A DECISION-THEORETIC APPROACH FOR CONTROLLING AND COORDINATING MULTIPLE ACTIVE CAMERAS IN SURVEILLANCE

Ph.DDOCTOR OF PHILOSOPH

GP-Localize: Persistent Mobile Robot Localization using Online Sparse Gaussian Process Observation Model

Central to robot exploration and mapping is the task of persistent localization in environmental fields characterized by spatially correlated measurements. This paper presents a Gaussian process localization (GP-Localize) algorithm that, in contrast to existing works, can exploit the spatially correlated field measurements taken during a robot's exploration (instead of relying on prior training data) for efficiently and scalably learning the GP observation model online through our proposed novel online sparse GP. As a result, GP-Localize is capable of achieving constant time and memory (i.e., independent of the size of the data) per filtering step, which demonstrates the practical feasibility of using GPs for persistent robot localization and autonomy. Empirical evaluation via simulated experiments with real-world datasets and a real robot experiment shows that GP-Localize outperforms existing GP localization algorithms.Comment: 28th AAAI Conference on Artificial Intelligence (AAAI 2014), Extended version with proofs, 10 page

Multimedia Social Networks: Game Theoretic Modeling and Equilibrium Analysis

Multimedia content sharing and distribution over multimedia social networks is more popular now than ever before: we download music from Napster, share our images on Flickr, view user-created video on YouTube, and watch peer-to-peer television using Coolstreaming, PPLive and PPStream. Within these multimedia social networks, users share, exchange, and compete for scarce resources such as multimedia data and bandwidth, and thus influence each other's decision and performance. Therefore, to provide fundamental guidelines for the better system design, it is important to analyze the users' behaviors and interactions in a multimedia social network, i.e., how users interact with and respond to each other. Game theory is a mathematical tool that analyzes the strategic interactions among multiple decision makers. It is ideal and essential for studying, analyzing, and modeling the users' behaviors and interactions in social networking. In this thesis, game theory will be used to model users' behaviors in social networks and analyze the corresponding equilibria. Specifically, in this thesis, we first illustrate how to use game theory to analyze and model users' behaviors in multimedia social networks by discussing the following three different scenarios. In the first scenario, we consider a non-cooperative multimedia social network where users in the social network compete for the same resource. We use multiuser rate allocation social network as an example for this scenario. In the second scenario, we consider a cooperative multimedia social network where users in the social network cooperate with each other to obtain the content. We use cooperative peer-to-peer streaming social network as an example for this scenario. In the third scenario, we consider how to use the indirect reciprocity game to stimulate cooperation among users. We use the packet forwarding social network as an example. Moreover, the concept of ``multimedia social networks" can be applied into the field of signal and image processing. If each pixel/sample is treated as a user, then the whole image/signal can be regarded as a multimedia social network. From such a perspective, we introduce a new paradigm for signal and image processing, and develop generalized and unified frameworks for classical signal and image problems. In this thesis, we use image denoising and image interpolation as examples to illustrate how to use game theory to re-formulate the classical signal and image processing problems

An intelligent surveillance platform for large metropolitan areas with dense sensor deployment

Producción CientíficaThis paper presents an intelligent surveillance platform based on the usage of large numbers of inexpensive sensors designed and developed inside the European Eureka Celtic project HuSIMS. With the aim of maximizing the number of deployable units while keeping monetary and resource/bandwidth costs at a minimum, the surveillance platform is based on the usage of inexpensive visual sensors which apply efficient motion detection and tracking algorithms to transform the video signal in a set of motion parameters. In order to automate the analysis of the myriad of data streams generated by the visual sensors, the platform’s control center includes an alarm detection engine which comprises three components applying three different Artificial Intelligence strategies in parallel. These strategies are generic, domain-independent approaches which are able to operate in several domains (traffic surveillance, vandalism prevention, perimeter security, etc.). The architecture is completed with a versatile communication network which facilitates data collection from the visual sensors and alarm and video stream distribution towards the emergency teams. The resulting surveillance system is extremely suitable for its deployment in metropolitan areas, smart cities, and large facilities, mainly because cheap visual sensors and autonomous alarm detection facilitate dense sensor network deployments for wide and detailed coveraMinisterio de Industria, Turismo y Comercio and the Fondo de Desarrollo Regional (FEDER) and the Israeli Chief Scientist Research Grant 43660 inside the European Eureka Celtic project HuSIMS (TSI-020400-2010-102)

Game Theory for Multi-Access Edge Computing:Survey, Use Cases, and Future Trends

Game theory (GT) has been used with significant success to formulate, and either design or optimize, the operation of many representative communications and networking scenarios. The games in these scenarios involve, as usual, diverse players with conflicting goals. This paper primarily surveys the literature that has applied theoretical games to wireless networks, emphasizing use cases of upcoming multiaccess edge computing (MEC). MEC is relatively new and offers cloud services at the network periphery, aiming to reduce service latency backhaul load, and enhance relevant operational aspects such as quality of experience or security. Our presentation of GT is focused on the major challenges imposed by MEC services over the wireless resources. The survey is divided into classical and evolutionary games. Then, our discussion proceeds to more specific aspects which have a considerable impact on the game's usefulness, namely, rational versus evolving strategies, cooperation among players, available game information, the way the game is played (single turn, repeated), the game's model evaluation, and how the model results can be applied for both optimizing resource-constrained resources and balancing diverse tradeoffs in real edge networking scenarios. Finally, we reflect on lessons learned, highlighting future trends and research directions for applying theoretical model games in upcoming MEC services, considering both network design issues and usage scenarios

Optimization and Communication in UAV Networks

UAVs are becoming a reality and attract increasing attention. They can be remotely controlled or completely autonomous and be used alone or as a fleet and in a large set of applications. They are constrained by hardware since they cannot be too heavy and rely on batteries. Their use still raises a large set of exciting new challenges in terms of trajectory optimization and positioning when they are used alone or in cooperation, and communication when they evolve in swarm, to name but a few examples. This book presents some new original contributions regarding UAV or UAV swarm optimization and communication aspects