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Register a new userCollaborative Training in Sensor Networks: A graphical model approach
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Added by
Haipeng Zheng
Publication date
2009
fields
Informatics Engineering
and research's language is
English
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Graphical models have been widely applied in solving distributed inference problems in sensor networks. In this paper, the problem of coordinating a network of sensors to train a unique ensemble estimator under communication constraints is discussed. The information structure of graphical models with specific potential functions is employed, and this thus converts the collaborative training task into a problem of local training plus global inference. Two important classes of algorithms of graphical model inference, message-passing algorithm and sampling algorithm, are employed to tackle low-dimensional, parametrized and high-dimensional, non-parametrized problems respectively. The efficacy of this approach is demonstrated by concrete examples.
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In this paper we derive a new capability for robots to measure relative direction, or Angle-of-Arrival (AOA), to other robots operating in non-line-of-sight and unmapped environments with occlusions, without requiring external infrastructure. We do so by capturing all of the paths that a WiFi signal traverses as it travels from a transmitting to a receiving robot, which we term an AOA profile. The key intuition is to emulate antenna arrays in the air as the robots move in 3D space, a method akin to Synthetic Aperture Radar (SAR). The main contributions include development of i) a framework to accommodate arbitrary 3D trajectories, as well as continuous mobility all robots, while computing AOA profiles and ii) an accompanying analysis that provides a lower bound on variance of AOA estimation as a function of robot trajectory geometry based on the Cramer Rao Bound. This is a critical distinction with previous work on SAR that restricts robot mobility to prescribed motion patterns, does not generalize to 3D space, and/or requires transmitting robots to be static during data acquisition periods. Our method results in more accurate AOA profiles and thus better AOA estimation, and formally characterizes this observation as the informativeness of the trajectory; a computable quantity for which we derive a closed form. All theoretical developments are substantiated by extensive simulation and hardware experiments. We also show that our formulation can be used with an off-the-shelf trajectory estimation sensor. Finally, we demonstrate the performance of our system on a multi-robot dynamic rendezvous task.
Selecting the right compiler optimisations has a severe impact on programs performance. Still, the available optimisations keep increasing, and their effect depends on the specific program, making the task human intractable. Researchers proposed several techniques to search in the space of compiler optimisations. Some approaches focus on finding better search algorithms, while others try to speed up the search by leveraging previously collected knowledge. The possibility to effectively reuse previous compilation results inspired us toward the investigation of techniques derived from the Recommender Systems field. The proposed approach exploits previously collected knowledge and improves its characterisation over time. Differently from current state-of-the-art solutions, our approach is not based on performance counters but relies on Reaction Matching, an algorithm able to characterise programs looking at how they react to different optimisation sets. The proposed approach has been validated using two widely used benchmark suites, cBench and PolyBench, including 54 different programs. Our solution, on average, extracted 90% of the available performance improvement 10 iterations before current state-of-the-art solutions, which corresponds to 40% fewer compilations and performance tests to perform.
In this paper, we consider the problem of estimating a scalar field using a network of mobile sensors which can measure the value of the field at their instantaneous location. The scalar field to be estimated is assumed to be represented by positive definite radial basis kernels and we use techniques from adaptive control and Lyapunov analysis to prove the stability of the proposed estimation algorithm. The convergence of the estimated parameter values to the true values is guaranteed by planning the motion of the mobile sensors to satisfy persistence-like conditions.
This paper introduces a modeling framework for distributed regression with agents/experts observing attribute-distributed data (heterogeneous data). Under this model, a new algorithm, the iterative covariance optimization algorithm (ICOA), is designed to reshape the covariance matrix of the training residuals of individual agents so that the linear combination of the individual estimators minimizes the ensemble training error. Moreover, a scheme (Minimax Protection) is designed to provide a trade-off between the number of data instances transmitted among the agents and the performance of the ensemble estimator without undermining the convergence of the algorithm. This scheme also provides an upper bound (with high probability) on the test error of the ensemble estimator. The efficacy of ICOA combined with Minimax Protection and the comparison between the upper bound and actual performance are both demonstrated by simulations.
We propose an algorithm which produces a randomized strategy reaching optimal data propagation in wireless sensor networks (WSN).In [6] and [8], an energy balanced solution is sought using an approximation algorithm. Our algorithm improves by (a) when an energy-balanced solution does not exist, it still finds an optimal solution (whereas previous algorithms did not consider this case and provide no useful solution) (b) instead of being an approximation algorithm, it finds the exact solution in one pass. We also provide a rigorous proof of the optimality of our solution.
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