[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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Information Fusion in Multi-agent System Based on Reliability Criterion 213 abilities, location and possible malfunctions of the sensory devices, the information about the same part of the process (in the case of this study - objects) can be different. Since agents are able to communicate each other and exchange data, the information fusion can be made. Various information about the same part of the process can be used to increase the agents certainty. In the case discussed, agents exchange information about the objects detected as well as the certainty of the detection fact. Since they share the common resources, the same object can be detected by multiple agents. So the question arises how make a fusion of information collected by different agents. In this study an application of the reliability factor was applied. It was assumed that each agent is able to assess its reliability by confronting its certainty estimation with the real state of the process. Let us define the set of agents, and their certainties related to the fact of detecting the object : ̂,, (17) Using the reliability notion, it is possible to make fusion of certainty by weighted averaging the data provided by the agents. Hence the common certainty of agents defined in , about the object is calculated as: , ∑ 1 , , ̂, (18) The reliability of each agent is a function of the weighting coefficient. The higher reliability the greater influence of the information collected by the agent on the final certainty value. 5 Simulation In order to verify and evaluate the quality of the method presented, a simulation experiment was arranged. Two robotic-agents are placed inside an rectangular workspace of size 500x500[m]. Each agent is equipped with a sensory system which is able to detect objects in the area defined by the angle of view and the range of the sensors. The values of the range and angle are set to (90[m],75[deg]) and (110[m],95[deg]) for the first and second agent correspondingly. Inside the workspace there are 100 objects placed on locations selected in a random way. Figure 2 presents the experiment arrangement. The goal of the agents is efficient collecting objects. The agents are able to communicate each other and exchange information about the objects detected. Moreover it is assumed that agents exchange information about their reliability self-assessment.
214 M. Mellado and K. Skrzypczyk Fig. 2. The simulation experiment arrangement The aim of the first part of the simulation experiment was to verify the procedure quality of the reliability assessment. The experiment was as follows. The agent was repeating the procedure detect-collect 15 times. The reliability of the agent was modeled according to the (5) by changing the influence of the random component. The simulation was performed for three values of 0.7,0.5,0.05. The results of the experiment are presented in the fig.3. Fig. 3. The agent reliability assessment
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Studies in Computational Intelligen
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Aleksander Nawrat · Zygmunt Kuś E
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“In God We Trust, All others we o
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VIII Preface valuable information i
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Contents Part I: Design of Object D
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Contents XIII Technology Developmen
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XVI List of Contributors Adam Czorn
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XVIII List of Contributors Henryk M
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XX List of Contributors Józef Wron
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2 Design of Object Detection, Recog
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4 A. Babiarz et al. 1 Introduction
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6 A. Babiarz et al. The description
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8 A. Babiarz et al. a) b) Fig. 5. T
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10 A. Babiarz et al. o o o “micvo
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12 A. Babiarz et al. a) b) Fig. 7.
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14 A. Babiarz et al. • The camera
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18 A. Babiarz et al. a) b) Fig. 11.
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Recognition and Location of Objects
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94 Construction of Image Acquisitio
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100 G. Bieszczad et al. Table 1. No
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114 G. Bieszczad et al. [11] Krupi
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116 D. Bereska et al. Presented in
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118 D. Bereska et al. Fig. 2. Image
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120 D. Bereska et al. Fig. 4. Ortho
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Omnidirectional Video Acquisition D
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Part III Design of Vision Based Con
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Vision System for Group of Mobile R
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A Distributed Control Group of Mobi
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280 A. Nawrat et al. • 1-phase el
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284 A. Nawrat et al. Table 1. Compa
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286 A. Nawrat et al. P3 P3 P3 71101
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288 A. Nawrat et al. S, VA 4,510 4,
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Technology Development of Military
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344 Conclusions Control algorithms
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[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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