Maximal covering location problems on networks with regional demand

Covering problems are well studied in the Operations Research literature under the assumption that both the set of users and the set of potential facilities are finite. In this paper we address the following variant, which leads to a Mixed Integer Nonlinear Program (MINLP): locations of p facilities are sought along the edges of a network so that the expected demand covered is maximized, where demand is continuously distributed along the edges. This MINLP has a combinatorial part (which edges of the network are chosen to contain facilities) and a continuous global optimization part (once the edges are chosen, which are the optimal locations within such edges). A branch and bound algorithm is proposed, which exploits the structure of the problem: specialized data structures are introduced to successfully cope with the combinatorial part, inserted in a geometric branch and bound. Computational results are presented, showing the appropriateness of our procedure to solve covering problems for small (but nontrivial) values of p.Unión EuropeaMinisterio de Ciencia e InnovaciónJunta de Andalucí

Multi-Robot Persistent Coverage in Complex Environments

Los recientes avances en robótica móvil y un creciente desarrollo de robots móviles asequibles han impulsado numerosas investigaciones en sistemas multi-robot. La complejidad de estos sistemas reside en el diseño de estrategias de comunicación, coordinación y controlpara llevar a cabo tareas complejas que un único robot no puede realizar. Una tarea particularmente interesante es la cobertura persistente, que pretende mantener cubierto en el tiempo un entorno con un equipo de robots moviles. Este problema tiene muchas aplicaciones como aspiración o limpieza de lugares en los que la suciedad se acumula constantemente, corte de césped o monitorización ambiental. Además, la aparición de vehículos aéreos no tripulados amplía estas aplicaciones con otras como la vigilancia o el rescate.Esta tesis se centra en el problema de cubrir persistentemente entornos progresivamente mas complejos. En primer lugar, proponemos una solución óptima para un entorno convexo con un sistema centralizado, utilizando programación dinámica en un horizonte temporalnito. Posteriormente nos centramos en soluciones distribuidas, que son más robustas, escalables y eficientes. Para solventar la falta de información global, presentamos un algoritmo de estimación distribuido con comunicaciones reducidas. Éste permite a los robots teneruna estimación precisa de la cobertura incluso cuando no intercambian información con todos los miembros del equipo. Usando esta estimación, proponemos dos soluciones diferentes basadas en objetivos de cobertura, que son los puntos del entorno en los que más se puedemejorar dicha cobertura. El primer método es un controlador del movimiento que combina un término de gradiente con un término que dirige a los robots hacia sus objetivos. Este método funciona bien en entornos convexos. Para entornos con algunos obstáculos, el segundométodo planifica trayectorias abiertas hasta los objetivos, que son óptimas en términos de cobertura. Finalmente, para entornos complejos no convexos, presentamos un algoritmo capaz de encontrar particiones equitativas para los robots. En dichas regiones, cada robotplanifica trayectorias de longitud finita a través de un grafo de caminos de tipo barrido.La parte final de la tesis se centra en entornos discretos, en los que únicamente un conjunto finito de puntos debe que ser cubierto. Proponemos una estrategia que reduce la complejidad del problema separándolo en tres subproblemas: planificación de trayectoriascerradas, cálculo de tiempos y acciones de cobertura y generación de un plan de equipo sin colisiones. Estos subproblemas más pequeños se resuelven de manera óptima. Esta solución se utiliza en último lugar para una novedosa aplicación como es el calentamiento por inducción doméstico con inductores móviles. En concreto, la adaptamos a las particularidades de una cocina de inducción y mostramos su buen funcionamiento en un prototipo real.Recent advances in mobile robotics and an increasing development of aordable autonomous mobile robots have motivated an extensive research in multi-robot systems. The complexity of these systems resides in the design of communication, coordination and control strategies to perform complex tasks that a single robot can not. A particularly interesting task is that of persistent coverage, that aims to maintain covered over time a given environment with a team of robotic agents. This problem is of interest in many applications such as vacuuming, cleaning a place where dust is continuously settling, lawn mowing or environmental monitoring. More recently, the apparition of useful unmanned aerial vehicles (UAVs) has encouraged the application of the coverage problem to surveillance and monitoring. This thesis focuses on the problem of persistently covering a continuous environment in increasingly more dicult settings. At rst, we propose a receding-horizon optimal solution for a centralized system in a convex environment using dynamic programming. Then we look for distributed solutions, which are more robust, scalable and ecient. To deal with the lack of global information, we present a communication-eective distributed estimation algorithm that allows the robots to have an accurate estimate of the coverage of the environment even when they can not exchange information with all the members of the team. Using this estimation, we propose two dierent solutions based on coverage goals, which are the points of the environment in which the coverage can be improved the most. The rst method is a motion controller, that combines a gradient term with a term that drives the robots to the goals, and which performs well in convex environments. For environments with some obstacles, the second method plans open paths to the goals that are optimal in terms of coverage. Finally, for complex, non-convex environments we propose a distributed algorithm to nd equitable partitions for the robots, i.e., with an amount of work proportional to their capabilities. To cover this region, each robot plans optimal, nite-horizon paths through a graph of sweep-like paths. The nal part of the thesis is devoted to discrete environment, in which only a nite set of points has to be covered. We propose a divide-and-conquer strategy to separate the problem to reduce its complexity into three smaller subproblem, which can be optimally solved. We rst plan closed paths through the points, then calculate the optimal coverage times and actions to periodically satisfy the coverage required by the points, and nally join together the individual plans of the robots into a collision-free team plan that minimizes simultaneous motions. This solution is eventually used for a novel application that is domestic induction heating with mobile inductors. We adapt it to the particular setting of a domestic hob and demonstrate that it performs really well in a real prototype.<br /

Distributed Channel Synthesis

Two familiar notions of correlation are rediscovered as the extreme operating points for distributed synthesis of a discrete memoryless channel, in which a stochastic channel output is generated based on a compressed description of the channel input. Wyner's common information is the minimum description rate needed. However, when common randomness independent of the input is available, the necessary description rate reduces to Shannon's mutual information. This work characterizes the optimal trade-off between the amount of common randomness used and the required rate of description. We also include a number of related derivations, including the effect of limited local randomness, rate requirements for secrecy, applications to game theory, and new insights into common information duality. Our proof makes use of a soft covering lemma, known in the literature for its role in quantifying the resolvability of a channel. The direct proof (achievability) constructs a feasible joint distribution over all parts of the system using a soft covering, from which the behavior of the encoder and decoder is inferred, with no explicit reference to joint typicality or binning. Of auxiliary interest, this work also generalizes and strengthens this soft covering tool.Comment: To appear in IEEE Trans. on Information Theory (submitted Aug., 2012, accepted July, 2013), 26 pages, using IEEEtran.cl

Self-organizing peer-to-peer social networks

This is the author's accepted manuscript. The final published article is available from the link below. Copyright @ 2008 The Authors.Peer-to-peer (P2P) systems provide a new solution to distributed information and resource sharing because of its outstanding properties in decentralization, dynamics, flexibility, autonomy, and cooperation, summarized as DDFAC in this paper. After a detailed analysis of the current P2P literature, this paper suggests to better exploit peer social relationships and peer autonomy to achieve efficient P2P structure design. Accordingly, this paper proposes Self-organizing peer-to-peer social networks (SoPPSoNs) to self-organize distributed peers in a decentralized way, in which neuron-like agents following extended Hebbian rules found in the brain activity represent peers to discover useful peer connections. The self-organized networks capture social associations of peers in resource sharing, and hence are called P2P social networks. SoPPSoNs have improved search speed and success rate as peer social networks are correctly formed. This has been verified through tests on real data collected from the Gnutella system. Analysis on the Gnutella data has verified that social associations of peers in reality are directed, asymmetric and weighted, validating the design of SoPPSoN. The tests presented in this paper have also evaluated the scalability of SoPPSoN, its performance under varied initial network connectivity and the effects of different learning rules.National Natural Science of Foundation of Chin

Review of methods for deriving areal reduction factors

The design of hydraulic structures requires knowledge of how much rain is likely to fall within a certain amount of time, and over a specific area. Point rainfalls are only representative for a very limited area, and for larger areas the areal average rainfall depth is likely to be much smaller than at the point of maximum observed depth. The estimation of areal reduction factors is concerned with the relationship between the point and areal rainfalls. This relationship has been found to vary with, for example, predominant weather type, season and return period. Methods for estimation of areal reduction factors include empirical and analytical methods. The current design guidelines in the United Kingdom are based on an empirical method, but since they were issued in 1975, several new analytical methods have been proposed. These methods are discussed, and recommendations for an update suitable for United Kingdom conditions are made

Conceptualizing the Role of Geographical Proximity in Project Based R&D Networks: A Literature Survey

Empirical evidence shows that research is being carried out more in cooperation or in collaboration with others, and the networks described by these collaborative research activities are becoming more and more complex. This phenomenon brings about new strands of research questions and opens up a different research context in the area of geography of innovation. The recent set of literature addressing these new issues shows a high degree of variation in terms of focus, approaches and methodology. Hence to elucidate the relationship between networks and geography it is crucial to have a review them. In this regard, this study focuses on a particular type of networks, namely, project based R&D networks and aims at describing the state-of-the-art in explaining the specificity of geography in formation and evolution of such networks. Towards this aim, we framed the discussion along four lenses: the specificity of geography in partner choice, in successful execution of the collaboration, in the resulting innovation performance both at the organizational and regional level, and the spatio-temporal evolution of networks. The overview provided by the survey is suggestive regarding the theorization of geography and network relationship, and informative regarding the issues demanding further research effort, and promising extensions.