2,895 research outputs found
Implicit Cooperative Positioning in Vehicular Networks
Absolute positioning of vehicles is based on Global Navigation Satellite
Systems (GNSS) combined with on-board sensors and high-resolution maps. In
Cooperative Intelligent Transportation Systems (C-ITS), the positioning
performance can be augmented by means of vehicular networks that enable
vehicles to share location-related information. This paper presents an Implicit
Cooperative Positioning (ICP) algorithm that exploits the Vehicle-to-Vehicle
(V2V) connectivity in an innovative manner, avoiding the use of explicit V2V
measurements such as ranging. In the ICP approach, vehicles jointly localize
non-cooperative physical features (such as people, traffic lights or inactive
cars) in the surrounding areas, and use them as common noisy reference points
to refine their location estimates. Information on sensed features are fused
through V2V links by a consensus procedure, nested within a message passing
algorithm, to enhance the vehicle localization accuracy. As positioning does
not rely on explicit ranging information between vehicles, the proposed ICP
method is amenable to implementation with off-the-shelf vehicular communication
hardware. The localization algorithm is validated in different traffic
scenarios, including a crossroad area with heterogeneous conditions in terms of
feature density and V2V connectivity, as well as a real urban area by using
Simulation of Urban MObility (SUMO) for traffic data generation. Performance
results show that the proposed ICP method can significantly improve the vehicle
location accuracy compared to the stand-alone GNSS, especially in harsh
environments, such as in urban canyons, where the GNSS signal is highly
degraded or denied.Comment: 15 pages, 10 figures, in review, 201
Green Cellular Networks: A Survey, Some Research Issues and Challenges
Energy efficiency in cellular networks is a growing concern for cellular
operators to not only maintain profitability, but also to reduce the overall
environment effects. This emerging trend of achieving energy efficiency in
cellular networks is motivating the standardization authorities and network
operators to continuously explore future technologies in order to bring
improvements in the entire network infrastructure. In this article, we present
a brief survey of methods to improve the power efficiency of cellular networks,
explore some research issues and challenges and suggest some techniques to
enable an energy efficient or "green" cellular network. Since base stations
consume a maximum portion of the total energy used in a cellular system, we
will first provide a comprehensive survey on techniques to obtain energy
savings in base stations. Next, we discuss how heterogeneous network deployment
based on micro, pico and femto-cells can be used to achieve this goal. Since
cognitive radio and cooperative relaying are undisputed future technologies in
this regard, we propose a research vision to make these technologies more
energy efficient. Lastly, we explore some broader perspectives in realizing a
"green" cellular network technologyComment: 16 pages, 5 figures, 2 table
Collaborative navigation as a solution for PNT applications in GNSS challenged environments: report on field trials of a joint FIG / IAG working group
PNT stands for Positioning, Navigation, and Timing. Space-based PNT refers to the capabilities enabled by GNSS, and enhanced by Ground and Space-based Augmentation Systems (GBAS and SBAS), which provide position, velocity, and timing information to an unlimited number of users around the world, allowing every user to operate in the same reference system and timing standard. Such information has become increasingly critical to the security, safety, prosperity, and overall qualityof-life of many citizens. As a result, space-based PNT is now widely recognized as an essential element of the global information infrastructure. This paper discusses the importance of the availability and continuity of PNT information, whose application, scope and significance have exploded in the past 10–15 years. A paradigm shift in the navigation solution has been observed in recent years. It has been manifested by an evolution from traditional single sensor-based solutions, to multiple sensor-based solutions and ultimately to collaborative navigation and layered sensing, using non-traditional sensors and techniques – so called signals of opportunity. A joint working group under the auspices of the International Federation of Surveyors (FIG) and the International Association of Geodesy (IAG), entitled ‘Ubiquitous Positioning Systems’ investigated the use of Collaborative Positioning (CP) through several field trials over the past four years. In this paper, the concept of CP is discussed in detail and selected results of these experiments are presented. It is demonstrated here, that CP is a viable solution if a ‘network’ or ‘neighbourhood’ of users is to be positioned / navigated together, as it increases the accuracy, integrity, availability, and continuity of the PNT information for all users
Power allocation for D2D communications using max-min message-passing algorithm
The approach of factor-graphs (FGs) is applied in the context of power control and user pairing in Device-to-Device (D2D) communications as an effective underlay concept in wireless cellular networks. D2D communications can increase the spectral efficiency of wireless cellular networks by establishing a direct link between devices with limited help from the evolved node base stations (eNBs). A well-designed user pairing and power allocation scheme with low complexity can remarkably improve the system’s performance. In this paper, a simple and distributed FG based approach is utilized for power control and user pairing implementation in an underlay cellular network with D2D communications. A max-min criterion is proposed to maximize the minimum rate of all active users in the network, including the cellular and multiple D2D co-channel links in the uplink direction. An associated message-passing (MP) algorithm is presented to distributedly solve the resultant NP-hard maximization problem, with a guaranteed convergence compared to game-theoretic and Q-learning based methods. The complexity and convergence of the proposed method are analyzed and numerical results confirm that the proposed scheme outperforms alternative algorithms in terms of complexity, while keeping the sum-rate of users nearly the same as centralized counterpart methods
A Review of Verbal and Non-Verbal Human-Robot Interactive Communication
In this paper, an overview of human-robot interactive communication is
presented, covering verbal as well as non-verbal aspects of human-robot
interaction. Following a historical introduction, and motivation towards fluid
human-robot communication, ten desiderata are proposed, which provide an
organizational axis both of recent as well as of future research on human-robot
communication. Then, the ten desiderata are examined in detail, culminating to
a unifying discussion, and a forward-looking conclusion
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