Related papers: Coverage Optimization using Generalized Voronoi Pa…
In this paper, we address the stochastic reach-avoid problem for linear systems with additive stochastic uncertainty. We seek to compute the maximum probability that the states remain in a safe set over a finite time horizon and reach a…
This paper develops distributed optimization based, platoon centered CAV car following schemes, motivated by the recent interest in CAV platooning technologies. Various distributed optimization or control schemes have been developed for CAV…
In networks of autonomous agents (e.g., fleets of vehicles, scattered sensors), the problem of minimizing the sum of the agents' local functions has received a lot of interest. We tackle here this distributed optimization problem in the…
The Voronoi tessellation is a natural way of space segmentation, which has many applications in various fields of science and technology, as well as in social sciences and visual art. The varieties of the Voronoi tessellation methods are…
This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper…
In this paper, given a random uniform distribution of sensor nodes on a 2-D plane, a fast self-organized distributed algorithm is proposed to find the maximum number of partitions of the nodes such that each partition is connected and…
In this paper, we tackle the problem of localizing the source of a three-dimensional signal field with a team of mobile robots able to collect noisy measurements of its strength and share information with each other. The adopted strategy is…
In coverage-oriented networks, base stations (BSs) are deployed in a way such that users at the cell boundaries achieve sufficient signal strength. The shape and size of cells vary from BS to BS, since the large-scale signal propagation…
Mobile network operator (MNO) data are a rich data source for official statistics, such as present population, mobility, migration, and tourism. Estimating the geographic location of mobile devices is an essential step for statistical…
Poisson point processes provide a versatile framework for modeling the distributions of random points in space. When the space is partitioned into cells, each associated with a single generating point from the Poisson process, there appears…
Localization is a critical capability for robots, drones and autonomous vehicles operating in a wide range of environments. One of the critical considerations for designing, training or calibrating visual localization systems is the…
Mobile sensor networks are important for several strategic applications devoted to monitoring critical areas. In such hostile scenarios, sensors cannot be deployed manually and are either sent from a safe location or dropped from an…
In this paper, we study a generalization of the classical Voronoi diagram, called clustering induced Voronoi diagram (CIVD). Different from the traditional model, CIVD takes as its sites the power set $U$ of an input set $P$ of objects. For…
Voronoi diagrams are essential geometrical structures with numerous applications, particularly astrophysics-driven finite volume methods. While serial algorithms for constructing these entities are well-established, parallel construction…
Virtual Sectorization (ViSn) aims at covering a confined area such as a traffic hot-spot using a narrow beam. The beam is generated by a remote antenna array located at-or close to the Base Station (BS). This paper develops the ViSn model…
We consider a network of agents that locate themselves in an environment through sensor measurements and aim to transmit a message signal to a base station via collaborative beamforming. The agents' sensor measurements result in…
We carry out a structural and algorithmic study of a mobile sensor coverage optimization problem targeting 2D surfaces embedded in a 3D workspace. The investigated settings model multiple important applications including camera network…
In the distributed optimization problem for a multi-agent system, each agent knows a local function and must find a minimizer of the sum of all agents' local functions by performing a combination of local gradient evaluations and…
Socioeconomic segregation often arises in school districting and other contexts, causing some groups to be over- or under-represented within a particular district. This phenomenon is closely linked with disparities in opportunities and…
Irregular arrangements of vesicles filled with excitable and precipitating chemical systems are imitated by Voronoi automata --- finite-state machines defined on a planar Voronoi diagram. Every Voronoi cell takes four states: resting,…