1. Distributed Sensor Tracking: using the Physical Model Bart Selman, Carla Gomes, Scott Kirkpatrick, Ramon Bejar, Bhaskar Krishnamachari, Johannes Schneider Intelligent Information Systems Institute, Cornell University & Hebrew University Autonomous Negotiating Teams Oct. 31, 2001

2. Outline Overview of our approach Ants - Challenge Problem (Sensor Domain) Movie – 100 sensors, 10 moving targets

3. Overview of Approach Approach based on an “energy function” Sensors independently and asynchronously decide which target to track, based on closest neighbors’ status information. Make tradeoffs.  Metropolis dynamics permits reassignments  Simulated annealing controls process Constraints are relatively easy to incorporate:  Time dependent communications failures  Communications delays, sensor orientation issues Tuning of method in progress, full report in Dec.

4. First results: Movie 10x10 field of sensors Track 10 moving, turning targets Picture shows Target detection range (green circles) Target clusters (>3 communicating sensors) are red lines to the target from the sensors