Socio-economic vision graph generation and handover in distributed smart camera networks

In this article we present an approach to object tracking handover in a network of smart cameras, based on self-interested autonomous agents, which exchange responsibility for tracking objects in a market mechanism, in order to maximise their own utility. A novel ant-colony inspired mechanism is used to learn the vision graph, that is, the camera neighbourhood relations, during runtime, which may then be used to optimise communication between cameras. The key benefits of our completely decentralised approach are on the one hand generating the vision graph online, enabling efficient deployment in unknown scenarios and camera network topologies, and on the other hand relying only on local information, increasing the robustness of the system. Since our market-based approach does not rely on a priori topology information, the need for any multicamera calibration can be avoided. We have evaluated our approach both in a simulation study and in network of real distributed smart cameras

Resource-aware configuration in smart camera networks

A recent trend in smart camera networks is that they are able to modify the functionality during runtime to better reflect changes in the observed scenes and in the specified monitoring tasks. In this paper we focus on different configuration methods for such networks. A configuration is given by three components: (i) a description of the camera nodes, (ii) a specification of the area of interest by means of observation points and the associated monitoring activities, and (iii) a description of the analysis tasks. We introduce centralized, distributed and proprioceptive configuration methods and compare their properties and performance

A review of task allocation methods for UAVs

Unmanned aerial vehicles, can offer solutions to a lot of problems, making it crucial to research more and improve the task allocation methods used. In this survey, the main approaches used for task allocation in applications involving UAVs are presented as well as the most common applications of UAVs that require the application of task allocation methods. They are followed by the categories of the task allocation algorithms used, with the main focus being on more recent works. Our analysis of these methods focuses primarily on their complexity, optimality, and scalability. Additionally, the communication schemes commonly utilized are presented, as well as the impact of uncertainty on task allocation of UAVs. Finally, these methods are compared based on the aforementioned criteria, suggesting the most promising approaches

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

Biologically inspired, self organizing communication networks.

PhDThe problem of energy-efficient, reliable, accurate and self-organized target tracking in Wireless Sensor Networks (WSNs) is considered for sensor nodes with limited physical resources and abrupt manoeuvring mobile targets. A biologically inspired, adaptive multi-sensor scheme is proposed for collaborative Single Target Tracking (STT) and Multi-Target Tracking (MTT). Behavioural data obtained while tracking the targets including the targets’ previous locations is recorded as metadata to compute the target sampling interval, target importance and local monitoring interval so that tracking continuity and energy-efficiency are improved. The subsequent sensor groups that track the targets are selected proactively according to the information associated with the predicted target location probability such that the overall tracking performance is optimized or nearly-optimized. One sensor node from each of the selected groups is elected as a main node for management operations so that energy efficiency and load balancing are improved. A decision algorithm is proposed to allow the “conflict” nodes that are located in the sensing areas of more than one target at the same time to decide their preferred target according to the target importance and the distance to the target. A tracking recovery mechanism is developed to provide the tracking reliability in the event of target loss. The problem of task mapping and scheduling in WSNs is also considered. A Biological Independent Task Allocation (BITA) algorithm and a Biological Task Mapping and Scheduling (BTMS) algorithm are developed to execute an application using a group of sensor nodes. BITA, BTMS and the functional specialization of the sensor groups in target tracking are all inspired from biological behaviours of differentiation in zygote formation. Simulation results show that compared with other well-known schemes, the proposed tracking, task mapping and scheduling schemes can provide a significant improvement in energy-efficiency and computational time, whilst maintaining acceptable accuracy and seamless tracking, even with abrupt manoeuvring targets.Queen Mary university of London full Scholarshi

Emergent Behavior Development and Control in Multi-Agent Systems

Emergence in natural systems is the development of complex behaviors that result from the aggregation of simple agent-to-agent and agent-to-environment interactions. Emergence research intersects with many disciplines such as physics, biology, and ecology and provides a theoretical framework for investigating how order appears to spontaneously arise in complex adaptive systems. In biological systems, emergent behaviors allow simple agents to collectively accomplish multiple tasks in highly dynamic environments; ensuring system survival. These systems all display similar properties: self-organized hierarchies, robustness, adaptability, and decentralized task execution. However, current algorithmic approaches merely present theoretical models without showing how these models actually create hierarchical, emergent systems. To fill this research gap, this dissertation presents an algorithm based on entropy and speciation - defined as morphological or physiological differences in a population - that results in hierarchical emergent phenomena in multi-agent systems. Results show that speciation creates system hierarchies composed of goal-aligned entities, i.e. niches. As niche actions aggregate into more complex behaviors, more levels emerge within the system hierarchy, eventually resulting in a system that can meet multiple tasks and is robust to environmental changes. Speciation provides a powerful tool for creating goal-aligned, decentralized systems that are inherently robust and adaptable, meeting the scalability demands of current, multi-agent system design. Results in base defense, k-n assignment, division of labor and resource competition experiments, show that speciated populations create hierarchical self-organized systems, meet multiple tasks and are more robust to environmental change than non-speciated populations

Advances in Artificial Intelligence: Models, Optimization, and Machine Learning

The present book contains all the articles accepted and published in the Special Issue “Advances in Artificial Intelligence: Models, Optimization, and Machine Learning” of the MDPI Mathematics journal, which covers a wide range of topics connected to the theory and applications of artificial intelligence and its subfields. These topics include, among others, deep learning and classic machine learning algorithms, neural modelling, architectures and learning algorithms, biologically inspired optimization algorithms, algorithms for autonomous driving, probabilistic models and Bayesian reasoning, intelligent agents and multiagent systems. We hope that the scientific results presented in this book will serve as valuable sources of documentation and inspiration for anyone willing to pursue research in artificial intelligence, machine learning and their widespread applications

Computational intelligence approaches to robotics, automation, and control [Volume guest editors]

No abstract available