A practical multirobot localization system

We present a fast and precise vision-based software intended for multiple robot localization. The core component of the software is a novel and efficient algorithm for black and white pattern detection. The method is robust to variable lighting conditions, achieves sub-pixel precision and its computational complexity is independent of the processed image size. With off-the-shelf computational equipment and low-cost cameras, the core algorithm is able to process hundreds of images per second while tracking hundreds of objects with a millimeter precision. In addition, we present the method's mathematical model, which allows to estimate the expected localization precision, area of coverage, and processing speed from the camera's intrinsic parameters and hardware's processing capacity. The correctness of the presented model and performance of the algorithm in real-world conditions is verified in several experiments. Apart from the method description, we also make its source code public at \emph{http://purl.org/robotics/whycon}; so, it can be used as an enabling technology for various mobile robotic problems

Truck Activity Pattern Classification Using Anonymous Mobile Sensor Data

To construct, operate, and maintain a transportation system that supports the efficient movement of freight, transportation agencies must understand economic drivers of freight flow. This is a challenge since freight movement data available to transportation agencies is typically void of commodity and industry information, factors that tie freight movements to underlying economic conditions. With recent advances in the resolution and availability of big data from Global Positioning Systems (GPS), it may be possible to fill this critical freight data gap. However, there is a need for methodological approaches to enable usage of this data for freight planning and operations. To address this methodological need, we use advanced machine-learning techniques and spatial analyses to classify trucks by industry based on activity patterns derived from large streams of truck GPS data. The major components are: (1) derivation of truck activity patterns from anonymous GPS traces, (2) development of a classification model to distinguish trucks by industry, and (3) estimation of a spatio-temporal regression model to capture rerouting behavior of trucks. First, we developed a K-means unsupervised clustering algorithm to find unique and representative daily activity patterns from GPS data. For a statewide GPS data sample, we are able to reduce over 300,000 daily patterns to a representative six patterns, thus enabling easier calibration and validation of the travel forecasting models that rely on detailed activity patterns. Next, we developed a Random Forest supervised machine learning model to classify truck daily activity patterns by industry served. The model predicts five distinct industry classes, i.e., farm products, manufacturing, chemicals, mining, and miscellaneous mixed, with 90% accuracy, filling a critical gap in our ability to tie truck movements to industry served. This ultimately allows us to build travel demand forecasting models with behavioral sensitivity. Finally, we developed a spatio-temporal model to capture truck rerouting behaviors due to weather events. The ability to model re-routing behaviors allows transportation agencies to identify operational and planning solutions that mitigate the impacts of weather on truck traffic. For freight industries, the prediction of weather impacts on truck driver’s route choices can inform a more accurate estimation of billable miles

Insights in the cost of continuous broadband Internet on trains for multi-service deployments by multiple actors with resource sharing

The economic viability of broadband Internet services on trains has always been proved difficult, mainly due to a high investment cost and low willingness to pay by train passengers, but also due to unused opportunities such as non-passenger services (e.g. train performance monitoring, crew services) and optimization of the resources consumed to offer Internet services. Evaluating opportunities to improve the return on investment is therefore essential towards profitability of the business case. By efficiently sharing resources amongst services, costs can be pooled over several services in order to reduce the investment cost per service. Current techno-economic evaluation models are hard to apply to cost allocation in a multi-service deployment with multiple actors and resource sharing. We therefore propose a new evaluation model and apply it to a deployment of Internet services on trains. We start with a detailed analysis of the technical architecture required to provide Internet access on trains. For each component, we investigate the impact by the different services on resource consumption. The proposed techno-economic evaluation model is then applied in order to calculate the total cost and allocate the used and unused resources to the appropriate services. In a final step, we calculate the business case for each stakeholder involved in the offering of these services. This paper details the proposed model and reports on our findings for a multi-service deployment by multiple actors. Results show important benefits for the case that considers the application of resource sharing in a multi-service, multi-actor scenario and the proposed model produces insights in the contributors to the cost per service and the unused amount of a resource. In addition, ex-ante insights in the cost flows per involved actor are obtained and the model can easily be extended to include revenue flows to evaluate the profitability per actor. As a consequence, the proposed model should be considered to support and stimulate upcoming multi-actor investment decisions for Internet-based multi-service offerings on-board trains with resource sharing

Modelling public transport accessibility with Monte Carlo stochastic simulations: A case study of Ostrava

Activity-based micro-scale simulation models for transport modelling provide better evaluations of public transport accessibility, enabling researchers to overcome the shortage of reliable real-world data. Current simulation systems face simplifications of personal behaviour, zonal patterns, non-optimisation of public transport trips (choice of the fastest option only), and do not work with real targets and their characteristics. The new TRAMsim system uses a Monte Carlo approach, which evaluates all possible public transport and walking origin-destination (O-D) trips for k-nearest stops within a given time interval, and selects appropriate variants according to the expected scenarios and parameters derived from local surveys. For the city of Ostrava, Czechia, two commuting models were compared based on simulated movements to reach (a) randomly selected large employers and (b) proportionally selected employers using an appropriate distance-decay impedance function derived from various combinations of conditions. The validation of these models confirms the relevance of the proportional gravity-based model. Multidimensional evaluation of the potential accessibility of employers elucidates issues in several localities, including a high number of transfers, high total commuting time, low variety of accessible employers and high pedestrian mode usage. The transport accessibility evaluation based on synthetic trips offers an improved understanding of local situations and helps to assess the impact of planned changes.Web of Science1124art. no. 709

Seamless Infrastructure independent Multi Homed NEMO Handoff Using Effective and Timely IEEE 802.21 MIH triggers

Handoff performance of NEMO BS protocol with existent improvement proposals is still not sufficient for real time and QoS-sensitive applications and further optimizations are needed. When dealing with single homed NEMO, handoff latency and packet loss become irreducible all optimizations included, so that it is impossible to meet requirements of the above applications. Then, How to combine the different Fast handoff approaches remains an open research issue and needs more investigation. In this paper, we propose a new Infrastructure independent handoff approach combining multihoming and intelligent Make-Before-Break Handoff. Based on required Handoff time estimation, L2 and L3 handoffs are initiated using effective and timely MIH triggers, reducing so the anticipation time and increasing the probability of prediction. We extend MIH services to provide tunnel establishment and switching before link break. Thus, the handoff is performed in background with no latency and no packet loss while pingpong scenario is almost avoided. In addition, our proposal saves cost and power consumption by optimizing the time of simultaneous use of multiple interfaces. We provide also NS2 simulation experiments identifying suitable parameter values used for estimation and validating the proposed mode