439 research outputs found
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
Towards locally computable polynomial navigation functions for convex obstacle workspaces
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 -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
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