Decentralised Coordination of Mobile Sensors Using the Max-Sum Algorithm

Stranders, Ruben; Farinelli, Alessandro; Rogers, Alex; Jennings, Nicholas R.

Decentralised Coordination of Mobile Sensors Using the Max-Sum Algorithm

Ruben Stranders, Alessandro Farinelli, Alex Rogers, Nicholas R. Jennings

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Proceedings of the Twenty-First International Joint Conference on Artificial Intelligence. Pages 299-303.

Abstract

In this paper, we introduce an on-line, decentralised coordination algorithm for monitoring and predicting the state of spatial phenomena by a team of mobile sensors. These sensors have their application domain in disaster response, where strict time constraints prohibit path planning in advance. The algorithm enables sensors to coordinate their movements with their direct neighbours to maximise the collective information gain, while predicting measurements at unobserved locations using a Gaussian process. It builds upon the max-sum message passing algorithm for decentralised coordination, for which we present two new generic pruning techniques that result in speed-up of up to 92% for 5 sensors. We empirically evaluate our algorithmagainst several on-line adaptive coordination mechanisms, and report a reduction in root mean squared error up to 50% compared to a greedy strategy.Ruben Stranders, Alessandro Farinelli, Alex Rogers, Nicholas R. Jennings

Ruben Stranders, Alessandro Farinelli, Alex Rogers, and Nicholas R. Jennings. 2009. Decentralised Coordination of Mobile Sensors Using the Max-Sum Algorithm. In Proceedings of the Twenty-First International Joint Conference on Artificial Intelligence, IJCAI-09. IJCAI, 299–303. https://ijcai.org/proceedings/2009/58

@inproceedings{ijcai2009p58,
  title     = {Decentralised Coordination of Mobile Sensors Using the Max-Sum Algorithm},
  author    = {Stranders, Ruben and Farinelli, Alessandro and Rogers, Alex and Jennings, Nicholas R.},
  booktitle = {Proceedings of the Twenty-First International Joint Conference on
               Artificial Intelligence, {IJCAI-09}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Hiroaki Kitano},
  pages     = {299--303},
  year      = {2009},
  url       = {https://ijcai.org/proceedings/2009/58},
}

TY  - CPAPER
TI  - Decentralised Coordination of Mobile Sensors Using the Max-Sum Algorithm
AU  - Stranders, Ruben
AU  - Farinelli, Alessandro
AU  - Rogers, Alex
AU  - Jennings, Nicholas R.
T2  - Proceedings of the Twenty-First International Joint Conference on Artificial Intelligence, IJCAI-09
PB  - International Joint Conferences on Artificial Intelligence
PY  - 2009
SP  - 299
EP  - 303
UR  - https://ijcai.org/proceedings/2009/58
ER  -