Abstract

In this paper we expand on our previous efforts to evaluate strategies for improving tracking performance of a multi-sensor surveillance system. The quality of tracking performance is based on two measures: (i) the mean track quality (MTQ) and (ii) total expected number of misses (TEM). Five strategies of resource allocation were considered based on (a) local versus coordinated, (b) dedicated versus distracted and (c) benevolent. The simulation results suggest that a coordinated and distracted strategy of resource allocation yields the best result throughout while such a strategy coupled with benevolence further improves tracking performance marginally in most cases

Abstract

A methodology for real-time control of unmanned air vehicles (UAV) in the absence of a-priori knowledge of hostile territory is presented. The control methodology generates a sequence of waypoints to be pursued by the UV until the goal is reached. The controller computes the waypoints every time new information is obtained regarding the presence or absence of a hostile agent at a particular grid of the territory. The waypoints are the result of an A* search. The cost function of the search is a weighted combination of dangers arising due to probability of being hit by the attacks of hostile terrestrial agents on the ground and the danger of UAV grounded as a result of its prolonged stay over the hostile territory. The multi-agency in the system is due to the broadcast of newly observed information by an UAV to its remaining counterparts. The sequence of waypoints defines the path of the UAV to its goal. By varying the corresponding weights the paths can be altered to obtain a particular performance criterion. Simulation results are presented for various parametric combinations to validate the methodology.

Abstract

In navigation that involves several moving agents or robots that are not in possession of each other's plans, a scheme for resolution of collision conflicts between them becomes mandatory. A resolution scheme is proposed in this paper specifically for the case where it is not feasible to have a priori the plans and locations of all other robots, robots can broadcast information between one another only within a specified communication distance, and a robot is restricted in its ability to react to collision conflicts that occur outside of a specified time interval called the reaction time interval. Collision conflicts are resolved through velocity control by a search operation in the robot's velocity space. The existence of a cooperative phase in conflict resolution is indicated by a failure of the search operation to find velocities in the individual velocity space of the respective robots involved in the conflict. A scheme for cooperative resolution of conflicts is modeled as a search in the joint velocity space of the robots involved in conflict when the search in the individual space yields a failure. The scheme for cooperative resolution may further involve modifying the states of robots not involved in any conflict. This phenomenon is characterized as the propagation phase where cooperation spreads to robots not directly involved in the conflict. Apart from presenting the methodology for the resolution of conflicts at various levels (individual, cooperative, and propagation), the paper also formally establishes the existence of the cooperative phase during real‐time navigation of multiple mobile robots. The effect of varying robot parameters on the cooperative phase is presented and the increase in requirement for cooperation with the scaling up of the number of robots in a system is also illustrated. Simulation results involving several mobile robots are presented to indicate the efficacy of the proposed strategy. © 2005 Wiley Periodicals, Inc.

Abstract

We present a methodology for optimal target detection in a multi sensor surveillance system. The system consists of mobile sensors that guard a rectangular surveillance zone crisscrossed by moving targets. Targets penetrate the surveillance zone with poisson rates at uniform velocities. Under these conditions we present a motion strategy computation for each sensor such that it maximizes target detection for the next T time-steps. A coordination mechanism among sensors ensures that overlapping and overlooked regions of observation among sensors are minimized. This coordination mechanism is interleaved with the motion strategy computation to reduce detections of the same target by more than one sensor for the same time-step. To avoid an exhaustive search in the joint space of all the sensors the coordination mechanism constrains the search by assigning priorities to the sensors and thereby arbitrating among sensory tasks. A comparison of this methodology with other multi target tracking schemes verifies its efficacy in maximizing detections. "Sample" and "time-step" are used equivalently and interchangeably in this paper.

Abstract

Social media platforms, particularly Twitter, have emerged as vital media for organizing online protests worldwide. During protests, users on social media share different narratives, often coordinated to share collective opinions and obtain widespread reach. In this paper, we focus on the communities formed during a protest and the collective narratives they share, using the protest on the enactment of the Citizenship Amendment Act (#CAA) by the Indian Government as a case study. Since #CAA protest led to divergent discourse in the country, we first classify the users into opposing stances, i.e., protesters (who opposed the Act) and counter-protesters (who supported it) in an unsupervised manner. Next, we identify the coordinated communities in the opposing stances and examine the collective narratives shared by coordinated communities of opposing stances. We use content-based metrics to identify user coordination, including hashtags, mentions, and retweets. Our results suggest mention as the strongest metric for coordination across the opposing stances. Next, we decipher the collective narratives in the opposing stances using an unsupervised narrative detection framework and found call-to-action, on-ground activity, grievances sharing, questioning, and skepticism narratives in the protest tweets. We analyze the strength of the different coordinated communities using network measures, and perform inauthentic activity analysis on the most coordinated communities on both sides. Our findings also suggest that coordinated communities, which were highly inauthentic, showed the highest clustering coefficient towards a greater extent of coordination.

Abstract

No Results Found

Abstract

No Results Found

Abstract

The size and detail of graphics environments in everyday use has gone up considerably recently. Still, most applications use locally resident geometric content for rendering. In this paper, we present a system to stream large graphics environments from a central server to multiple number of clients. The streaming is transparent to the user who can treat remote models just like local ones. The streaming system automatically adapts to the rendering capabilities, network bandwidth and latency of the client and transmits an optimized model. We present the design of the streaming system and give results of streaming a large model using it

Abstract

Large virtual environments arise in many applications and may be used by many users simultaneously for walkthroughs. It is not feasible to store a copy of the whole environment at each of the client locations due to their size. The dynamic nature of the environment also makes it more convenient for a central server to ensure consistency across different users. In this paper, we present a client-server based system for visualizing large environments from remote users. The client gets only the portion of the geometry necessary for navigating around the current user location. The system can adapt to different client parameters such as graphics capability, network bandwidth, communication latency, etc. We present the design and implementation of the system in this paper and produce relevant results using it

Abstract

Graphics models for virtual environments are increasingly getting massive, requiring large amounts of memory to store and high end graphics capabilities to render. It may not be possible or desirable to store the entire model in the station where it will be rendered, especially for environments that change. Such virtual models could be stored on a server and streamed to remote clients on demand. In this paper, we present the design and implementation of a client-server system to render large virtual environments. Our system can provide the best visualization quality for a wide range in connection bandwidth and latency and the rendering capacity of the client. The system uses a visibility-based geometry representation so that little invisible geometry is sent to the client. Incremental updating and client-side prediction of user motion optimize the communication requiremnts for a given client. We present results of the study conducted on a representative range of the relevant parameters in this paper