Tracking and coordination of multiple agents using sensor networks: System design, algorithms and experiments

Proceedings of the IEEE

Volumn 95, Issue 1, 2007, Pages 234-254

  Oh, Songhwai ^a   Schenato, Luca ^b   Chen, Phoebus ^a   Sastry, Shankar ^a  

^a UNIVERSITY OF CALIFORNIA   (United States)

^b UNIVERSITY OF PADOVA   (Italy)

Author keywords

Multiagent coordination; Multisensor fusion; Multitarget tracking; Networked control systems; Pursuit evasion games; Sensor networks

Indexed keywords

COMPUTER CONTROL SYSTEMS; DATA HANDLING; MARKOV PROCESSES; MULTI AGENT SYSTEMS; NETWORKED CONTROL SYSTEMS; REAL TIME CONTROL; SENSOR NETWORKS;

COMMUNICATION DELAYS; HIERARCHICAL CONTROL SYSTEMS; MARKOV CHAIN MONTE-CARLO; MULTI-AGENT COORDINATIONS; MULTI-TARGET TRACKING; MULTISENSOR FUSION ALGORITHM; MULTITARGET TRACKING ALGORITHMS; PURSUIT EVASION GAMES;

SENSOR DATA FUSION;

EID: 36048952598     PISSN: 00189219     EISSN: None     Source Type: Journal    
DOI: 10.1109/JPROC.2006.887296     Document Type: Article

References (75)

1. D. Estrin, D. Culler, K. Pister, and G. Sukhatme, "Connecting the physical world with pervasive networks," IEEE Pervasive Computing, vol. 1, no. 1, pp. 59-69, Jan. 2002.
2. I. A. W. Su, Y. Sankarasubramaniam, and E. Cayirci, "A survey on sensor networks," IEEE Commun. Mag., vol. 40, no. 8, pp. 102-116, Aug. 2002.
3. H. Gharavi and S. P. Kumar, Eds., Proc. IEEE, Special Issue on Sensor Networks and Applications, vol. 91, no. 8, pp. 1151-1256, Aug. 2003.
4. 3 solar-powered node for distributed wireless sensor networks," in Proc. IEEE Int. Conf. Sensors 2002, Orlando, FL, Jun. 2002, pp. 1510-1515.
5. S. Roundy, D. Steingart, L. Frchette, P. Wright, and J. Rabaey, "Power sources for wireless networks," in Proc. 1st Eur. Workshop Wireless Sensor Networks (EWSN '04), "erlin, Germany, Jan. 2004, pp. 1-17.
6. D. Estrin, L. Girod, G. Pottie, and M. Srivastava, "Instrumenting the world with wireless sensor networks," presented at the Int. Conf. Acoustics, Speech, and Signal Processing (ICASSP 2001), Salt Lake City, UT, May 2001.
7. D. Culler, D. Estrin, and M. Srivastava, "Guest Editors' Introduction: Overview of sensor networks," IEEE Computer (Special Issue in Sensor Networks), vol. 37,no. 8, pp. 41-49, Aug. 2004.
8. "10 emerging tecnology that will change the world," Technol. Rev., vol. 106, no. 1, pp. 33-49, Feb. 2003.
9. M. Kintner-Meyer and R. Conant, "Opportunities of wireless sensors and controls for building operation," Energ. Eng. J., vol. 102, no. 5, pp. 27-48, 2005.
10. R. Szewczyk, E. Osterweil, J. Polastre, M. Hamilton, A. M. Mainwaring, and D. Estrin, "Habitat monitoring with sensor networks," Commun. ACM, vol. 47, no. 6, pp. 34-40, 2004.
11. M. Nekovee, "Ad hoc sensor networks on the road: The promises and challenges of vehicular ad hoc networks," presented at the Workshop Ubiquitous Computing and e-Research, Edinburgh, U.K., May 2005.
12. A. Willig, K. Matheus, and A. Wolisz, "Wireless technology in industrial networks," Proc. IEEE, vol. 93, no. 6, pp. 1130-1151, Jun. 2005.
13. A. LaMarca, W. Brunette, D. Koizumi, M. Lease, S. B. Sigurdsson, K. Sikorski, D. Fox, and G. Borriello, "Making sensor networks practical with robots," in Pervasive '02: Proc. 1st Int. Conf. Pervasive Computing, London, U.K., 2002, pp. 152-166.
14. R. R. Brooks, D. Friedlander, J. Koch, and S. Phoha, "Tracking multiple targets with self-organizing distributed ground sensors," J. Parallel Distrib. Comput., vol. 64, pp. 874-884, 2004.
15. A. Arora, P. Dutta, S. Bapat, V. Kulathumani, H. Zhang, V. Naik, V. Mittal, H. Cao, M. Demirbas, M. Gouda, Y. Choi, T. Herman,S. Kulkarni, U. Arumugam, M. Nesterenko, A. Vora, and M. Miyashita, "A line in the sand: A wireless sensor network for target detection, classification, and tracking," Comput. Netw., vol. 46, no. 5, pp. 605-634, Dec. 2004.
16. J. Hespanha, H. Kim, and S. Sastry, "Multiple-agent probabilistic pursuit-evasion games," in Proc. IEEE Int. Conf. Decision and Control, 1999, pp. 2432-2437.
17. R. Vidal, O. Shakernia, J. Kim, D. Shim, and S. Sastry, "Probabilistic pursuit-evasion games: Theory, implementation and experimental evaluation," IEEE Trans. Robot. Autom., vol. 18, no. 5, pp. 662-669, Oct. 2002.
18. S. Thrun, W. Burgard, and D. Fox, "A probabilistic approach to concurrent mapping and localization for mobile robots," Mach. Learning Auton. Robot. (Joint Issue), vol. 31, no. 5, pp. 1-25, 1998.
19. L. J. Guibas, J.-C. Latombe, S. M. LaValle, D. Lin, and R. Motwani, "A visibility-based pursuit-evasion problem," Int. J. Computational Geometry Appl., vol. 9, no. 4/5, pp. 471-493, 1999.
20. B. Sinopoli, C. Sharp, L. Schenato, S. Schaffert, and S. Sastry, "Distributed control applications within sensor networks," Proc. IEEE, vol. 91, no. 8, pp. 1235-1246, Aug. 2003.
21. S. Oh, S. Russell, and S. Sastry, "Markov chain Monte Carlo data association for general multiple-target tracking problems," presented at the 43rd IEEE Conf. Decision and Control, Paradise Island, Bahamas, Dec. 2004.
22. -, "Markov chain monte Carlo data association for multiple-target tracking," Univ. California, "erkeley, Tech. Rep. UCB//ERL M05/19, 2005.
23. S. Oh, L. Schenato, P. Chen, and S. Sastry, "A scalable real-time multiple-target tracking algorithm for sensor networks," Univ. California, "erkeley, Tech. Rep. UCB//ERL M05/9, 2005.
24. C. Sharp, S. Schaffert, A. Woo, N. Sastry, C. Karlof, S. Sastry, and D. Culler, "Design and implementation of a sensor network system for vehicle tracking and autonomous interception," in Proc. 2nd Eur.Workshop Wireless Sensor Networks, Jan. 2005, pp. 93-107.
25. J. Liu, J. Liu, J. Reich, P. Cheung, and F. Zhao, "Distributed group management for track initiation and maintenance in target localization applications," in Proc. 2nd Workshop Information Processing in Sensor Networks, Apr. 2003, pp. 113-128.
26. J. Liu, J. Reich, and F. Zhao, "Collaborative in-network processing for target tracking," J. Applied Signal Processing, Apr. 2003.
27. Y. Bar-Shalom and T. Fortmann, Tracking and Data Association. San Diego, CA: Academic, 1988.
28. D. Reid, "An algorithm for tracking multiple targets," IEEE Trans. Autom. Control, vol. AC-24, no. 6, pp. 843-854, Dec. 1979.
29. C. Chong, S. Mori, and K. Chang, "Distributed multitarget multisensor tracking," in Multitarget-Multisensor Tracking: Advanced Applications, Y. Bar-Shalom, Ed. Norwood, MA: Artech House, 1990, pp. 247-295.
30. D. Li, K. Wong, Y. H. Hu, and A. Sayeed, "Detection, classification and tracking of targets," IEEE Signal Process. Mag., vol. 19, no. 2, pp. 17-29, Mar. 2002.
31. F. Zhao, J. Liu, J. Liu, L. Guibas, and J. Reich, "Collaborative signal and information processing: An information directed approach," Proc. IEEE, vol. 91, no. 8, pp. 1999-1209, Aug. 2003.
32. D. McErlean and S. Narayanan, "Distributed detection and tracking in sensor networks," in Proc. 36th Asilomar Conf. Signal, System and Computers, Nov. 2002, pp. 1174-1178.
33. J. Aslam, Z. Butler, V. Crespi, G. Cybenko, and D. Rus, "Tracking a moving object with a binary sensor network," in ACM Int. Conf. Embedded Networked Sensor Systems, 2003, pp. 150-161.
34. W. Chen, J. Hou, and L. Sha, "Dynamic clustering for acoustic target tracking in wireless sensor networks," in Proc. of the 11th IEEE Int. Conf. Network Protocols, Nov. 2003, pp. 284-294.
35. M. Coates, "Distributed particle filters for sensor networks," in Proc. 3rd Workshop Information Processing in Sensor Networks, Apr. 2004, pp. 99-107.
36. S. Oh and S. Sastry, "Tracking on a graph," in Proc. 4th Int. Conf. Information Processing in Sensor Networks, Los Angeles, CA, Apr. 2005, pp. 195-202.
37. J. Shin, L. Guibas, and F. Zhao, "A distributed algorithm for managing multi-target identities in wireless ad-hoc sensor networks," in Proc. 2nd Workshop Information Processing in Sensor Networks, Apr. 2003, pp. 223-238.
38. M. Chu, S. Mitter, and F. Zhao, "Distributed multiple target tracking and data association in ad hoc sensor networks," in Proc. 6th Int. Conf. Information Fusion, Jul 2004, pp. 447-454.
39. J. Liu, J. Liu, M. Chu, J. Reich, and F. Zhao, "Distributed state representation for tracking problems in sensor networks," in Proc. 3rd Workshop Information Processing in Sensor Networks, Apr. 2004, pp. 234-242.
40. R. Sittler, "An optimal data association problem on surveillance theory," IEEE Trans. Military Electron., vol. MIL-8, pp. 125-139, Apr. 1964.
41. J. Collins and J. Uhlmann, "Efficient gating in data association with multivariate distributed states," IEEE Trans. Aerosp. Electron. Syst., vol. 28, no. 3, pp. 909-916, Jul. 1992.
42. A. Poore, "Multidimensional assignment and multitarget tracking," Partitioning Data Sets., ser. DIMACS Discrete Mathematics and Theoretical Computer Science, vol. 19, pp. 169-196, 1995.
43. J. Hill, M. Horton, R. Kling, and L. Krishnamurthy, "The platforms enabling wireless sensor networks," Commun. ACM, vol. 47, no. 6, pp. 41-46, 2004.
44. P. Dutta, J. Hui, J. Jeong, S. Kim, C. Sharp, J. Taneja, G. Tolle, K. Whitehouse, and D. Culler, "Trio: Enabling sustainable and scalable outdoor wireless sensor network deployments," presented at the Int. Conf. Information Processing in Sensor Networks: Special track on platform tools and design methods for network embedded sensors, 2006.
45. R. Burkard and R. Cela, "Linear assignment problem and extensions," Karl-Franzens Univ. Graz, Graz, Austria, Tech. Rep. 127, 1998.
46. A. Nilim and L. E. Ghaoui, "Algorithms for air traffic flow management under stochastic environments," in Proc. Am. Control Conf., 2004, vol. 4, pp. 3429-3434.
47. D. Shim, H. Kim, and S. Sastry, "Decentralized reflective model predictive control of multiple flying robots in dynamic environment," presented at the IEEE Conf. Decision and Control, Las Vegas, NV, 2003.
48. H. Pasula, S. J. Russell, M. Ostland, and Y. Ritov, "Tracking many objects with many sensors," presented at the Int. Joint Conf. Artificial Intelligence, Stockholm, Sweden, 1999.
49. T. Kurien, "Issues in the design of practical multitarget tracking algorithms," in Multitarget-Multisensor Tracking: Advanced Applications, Y. Bar-Shalom, Ed. Norwood, MA: Artech House, 1990.
50. S. Oh, "Multiple target tracking for surveillance," Univ. California, "erkeley, Tech. Rep. UCB/ERL MO3/54, 2003.
51. M. Lepetic, G. Klancar, I. Skrjanc, D. Matko, and B. Potocnic, "Time optimal path planning considering acceleration limits," Robot. Auton. Syst., vol. 45, pp. 199-210, 2003.
52. A. Saccon, "Minimum time maneuver for nonholonomic car with acceleration onstraints: Preliminary results," presented at the 13th Mediterranean Conf. Control and Automation (MED), Limassol, Cyprus, 2005.
53. E. Velenis and P. Tsiotras, "Optimal velocity profile generation for given acceleration limits: Receding horizon implementation," in Proc. Am. Control Conf. (ACC05), Portland, OR, Jun. 2005, pp. 2147-2152.
54. C. Belta, V. Isler, and G. Pappas, "Discrete abstractions for robot motion planning and control in polygonal environments," IEEE Trans. Robot., vol. 21, no. 5, pp. 864-874, Oct. 2005.
55. P. Tabuada and G. Pappas, "Hierarchical trajectory refinement for a class of nonlinear systems," Automatica, vol. 41, no. 4, pp. 701-708, Apr. 2005.
56. T. Kailath, A. Sayed, and B. Hassibi, State Space Estimation. Upper Saddle River, NJ: Prentice-Hall, 1999.
57. D. Lerro and Y. Bar-Shalom, "Interacting multiple model tracking with target amplitude feature," IEEE Trans. Aerosp. Electron. Syst., vol. 29, no. 2, pp. 494-509, Apr. 1993.
58. I. Beichl and F. Sullivan, "The Metropolis algorithm," Computing Sci. Eng., vol. 2, no. 1, pp. 65-69, 2000.
59. M. Jerrum and A. Sinclair, "The Markov chain Monte Carlo method: An approach to approximate counting and integration," in Approximations for NP-hard Problems, D. Hochbaum, Ed. Boston, MA: PWS Publishing, 1996.
60. W. Gilks, S. Richardson, and D. Spiegelhalter, Eds., Markov Chain Monte Carlo in Practice, ser. Interdisciplinary Statistics. London, U.K.: Chapman & Hall, 1996.
61. G. Roberts, "Markov chain concepts related to sampling algorithms," in Markov Chain Monte Carlo in Practice, Interdisciplinary Statistics, W. Gilks, S. Richardson, and D. Spiegelhalter, Eds. London, U.K.: Chapman & Hall, 1996.
62. Z. Gao, "On discrete time optimal control: A closed-form solution," in Proc. 2004 Am. Control Con. (ACC), "oston, MA, Jun. 2004, pp. 52-58.
63. R. Zanasi and R. Morselli, "Discrete minimum time tracking problem for a chain of three integrators with bounded input," Automatica, vol. 39, pp. 1643-1649, 2003.
64. E. Lee and L. Markus, Foundations of Optimal Control Theory. New York: Wiley, 1967.
65. E. Ryan, Optimal Relay and Saturation Control Synthesys. London: Peter Peregrinus Ltd., 1982.
66. T. Basar and G. Olsder, Dynamic Noncooperative Game Theory, 2nd ed. San Diego, CA: Academic Press, 1995.
67. P. Dutta, M. Grimmer, A. Arora, S. Bibyk, and D. Culler, "Design of a wireless sensor network platform for detecting rare, random, and ephemeral events," in Proc. 4th Int. Conf. Information Processing in Sensor Networks, Apr. 2005, pp. 497-502.
68. X. Jiang, J. Polastr, and D. Culler, "Perpetual environmentally powered sensor networks," in Proc. 4th Int. Conf. Information Processing in Sensor Networks, Apr. 2005, pp. 463-468.
69. J. Polastre, R. Szewczyk, and D. Culler, "Telos: Enabling ultra-low power wireless research," in Proc. 4th Int. Conf. Information Processing in Sensor Networks, Apr. 2005, pp. 364-369.
70. D. Gay, P. Levis, R. von Behren, M. Welsh, E. Brewer, and D. Culler, "The nesc language: A holistic approach to networked embedded systems," in Proc. ACM SIGPLAN 2003 Conference on Programming Language Design and Implementation, Jun. 2003, pp. 1-11.
71. TinyOS. [Online]. Available: http://www.tinyos.net/.
72. J. Hui and D. Culler, "The dynamic behavior of a data dissemination protocol for network programming at scale," in Proc. 2nd Int. Conf. Embedded Networked Sensor Systems, 2004, pp. 81-94.
73. K. Whitehouse, G. Tolle, J. Taneja, C. Sharp, S. Kim, J. Jeong, J. Hui, P. Dutta, and D. Culler, "Marionette: Providing an interactive environment for wireless debugging and development," presented at the Int. Conf. Information Processing in Sensor Networks: Special track on platform tools and design methods for network embedded sensors, 2006.
74. G. Tolle, "A network management system for wireless sensor networks," Master's thesis, Univ. California, "erkeley, 2005.
75. L. Gu, D. Jia, P. Vicaire, T. Yan, L. Luo, T. He, A. Tirumala, Q. Cao, J. Stankovic, T. Abdelzaher, and B. Krogh, "Lightweight detection and classification for wireless sensor networks in realistic environments," in Proc. SenSys, Nov. 2005, pp. 205-217.