Machine Learning Department
School of Computer Science, Carnegie Mellon University


Robust Probabilistic Filtering in Distributed Systems

Stanislav Funiak, Carlos Guestrin,
Mark Paskin*, Rahul Sukthankar**

January 2007


Keywords: Graphical models, sensor networks

We present a robust distributed algorithm for approximate probabilistic inference in dynamical systems, such as sensor networks and teams of mobile robots. Using assumed density filtering, the network nodes maintain a tractable representation of the belief state in a distributed fashion. At each time step, the nodes coordinate to condition this distribution on the observations made throughout the network, and to advance this estimate to the next time step. In addition, we identify a significant challenge for probabilistic inference in dynamical systems: message losses or network partitions can cause nodes to have inconsistent beliefs about the current state of the system. We address this problem by developing distributed algorithms that guarantee that nodes will reach an informative consistent distribution when communication is re-established. We present a suite of experimental results on real-world sensor data for two real sensor network deployments: one with 25 cameras and another with 54 temperature sensors.

16 pages

**Intel Research

SCS Technical Report Collection
School of Computer Science homepage

This page maintained by