マルチエージェントベイズ分散推定における構造活用による最適化
Exploiting Structure for Optimal Multi-Agent Bayesian Decentralized Estimation
マルチエージェントの分散データ融合で問題となる「噂の伝播」に対し、確率的独立性構造を利用してより厳密な推定を行う非モノリシックCIアルゴリズムと最適化手法を提案した。
著者: Christopher Funk, Ofer Dagan, Benjamin Noack, Nisar R. Ahmed
分類: cs.RO, cs.AI
原文アブストラクト
A key challenge in Bayesian decentralized data fusion is the `rumor propagation' or `double counting' phenomenon, where previously sent data circulates back to its sender. It is often addressed by approximate methods like covariance intersection (CI) which takes a weighted average of the estimates to compute the bound. The problem is that this bound is not tight, i.e. the estimate is often over-conservative. In this paper, we show that by exploiting the probabilistic independence structure in multi-agent decentralized fusion problems a tighter bound can be found using (i) an expansion to the CI algorithm that uses multiple (non-monolithic) weighting factors instead of one (monolithic) factor in the original CI and (ii) a general optimization scheme that is able to compute optimal bounds and fully exploit an arbitrary dependency structure. We compare our methods and show that on a simple problem, they converge to the same solution. We then test our new non-monolithic CI algorithm on a large-scale target tracking simulation and show that it achieves a tighter bound and a more accurate estimate compared to the original monolithic CI.
