| contributor | Institut für Parallele und Verteilte Systeme, Bildverstehen | ||||||||||||||||
| creator |
Benkmann, Ruben
| Käppeler, Uwe-Philipp
| Zweigle, Oliver
| Lafrenz, Reinhard
| Levi, Paul
| date |
2008-04-02
| description |
Agents acting in physical space use perception in combination with
their own world models and shared context models to orient. The
shared context models have to be adapted permanently to the
conditions of the real world. If a measurement of an agentâs sensor
does not fit to the corresponding data in the shared context model
the system contains an inconsistency. In this case it is necessary
to decide whether the reason for the discrepancy is a change in the
real world or a measurement error. If there is a change in the real
world the shared context model has to be corrected. A single agent
can hardly answer this question using its local world model. This
work describes the scenario of a context model that is shared with
and updated by many agents that possess one or more sensors. In
occurrence of an inconsistency it is possible to call other agents
to validate a measurement. The functions to call the other agents
are provided by the Nexus platform, a federation of systems that
manages users and objects in shared dynamic context models. The
study reported in this paper evaluates procedures that combine a
multitude of measurements to a single result that can be integrated
in the shared context model. The statistically optimized procedure
based on ratings of the participating agents is enhanced using
scaled weighted arithmetic means which prevents the system from
running into singularities caused by the feedback from the ratings.
The method is combined with an additional preprocessing based on
fuzzy clustering that detects aberrant measurements which can be
excluded from further processing.
| |
| identifier | http://www.informatik.uni-stuttgart.de/cgi-bin/NCSTRL/NCSTRL_view.pl?id=INPROC-2008-23&engl=1 |
| ISBN: 978-972-96895-3-6 | |
| language | ger |
| publisher | University of Stuttgart : Collaborative Research Center SFB 627 (Nexus: World Models for Mobile Context-Based Systems) |
| Aveiro: Universidade de Aveiro | |
| source | In: Seabra Lopez, Luis (ed.); Silva, Filipe (ed.); Santos, Vitor (ed.): Proceedings of the 8th Conference on Autonomous Robot Systems and Competition: Robotica 08; Aveiro, Portugal, April 2nd, 2008, pp. 93-98 |
| subject | Robotics (CR I.2.9) |
| Information Storage and Retrieval (CR H.3) | |
| Sensor | |
| Fusion | |
| Normalized Weighted Arithmetic Mean | |
| title | Resolving Inconsistencies using Multi-agent Sensor Systems |
| type | Text |
| Article in Proceedings |