Mustafa Aslanov

Chieh-Tung Cheng, Mustafa Aslanov, Eiman Kanjo

Edge AI nodes for search and rescue are increasingly expected to run computer vision locally, yet ultra-low-end hardware imposes hard constraints on memory, compute, and inter-device communication. This work addresses occlusion-robust object detection on devices with less than 1 MB SRAM by combining an MCUNet backbone, a YOLOv2 detection head, and Lite quantisation. Two collaborative inference strategies are evaluated: feature-level fusion, concatenating intermediate feature maps, and decision-level fusion via Weighted Boxes Fusion (WBF). WBF outperforms feature-level fusion under all tested occlusion conditions, yielding gains of up to +0.2736 mAP in asymmetric scenarios. Extending fusion to three views improves accuracy further (up to +0.3827 mAP) at modest communication overhead (~1.3 KB per exchange). Hardware experiments progress from a host-assisted USB-relay baseline to a Wi-Fi peer-to-peer deployment on two Coral Dev Board Micro units, where WBF executes on-device with negligible communication energy relative to inference. In a 301.9 s autonomous session of 108 frames, fused output is produced on 61 frames versus 47 for a single board - a coverage gain of +29.8%. A decentralised federated learning feasibility note is included but not treated as a primary result, as performance remains limited under non-iid data. The results support decision-level fusion as a viable option for improving occlusion robustness in small-scale edge object detection, including host-free multi-board operation on ultra-low-end hardware.

Eiman Kanjo, Mustafa Aslanov

The expansion of AI toward the edge increasingly exposes the cost and fragility of cen- tralised intelligence. Data transmission, latency, energy consumption, and dependence on large data centres create bottlenecks that scale poorly across heterogeneous, mobile, and resource-constrained environments. In this paper, we introduce Node Learning, a decen- tralised learning paradigm in which intelligence resides at individual edge nodes and expands through selective peer interaction. Nodes learn continuously from local data, maintain their own model state, and exchange learned knowledge opportunistically when collaboration is beneficial. Learning propagates through overlap and diffusion rather than global synchro- nisation or central aggregation. It unifies autonomous and cooperative behaviour within a single abstraction and accommodates heterogeneity in data, hardware, objectives, and connectivity. This concept paper develops the conceptual foundations of this paradigm, contrasts it with existing decentralised approaches, and examines implications for communi- cation, hardware, trust, and governance. Node Learning does not discard existing paradigms, but places them within a broader decentralised perspective