Distributed Processing and Data Fusion in Dynamic Systems with Microsystem Sensor Networks

Abstract

Distributed processing and control are critical to supports distributed intelligence and autonomy of multi-degree-of-freedom motion systems. Measurements and fusion of spatiotemporal physical quantities imply data-intensive computing and spatial distribution of computing resources to enable control and processing of large data sets from image and inertial sensors. We examine distributed and asynchronous processing nodes which process information independently deriving partial solutions. There are multiple sensing-and-processing nodes in each individual agent. Each node comprises solid-state or MEMS multi-degree-of-freedom sensors with ASICs which process and fuse data. On-node computing supports distributed processing. Adaptive bottom-up organization ensures data aggregation and data management with operation on sub-samples or hashed sets of large source datasets. Cooperative distributed processing is essential in centralized, decentralized and behavioral coordination. In the centralized organization, a central processor may not ensure adequacy. A network of semi-autonomous on-device processing sensors may interact to solve specific tasks and validate solutions. Problem allocation, partitioning, coordination and other tasks are implemented using software-and hardware-supported algorithms and protocols. This paper contributes to design of next generation of systems with distributed multi-node processing capabilities.