530 research outputs found
Improved Bounds on Information Dissemination by Manhattan Random Waypoint Model
With the popularity of portable wireless devices it is important to model and
predict how information or contagions spread by natural human mobility -- for
understanding the spreading of deadly infectious diseases and for improving
delay tolerant communication schemes. Formally, we model this problem by
considering moving agents, where each agent initially carries a
\emph{distinct} bit of information. When two agents are at the same location or
in close proximity to one another, they share all their information with each
other. We would like to know the time it takes until all bits of information
reach all agents, called the \textit{flood time}, and how it depends on the way
agents move, the size and shape of the network and the number of agents moving
in the network.
We provide rigorous analysis for the \MRWP model (which takes paths with
minimum number of turns), a convenient model used previously to analyze mobile
agents, and find that with high probability the flood time is bounded by
, where agents move on an
grid. In addition to extensive simulations, we use a data set of
taxi trajectories to show that our method can successfully predict flood times
in both experimental settings and the real world.Comment: 10 pages, ACM SIGSPATIAL 2018, Seattle, U
MoMo: a group mobility model for future generation mobile wireless networks
Existing group mobility models were not designed to meet the requirements for
accurate simulation of current and future short distance wireless networks
scenarios, that need, in particular, accurate, up-to-date informa- tion on the
position of each node in the network, combined with a simple and flexible
approach to group mobility modeling. A new model for group mobility in wireless
networks, named MoMo, is proposed in this paper, based on the combination of a
memory-based individual mobility model with a flexible group behavior model.
MoMo is capable of accurately describing all mobility scenarios, from
individual mobility, in which nodes move inde- pendently one from the other, to
tight group mobility, where mobility patterns of different nodes are strictly
correlated. A new set of intrinsic properties for a mobility model is proposed
and adopted in the analysis and comparison of MoMo with existing models. Next,
MoMo is compared with existing group mobility models in a typical 5G network
scenario, in which a set of mobile nodes cooperate in the realization of a
distributed MIMO link. Results show that MoMo leads to accurate, robust and
flexible modeling of mobility of groups of nodes in discrete event simulators,
making it suitable for the performance evaluation of networking protocols and
resource allocation algorithms in the wide range of network scenarios expected
to characterize 5G networks.Comment: 25 pages, 17 figure
Performance Analysis of Multicast Mobility in a Hierarchical Mobile IP Proxy Environment
Mobility support in IPv6 networks is ready for release as an RFC, stimulating
major discussions on improvements to meet real-time communication requirements.
Sprawling hot spots of IP-only wireless networks at the same time await voice
and videoconferencing as standard mobile Internet services, thereby adding the
request for multicast support to real-time mobility. This paper briefly
introduces current approaches for seamless multicast extensions to Mobile IPv6.
Key issues of multicast mobility are discussed. Both analytically and in
simulations comparisons are drawn between handover performance characteristics,
dedicating special focus on the M-HMIPv6 approach.Comment: 11 pages, 7 figure
Enabling Motion Planning and Execution for Tasks Involving Deformation and Uncertainty
A number of outstanding problems in robotic motion and manipulation involve tasks where degrees of freedom (DoF), be they part of the robot, an object being manipulated, or the surrounding environment, cannot be accurately controlled by the actuators of the robot alone. Rather, they are also controlled by physical properties or interactions - contact, robot dynamics, actuator behavior - that are influenced by the actuators of the robot. In particular, we focus on two important areas of poorly controlled robotic manipulation: motion planning for deformable objects and in deformable environments; and manipulation with uncertainty. Many everyday tasks we wish robots to perform, such as cooking and cleaning, require the robot to manipulate deformable objects. The limitations of real robotic actuators and sensors result in uncertainty that we must address to reliably perform fine manipulation. Notably, both areas share a common principle: contact, which is usually prohibited in motion planners, is not only sometimes unavoidable, but often necessary to accurately complete the task at hand. We make four contributions that enable robot manipulation in these poorly controlled tasks: First, an efficient discretized representation of elastic deformable objects and cost function that assess a ``cost of deformation\u27 for a specific configuration of a deformable object that enables deformable object manipulation tasks to be performed without physical simulation. Second, a method using active learning and inverse-optimal control to build these discretized representations from expert demonstrations. Third, a motion planner and policy-based execution approach to manipulation with uncertainty which incorporates contact with the environment and compliance of the robot to generate motion policies which are then adapted during execution to reflect actual robot behavior. Fourth, work towards the development of an efficient path quality metric for paths executed with actuation uncertainty that can be used inside a motion planner or trajectory optimizer
Recommended from our members
Distributed virtual environment scalability and security
Distributed virtual environments (DVEs) have been an active area of research and engineering for more than 20 years. The most widely deployed DVEs are network games such as Quake, Halo, and World of Warcraft (WoW), with millions of users and billions of dollars in annual revenue. Deployed DVEs remain expensive centralized implementations despite significant research outlining ways to distribute DVE workloads.
This dissertation shows previous DVE research evaluations are inconsistent with deployed DVE needs. Assumptions about avatar movement and proximity - fundamental scale factors - do not match WoW’s workload, and likely the workload of other deployed DVEs. Alternate workload models are explored and preliminary conclusions presented. Using realistic workloads it is shown that a fully decentralized DVE cannot be deployed to today’s consumers, regardless of its overhead.
Residential broadband speeds are improving, and this limitation will eventually disappear. When it does, appropriate security mechanisms will be a fundamental requirement for technology adoption.
A trusted auditing system (“Carbon”) is presented which has good security, scalability, and resource characteristics for decentralized DVEs. When performing exhaustive auditing, Carbon adds 27% network overhead to a decentralized DVE with a WoW-like workload. This resource consumption can be reduced significantly, depending upon the DVE’s risk tolerance.
Finally, the Pairwise Random Protocol (PRP) is described. PRP enables adversaries to fairly resolve probabilistic activities, an ability missing from most decentralized DVE security proposals.
Thus, this dissertations contribution is to address two of the obstacles for deploying research on decentralized DVE architectures. First, lack of evidence that research results apply to existing DVEs. Second, the lack of security systems combining appropriate security guarantees with acceptable overhead
Learning Deployable Navigation Policies at Kilometer Scale from a Single Traversal
Model-free reinforcement learning has recently been shown to be effective at
learning navigation policies from complex image input. However, these
algorithms tend to require large amounts of interaction with the environment,
which can be prohibitively costly to obtain on robots in the real world. We
present an approach for efficiently learning goal-directed navigation policies
on a mobile robot, from only a single coverage traversal of recorded data. The
navigation agent learns an effective policy over a diverse action space in a
large heterogeneous environment consisting of more than 2km of travel, through
buildings and outdoor regions that collectively exhibit large variations in
visual appearance, self-similarity, and connectivity. We compare pretrained
visual encoders that enable precomputation of visual embeddings to achieve a
throughput of tens of thousands of transitions per second at training time on a
commodity desktop computer, allowing agents to learn from millions of
trajectories of experience in a matter of hours. We propose multiple forms of
computationally efficient stochastic augmentation to enable the learned policy
to generalise beyond these precomputed embeddings, and demonstrate successful
deployment of the learned policy on the real robot without fine tuning, despite
environmental appearance differences at test time. The dataset and code
required to reproduce these results and apply the technique to other datasets
and robots is made publicly available at rl-navigation.github.io/deployable
- …