Coordinated search for a lost target in a Bayesian world

This paper describes a decentralized Bayesian approach to the problem of coordinating multiple autonomous sensor platforms searching for a single non-evading target. In this architecture, each decision maker builds an equivalent representation of the probability density function (PDF) of the target state through a general decentralized Bayesian sensor network, enabling them to coordinate their actions without exchanging any information about their plans. The advantage of the approach is that a high degree of scalability and real-time adaptability can be achieved. The framework is implemented on a real-time high-fidelity multi-vehicle simulator system. The effectiveness of the method is demonstrated in different scenarios for a team of airborne search vehicles looking for both a stationary and a drifting target lost at sea.     

Efficient model-based tracking for robot vision

This paper proposes a real-time, robust and efficient three-dimensional (3D) model-based tracking algorithm. A virtual visual servoing approach is used for monocular 3D tracking. This method is similar to more classical non-linear pose computation techniques. A concise method for derivation of efficient distance-to-contour interaction matrices is described. An oriented edge detector is used in order to provide real-time tracking of points normal to the object contours. Robustness is obtained by integrating a M-estimator into the virtual visual control law via an iteratively re-weighted least-squares implementation. The method presented in this paper has been validated on several visual servoing experiments considering various objects. Results show the method to be robust to occlusion, changes in illumination and mis-tracking.     

智能程序设计语言VISUAL PROLOG 编程解析

VISUAL PROLOG具有很强的逻辑推理能力,且易于编程,操作界面友好,近年来得到程序设计行业的广泛 关注。本文对VISUAL PROLOG程序设计语言的主要特征进行概述,在此基础上,对基于VISUAL PROLOG语言的程序编 程展开较为深入的探究。