Multirobot autonomous landmine detection using distributed multisensor information aggregation

Janyl Jumadinova, Prithviraj Dasgupta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

We consider the problem of distributed sensor information fusion by multiple autonomous robots within the context of landmine detection. We assume that different landmines can be composed of different types of material and robots are equipped with different types of sensors, while each robot has only one type of landmine detection sensor on it. We introduce a novel technique that uses a market-based information aggregation mechanism called a prediction market. Each robot is provided with a software agent that uses sensory input of the robot and performs calculations of the prediction market technique. The result of the agent's calculations is a 'belief' representing the confidence of the agent in identifying the object as a landmine. The beliefs from different robots are aggregated by the market mechanism and passed on to a decision maker agent. The decision maker agent uses this aggregate belief information about a potential landmine and makes decisions about which other robots should be deployed to its location, so that the landmine can be confirmed rapidly and accurately. Our experimental results show that, for identical data distributions and settings, using our prediction market-based information aggregation technique increases the accuracy of object classification favorably as compared to two other commonly used techniques.

Original languageEnglish (US)
Title of host publicationMultisensor, Multisource Information Fusion
Subtitle of host publicationArchitectures, Algorithms, and Applications 2012
DOIs
StatePublished - Dec 3 2012
EventMultisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2012 - Baltimore, MD, United States
Duration: Apr 25 2012Apr 26 2012

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
Volume8407
ISSN (Print)0277-786X

Conference

ConferenceMultisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2012
CountryUnited States
CityBaltimore, MD
Period4/25/124/26/12

Fingerprint

Landmines
Multi-robot
robots
Aggregation
Agglomeration
Robot
Robots
Prediction
sensors
Sensors
Object Classification
predictions
Sensor
Sensor Fusion
Distributed Sensor
Autonomous Robots
Information Fusion
Software Agents
Data Distribution
Software agents

Keywords

  • Information fusion
  • Landmine detection
  • Multi-sensor aggregation
  • Prediction market

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering

Cite this

Jumadinova, J., & Dasgupta, P. (2012). Multirobot autonomous landmine detection using distributed multisensor information aggregation. In Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2012 [84070B] (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 8407). https://doi.org/10.1117/12.919269

Multirobot autonomous landmine detection using distributed multisensor information aggregation. / Jumadinova, Janyl; Dasgupta, Prithviraj.

Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2012. 2012. 84070B (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 8407).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Jumadinova, J & Dasgupta, P 2012, Multirobot autonomous landmine detection using distributed multisensor information aggregation. in Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2012., 84070B, Proceedings of SPIE - The International Society for Optical Engineering, vol. 8407, Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2012, Baltimore, MD, United States, 4/25/12. https://doi.org/10.1117/12.919269
Jumadinova J, Dasgupta P. Multirobot autonomous landmine detection using distributed multisensor information aggregation. In Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2012. 2012. 84070B. (Proceedings of SPIE - The International Society for Optical Engineering). https://doi.org/10.1117/12.919269
Jumadinova, Janyl ; Dasgupta, Prithviraj. / Multirobot autonomous landmine detection using distributed multisensor information aggregation. Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2012. 2012. (Proceedings of SPIE - The International Society for Optical Engineering).
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