Reconfiguration in Camera Networks: A Short Survey

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    There is a clear trend in camera networks towards enhanced functionality and flexibility, and a fixed static deployment is typically not sufficient to fulfill these increased requirements. Dynamic network reconfiguration helps to optimize the network performance to the currently required specific tasks while considering the available resources. Although several reconfiguration methods have been recently proposed, e.g., for maximizing the global scene coverage or maximizing the image quality of specific targets, there is a lack of a general framework highlighting the key components shared by all these systems. In this paper we propose a reference framework for network reconfiguration and present a short survey of some of the most relevant state-of-the-art works in this field, showing how they can be reformulated in our framework. Finally we discuss the main open research challenges in camera network reconfiguration

    Nonlinear Negotiation Approaches for Complex-Network Optimization: A Study Inspired by Wi-Fi Channel Assignment

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    At the present time, Wi-Fi networks are everywhere. They operate in unlicensed radio-frequency spectrum bands (divided in channels), which are highly congested. The purpose of this paper is to tackle the problem of channel assignment in Wi-Fi networks. To this end, we have modeled the networks as multilayer graphs, in a way that frequency channel assignment becomes a graph coloring problem. For a high number and variety of scenarios, we have solved the problem with two different automated negotiation techniques: a hill-climber and a simulated annealer. As an upper bound reference for the performance of these two techniques, we have also solved the problem using a particle swarm optimizer. Results show that the annealer negotiator behaves as the best choice because it is able to obtain even better results than the particle swarm optimizer in the most complex scenarios under study, with running times one order of magnitude below. Finally, we study how different properties of the network layout affect to the performance gain that the annealer is able to obtain with respect to the particle swarm optimizer.Comment: This is a pre-print of an article published in Group Decision and Negotiation. The final version is available online at https://doi.org/10.1007/s10726-018-9600-

    Communication Efficiency in Information Gathering through Dynamic Information Flow

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    This thesis addresses the problem of how to improve the performance of multi-robot information gathering tasks by actively controlling the rate of communication between robots. Examples of such tasks include cooperative tracking and cooperative environmental monitoring. Communication is essential in such systems for both decentralised data fusion and decision making, but wireless networks impose capacity constraints that are frequently overlooked. While existing research has focussed on improving available communication throughput, the aim in this thesis is to develop algorithms that make more efficient use of the available communication capacity. Since information may be shared at various levels of abstraction, another challenge is the decision of where information should be processed based on limits of the computational resources available. Therefore, the flow of information needs to be controlled based on the trade-off between communication limits, computation limits and information value. In this thesis, we approach the trade-off by introducing the dynamic information flow (DIF) problem. We suggest variants of DIF that either consider data fusion communication independently or both data fusion and decision making communication simultaneously. For the data fusion case, we propose efficient decentralised solutions that dynamically adjust the flow of information. For the decision making case, we present an algorithm for communication efficiency based on local LQ approximations of information gathering problems. The algorithm is then integrated with our solution for the data fusion case to produce a complete communication efficiency solution for information gathering. We analyse our suggested algorithms and present important performance guarantees. The algorithms are validated in a custom-designed decentralised simulation framework and through field-robotic experimental demonstrations

    Internet of things: Vision, applications and research challenges

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    The term “Internet-of-Things” is used as an umbrella keyword for covering various aspects related to the extension of the Internet and the Web into the physical realm, by means of the widespread deployment of spatially distributed devices with embedded identification, sensing and/or actuation capabilities. Internet-of-Things envisions a future in which digital and physical entities can be linked, by means of appropriate information and communication technologies, to enable a whole new class of applications and services. In this article, we present a survey of technologies, applications and research challenges for Internet-of-Things

    Enabling Runtime Self-Coordination of Reconfigurable Embedded Smart Cameras in Distributed Networks

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    Smart camera networks are real-time distributed embedded systems able to perform computer vision using multiple cameras. This new approach is a confluence of four major disciplines (computer vision, image sensors, embedded computing and sensor networks) and has been subject of intensive work in the past decades. The recent advances in computer vision and network communication, and the rapid growing in the field of high-performance computing, especially using reconfigurable devices, have enabled the design of more robust smart camera systems. Despite these advancements, the effectiveness of current networked vision systems (compared to their operating costs) is still disappointing; the main reason being the poor coordination among cameras entities at runtime and the lack of a clear formalism to dynamically capture and address the self-organization problem without relying on human intervention. In this dissertation, we investigate the use of a declarative-based modeling approach for capturing runtime self-coordination. We combine modeling approaches borrowed from logic programming, computer vision techniques, and high-performance computing for the design of an autonomous and cooperative smart camera. We propose a compact modeling approach based on Answer Set Programming for architecture synthesis of a system-on-reconfigurable-chip camera that is able to support the runtime cooperative work and collaboration with other camera nodes in a distributed network setup. Additionally, we propose a declarative approach for modeling runtime camera self-coordination for distributed object tracking in which moving targets are handed over in a distributed manner and recovered in case of node failure

    Cooperative Robots to Observe Moving Targets: Review

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