Compressed sensing of monostatic and multistatic SAR

In this paper we study the impact of sparse aperture data collection of a SAR sensor on reconstruction quality of a scene of interest. Different mono and multi-static SAR measurement configurations produce different Fourier sampling patterns. These patterns reflect different spectral and spatial diversity trade-offs that must be made during task planning. Compressed sensing theory argues that the mutual coherence of the measurement probes is related to the reconstruction performance of sparse domains. With this motivation we compare the mutual coherence and corresponding reconstruction behavior of various mono-static and ultra-narrow band multi-static configurations, which trade-off frequency for geometric diversity. We investigate if such simple metrics are related to SAR reconstruction quality in an obvious way

The Cognitive Compressive Sensing Problem

In the Cognitive Compressive Sensing (CCS) problem, a Cognitive Receiver (CR) seeks to optimize the reward obtained by sensing an underlying $N$ dimensional random vector, by collecting at most $K$ arbitrary projections of it. The $N$ components of the latent vector represent sub-channels states, that change dynamically from "busy" to "idle" and vice versa, as a Markov chain that is biased towards producing sparse vectors. To identify the optimal strategy we formulate the Multi-Armed Bandit Compressive Sensing (MAB-CS) problem, generalizing the popular Cognitive Spectrum Sensing model, in which the CR can sense $K$ out of the $N$ sub-channels, as well as the typical static setting of Compressive Sensing, in which the CR observes $K$ linear combinations of the $N$ dimensional sparse vector. The CR opportunistic choice of the sensing matrix should balance the desire of revealing the state of as many dimensions of the latent vector as possible, while not exceeding the limits beyond which the vector support is no longer uniquely identifiable.Comment: 8 pages, 2 figure

FieldSAFE: Dataset for Obstacle Detection in Agriculture

In this paper, we present a novel multi-modal dataset for obstacle detection in agriculture. The dataset comprises approximately 2 hours of raw sensor data from a tractor-mounted sensor system in a grass mowing scenario in Denmark, October 2016. Sensing modalities include stereo camera, thermal camera, web camera, 360-degree camera, lidar, and radar, while precise localization is available from fused IMU and GNSS. Both static and moving obstacles are present including humans, mannequin dolls, rocks, barrels, buildings, vehicles, and vegetation. All obstacles have ground truth object labels and geographic coordinates.Comment: Submitted to special issue of MDPI Sensors: Sensors in Agricultur

Context Aware Multisensor Image Fusion for Military Sensor Networks using Multi Agent System

This paper proposes a Context Aware Agent based Military Sensor Network (CAMSN) to form an improved infrastructure for multi-sensor image fusion. It considers contexts driven by a node and sink. The contexts such as general and critical object detection are node driven where as sensing time (such as day or night) is sink driven. The agencies used in the scheme are categorized as node and sink agency. Each agency employs a set of static and mobile agents to perform dedicated tasks. Node agency performs context sensing and context interpretation based on the sensed image and sensing time. Node agency comprises of node manager agent, context agent and node blackboard (NBB). Context agent gathers the context from the target and updates the NBB, Node manager agent interprets the context and passes the context information to sink node by using flooding mechanism. Sink agency mainly comprises of sink manager agent, fusing agent, and sink black board. A context at the sensor node triggers the fusion process at the sink. Based on the context, sink manager agent triggers the fusing agent. Fusing agent roams around the network, visits active sensor node, fuses the relevant images and sends the fused image to sink. The fusing agent uses wavelet transform for fusion. The scheme is simulated for testing its operation effectiveness in terms of fusion time, mean square error, throughput, dropping rate, bandwidth requirement, node battery usage and agent overhead

Decentralized Control of Uncertain Multi-Agent Systems with Connectivity Maintenance and Collision Avoidance

This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol such that each agent reaches a predefined position at the workspace, while using only local information based on a limited sensing radius. The proposed scheme guarantees that the initially connected agents remain always connected. In addition, by introducing certain distance constraints, we guarantee inter-agent collision avoidance, as well as, collision avoidance with the obstacles and the boundary of the workspace. The proposed controllers employ a class of Decentralized Nonlinear Model Predictive Controllers (DNMPC) under the presence of disturbances and uncertainties. Finally, simulation results verify the validity of the proposed framework.Comment: IEEE European Control Conference (ECC), Limassol, Cyprus, June 201

A Low-Overhead Energy Detection Based Cooperative Sensing Protocol for Cognitive Radio Systems

Cognitive radio and dynamic spectrum access represent a new paradigm shift in more effective use of limited radio spectrum. One core component behind dynamic spectrum access is the sensing of primary user activity in the shared spectrum. Conventional distributed sensing and centralized decision framework involving multiple sensor nodes is proposed to enhance the sensing performance. However, it is difficult to apply the conventional schemes in reality since the overhead in sensing measurement and sensing reporting as well as in sensing report combining limit the number of sensor nodes that can participate in distributive sensing. In this paper, we shall propose a novel, low overhead and low complexity energy detection based cooperative sensing framework for the cognitive radio systems which addresses the above two issues. The energy detection based cooperative sensing scheme greatly reduces the quiet period overhead (for sensing measurement) as well as sensing reporting overhead of the secondary systems and the power scheduling algorithm dynamically allocate the transmission power of the cooperative sensor nodes based on the channel statistics of the links to the BS as well as the quality of the sensing measurement. In order to obtain design insights, we also derive the asymptotic sensing performance of the proposed cooperative sensing framework based on the mobility model. We show that the false alarm and mis-detection performance of the proposed cooperative sensing framework improve as we increase the number of cooperative sensor nodes.Comment: 11 pages, 8 figures, journal. To appear in IEEE Transactions on Wireless Communication