Distance estimation and collision prediction for on-line robotic motion planning

An efficient method for computing the minimum distance and predicting collisions between moving objects is presented. This problem has been incorporated in the framework of an in-line motion planning algorithm to satisfy collision avoidance between a robot and moving objects modeled as convex polyhedra. In the beginning the deterministic problem, where the information about the objects is assumed to be certain is examined. If instead of the Euclidean norm, L(sub 1) or L(sub infinity) norms are used to represent distance, the problem becomes a linear programming problem. The stochastic problem is formulated, where the uncertainty is induced by sensing and the unknown dynamics of the moving obstacles. Two problems are considered: (1) filtering of the minimum distance between the robot and the moving object, at the present time; and (2) prediction of the minimum distance in the future, in order to predict possible collisions with the moving obstacles and estimate the collision time

An optimal control strategy for collision avoidance of mobile robots in non-stationary environments

An optimal control formulation of the problem of collision avoidance of mobile robots in environments containing moving obstacles is presented. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. Simulation results verify the value of the proposed strategy

A Data Fusion Technique to Detect Wireless Network Virtual Jamming Attacks

The file attached to this record is the author's final peer reviewed version. The Publisher's final version can be found by following the DOI link.Wireless communications are potentially exposed to jamming due to the openness of the medium and, in particular, to virtual jamming, which allows more energy-efficient attacks. In this paper we tackle the problem of virtual jamming attacks on IEEE 802.11 networks and present a data fusion solution for the detection of a type of virtual jamming attack (namely, NAV attacks), based on the real-time monitoring of a set of metrics. The detection performance is evaluated in a number of real scenarios

Automated detection of changes in computer network measurements using wavelets

Monitoring and measuring various metrics of high speed and high capacity networks produces a vast amount of information over a long period of time. For the collected monitoring data to be useful to administrators, these measurements need to be analyzed and processed in order to detect interesting characteristics such as sudden changes. In this paper wavelet analysis is used along with the universal threshold proposed by Donoho - Johnstone in order to detect abrupt changes in computer network measurements. Experimental results are obtained to compare the behaviour of the algorithm on delay and data rate signals. Both type of signals are measurements from real networks and not produced from a simulation tool. Results show that detection of anomalies is achievable in a variety of signals

Unified model for network dynamics exhibiting nonextensive statistics

We introduce a dynamical network model which unifies a number of network families which are individually known to exhibit $q$-exponential degree distributions. The present model dynamics incorporates static (non-growing) self-organizing networks, preferentially growing networks, and (preferentially) rewiring networks. Further, it exhibits a natural random graph limit. The proposed model generalizes network dynamics to rewiring and growth modes which depend on internal topology as well as on a metric imposed by the space they are embedded in. In all of the networks emerging from the presented model we find q-exponential degree distributions over a large parameter space. We comment on the parameter dependence of the corresponding entropic index q for the degree distributions, and on the behavior of the clustering coefficients and neighboring connectivity distributions.Comment: 11 pages 8 fig

Closed Loop Navigation for Mobile Agents in Dynamic Environments

We apply a novel motion planning and control methodology, which is based on a non-smooth navigation function, to a point mobile robot moving amongst moving obstacles. The chattering introduced by the discontinuous potential field is suppressed using nonsmooth backstepping. The combined controller guarantees global asymptotic convergence and collision avoidance. This controller is particularly suitable for real time implementation on systems with limited computational resources. The effectiveness of the proposed scheme is verified through computer simulations

Contact symmetry of time-dependent Schr\"odinger equation for a two-particle system: symmetry classification of two-body central potentials

Symmetry classification of two-body central potentials in a two-particle Schr\"{o}dinger equation in terms of contact transformations of the equation has been investigated. Explicit calculation has shown that they are of the same four different classes as for the point transformations. Thus in this problem contact transformations are not essentially different from point transformations. We have also obtained the detailed algebraic structures of the corresponding Lie algebras and the functional bases of invariants for the transformation groups in all the four classes