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This paper proposes a state-machine model for a multi-modal, multi-robot environmental sensing algorithm. This multi-modal algorithm integrates two different exploration algorithms: (1) coverage path planning using variable formations and…
Alongside optimization-based planners, sampling-based approaches are often used in trajectory planning for autonomous driving due to their simplicity. Model predictive path integral control is a framework that builds upon optimization…
We consider the problem of designing an overlay network and routing mechanism that permits finding resources efficiently in a peer-to-peer system. We argue that many existing approaches to this problem can be modeled as the construction of…
This paper tackles the problem of active planning to achieve cooperative localization for multi-robot systems (MRS) under measurement uncertainty in GNSS-limited scenarios. Specifically, we address the issue of accurately predicting the…
This paper considers the problem of adaptively searching for an unknown target using multiple agents connected through a time-varying network topology. Agents are equipped with sensors capable of fast information processing, and we propose…
We propose a self-organization scheme for cost-effective and load-balanced routing in multi-hop networks. To avoid overloading nodes that provide favourable routing conditions, we assign each node with a cost function that penalizes high…
We present a fluid-dynamic model for the simulation of urban traffic networks with road sections of different lengths and capacities. The model allows one to efficiently simulate the transitions between free and congested traffic, taking…
In this paper, we present a new routing algorithm called "the Self Avoiding Paths Routing Algorithm". Its application to traffic flow in scale-free networks shows a great improvement over the so called "efficient routing" protocol while at…
In this technical report, we analyze the performance of an interference-aware opportunistic relay selection protocol for multi-hop line networks which is based on the following simple rule: a node always transmits if it has a packet, except…
Collaborative uploading describes a type of crowdsourcing scenario in networked environments where a device utilizes multiple paths over neighboring devices to upload content to a centralized processing entity such as a cloud service.…
We study the problem of optimal content placement over a network of caches, a problem naturally arising in several networking applications, including ICNs, CDNs, and P2P systems. Given a demand of content request rates and paths followed,…
Network attackers have increasingly resorted to proxy chains, VPNs, and anonymity networks to conceal their activities. To tackle this issue, past research has explored the applicability of traffic correlation techniques to perform attack…
The development of multi-core processor systems is a demanded branch of science and technology. The appearance of processors with dozens and hundreds of cores poses to the developers the question of choosing the optimal topology capable to…
Each node in a wireless multi-hop network can adjust the power level at which it transmits and thus change the topology of the network to save energy by choosing the neighbors with which it directly communicates. Many previous algorithms…
In this paper we present a new routing paradigm that generalizes opportunistic routing for wireless multihop networks. In multirate anypath routing, each node uses both a set of next hops and a selected transmission rate to reach a…
Probability models have been proposed in the literature to account for "intelligent" behavior in many contexts. In this paper, probability propagation is applied to model agent's motion in potentially complex scenarios that include goals…
In this paper, we propose a stratified sampling algorithm in which the random drawings made in the strata to compute the expectation of interest are also used to adaptively modify the proportion of further drawings in each stratum. These…
In this paper, we present a new methodology for developing systematic and automatic test generation algorithms for multipoint protocols. These algorithms attempt to synthesize network topologies and sequences of events that stress the…
With the popularity of portable wireless devices it is important to model and predict how information or contagions spread by natural human mobility -- for understanding the spreading of deadly infectious diseases and for improving delay…
The topology of a wireless multi-hop network can be controlled by varying the transmission power at each node. In this paper, we give a detailed analysis of a cone-based distributed topology control algorithm. This algorithm, introduced in…