Social Clustering of Vehicles Based on Semi-Markov Processes

The full text version attached to this record is the authors final peer reviewed version. The publisher's final version of record can be found by following the DOI link.Vehicle clustering is a crucial network managementtask for vehicular networks in order to address the broadcaststorm problem, and also to cope with rapidly changing networktopology. Developing algorithms that createstable clustersis avery challenging procedure because of the highly dynamic movingpatterns of vehicles and the dense topology. Previous approachesto vehicle clustering have been based on either topology-agnosticfeatures, such as vehicle IDs, on hard to set parameters, orhave exploited very limited knowledge of vehicle trajectories.This article develops a pair of algorithms, namelySociologicalPattern Clustering (SPC), andRoute Stability Clustering (RSC),the latter being a specialization of the former that exploit, forthe first time in the relevant literature, the “social behavior”of vehicles, i.e. their tendency to share the same/similar routes.Both methods exploit the historic trajectories of vehiclesgatheredby road-side units located in each subnetwork of a city, anduse the recently introduced clustering primitive ofvirtual forces.The mobility, i.e. mobile patterns of each vehicle are modeledas semi-Markov processes. In order to assess the performanceof the proposed clustering algorithms, we performed a detailedexperimentation by simulation to compare its behavior withthat of high-performance state-of-the-art algorithms, namely, theLow-Id,DDVCandMPBCprotocols. The comparison involvedthe investigation of the impact of a range of parameters onthe performance of the protocols, including vehicle speed andtransmission range as well as the existence and strength of socialpatterns, for both urban and highway-like environments. Allthe received results attested to the superiority of the proposedalgorithms for creating stable and meaningful clusters

Human Motion Trajectory Prediction: A Survey

With growing numbers of intelligent autonomous systems in human environments, the ability of such systems to perceive, understand and anticipate human behavior becomes increasingly important. Specifically, predicting future positions of dynamic agents and planning considering such predictions are key tasks for self-driving vehicles, service robots and advanced surveillance systems. This paper provides a survey of human motion trajectory prediction. We review, analyze and structure a large selection of work from different communities and propose a taxonomy that categorizes existing methods based on the motion modeling approach and level of contextual information used. We provide an overview of the existing datasets and performance metrics. We discuss limitations of the state of the art and outline directions for further research.Comment: Submitted to the International Journal of Robotics Research (IJRR), 37 page

Generalized gap acceptance models for unsignalized intersections

This paper contributes to the modeling and analysis of unsignalized intersections. In classical gap acceptance models vehicles on the minor road accept any gap greater than the CRITICAL gap, and reject gaps below this threshold, where the gap is the time between two subsequent vehicles on the major road. The main contribution of this paper is to develop a series of generalizations of existing models, thus increasing the model's practical applicability significantly. First, we incorporate {driver impatience behavior} while allowing for a realistic merging behavior; we do so by distinguishing between the critical gap and the merging time, thus allowing MULTIPLE vehicles to use a sufficiently large gap. Incorporating this feature is particularly challenging in models with driver impatience. Secondly, we allow for multiple classes of gap acceptance behavior, enabling us to distinguish between different driver types and/or different vehicle types. Thirdly, we use the novel M$^X$/SM2/1 queueing model, which has batch arrivals, dependent service times, and a different service-time distribution for vehicles arriving in an empty queue on the minor road (where `service time' refers to the time required to find a sufficiently large gap). This setup facilitates the analysis of the service-time distribution of an arbitrary vehicle on the minor road and of the queue length on the minor road. In particular, we can compute the MEAN service time, thus enabling the evaluation of the capacity for the minor road vehicles

Markov Chain Methods For Analyzing Complex Transport Networks

We have developed a steady state theory of complex transport networks used to model the flow of commodity, information, viruses, opinions, or traffic. Our approach is based on the use of the Markov chains defined on the graph representations of transport networks allowing for the effective network design, network performance evaluation, embedding, partitioning, and network fault tolerance analysis. Random walks embed graphs into Euclidean space in which distances and angles acquire a clear statistical interpretation. Being defined on the dual graph representations of transport networks random walks describe the equilibrium configurations of not random commodity flows on primary graphs. This theory unifies many network concepts into one framework and can also be elegantly extended to describe networks represented by directed graphs and multiple interacting networks.Comment: 26 pages, 4 figure

Thirty Years of Machine Learning: The Road to Pareto-Optimal Wireless Networks

Future wireless networks have a substantial potential in terms of supporting a broad range of complex compelling applications both in military and civilian fields, where the users are able to enjoy high-rate, low-latency, low-cost and reliable information services. Achieving this ambitious goal requires new radio techniques for adaptive learning and intelligent decision making because of the complex heterogeneous nature of the network structures and wireless services. Machine learning (ML) algorithms have great success in supporting big data analytics, efficient parameter estimation and interactive decision making. Hence, in this article, we review the thirty-year history of ML by elaborating on supervised learning, unsupervised learning, reinforcement learning and deep learning. Furthermore, we investigate their employment in the compelling applications of wireless networks, including heterogeneous networks (HetNets), cognitive radios (CR), Internet of things (IoT), machine to machine networks (M2M), and so on. This article aims for assisting the readers in clarifying the motivation and methodology of the various ML algorithms, so as to invoke them for hitherto unexplored services as well as scenarios of future wireless networks.Comment: 46 pages, 22 fig

Symbol Emergence in Robotics: A Survey

Humans can learn the use of language through physical interaction with their environment and semiotic communication with other people. It is very important to obtain a computational understanding of how humans can form a symbol system and obtain semiotic skills through their autonomous mental development. Recently, many studies have been conducted on the construction of robotic systems and machine-learning methods that can learn the use of language through embodied multimodal interaction with their environment and other systems. Understanding human social interactions and developing a robot that can smoothly communicate with human users in the long term, requires an understanding of the dynamics of symbol systems and is crucially important. The embodied cognition and social interaction of participants gradually change a symbol system in a constructive manner. In this paper, we introduce a field of research called symbol emergence in robotics (SER). SER is a constructive approach towards an emergent symbol system. The emergent symbol system is socially self-organized through both semiotic communications and physical interactions with autonomous cognitive developmental agents, i.e., humans and developmental robots. Specifically, we describe some state-of-art research topics concerning SER, e.g., multimodal categorization, word discovery, and a double articulation analysis, that enable a robot to obtain words and their embodied meanings from raw sensory--motor information, including visual information, haptic information, auditory information, and acoustic speech signals, in a totally unsupervised manner. Finally, we suggest future directions of research in SER.Comment: submitted to Advanced Robotic