TTL implementation of a CAMB tree network switch

Packet collisions and their resolution create a performance bottleneck in random-access LANs. A hardware solution to this problem is to use a collision avoidance switch. These switches allow the implementation of random access protocols without the penalty of collisions among packets. An architecture based on collision avoidance is the CAMB (Collision Avoidance Multiple Broadcast) Tree network, where concurrent broadcasts are possible.The purpose of this paper is to present two implementations for a CAMB Tree switch. First, a general outline of the CAMB switch is provided. Then, a description of the two implementations is given

Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach

This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a spherical surface and an interconnection topology, is first formulated. In this formulation, it is shown that motion coordination on a sphere is equivalent to attitude coordination on the 3-dimensional Special Orthogonal group. Then, an angle-based control barrier function that can handle a geodesic distance constraint on a spherical surface is presented. The proposed control barrier function is then extended to a relative motion case and applied to a collision avoidance problem for a rigid body network operating on a sphere. Each rigid body chooses its control input by solving a distributed optimization problem to achieve a nominal distributed motion coordination strategy while satisfying constraints for collision avoidance. The proposed collision-free motion coordination law is validated via simulation

Car collision avoidance with velocity obstacle approach

The obstacle avoidance maneuver is required for an autonomous vehicle. It is essential to define the system's performance by evaluating the minimum reaction times of the vehicle and analyzing the probability of success of the avoiding operation. This paper presents a collision avoidance algorithm based on the velocity bstacle approach that guarantees collision-free maneuvers. The vehicle is controlled by an optimal feedback control named FLOP, designed to produce the best performance in terms of safety and minimum kinetic collision energy. Dimensionless accident evaluation parameters are proposed to compare different crash scenarios

Implementation of a station/network interface for a CAMB tree network

Packet collisions and their resolution create a performance bottleneck in random-access LANs. A hardware solution to this problem is to use collision avoidance switches. These switches allow the implementation of random access protocols without the penalty of collisions among packets. An architecture based on collision avoidance is the CAMB (Collision Avoidance Multiple Broadcast) tree network, where concurrent broadcasts are possible.This paper is a companion to an earlier report. "TTL Implementations of a CAMB Tree Switch," where a tree network architecture was described for two different implementations of a CAMB tree switch. In the pages that follow, a hardware implementation of the interface between the network stations and the packet switches is proposed. This implementation is based on the first switch design in the companion paper

Collision Avoidance Tree networks

The Collision Avoidance Tree is a new local area network based on a hardware device called collision avoidance switch, which arbitrates random access to a shared communications channel. Collision Avoidance Tree combines the benefits of random access (low delay when traffic is light; simple, distributed, and therefore robust, protocols) with concurrency of transmission, excellent network utilization and suitability for the domain of high-speed, optical networking.The Collision Avoidance Tree is classified in two classes: the Collision Avoidance Single Broadcast (CASB) Tree and the Collision Avoidance Multiple Broadcast (CAMB) Tree. The CASB Tree allows only a single transmission on the network at a given time, while the CAMB Tree is more general and allows concurrent transmissions on the network.This paper describes network architectures (e.g., station and switch protocols) and designs and implementations of the CASB and CAMB Trees. Performance results derived from analyses, simulations, measurements of experimental networks are also presented

Automatic collision avoidance of ships

One of the key elements in automatic simulation of ship manoeuvring in confined waterways is route finding and collision avoidance. This paper presents a new practical method of automatic trajectory planning and collision avoidance based on an artificial potential field and speed vector. Collision prevention regulations and international navigational rules have been incorporated into the algorithm. The algorithm is fairly straightforward and simple to implement, but has been shown to be effective in finding safe paths for all ships concerned in complex situations. The method has been applied to some typical test cases and the results are very encouraging

A collision avoidance system for a spaceplane manipulator arm

Part of the activity in the area of collision avoidance related to the Hermes spaceplane is reported. A collision avoidance software system which was defined, developed and implemented in this project is presented. It computes the intersection between the solids representing the arm, the payload, and the objects. It is feasible with respect to the resources available on board, considering its performance