Stochastic surveillance strategies for spatial quickest detection

Abstract—We present stochastic vehicle routing policies for detection of any number of anomalies in a set of regions of interest. The autonomous vehicle collects information from a set of regions and sends it to a fusion center. The vehicle follows a randomized region selection policy at each iteration. Using the collected information, the fusion center runs an ensemble of cumulative sum (CUSUM) algorithms in order to detect the presence of an anomaly in any region. We first determine optimal stationary policies that result in quickest detection of all anomalies. We then study an adaptive policy that assigns higher selection probability to a region with higher likelihood of an anomaly. We provide a comparative study of these policies. I

Cooperative Sequential Hypothesis Testing in Multi-Agent Systems

Since the sequential inference framework determines the number of total samples in real-time based on the history data, it yields quicker decision compared to its fixed-sample-size counterpart, provided the appropriate early termination rule. This advantage is particularly appealing in the system where data is acquired in sequence, and both the decision accuracy and latency are of primary interests. Meanwhile, the Internet of Things (IoT) technology has created all types of connected devices, which can potentially enhance the inference performance by providing information diversity. For instance, smart home network deploys multiple sensors to perform the climate control, security surveillance, and personal assistance. Therefore, it has become highly desirable to pursue the solutions that can efficiently integrate the classic sequential inference methodologies into the networked multi-agent systems. In brief, this thesis investigates the sequential hypothesis testing problem in multi-agent networks, aiming to overcome the constraints of communication bandwidth, energy capacity, and network topology so that the networked system can perform sequential test cooperatively to its full potential. The multi-agent networks are generally categorized into two main types. The first one features a hierarchical structure, where the agents transmit messages based on their observations to a fusion center that performs the data fusion and sequential inference on behalf of the network. One such example is the network formed by wearable devices connected with a smartphone. The central challenges in the hierarchical network arise from the instantaneous transmission of the distributed data to the fusion center, which is constrained by the battery capacity and the communication bandwidth in practice. Therefore, the first part of this thesis is dedicated to address these two constraints for the hierarchical network. In specific, aiming to preserve the agent energy, Chapter 2 devises the optimal sequential test that selects the "most informative" agent online at each sampling step while leaving others in idle status. To overcome the communication bottleneck, Chapter 3 proposes a scheme that allows distributed agents to send only one-bit messages asynchronously to the fusion center without compromising the performance. In contrast, the second type of networks does not assume the presence of a fusion center, and each agent performs the sequential test based on its own samples together with the messages shared by its neighbours. The communication links can be represented by an undirected graph. A variety of applications conform to such a distributed structure, for instance, the social networks that connect individuals through online friendship and the vehicular network formed by connected cars. However, the distributed network is prone to sub-optimal performance since each agent can only access the information from its local neighborhood. Hence the second part of this thesis mainly focuses on optimizing the distributed performance through local message exchanges. In Chapter 4, we put forward a distributed sequential test based on consensus algorithm, where agents exchange and aggregate real-valued local statistics with neighbours at every sampling step. In order to further lower the communication overhead, Chapter 5 develops a distributed sequential test that only requires the exchange of quantized messages (i.e., integers) between agents. The cluster-based network, which is a hybrid of the hierarchical and distributed networks, is also investigated in Chapter 5

Robotic Surveillance and Deployment Strategies

Autonomous mobile systems are becoming more common place, and have the opportunity to revolutionize many modern application areas. They include, but are not limited to, tasks such as search and rescue operations, ad-hoc mobile wireless networks and warehouse management; each application having its own complexities and challenging problems that need addressing. In this thesis, we explore and characterize two application areas in particular. First, we explore the problem of autonomous stochastic surveillance. In particular, we study random walks on a finite graph that are described by a Markov chain. We present strategies that minimize the first hitting time of the Markov chain, and look at both the single agent and multi-agent cases. In the single agent case, we provide a formulation and convex optimization scheme for the hitting time on graphs with travel distances. In addition, we provide detailed simulation results showing the effectiveness of our strategy versus other well-known Markov chain design strategies. In the multi-agent case, we provide the first characterization of the hitting time for multiple random walkers, which we denote the "group hitting time". We also provide a closed form solution for calculating the hitting time between specified nodes for both the single and multiple random walker cases. Our results allow for the multiple random walks to be different and, moreover, for the random walks to operate on different subgraphs. Finally, we use sequential quadratic programming to find the transition matrices that generate minimal "group hitting time".Second, we consider the problem of optimal coverage with a group of mobile agents. For a planar environment with an associated density function, this problem is equivalent to dividing the environment into optimal subregions such that each agent is responsible for the coverage of its own region. We study this problem for the discrete time and space case and the continuous time and space case. For the discrete time and space case, we present algorithms that provide optimal coverage control in a non-convex environment when each robot has only asynchronous and sporadic communication with a base station. We introduce the notion of coverings, a generalization of partitions, to do this. For the continuous time and space case, we present a continuous-time distributed policy which allows a team of agents to achieve a convex area-constrained partition in a convex workspace. This work is related to the classic Lloyd algorithm, and makes use of generalized Voronoi diagrams. For both cases we provide detailed simulation results and discuss practical implementation issues

Coordination Strategies for Human Supervisory Control of Robotic Teams

Autonomous mobile sensor teams are crucial to many civilian and military applications. These robotic teams often operate within a larger supervisory system, involving human operators who oversee the mission and analyze sensory data. Here, both the human and the robotic system sub-components, as well as interactions between them, must be carefully considered in designing effective mission coordination strategies. This dissertation explores a series of representative sub-problems relating to the analysis and coordination of both mobile sensors and human operators within supervisory systems. The content herein is presented in three parts: Part I focuses on coordinating operator behavior independently (operator-focused methods), Part II focuses on coordinating mobile-sensor behavior independently (sensor-focused methods), and Part III focuses on jointly coordinating both operator and mobile sensor behavior (joint methods). The content herein is primarily motivated by a particular application in which Unmanned Aerial Vehicles collect visual imagery to be analyzed by a remotely located operator, although many of the results apply to any system of similar architecture. Specifically, with regard to operator-focused methods, Chapter 2 illustrates how physiological sensing, namely eye tracking, may provide aid in modeling operator behavior and assessing the usability of user interfaces. The results of a pilot usability study in which human observers interact with a supervisory control interface are presented, and eye-tracking data is correlated with various usability metrics. Chapter 3 develops robust scheduling algorithms for determining the ordering in which operators should process sensory tasks to both boost performance and decrease variance. A scenario-based, Mixed-Integer Linear Program (MILP) framework is presented, and is assessed in a series of numerical studies. With regard to sensor-focused methods, Chapters 4 and 5 consider two types of supervisory surveillance missions:Chapter 4 develops a cloud-based coverage strategy for persistent surveillance of planar regions. The scheme operates in a dynamic environment, only requiring sporadic, unplanned data exchanges between a central cloud and the sensors in the field. The framework is shown to provide collision avoidance and, in certain cases, produce convergence to a Pareto-optimal coverage configuration. In chapter 5, a heuristic routing scheme is discussed to produce Dubins tours for persistent surveillance of discrete targets, each with associated visibility and dwell-time constraints. Under some assumptions, the problem is posed as a constrained optimization that seeks a minimum-length tour, while simultaneously constraining the time required to reach the first target. A sampling-based scheme is used to approximate solutions to the constrained optimization. This approach is also shown to have desirable resolution completeness properties.Finally, Chapter 6 explores joint methods for coordinating both operator and sensor behavior in the context of a discrete surveillance mission (similar to that of Chapter 5), in which UAVs collect imagery of static targets to be analyzed by the human operator.In particular, a method is proposed to simultaneously construct UAV routes and operator schedules, with the goal of maintaining the operator's task load within a high-performance regime and preventing unnecessary UAV loitering. The full routing/scheduling problem is posed as a mixed-integer (non-linear) program, which can be equivalently represented as a MILP through the addition of auxiliary variables. For scalability, a MILP-based receding-horizon method is proposed to incrementally construct suboptimal solutions to the full optimization problem, which can be extended using a scenario-based approach (similar to that of Chapter 3) to incorporate robustness to operator uncertainty