10,429 research outputs found
Network Topology Mapping from Partial Virtual Coordinates and Graph Geodesics
For many important network types (e.g., sensor networks in complex harsh
environments and social networks) physical coordinate systems (e.g.,
Cartesian), and physical distances (e.g., Euclidean), are either difficult to
discern or inapplicable. Accordingly, coordinate systems and characterizations
based on hop-distance measurements, such as Topology Preserving Maps (TPMs) and
Virtual-Coordinate (VC) systems are attractive alternatives to Cartesian
coordinates for many network algorithms. Herein, we present an approach to
recover geometric and topological properties of a network with a small set of
distance measurements. In particular, our approach is a combination of shortest
path (often called geodesic) recovery concepts and low-rank matrix completion,
generalized to the case of hop-distances in graphs. Results for sensor networks
embedded in 2-D and 3-D spaces, as well as a social networks, indicates that
the method can accurately capture the network connectivity with a small set of
measurements. TPM generation can now also be based on various context
appropriate measurements or VC systems, as long as they characterize different
nodes by distances to small sets of random nodes (instead of a set of global
anchors). The proposed method is a significant generalization that allows the
topology to be extracted from a random set of graph shortest paths, making it
applicable in contexts such as social networks where VC generation may not be
possible.Comment: 17 pages, 9 figures. arXiv admin note: substantial text overlap with
arXiv:1712.1006
Cross-Layer Optimization of Fast Video Delivery in Cache-Enabled Relaying Networks
This paper investigates the cross-layer optimization of fast video delivery
and caching for minimization of the overall video delivery time in a two-hop
relaying network. The half-duplex relay nodes are equipped with both a cache
and a buffer which facilitate joint scheduling of fetching and delivery to
exploit the channel diversity for improving the overall delivery performance.
The fast delivery control is formulated as a two-stage functional non-convex
optimization problem. By exploiting the underlying convex and quasi-convex
structures, the problem can be solved exactly and efficiently by the developed
algorithm. Simulation results show that significant caching and buffering gains
can be achieved with the proposed framework, which translates into a reduction
of the overall video delivery time. Besides, a trade-off between caching and
buffering gains is unveiled.Comment: 7 pages, 4 figures; accepted for presentation at IEEE Globecom, San
Diego, CA, Dec. 201
Resource Allocation for Energy-Efficient 3-Way Relay Channels
Throughput and energy efficiency in 3-way relay channels are studied in this
paper. Unlike previous contributions, we consider a circular message exchange.
First, an outer bound and achievable sum rate expressions for different
relaying protocols are derived for 3-way relay channels. The sum capacity is
characterized for certain SNR regimes. Next, leveraging the derived achievable
sum rate expressions, cooperative and competitive maximization of the energy
efficiency are considered. For the cooperative case, both low-complexity and
globally optimal algorithms for joint power allocation at the users and at the
relay are designed so as to maximize the system global energy efficiency. For
the competitive case, a game theoretic approach is taken, and it is shown that
the best response dynamics is guaranteed to converge to a Nash equilibrium. A
power consumption model for mmWave board-to-board communications is developed,
and numerical results are provided to corroborate and provide insight on the
theoretical findings.Comment: Submitted to IEEE Transactions on Wireless Communication
Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing
Robotic picking from cluttered bins is a demanding task, for which Amazon
Robotics holds challenges. The 2017 Amazon Robotics Challenge (ARC) required
stowing items into a storage system, picking specific items, and packing them
into boxes. In this paper, we describe the entry of team NimbRo Picking. Our
deep object perception pipeline can be quickly and efficiently adapted to new
items using a custom turntable capture system and transfer learning. It
produces high-quality item segments, on which grasp poses are found. A planning
component coordinates manipulation actions between two robot arms, minimizing
execution time. The system has been demonstrated successfully at ARC, where our
team reached second places in both the picking task and the final stow-and-pick
task. We also evaluate individual components.Comment: In: Proceedings of the International Conference on Robotics and
Automation (ICRA) 201
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