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Reference: Manyika, J. (James), (1993). An information-theoretic approach to data fusion and sensor management. DPhil. University of Oxford.Citable link to this page:

 

An information-theoretic approach to data fusion and sensor management

Abstract: ´╗┐The use of multi-sensor systems entails a Data Fusion and Sensor Management requirementin order to optimize the use of resources and allow the synergistic operation of sensors.To date, data fusion and sensor management have largely been dealt with separately andprimarily for centralized and hierarchical systems. Although work has recently been donein distributed and decentralized data fusion, very little of it has addressed sensor management.In decentralized systems, a consistent and coherent approach is essential and the adhoc methods used in other systems become unsatisfactory.This thesis concerns the development of a unified approach to data fusion and sensormanagement in multi-sensor systems in general and decentralized systems in particular,within a single consistent information-theoretic framework. Our approach is based on consideringinformation and its gain as the main goal of multi-sensor systems. We develop aprobabilistic information update paradigm from which we derive directly architectures andalgorithms for decentralized data fusion and, most importantly, address sensor management.Presented with several alternatives, the question of how to make decisions leading tothe best sensing configuration or actions, defines the management problem. We discuss theissues in decentralized decision making and present a normative method for decentralizedsensor management based on information as expected utility. We discuss several ways ofrealizing the solution culminating in an iterative method akin to bargaining for a general decentralizedsystem. Underlying this is the need for a good sensor model detailing a sensor'sphysical operation and the phenomenological nature of measurements vis-a-vis the probabilisticinformation the sensor provides. Also, implicit in a sensor management problem isthe existence of several sensing alternatives such as those provided by agile or multi-modesensors. With our application in mind, we detail such a sensor model for a novel TrackingSonar with precisely these capabilities making it ideal for managed data fusion. As anapplication, we consider vehicle navigation, specifically localization and map-building. Implementationis on the OxNav vehicle (JTR) which we are currently developing. The resultsshow, firstly, how with managed data fusion, localization is greatly speeded up comparedto previous published work and secondly, how synergistic operation such as sensor-featureassignments, hand-off and cueing can be realised decentrally. This implementation providesnew ways of addressing vehicle navigation, while the theoretical results are applicable to avariety of multi-sensing problems.

Type of Award:DPhil Level of Award:Doctoral Awarding Institution: University of Oxford Notes:The digital copy of this thesis has been made available thanks to the generosity of Dr Leonard Polonsky

Contributors

Durrant-Whyte, Hugh F.More by this contributor

RoleSupervisor

 

Dr. Hugh Durrant-WhyteMore by this contributor

RoleSupervisor

 Bibliographic Details

Issue Date: 1993Identifiers

Urn: uuid:6e6dd2a8-1ec0-4d39-8f8b-083289756a70

Source identifier: 603851261 Item Description

Type: Thesis;

Language: eng Subjects: Multisensor data fusion Sonar Automatic tracking Tiny URL: td:603851261

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Author: Manyika, J. James - institutionUniversity of Oxford facultyMathematical and Physical Sciences Division - - - - Contributors Durra

Source: https://ora.ox.ac.uk/objects/uuid:6e6dd2a8-1ec0-4d39-8f8b-083289756a70



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