Real-time motion planning methods for autonomous on-road driving: state-of-the-art and future research directions

Currently autonomous or self-driving vehicles are at the heart of academia and industry research because of its multi-faceted advantages that includes improved safety, reduced congestion, lower emissions and greater mobility. Software is the key driving factor underpinning autonomy within which planning algorithms that are responsible for mission-critical decision making hold a significant position. While transporting passengers or goods from a given origin to a given destination, motion planning methods incorporate searching for a path to follow, avoiding obstacles and generating the best trajectory that ensures safety, comfort and efficiency. A range of different planning approaches have been proposed in the literature. The purpose of this paper is to review existing approaches and then compare and contrast different methods employed for the motion planning of autonomous on-road driving that consists of (1) finding a path, (2) searching for the safest manoeuvre and (3) determining the most feasible trajectory. Methods developed by researchers in each of these three levels exhibit varying levels of complexity and performance accuracy. This paper presents a critical evaluation of each of these methods, in terms of their advantages/disadvantages, inherent limitations, feasibility, optimality, handling of obstacles and testing operational environments. Based on a critical review of existing methods, research challenges to address current limitations are identified and future research directions are suggested so as to enhance the performance of planning algorithms at all three levels. Some promising areas of future focus have been identified as the use of vehicular communications (V2V and V2I) and the incorporation of transport engineering aspects in order to improve the look-ahead horizon of current sensing technologies that are essential for planning with the aim of reducing the total cost of driverless vehicles. This critical review on planning techniques presented in this paper, along with the associated discussions on their constraints and limitations, seek to assist researchers in accelerating development in the emerging field of autonomous vehicle research

MARE-WINT: New Materials and Reliability in Offshore Wind Turbine Technology

renewable; green; energy; environment; law; polic

Real-time motion planning methods for autonomous on-road driving: State-of-the-art and future research directions

Open access articleCurrently autonomous or self-driving vehicles are at the heart of academia and industry research because of its multi-faceted advantages that includes improved safety, reduced congestion,lower emissions and greater mobility. Software is the key driving factor underpinning autonomy within which planning algorithms that are responsible for mission-critical decision making hold a significant position. While transporting passengers or goods from a given origin to a given destination, motion planning methods incorporate searching for a path to follow, avoiding obstacles and generating the best trajectory that ensures safety, comfort and efficiency. A range of different planning approaches have been proposed in the literature. The purpose of this paper is to review existing approaches and then compare and contrast different methods employed for the motion planning of autonomous on-road driving that consists of (1) finding a path, (2) searching for the safest manoeuvre and (3) determining the most feasible trajectory. Methods developed by researchers in each of these three levels exhibit varying levels of complexity and performance accuracy. This paper presents a critical evaluation of each of these methods, in terms of their advantages/disadvantages, inherent limitations, feasibility, optimality, handling of obstacles and testing operational environments. Based on a critical review of existing methods, research challenges to address current limitations are identified and future research directions are suggested so as to enhance the performance of planning algorithms at all three levels. Some promising areas of future focus have been identified as the use of vehicular communications (V2V and V2I) and the incorporation of transport engineering aspects in order to improve the look-ahead horizon of current sensing technologies that are essential for planning with the aim of reducing the total cost of driverless vehicles. This critical review on planning techniques presented in this paper, along with the associated discussions on their constraints and limitations, seek to assist researchers in accelerating development in the emerging field of autonomous vehicle research

Collaborative Traffic Offloading for Mobile Systems

Due to the popularity of smartphones and mobile streaming services, the growth of traffic volume in mobile networks is phenomenal. This leads to huge investment pressure on mobile operators' wireless access and core infrastructure, while the profits do not necessarily grow at the same pace. As a result, it is urgent to find a cost-effective solution that can scale to the ever increasing traffic volume generated by mobile systems. Among many visions, mobile traffic offloading is regarded as a promising mechanism by using complementary wireless communication technologies, such as WiFi, to offload data traffic away from the overloaded mobile networks. The current trend to equip mobile devices with an additional WiFi interface also supports this vision. This dissertation presents a novel collaborative architecture for mobile traffic offloading that can efficiently utilize the context and resources from networks and end systems. The main contributions include a network-assisted offloading framework, a collaborative system design for energy-aware offloading, and a software-defined networking (SDN) based offloading platform. Our work is the first in this domain to integrate energy and context awareness into mobile traffic offloading from an architectural perspective. We have conducted extensive measurements on mobile systems to identify hidden issues of traffic offloading in the operational networks. We implement the offloading protocol in the Linux kernel and develop our energy-aware offloading framework in C++ and Java on commodity machines and smartphones. Our prototype systems for mobile traffic offloading have been tested in a live environment. The experimental results suggest that our collaborative architecture is feasible and provides reasonable improvement in terms of energy saving and offloading efficiency. We further adopt the programmable paradigm of SDN to enhance the extensibility and deployability of our proposals. We release the SDN-based platform under open-source licenses to encourage future collaboration with research community and standards developing organizations. As one of the pioneering work, our research stresses the importance of collaboration in mobile traffic offloading. The lessons learned from our protocol design, system development, and network experiments shed light on future research and development in this domain.Yksi mobiiliverkkojen suurimmista haasteista liittyy liikennemäärien eksponentiaaliseen kasvuun. Tämä verkkoliikenteen kasvu johtuu pitkälti suosituista videopalveluista, kuten YouTube ja Netflix, jotka lähettävät liikkuvaa kuvaa verkon yli. Verkon lisääntynyt kuormitus vaatii investointeja verkon laajentamiseksi. On tärkeää löytää kustannustehokkaita tapoja välittää suuressa mittakaavassa sisältöä ilman mittavia infrastruktuuri-investointeja. Erilaisia liikennekuormien ohjausmenetelmiä on ehdotettu ratkaisuksi sisällönvälityksen tehostamiseen mobiiliverkoissa. Näissä ratkaisuissa hyödynnetään toisiaan tukevia langattomia teknologioita tiedonvälityksen tehostamiseen, esimerkiksi LTE-verkosta voidaan delegoida tiedonvälitystä WiFi-verkoille. Useimmissa kannettavissa laitteissa on tuki useammalle langattomalle tekniikalle, joten on luonnollista hyödyntää näiden tarjoamia mahdollisuuksia tiedonvälityksen tehostamisessa. Tässä väitöskirjassa tutkitaan liikennekuormien ohjauksen toimintaa ja mahdollisuuksia mobiiliverkoissa. Työssä esitetään uusi yhteistyöpohjainen liikennekuormien ohjausjärjestelmä, joka hyödyntää päätelaitteiden ja verkon tilannetietoa liikennekuormien optimoinnissa. Esitetty järjestelmä ja arkkitehtuuri on ensimmäinen, joka yhdistää energiankulutuksen ja kontekstitiedon liikennekuormien ohjaukseen. Väitöskirjan keskeisiä tuloksia ovat verkon tukema liikennekuormien ohjauskehikko, yhteistyöpohjainen energiatietoinen optimointiratkaisu sekä avoimen lähdekoodin SoftOffload-ratkaisu, joka mahdollistaa ohjelmistopohjaisen liikennekuormien ohjauksen. Esitettyjä järjestelmiä arvioidaan kokeellisesti kaupunkiympäristöissä älypuhelimia käyttäen. Työn tulokset mahdollistavat entistä energiatehokkaammat liikennekuormien ohjausratkaisut ja tarjoavat ideoita ja lähtökohtia tulevaan 5G kehitystyöhön

The 8th International Conference on Time Series and Forecasting

The aim of ITISE 2022 is to create a friendly environment that could lead to the establishment or strengthening of scientific collaborations and exchanges among attendees. Therefore, ITISE 2022 is soliciting high-quality original research papers (including significant works-in-progress) on any aspect time series analysis and forecasting, in order to motivating the generation and use of new knowledge, computational techniques and methods on forecasting in a wide range of fields

Digital material: tracing new media in everyday life and technology

Three decades of societal and cultural alignment of new media have yielded a host of innovations, trials, and problems, accompanied by versatile popular and academic discourse. New Media Studies crystallized internationally into an established academic discipline, and this begs the question: where do we stand now? Which new questions are emerging now that new media are being taken for granted, and which riddles are still unsolved? Is contemporary digital culture indeed all about 'you', the participating user, or do we still not really understand the digital machinery and how this constitutes us as 'you'? The contributors to the present book, all employed in teaching and researching new media and digital culture, assembled their 'digital material' into an anthology, covering issues ranging from desktop metaphors to Web 2.0 ecosystems, from touch screens to blogging and e-learning, from role-playing games and cybergothic music to wireless dreams. Together the contributions provide a showcase of current research in the field, from what may be called a 'digital-materialist' perspective.Nieuwe media zijn vanaf hun opkomst begeleid door revolutionaire beloften en bedreigingen: hypertekst zou lezers veranderen in auteurs, digitale beelden zouden de waarheid en werkelijkheid ondermijnen, en online communicatie zou alle afstanden overbruggen. 'Cyberspace' werd gevierd dan wel gevreesd als immaterieel en autonoom, losgezongen van onze dagelijkse leefwereld. Na twee decennia 'cyberrevolutie' zijn nieuwe media vanzelfsprekend geworden en blijken zij allesbehalve immaterieel. Vanuit dat perspectief belicht de bundel Digital Material digitale culturen. De bijdragen onderzoeken onder meer computer games, mobiele communicatie, interfacemetaforen, weblogculturen, software ontwikkeling en digitale beeldproductie. Bij elkaar vormen zij een inspirerend theoretisch kader om de hedendaagse betekenis van nieuwe media te doorgronden

Robust and affordable localization and mapping for 3D reconstruction. Application to architecture and construction

La localización y mapeado simultáneo a partir de una sola cámara en movimiento se conoce como Monocular SLAM. En esta tesis se aborda este problema con cámaras de bajo coste cuyo principal reto consiste en ser robustos al ruido, blurring y otros artefactos que afectan a la imagen. La aproximación al problema es discreta, utilizando solo puntos de la imagen significativos para localizar la cámara y mapear el entorno. La principal contribución es una simplificación del grafo de poses que permite mejorar la precisión en las escenas más habituales, evaluada de forma exhaustiva en 4 datasets. Los resultados del mapeado permiten obtener una reconstrucción 3D de la escena que puede ser utilizada en arquitectura y construcción para Modelar la Información del Edificio (BIM). En la segunda parte de la tesis proponemos incorporar dicha información en un sistema de visualización avanzada usando WebGL que ayude a simplificar la implantación de la metodología BIM.Departamento de Informática (Arquitectura y Tecnología de Computadores, Ciencias de la Computación e Inteligencia Artificial, Lenguajes y Sistemas Informáticos)Doctorado en Informátic

RFID: Prospects for Europe: Item-level Tagging and Public Transportation

This report, which is part of the COMPLETE series of studies, investigates the current and future competitiveness of the European industry in RFID applications in general and in two specific cases: item-level tagging and public transportation. It analyses its constituent technologies, drivers and barriers to growth, actual and potential markets and economic impacts, the industrial position and innovative capabilities, and it concludes with policy implicationsJRC.DDG.J.4-Information Societ