Pub Date : 2007-07-09DOI: 10.1109/ICIF.2007.4408195
Cécile Simonin, J. Cadre, F. Dambreville
This paper introduces a common method, based on the cross-entropy method, in order to solve a variety of search problems when search resources are scarce compared to the size of the space of search. In particular, we solve: detection and information search problems, a detection search game, and a two-targets detection search problem. Our approach is built of two steps: first, decompose a problem in a hierarchical manner (two optimization levels) and then, solve the global level using the cross-entropy method. At local level, different solutions are conceivable, depending of the kind of the problem. Problems of interest are in the field of combinatorial optimization and are considered to be hard to solve: we find optimal solution in most cases with a reasonable computation time.
{"title":"The cross-entropy method for solving a variety of hierarchical search problems","authors":"Cécile Simonin, J. Cadre, F. Dambreville","doi":"10.1109/ICIF.2007.4408195","DOIUrl":"https://doi.org/10.1109/ICIF.2007.4408195","url":null,"abstract":"This paper introduces a common method, based on the cross-entropy method, in order to solve a variety of search problems when search resources are scarce compared to the size of the space of search. In particular, we solve: detection and information search problems, a detection search game, and a two-targets detection search problem. Our approach is built of two steps: first, decompose a problem in a hierarchical manner (two optimization levels) and then, solve the global level using the cross-entropy method. At local level, different solutions are conceivable, depending of the kind of the problem. Problems of interest are in the field of combinatorial optimization and are considered to be hard to solve: we find optimal solution in most cases with a reasonable computation time.","PeriodicalId":298941,"journal":{"name":"2007 10th International Conference on Information Fusion","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133701611","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-09DOI: 10.1109/ICIF.2007.4408218
G. Pavlin
This panel position paper discusses advantages and challenges of multi agent fusion systems (MAS) with respect to the modeling flexibility and fusion reliability. We argue that the MAS paradigm in combination with rigorous modeling and inference methods can facilitate design of theoretically and technically sound fusion systems. This is illustrated with the help of a MAS approach to Bayesian fusion which supports robust and efficient situation assessment in crisis management settings. However, the MAS paradigm might be ill-suited for certain domains and information fusion theories. In addition, implementation of multi agent fusion systems for real world applications can be theoretically as well as technically very challenging. We identify several research topics which address these challenges.
{"title":"Multi agent systems for flexible and robust Bayesian information fusion","authors":"G. Pavlin","doi":"10.1109/ICIF.2007.4408218","DOIUrl":"https://doi.org/10.1109/ICIF.2007.4408218","url":null,"abstract":"This panel position paper discusses advantages and challenges of multi agent fusion systems (MAS) with respect to the modeling flexibility and fusion reliability. We argue that the MAS paradigm in combination with rigorous modeling and inference methods can facilitate design of theoretically and technically sound fusion systems. This is illustrated with the help of a MAS approach to Bayesian fusion which supports robust and efficient situation assessment in crisis management settings. However, the MAS paradigm might be ill-suited for certain domains and information fusion theories. In addition, implementation of multi agent fusion systems for real world applications can be theoretically as well as technically very challenging. We identify several research topics which address these challenges.","PeriodicalId":298941,"journal":{"name":"2007 10th International Conference on Information Fusion","volume":"62 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114052560","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-09DOI: 10.1109/ICIF.2007.4408066
L. Valet, D. Coquin, S. Jullien, S. Teyssier
This paper deals with a cooperative fusion system parameter adjustment based on an evaluation quality of the fusion system output. The concerned application is an electro- technical part quality evaluation in which geophysicists need time and experience to analyze the 3D tomography of the parts. To help them in their task, a fusion system was designed to aggregate some measurements extracted from the image. The Choquet integral was used to achieve the fusion. The adjustment of the fusion system is difficult to do by the end-user. This paper presents a procedure to guide experts in the use of the system. First of all, classified images obtained by the fusion system are evaluated. The problematic of image evaluation is addressed and an evaluation based on both quantitative and qualitative criteria is proposed. Then, some actions are defined and presented as guidelines to the expert in order to adjust the parameters in a structured way. The approach is illustrated on the classification of the 3D tomographic bloc.
{"title":"A 3D image-segmented evaluation procedure in a cooperative fusion system context","authors":"L. Valet, D. Coquin, S. Jullien, S. Teyssier","doi":"10.1109/ICIF.2007.4408066","DOIUrl":"https://doi.org/10.1109/ICIF.2007.4408066","url":null,"abstract":"This paper deals with a cooperative fusion system parameter adjustment based on an evaluation quality of the fusion system output. The concerned application is an electro- technical part quality evaluation in which geophysicists need time and experience to analyze the 3D tomography of the parts. To help them in their task, a fusion system was designed to aggregate some measurements extracted from the image. The Choquet integral was used to achieve the fusion. The adjustment of the fusion system is difficult to do by the end-user. This paper presents a procedure to guide experts in the use of the system. First of all, classified images obtained by the fusion system are evaluated. The problematic of image evaluation is addressed and an evaluation based on both quantitative and qualitative criteria is proposed. Then, some actions are defined and presented as guidelines to the expert in order to adjust the parameters in a structured way. The approach is illustrated on the classification of the 3D tomographic bloc.","PeriodicalId":298941,"journal":{"name":"2007 10th International Conference on Information Fusion","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123967924","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-09DOI: 10.1109/ICIF.2007.4407968
Hongjian Zhang, Zhongliang Jing, Shiqiang Hu
The probability hypothesis density (PHD) filter, which was derived from finite set statistics is a promising approach to multi-target tracking. An analytical closed-form solution for the PHD, named Gaussian mixture PHD Filter, is given for linear Gaussian target dynamics with Gaussian births by B. Vo and W. Ma. Based on the Gaussian mixture PHD filter, in this paper, without consideration of data association technique, a method using three passive sensors for multi-target location system is proposed, which can restrain greatly the false triangulations, calls ghosts, where the measurements of the bearing-only multi-target location system are spoiled by clutter.
{"title":"Bearing-only multi-target location Based on Gaussian Mixture PHD filter","authors":"Hongjian Zhang, Zhongliang Jing, Shiqiang Hu","doi":"10.1109/ICIF.2007.4407968","DOIUrl":"https://doi.org/10.1109/ICIF.2007.4407968","url":null,"abstract":"The probability hypothesis density (PHD) filter, which was derived from finite set statistics is a promising approach to multi-target tracking. An analytical closed-form solution for the PHD, named Gaussian mixture PHD Filter, is given for linear Gaussian target dynamics with Gaussian births by B. Vo and W. Ma. Based on the Gaussian mixture PHD filter, in this paper, without consideration of data association technique, a method using three passive sensors for multi-target location system is proposed, which can restrain greatly the false triangulations, calls ghosts, where the measurements of the bearing-only multi-target location system are spoiled by clutter.","PeriodicalId":298941,"journal":{"name":"2007 10th International Conference on Information Fusion","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124583371","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-09DOI: 10.1109/ICIF.2007.4408096
A. Boury-Brisset
Providing commanders with advanced decision aids requires a good understanding of the processes involved, their information requirements, and the development of formal domain models upon which reasoning processes can be based. Ontologies, as formal domain models, constitute a key component to provide a shared understanding of a domain, and have received increasing interest for the building of advanced information systems and to facilitate knowledge level interoperability among heterogeneous information sources. Our objective is to contribute to the building of ontological models in support of information fusion and to exploit these models to provide enhanced knowledge management assistance to military commanders. In this paper, we describe the goal-driven ontological analysis carried out in support of decision aids for above water warfare threat evaluation and weapon assignment.
{"title":"Ontological engineering for threat evaluation and weapon assignment: a goal-driven approach","authors":"A. Boury-Brisset","doi":"10.1109/ICIF.2007.4408096","DOIUrl":"https://doi.org/10.1109/ICIF.2007.4408096","url":null,"abstract":"Providing commanders with advanced decision aids requires a good understanding of the processes involved, their information requirements, and the development of formal domain models upon which reasoning processes can be based. Ontologies, as formal domain models, constitute a key component to provide a shared understanding of a domain, and have received increasing interest for the building of advanced information systems and to facilitate knowledge level interoperability among heterogeneous information sources. Our objective is to contribute to the building of ontological models in support of information fusion and to exploit these models to provide enhanced knowledge management assistance to military commanders. In this paper, we describe the goal-driven ontological analysis carried out in support of decision aids for above water warfare threat evaluation and weapon assignment.","PeriodicalId":298941,"journal":{"name":"2007 10th International Conference on Information Fusion","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128767671","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-09DOI: 10.1109/ICIF.2007.4408148
L. Svensson, Daniel Svensson
The interacting multiple model filter has long been the preferred method to handle multiple models in target tracking. The filter finds a suboptimal solution to a problem, which implicitly assumes that immediate model shifts have the highest probability. We argue that this model-shift property does not capture the typical nature of maneuvering targets, namely that changes in target dynamics persist for some time. In this paper, we propose an adjusted switch time assumption that forces the dynamic models to remain fixed for a specified time. The modified filtering problem has lower complexity, and we derive a state estimation algorithm that is close to optimal in many scenarios. From Monte Carlo simulations, the new filter is found to yield a 20% decrease in root mean square position error, compared to the interacting multiple model filter in situations where the switch-time conditions are fulfilled.
{"title":"Multiple Model Filtering with Switch Time Conditions","authors":"L. Svensson, Daniel Svensson","doi":"10.1109/ICIF.2007.4408148","DOIUrl":"https://doi.org/10.1109/ICIF.2007.4408148","url":null,"abstract":"The interacting multiple model filter has long been the preferred method to handle multiple models in target tracking. The filter finds a suboptimal solution to a problem, which implicitly assumes that immediate model shifts have the highest probability. We argue that this model-shift property does not capture the typical nature of maneuvering targets, namely that changes in target dynamics persist for some time. In this paper, we propose an adjusted switch time assumption that forces the dynamic models to remain fixed for a specified time. The modified filtering problem has lower complexity, and we derive a state estimation algorithm that is close to optimal in many scenarios. From Monte Carlo simulations, the new filter is found to yield a 20% decrease in root mean square position error, compared to the interacting multiple model filter in situations where the switch-time conditions are fulfilled.","PeriodicalId":298941,"journal":{"name":"2007 10th International Conference on Information Fusion","volume":"254 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116061099","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-09DOI: 10.1109/ICIF.2007.4408191
A. Rafati, B. Moshiri, J. Rezaie
Errors due to sensor bias are often present in sensor data and can reduce the tracking accuracy and stability of multi-sensor systems. The other practical problem is that the target data reported by the sensors are usually not time-coincident or synchronous due to the different data. This paper deals with these problems and presents a new algorithm for estimation of both constant and dynamic biases in asynchronous multisensor systems. We use the measurements from asynchronous sensors into pseudo measurements of the sensor biases with additive noises that are zero-mean, white and with easily calculated covariances. This algorithm is a Kahnan filter based technique to estimate both the range and offset biases and is implemented recursively which is computationally efficient and provided real time estimation of asynchronous sensor bias. The Simulation results show the Cramer-Rao Lower Bound (CRLB) is achievable. This means the proposed estimation algorithm is statistically efficient.
{"title":"A new algorithm for general asynchronous sensor bias estimation in multisensor-multitarget systems","authors":"A. Rafati, B. Moshiri, J. Rezaie","doi":"10.1109/ICIF.2007.4408191","DOIUrl":"https://doi.org/10.1109/ICIF.2007.4408191","url":null,"abstract":"Errors due to sensor bias are often present in sensor data and can reduce the tracking accuracy and stability of multi-sensor systems. The other practical problem is that the target data reported by the sensors are usually not time-coincident or synchronous due to the different data. This paper deals with these problems and presents a new algorithm for estimation of both constant and dynamic biases in asynchronous multisensor systems. We use the measurements from asynchronous sensors into pseudo measurements of the sensor biases with additive noises that are zero-mean, white and with easily calculated covariances. This algorithm is a Kahnan filter based technique to estimate both the range and offset biases and is implemented recursively which is computationally efficient and provided real time estimation of asynchronous sensor bias. The Simulation results show the Cramer-Rao Lower Bound (CRLB) is achievable. This means the proposed estimation algorithm is statistically efficient.","PeriodicalId":298941,"journal":{"name":"2007 10th International Conference on Information Fusion","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116268985","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-09DOI: 10.1109/ICIF.2007.4408223
W. Blair, Y. Bar-Shalom
Summary form only given. The topic of multisensor tracking has been of interest to researchers for more than 30 years. However, the development and successful fielding of multisensor tracking systems have lagged significantly behind the research activities. In this presentation, a historical perspective of the key algorithmic developments associated with multisensor tracking will be given and their significance will be discussed. The technological advancements that have enabled the recent realizations of multisensor tracking will be discussed along with technological shortfalls that are limiting the realization of better multisensor tracking systems. Some thoughts on the future direction for multisensor tracking will be summarized.
{"title":"Historical perspectives of multisensor tracking","authors":"W. Blair, Y. Bar-Shalom","doi":"10.1109/ICIF.2007.4408223","DOIUrl":"https://doi.org/10.1109/ICIF.2007.4408223","url":null,"abstract":"Summary form only given. The topic of multisensor tracking has been of interest to researchers for more than 30 years. However, the development and successful fielding of multisensor tracking systems have lagged significantly behind the research activities. In this presentation, a historical perspective of the key algorithmic developments associated with multisensor tracking will be given and their significance will be discussed. The technological advancements that have enabled the recent realizations of multisensor tracking will be discussed along with technological shortfalls that are limiting the realization of better multisensor tracking systems. Some thoughts on the future direction for multisensor tracking will be summarized.","PeriodicalId":298941,"journal":{"name":"2007 10th International Conference on Information Fusion","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126204140","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-09DOI: 10.1109/ICIF.2007.4408187
F. Celeste, F. Dambreville, J. Cadre
This paper presents a methodology for the evaluation of a path planning algorithm based on a learning approach. Here this evaluation procedure is applied for the problem of optimizing the navigation of a mobile robot in a known environment. A metric map composed of landmarks representing natural elements is given to define the best trajectory which permits to guarantee a localization performance during its execution. The vehicle is equipped with a sensor which enables it to obtain range and bearing measurements from landmarks. These measurements are matched with the map to estimate its position. As the mobile state and the measurements are stochastic, the optimal planning scheme considered in this paper deals with posterior Cramer-Rao Bound as a performance measure. Because of the nature of the cost function, classical optimization algorithms like dynamic programming are irrelevant. Therefore, we propose to achieve the optimization step with the Cross Entropy algorithm for optimization to generate trajectories from a suitable parameterized probability density functions family. Nevertheless, although the convergence of this algorithm can be assessed with the analysis of the stationarity of its intrinsic parameters, we are not able to quantify the level of convergence around the optimal value. As a consequence, an external investigation can be applied from an alternative stochastic procedure followed by an analysis via extreme value theory.
{"title":"Evaluation of a robot learning and planning via extreme value theory","authors":"F. Celeste, F. Dambreville, J. Cadre","doi":"10.1109/ICIF.2007.4408187","DOIUrl":"https://doi.org/10.1109/ICIF.2007.4408187","url":null,"abstract":"This paper presents a methodology for the evaluation of a path planning algorithm based on a learning approach. Here this evaluation procedure is applied for the problem of optimizing the navigation of a mobile robot in a known environment. A metric map composed of landmarks representing natural elements is given to define the best trajectory which permits to guarantee a localization performance during its execution. The vehicle is equipped with a sensor which enables it to obtain range and bearing measurements from landmarks. These measurements are matched with the map to estimate its position. As the mobile state and the measurements are stochastic, the optimal planning scheme considered in this paper deals with posterior Cramer-Rao Bound as a performance measure. Because of the nature of the cost function, classical optimization algorithms like dynamic programming are irrelevant. Therefore, we propose to achieve the optimization step with the Cross Entropy algorithm for optimization to generate trajectories from a suitable parameterized probability density functions family. Nevertheless, although the convergence of this algorithm can be assessed with the analysis of the stationarity of its intrinsic parameters, we are not able to quantify the level of convergence around the optimal value. As a consequence, an external investigation can be applied from an alternative stochastic procedure followed by an analysis via extreme value theory.","PeriodicalId":298941,"journal":{"name":"2007 10th International Conference on Information Fusion","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125211467","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-09DOI: 10.1109/ICIF.2007.4408170
G. Mellema
In March 2007, the Networked Underwater Warfare Technology Demonstration Project at Defence R&D Canada-Atlantic conducted an at-sea antisubmarine trial utilizing Net-centric warfare (NCW) constructs to demonstrate improved technologies for underwater warfare. User feedback was solicited during and after the trial for the purpose of documenting the manner in which the systems were used during the trial and gaining insight into their potential future usage in NCW activities. This paper describes some of the key issues raised and how they might be addressed in the future. Although some of the issues raised can be addressed through adjustments in the communications strategy, the way ahead for NCW will require a redefinition of the concept of operations for each platform and for the team in order to balance the advantages of the team and platform-centric approaches.
{"title":"An operator perspective on net-centric underwater warfare","authors":"G. Mellema","doi":"10.1109/ICIF.2007.4408170","DOIUrl":"https://doi.org/10.1109/ICIF.2007.4408170","url":null,"abstract":"In March 2007, the Networked Underwater Warfare Technology Demonstration Project at Defence R&D Canada-Atlantic conducted an at-sea antisubmarine trial utilizing Net-centric warfare (NCW) constructs to demonstrate improved technologies for underwater warfare. User feedback was solicited during and after the trial for the purpose of documenting the manner in which the systems were used during the trial and gaining insight into their potential future usage in NCW activities. This paper describes some of the key issues raised and how they might be addressed in the future. Although some of the issues raised can be addressed through adjustments in the communications strategy, the way ahead for NCW will require a redefinition of the concept of operations for each platform and for the team in order to balance the advantages of the team and platform-centric approaches.","PeriodicalId":298941,"journal":{"name":"2007 10th International Conference on Information Fusion","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124140993","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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