Graphical model-based approaches to target tracking in sensor networks: an overview of some recent work and challenges

Sensor Networks have provided a technology base for distributed target tracking applications among others. Conventional centralized approaches to the problem lack scalability in such a scenario where a large number of sensors provide measurements simultaneously under a possibly non-collaborating environment. Therefore research efforts have focused on scalable, robust, and distributed algorithms for the inference tasks related to target tracking, i.e. localization, data association, and track maintenance. Graphical models provide a rigorous tool for development of such algorithms by modeling the information structure of a given task and providing distributed solutions through message passing algorithms. However, the limited communication capabilities and energy resources of sensor networks pose the additional difculty of considering the tradeoff between the communication cost and the accuracy of the result. Also the network structure and the information structure are different aspects of the problem and a mapping between the physical entities and the information structure is needed. In this paper we discuss available formalisms based on graphical models for target tracking in sensor networks with a focus on the aforementioned issues. We point out additional constraints that must be asserted in order to achieve further insight and more effective solutions

Distributed data association for multi-target tracking in sensor networks

Associating sensor measurements with target tracks is a fundamental and challenging problem in multi-target tracking. The problem is even more challenging in the context of sensor networks, since association is coupled across the network, yet centralized data processing is in general infeasible due to power and bandwidth limitations. Hence efficient, distributed solutions are needed. We propose techniques based on graphical models to efficiently solve such data association problems in sensor networks. Our approach scales well with the number of sensor nodes in the network, and it is well--suited for distributed implementation. Distributed inference is realized by a message--passing algorithm which requires iterative, parallel exchange of information among neighboring nodes on the graph. So as to address trade--offs between inference performance and communication costs, we also propose a communication--sensitive form of message--passing that is capable of achieving near--optimal performance using far less communication. We demonstrate the effectiveness of our approach with experiments on simulated data

A decentralized motion coordination strategy for dynamic target tracking

This paper presents a decentralized motion planning algorithm for the distributed sensing of a noisy dynamical process by multiple cooperating mobile sensor agents. This problem is motivated by localization and tracking tasks of dynamic targets. Our gradient-descent method is based on a cost function that measures the overall quality of sensing. We also investigate the role of imperfect communication between sensor agents in this framework, and examine the trade-offs in performance between sensing and communication. Simulations illustrate the basic characteristics of the algorithms

Distributive Network Utility Maximization (NUM) over Time-Varying Fading Channels

Distributed network utility maximization (NUM) has received an increasing intensity of interest over the past few years. Distributed solutions (e.g., the primal-dual gradient method) have been intensively investigated under fading channels. As such distributed solutions involve iterative updating and explicit message passing, it is unrealistic to assume that the wireless channel remains unchanged during the iterations. Unfortunately, the behavior of those distributed solutions under time-varying channels is in general unknown. In this paper, we shall investigate the convergence behavior and tracking errors of the iterative primal-dual scaled gradient algorithm (PDSGA) with dynamic scaling matrices (DSC) for solving distributive NUM problems under time-varying fading channels. We shall also study a specific application example, namely the multi-commodity flow control and multi-carrier power allocation problem in multi-hop ad hoc networks. Our analysis shows that the PDSGA converges to a limit region rather than a single point under the finite state Markov chain (FSMC) fading channels. We also show that the order of growth of the tracking errors is given by O(T/N), where T and N are the update interval and the average sojourn time of the FSMC, respectively. Based on this analysis, we derive a low complexity distributive adaptation algorithm for determining the adaptive scaling matrices, which can be implemented distributively at each transmitter. The numerical results show the superior performance of the proposed dynamic scaling matrix algorithm over several baseline schemes, such as the regular primal-dual gradient algorithm

Scalable Approach to Uncertainty Quantification and Robust Design of Interconnected Dynamical Systems

Development of robust dynamical systems and networks such as autonomous aircraft systems capable of accomplishing complex missions faces challenges due to the dynamically evolving uncertainties coming from model uncertainties, necessity to operate in a hostile cluttered urban environment, and the distributed and dynamic nature of the communication and computation resources. Model-based robust design is difficult because of the complexity of the hybrid dynamic models including continuous vehicle dynamics, the discrete models of computations and communications, and the size of the problem. We will overview recent advances in methodology and tools to model, analyze, and design robust autonomous aerospace systems operating in uncertain environment, with stress on efficient uncertainty quantification and robust design using the case studies of the mission including model-based target tracking and search, and trajectory planning in uncertain urban environment. To show that the methodology is generally applicable to uncertain dynamical systems, we will also show examples of application of the new methods to efficient uncertainty quantification of energy usage in buildings, and stability assessment of interconnected power networks

The concept of energy traceability: Application to EV electricity charging by Res

The energy sustainability, in the era of sources diversification , can be guaranteed by an energy resources utilization most correct, foreseeing no predominance of one source over the others in any area of the world but a proper energy mix, based on locally available resources and needs. In this scenario, manageable with a smart grid system, a virtuous use of RES must be visible, recognizable and quantifiable, in one word traceable. The innovation of the traceability concept consists in the possibility of having information concerning the exact origin of the electricity used for a specific end use, in this case EV charging . The traceability, in a context of increasingly sustainability and smartness city, is an important develop tool because only in this way it is possible to quantify the real emissions produced by EVs and to ensure the real foresight of grid load. This paper wants investigate the real ways to introduce this kind of real energy accounting, through the traceabilit

Distributed model predictive control of steam/water loop in large scale ships

In modern steam power plants, the ever-increasing complexity requires great reliability and flexibility of the control system. Hence, in this paper, the feasibility of a distributed model predictive control (DiMPC) strategy with an extended prediction self-adaptive control (EPSAC) framework is studied, in which the multiple controllers allow each sub-loop to have its own requirement flexibility. Meanwhile, the model predictive control can guarantee a good performance for the system with constraints. The performance is compared against a decentralized model predictive control (DeMPC) and a centralized model predictive control (CMPC). In order to improve the computing speed, a multiple objective model predictive control (MOMPC) is proposed. For the stability of the control system, the convergence of the DiMPC is discussed. Simulation tests are performed on the five different sub-loops of steam/water loop. The results indicate that the DiMPC may achieve similar performance as CMPC while outperforming the DeMPC method