Adoption of vehicular ad hoc networking protocols by networked robots

This paper focuses on the utilization of wireless networking in the robotics domain. Many researchers have already equipped their robots with wireless communication capabilities, stimulated by the observation that multi-robot systems tend to have several advantages over their single-robot counterparts. Typically, this integration of wireless communication is tackled in a quite pragmatic manner, only a few authors presented novel Robotic Ad Hoc Network (RANET) protocols that were designed specifically with robotic use cases in mind. This is in sharp contrast with the domain of vehicular ad hoc networks (VANET). This observation is the starting point of this paper. If the results of previous efforts focusing on VANET protocols could be reused in the RANET domain, this could lead to rapid progress in the field of networked robots. To investigate this possibility, this paper provides a thorough overview of the related work in the domain of robotic and vehicular ad hoc networks. Based on this information, an exhaustive list of requirements is defined for both types. It is concluded that the most significant difference lies in the fact that VANET protocols are oriented towards low throughput messaging, while RANET protocols have to support high throughput media streaming as well. Although not always with equal importance, all other defined requirements are valid for both protocols. This leads to the conclusion that cross-fertilization between them is an appealing approach for future RANET research. To support such developments, this paper concludes with the definition of an appropriate working plan

ooDACE toolbox: a flexible object-oriented Kriging implementation

When analyzing data from computationally expensive simulation codes, surrogate modeling methods are firmly established as facilitators for design space exploration, sensitivity analysis, visualization and optimization. Kriging is a popular surrogate modeling technique used for the Design and Analysis of Computer Experiments (DACE). Hence, the past decade Kriging has been the subject of extensive research and many extensions have been proposed, e.g., co-Kriging, stochastic Kriging, blind Kriging, etc. However, few Kriging implementations are publicly available and tailored towards scientists and engineers. Furthermore, no Kriging toolbox exists that unifies several Kriging flavors. This paper addresses this need by presenting an efficient object-oriented Kriging implementation and several Kriging extensions, providing a flexible and easily extendable framework to test and implement new Kriging flavors while reusing as much code as possible

Internet routing paths stability model and relation to forwarding paths

Analysis of real datasets to characterize the local stability properties of the Internet routing paths suggests that extending the route selection criteria to account for such property would not increase the routing path length. Nevertheless, even if selecting a more stable routing path could be considered as valuable from a routing perspective, it does not necessarily imply that the associated forwarding path would be more stable. Hence, if the dynamics of the Internet routing and forwarding system show different properties, then one can not straightforwardly derive the one from the other. If this assumption is verified, then the relationship between the stability of the forwarding path (followed by the traffic) and the corresponding routing path as selected by the path-vector routing algorithm requires further characterization. For this purpose, we locally relate, i.e., at the router level, the stability properties of routing path with the corresponding forwarding path. The proposed stability model and measurement results verify this assumption and show that, although the main cause of instability results from the forwarding plane, a second order effect relates forwarding and routing path instability events. This observation provides the first indication that differential stability can safely be taken into account as part of the route selection process