92 research outputs found

    Evidence Propagation and Consensus Formation in Noisy Environments

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    We study the effectiveness of consensus formation in multi-agent systems where there is both belief updating based on direct evidence and also belief combination between agents. In particular, we consider the scenario in which a population of agents collaborate on the best-of-n problem where the aim is to reach a consensus about which is the best (alternatively, true) state from amongst a set of states, each with a different quality value (or level of evidence). Agents' beliefs are represented within Dempster-Shafer theory by mass functions and we investigate the macro-level properties of four well-known belief combination operators for this multi-agent consensus formation problem: Dempster's rule, Yager's rule, Dubois & Prade's operator and the averaging operator. The convergence properties of the operators are considered and simulation experiments are conducted for different evidence rates and noise levels. Results show that a combination of updating on direct evidence and belief combination between agents results in better consensus to the best state than does evidence updating alone. We also find that in this framework the operators are robust to noise. Broadly, Yager's rule is shown to be the better operator under various parameter values, i.e. convergence to the best state, robustness to noise, and scalability.Comment: 13th international conference on Scalable Uncertainty Managemen

    Topics in inference and decision-making with partial knowledge

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    Two essential elements needed in the process of inference and decision-making are prior probabilities and likelihood functions. When both of these components are known accurately and precisely, the Bayesian approach provides a consistent and coherent solution to the problems of inference and decision-making. In many situations, however, either one or both of the above components may not be known, or at least may not be known precisely. This problem of partial knowledge about prior probabilities and likelihood functions is addressed. There are at least two ways to cope with this lack of precise knowledge: robust methods, and interval-valued methods. First, ways of modeling imprecision and indeterminacies in prior probabilities and likelihood functions are examined; then how imprecision in the above components carries over to the posterior probabilities is examined. Finally, the problem of decision making with imprecise posterior probabilities and the consequences of such actions are addressed. Application areas where the above problems may occur are in statistical pattern recognition problems, for example, the problem of classification of high-dimensional multispectral remote sensing image data

    A method of classification for multisource data in remote sensing based on interval-valued probabilities

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    An axiomatic approach to intervalued (IV) probabilities is presented, where the IV probability is defined by a pair of set-theoretic functions which satisfy some pre-specified axioms. On the basis of this approach representation of statistical evidence and combination of multiple bodies of evidence are emphasized. Although IV probabilities provide an innovative means for the representation and combination of evidential information, they make the decision process rather complicated. It entails more intelligent strategies for making decisions. The development of decision rules over IV probabilities is discussed from the viewpoint of statistical pattern recognition. The proposed method, so called evidential reasoning method, is applied to the ground-cover classification of a multisource data set consisting of Multispectral Scanner (MSS) data, Synthetic Aperture Radar (SAR) data, and digital terrain data such as elevation, slope, and aspect. By treating the data sources separately, the method is able to capture both parametric and nonparametric information and to combine them. Then the method is applied to two separate cases of classifying multiband data obtained by a single sensor. In each case a set of multiple sources is obtained by dividing the dimensionally huge data into smaller and more manageable pieces based on the global statistical correlation information. By a divide-and-combine process, the method is able to utilize more features than the conventional maximum likelihood method

    Method of Classification for Multisource Data in Remote Sensing Based on Interval-VaIued Probabilities

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    This work was supported by NASA Grant No. NAGW-925 “Earth Observation Research - Using Multistage EOS-Iike Data” (Principal lnvestigators: David A. Landgrebe and Chris Johannsen). The Anderson River SAR/MSS data set was acquired, preprocessed, and loaned to us by the Canada Centre for Remote Sensing, Department of Energy Mines, and Resources, of the Government of Canada. The importance of utilizing multisource data in ground-cover^ classification lies in the fact that improvements in classification accuracy can be achieved at the expense of additional independent features provided by separate sensors. However, it should be recognized that information and knowledge from most available data sources in the real world are neither certain nor complete. We refer to such a body of uncertain, incomplete, and sometimes inconsistent information as “evidential information.” The objective of this research is to develop a mathematical framework within which various applications can be made with multisource data in remote sensing and geographic information systems. The methodology described in this report has evolved from “evidential reasoning,” where each data source is considered as providing a body of evidence with a certain degree of belief. The degrees of belief based on the body of evidence are represented by “interval-valued (IV) probabilities” rather than by conventional point-valued probabilities so that uncertainty can be embedded in the measures. There are three fundamental problems in the muItisource data analysis based on IV probabilities: (1) how to represent bodies of evidence by IV probabilities, (2) how to combine IV probabilities to give an overall assessment of the combined body of evidence, and (3) how to make a decision when the statistical evidence is given by IV probabilities. This report first introduces an axiomatic approach to IV probabilities, where the IV probability is defined by a pair of set-theoretic functions which satisfy some pre-specified axioms. On the basis of this approach the report focuses on representation of statistical evidence by IV probabilities and combination of multiple bodies of evidence. Although IV probabilities provide an innovative means for the representation and combination of evidential information, they make the decision process rather complicated. It entails more intelligent strategies for making decisions. This report also focuses on the development of decision rules over IV probabilities from the viewpoint of statistical pattern recognition The proposed method, so called “evidential reasoning” method, is applied to the ground-cover classification of a multisource data set consisting of Multispectral Scanner (MSS) data* Synthetic Aperture Radar (SAR) data, and digital terrain data such as elevation, slope, and aspect. By treating the data sources separately, the method is able to capture both parametric and nonparametric information and to combine them. Then the method is applied to two separate cases of classifying multiband data obtained by a single sensor, in each case, a set of multiple sources is obtained by dividing the dimensionally huge data into smaller and more manageable pieces based on the global statistical correlation information. By a Divide-and-Combine process, the method is able to utilize more features than the conventional Maximum Likelihood method

    A novel multi-classifier information fusion based on Dempster-Shafer theory: application to vibration-based fault detection

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    Achieving a high prediction rate is a crucial task in fault detection. Although various classification procedures are available, none of them can give high accuracy in all applications. Therefore, in this paper, a novel multi-classifier fusion approach is developed to boost the performance of the individual classifiers. This is acquired by using Dempster-Shafer theory (DST). However, in cases with conflicting evidences, the DST may give counter-intuitive results. In this regard, a preprocessing technique based on a new metric is devised in order to measure and mitigate the conflict between the evidences. To evaluate and validate the effectiveness of the proposed approach, the method is applied to 15 benchmarks datasets from UCI and KEEL. Further, it is applied for classifying polycrystalline Nickel alloy first-stage turbine blades based on their broadband vibrational response. Through statistical analysis with different noise levels, and by comparing with four state-of-the-art fusion techniques, it is shown that that the proposed method improves the classification accuracy and outperforms the individual classifiers.Comment: arXiv admin note: text overlap with arXiv:2007.0878

    Indoor Geo-location And Tracking Of Mobile Autonomous Robot

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    The field of robotics has always been one of fascination right from the day of Terminator. Even though we still do not have robots that can actually replicate human action and intelligence, progress is being made in the right direction. Robotic applications range from defense to civilian, in public safety and fire fighting. With the increase in urban-warfare robot tracking inside buildings and in cities form a very important application. The numerous applications range from munitions tracking to replacing soldiers for reconnaissance information. Fire fighters use robots for survey of the affected area. Tracking robots has been limited to the local area under consideration. Decision making is inhibited due to limited local knowledge and approximations have to be made. An effective decision making would involve tracking the robot in earth co-ordinates such as latitude and longitude. GPS signal provides us sufficient and reliable data for such decision making. The main drawback of using GPS is that it is unavailable indoors and also there is signal attenuation outdoors. Indoor geolocation forms the basis of tracking robots inside buildings and other places where GPS signals are unavailable. Indoor geolocation has traditionally been the field of wireless networks using techniques such as low frequency RF signals and ultra-wideband antennas. In this thesis we propose a novel method for achieving geolocation and enable tracking. Geolocation and tracking are achieved by a combination of Gyroscope and encoders together referred to as the Inertial Navigation System (INS). Gyroscopes have been widely used in aerospace applications for stabilizing aircrafts. In our case we use gyroscope as means of determining the heading of the robot. Further, commands can be sent to the robot when it is off balance or off-track. Sensors are inherently error prone; hence the process of geolocation is complicated and limited by the imperfect mathematical modeling of input noise. We make use of Kalman Filter for processing erroneous sensor data, as it provides us a robust and stable algorithm. The error characteristics of the sensors are input to the Kalman Filter and filtered data is obtained. We have performed a large set of experiments, both indoors and outdoors to test the reliability of the system. In outdoors we have used the GPS signal to aid the INS measurements. When indoors we utilize the last known position and extrapolate to obtain the GPS co-ordinates
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