Three variants Particle Swarm Optimization technique for optimal cameras network two dimensions placement

This paper addresses the problem of optimal placement in two-dimensions of the cameras network for the motion capture (MoCap) system. In fact, the MoCap system is a three- dimensional representation environment used mainly to reconstruct a real motion by using a number of fixed cameras (in position and pose). The main objective is to find the optimal placement of all cameras in a minimal time under a major constraint in order to capture each reflector that must be seen by at least three cameras in the same frame in a sequence of a random motion. The two-dimensional representation is only used to solve the problem of reflector recovery. The choice of two-dimensional representation is to reduce the resolution of a three- dimensional recovery problem to a simple two-dimensional recovery, especially if all the cameras have the same height. With this strategy, the placement of cameras network is not treated as an image processing problem. The use of three variants optimization techniques by Particle Swarm Optimization (Standard Particle Swarm Optimization, Weight Particle Swarm Optimization and Canonical Particle Swarm Optimization), allowed us to solve the problem of cameras network placement in a minimal amount of time. The overall recovery objective has been achieved despite the complexity imposed in the third scenario by the Canonical Particle Swarm Optimization variant

Robotic Wireless Sensor Networks

In this chapter, we present a literature survey of an emerging, cutting-edge, and multi-disciplinary field of research at the intersection of Robotics and Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor Networks (RWSN). We define a RWSN as an autonomous networked multi-robot system that aims to achieve certain sensing goals while meeting and maintaining certain communication performance requirements, through cooperative control, learning and adaptation. While both of the component areas, i.e., Robotics and WSN, are very well-known and well-explored, there exist a whole set of new opportunities and research directions at the intersection of these two fields which are relatively or even completely unexplored. One such example would be the use of a set of robotic routers to set up a temporary communication path between a sender and a receiver that uses the controlled mobility to the advantage of packet routing. We find that there exist only a limited number of articles to be directly categorized as RWSN related works whereas there exist a range of articles in the robotics and the WSN literature that are also relevant to this new field of research. To connect the dots, we first identify the core problems and research trends related to RWSN such as connectivity, localization, routing, and robust flow of information. Next, we classify the existing research on RWSN as well as the relevant state-of-the-arts from robotics and WSN community according to the problems and trends identified in the first step. Lastly, we analyze what is missing in the existing literature, and identify topics that require more research attention in the future

Artificial Intelligence Applications for Drones Navigation in GPS-denied or degraded Environments

L'abstract è presente nell'allegato / the abstract is in the attachmen

Survey of location-centric target tracking with mobile elements in wireless sensor networks

介绍目标跟踪的过程以及移动跟踪的特点;通过区分目标定位为主的方法和目标探测为主的方法,介绍定位为主的移动式目标跟踪方法(称为目标的移动式定位跟踪; )的研究现状;分析和比较不同方法的特点和应用领域,发现现有方法虽然可以提高跟踪质量、降低网络整体能耗,但是还存在一些问题。基于此,总结目标的移动; 式定位跟踪方法在方法类型、网络结构和节点模型等方面可能存在的研究热点,指出其研究和发展趋势。The basic process of target tracking and the properties of tracking; solutions with mobile elements were introduced. By distinguishing; location-centric methods and detection-centric methods, the current; research status of the location-centric target tracking methods were; reviewed. The properties and application fields of different solutions; were analyzed and compared. Although the existing solutions can; significantly improve tracking quality and reduce energy consumption of; the whole network, there are also some problems. Based on these; discoveries, some possible research hotspots of mobile solutions were; summarized in many aspects, such as method types, network architecture,; node model, and so on, indicating the future direction of research and; development.国家自然科学基金资助项目; 国家科技支撑计划项

FANET optimization: a destination path flow model

Closed-loop routing in flying ad hoc networks (FANET) arises as a result of the quick changes of communication links and topology. As such, causing link breakage during information dissemination. This paper proposed a destination path flow model to improve the communication link in FANET. The models utilized Smell Agent Optimization and Particle Swarm Optimization algorithms in managing link establishment between communicating nodes. The modeled scenario depicts the practical application of FANET in media and sports coverage where only one vendor is given the license for live coverage and must relay to other vendors. Three different scenarios using both optimization Algorithms were presented. From the result obtained, the SAO optimizes the bandwidth costs much better than PSO with a percentage improvement of 10.46%, 4.04% and 3.66% with respect to the 1st, 2nd and 3rd scenarios respectively. In the case of communication delay between the FANET nodes, the PSO has a much better communication delay over SAO with percentage improvement of 40.89%, 50.26% and 68.85% in the first, second and third scenarios respectively

Collaborative signal and information processing for target detection with heterogeneous sensor networks

In this paper, an approach for target detection and acquisition with heterogeneous sensor networks through strategic resource allocation and coordination is presented. Based on sensor management and collaborative signal and information processing, low-capacity low-cost sensors are strategically deployed to guide and cue scarce high performance sensors in the network to improve the data quality, with which the mission is eventually completed more efficiently with lower cost. We focus on the problem of designing such a network system in which issues of resource selection and allocation, system behaviour and capacity, target behaviour and patterns, the environment, and multiple constraints such as the cost must be addressed simultaneously. Simulation results offer significant insight into sensor selection and network operation, and demonstrate the great benefits introduced by guided search in an application of hunting down and capturing hostile vehicles on the battlefield

Swarm Robotics

Collectively working robot teams can solve a problem more efficiently than a single robot, while also providing robustness and flexibility to the group. Swarm robotics model is a key component of a cooperative algorithm that controls the behaviors and interactions of all individuals. The robots in the swarm should have some basic functions, such as sensing, communicating, and monitoring, and satisfy the following properties