A fast and efficient method for solving the multiple line detection problem

In this paper, we consider the multiple line detection problem on the basis of a data points set coming from a number of lines not known in advance. A new and efficient method is proposed, which is based upon center-based clustering, and it solves this problem quickly and precisely. The method has been tested on 100 randomly generated data sets. In comparison to the incremental algorithm, the method gives significantly better results. Also, in order to identify a partition with the most appropriate number of clusters, a new index has been proposed for the case of a cluster whose lines are cluster-centers. The index can also be generalized for other geometrical objects

Effective bootstrapping of Peer-to Peer networks over Mobile Ad-hoc networks

Mobile Ad-hoc Networks (MANETs) and Peer-to-Peer (P2P) networks are vigorous, revolutionary communication technologies in the 21st century. They lead the trend of decentralization. Decentralization will ultimately win clients over client/server model, because it gives ordinary network users more control, and stimulates their active participation. It is a determinant factor in shaping the future of networking. MANETs and P2P networks are very similar in nature. Both are dynamic, distributed. Both use multi-hop broadcast or multicast as major pattern of traffic. Both set up connection by self-organizing and maintain connection by self-healing. Embodying the slogan networking without networks, both abandoned traditional client/server model and disclaimed pre-existing infrastructure. However, their status quo levels of real world application are widely divergent. P2P networks are now accountable for about 50 ~ 70% internet traffic, while MANETs are still primarily in the laboratory. The interesting and confusing phenomenon has sparked considerable research effort to transplant successful approaches from P2P networks into MANETs. While most research in the synergy of P2P networks and MANETs focuses on routing, the network bootstrapping problem remains indispensable for any such transplantation to be realized. The most pivotal problems in bootstrapping are: (1) automatic configuration of nodes addresses and IDs, (2) topology discovery and transformation in different layers and name spaces. In this dissertation research, we have found novel solutions for these problems. The contributions of this dissertation are: (1) a non-IP, flat address automatic configuration scheme, which integrates lower layer addresses and P2P IDs in application layer and makes simple cryptographical assignment possible. A related paper entitled Pastry over Ad-Hoc Networks with Automatic Flat Address Configuration was submitted to Elsevier Journal of Ad Hoc Networks in May. (2) an effective ring topology construction algorithm which builds perfect ring in P2P ID space using only simplest multi-hop unicast or multicast. Upon this ring, popular structured P2P networks like Chord, Pastry could be built with great ease. A related paper entitled Chord Bootstrapping on MANETs - All Roads lead to Rome will be ready for submission after defense of the dissertation

Measurements, Models, Systems and Design

531 s.

Scalable Approach to Uncertainty Quantification and Robust Design of Interconnected Dynamical Systems

Development of robust dynamical systems and networks such as autonomous aircraft systems capable of accomplishing complex missions faces challenges due to the dynamically evolving uncertainties coming from model uncertainties, necessity to operate in a hostile cluttered urban environment, and the distributed and dynamic nature of the communication and computation resources. Model-based robust design is difficult because of the complexity of the hybrid dynamic models including continuous vehicle dynamics, the discrete models of computations and communications, and the size of the problem. We will overview recent advances in methodology and tools to model, analyze, and design robust autonomous aerospace systems operating in uncertain environment, with stress on efficient uncertainty quantification and robust design using the case studies of the mission including model-based target tracking and search, and trajectory planning in uncertain urban environment. To show that the methodology is generally applicable to uncertain dynamical systems, we will also show examples of application of the new methods to efficient uncertainty quantification of energy usage in buildings, and stability assessment of interconnected power networks

Distributed Detection and Estimation in Wireless Sensor Networks

In this article we consider the problems of distributed detection and estimation in wireless sensor networks. In the first part, we provide a general framework aimed to show how an efficient design of a sensor network requires a joint organization of in-network processing and communication. Then, we recall the basic features of consensus algorithm, which is a basic tool to reach globally optimal decisions through a distributed approach. The main part of the paper starts addressing the distributed estimation problem. We show first an entirely decentralized approach, where observations and estimations are performed without the intervention of a fusion center. Then, we consider the case where the estimation is performed at a fusion center, showing how to allocate quantization bits and transmit powers in the links between the nodes and the fusion center, in order to accommodate the requirement on the maximum estimation variance, under a constraint on the global transmit power. We extend the approach to the detection problem. Also in this case, we consider the distributed approach, where every node can achieve a globally optimal decision, and the case where the decision is taken at a central node. In the latter case, we show how to allocate coding bits and transmit power in order to maximize the detection probability, under constraints on the false alarm rate and the global transmit power. Then, we generalize consensus algorithms illustrating a distributed procedure that converges to the projection of the observation vector onto a signal subspace. We then address the issue of energy consumption in sensor networks, thus showing how to optimize the network topology in order to minimize the energy necessary to achieve a global consensus. Finally, we address the problem of matching the topology of the network to the graph describing the statistical dependencies among the observed variables.Comment: 92 pages, 24 figures. To appear in E-Reference Signal Processing, R. Chellapa and S. Theodoridis, Eds., Elsevier, 201

Scaling Robot Motion Planning to Multi-core Processors and the Cloud

Imagine a world in which robots safely interoperate with humans, gracefully and efficiently accomplishing everyday tasks. The robot's motions for these tasks, constrained by the design of the robot and task at hand, must avoid collisions with obstacles. Unfortunately, planning a constrained obstacle-free motion for a robot is computationally complex---often resulting in slow computation of inefficient motions. The methods in this dissertation speed up this motion plan computation with new algorithms and data structures that leverage readily available parallel processing, whether that processing power is on the robot or in the cloud, enabling robots to operate safer, more gracefully, and with improved efficiency. The contributions of this dissertation that enable faster motion planning are novel parallel lock-free algorithms, fast and concurrent nearest neighbor searching data structures, cache-aware operation, and split robot-cloud computation. Parallel lock-free algorithms avoid contention over shared data structures, resulting in empirical speedup proportional to the number of CPU cores working on the problem. Fast nearest neighbor data structures speed up searching in SO(3) and SE(3) metric spaces, which are needed for rigid body motion planning. Concurrent nearest neighbor data structures improve searching performance on metric spaces common to robot motion planning problems, while providing asymptotic wait-free concurrent operation. Cache-aware operation avoids long memory access times, allowing the algorithm to exhibit superlinear speedup. Split robot-cloud computation enables robots with low-power CPUs to react to changing environments by having the robot compute reactive paths in real-time from a set of motion plan options generated in a computationally intensive cloud-based algorithm. We demonstrate the scalability and effectiveness of our contributions in solving motion planning problems both in simulation and on physical robots of varying design and complexity. Problems include finding a solution to a complex motion planning problem, pre-computing motion plans that converge towards the optimal, and reactive interaction with dynamic environments. Robots include 2D holonomic robots, 3D rigid-body robots, a self-driving 1/10 scale car, articulated robot arms with and without mobile bases, and a small humanoid robot.Doctor of Philosoph

Strategies for coverage and focus on event for robotic swarms with limited sensing capabilities

We consider the problem of coverage in Robotic Networks: developing an efficient algorithm which is able to perform a deployment in static-obstacle-structured environments focusing on events is our main idea. We are interested on the trade-off between local communication and optimal coverage, therefore we are going to present an algorithm based on article: "Sensor Coverage Robot Swarms Using Local Sensing without Metric Information", using its similar scenario types

Robust fuzzyclustering for object recognition and classification of relational data

Prototype based fuzzy clustering algorithms have unique ability to partition the data while detecting multiple clusters simultaneously. However since real data is often contaminated with noise, the clustering methods need to be made robust to be useful in practice. This dissertation focuses on robust detection of multiple clusters from noisy range images for object recognition. Dave\u27s noise clustering (NC) method has been shown to make prototype-based fuzzy clustering techniques robust. In this work, NC is generalized and the new NC membership is shown to be a product of fuzzy c-means (FCM) membership and robust M-estimator weight (or possibilistic membership). Thus the generalized NC approach is shown to have the partitioning ability of FCM and robustness of M-estimators. Since the NC (or FCM) algorithms are based on fixed-point iteration technique, they suffer from the problem of initializations. To overcome this problem, the sampling based robust LMS algorithm is considered by extending it to fuzzy c-LMS algorithm for detecting multiple clusters. The concept of repeated evidence has been incorporated to increase the speed of the new approach. The main problem with the LMS approach is the need for ordering the distance data. To eliminate this problem, a novel sampling based robust algorithm is proposed following the NC principle, called the NLS method, that directly searches for clusters in the maximum density region of the range data without requiring the specification of number of clusters. The NC concept is also introduced to several fuzzy methods for robust classification of relational data for pattern recognition. This is also extended to non-Euclidean relational data. The resulting algorithms are used for object recognition from range images as well as for identification of bottleneck parts while creating desegregated cells of machine/ components in cellular manufacturing and group technology (GT) applications