Related papers: Evasion Paths in Mobile Sensor Networks
We consider connectivity properties of certain i.i.d. random environments on $\Z^d$, where at each location some steps may not be available. Site percolation and oriented percolation can be viewed as special cases of the models we consider.…
We investigate the secure connectivity of wireless sensor networks under a heterogeneous random key predistribution scheme and a heterogeneous channel model. In particular, we study a random graph formed by the intersection of an…
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…
We introduce a continuous-time random walk model on an infinite multilayer structure inspired by transportation networks. Each layer is a copy of $\mathbb{R}^d$, indexed by a non-negative integer. A walker moves within a layer by means of…
Using the technique of evolving sets, we explore the connection between entropy growth and transience for simple random walks on connected infinite graphs with bounded degree. In particular we show that for a simple random walk starting at…
Paths are important structural elements in complex networks because they are finite (unlike walks), related to effective node coverage (minimum spanning trees), and can be understood as being dual to star connectivity. This article…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
Random walks serve as important tools for studying complex network structures, yet their dynamics in cases where transition probabilities are not static remain under explored and poorly understood. Here we study nonlinear random walks that…
We study the information spreading yielded by the \emph{(Parsimonious) $1$-Flooding Protocol} in geometric Mobile Ad-Hoc Networks. We consider $n$ agents on a convex plane region of diameter $D$ performing independent random walks with move…
This paper presents a reliable method to verify the existence of loops along the uncertain trajectory of a robot, based on proprioceptive measurements only, within a bounded-error context. The loop closure detection is one of the key points…
In this paper, we study optimal radar deployment for intrusion detection, with focus on network coverage. In contrast to the disk-based sensing model in a traditional sensor network, the detection range of a bistatic radar depends on the…
Assume n wireless mobile sensors are initially dispersed in an ad hoc manner in a rectangular region. They are required to move to final locations so that they can detect any intruder crossing the region in a direction parallel to the sides…
This paper considers the classification of linear subspaces with mismatched classifiers. In particular, we assume a model where one observes signals in the presence of isotropic Gaussian noise and the distribution of the signals conditioned…
Homology theory has attracted great attention because it can provide novel and powerful solutions to address coverage problems in wireless sensor networks. They usually use an easily computable algebraic object, Rips complex, to detect…
We extend the use of random evolving sets to time-varying conductance models and utilize it to provide tight heat kernel upper bounds. It yields the transience of any uniformly lazy random walk, on Z^d, d>=3, equipped with uniformly bounded…
We propose a path planning methodology for a mobile robot navigating through an obstacle-filled environment to generate a reference path that is traceable with moderate sensing efforts. The desired reference path is characterized as the…
Using the growing volumes of vehicle trajectory data, it becomes increasingly possible to capture time-varying and uncertain travel costs in a road network, including travel time and fuel consumption. The current paradigm represents a road…
In this paper we propose an application of adaptive synchronization of chaos to detect changes in the topology of a mobile robotic network. We assume that the network may evolve in time due to the relative motion of the mobile robots and…
Efficient coverage of unknown environments requires robots to adapt their paths in real time based on on-board sensor data. In this paper, we introduce CAP, a connectivity-aware hierarchical coverage path planning algorithm for efficient…
Assume that a graph $G$ models a detection system for a facility with a possible ``intruder," or a multiprocessor network with a possible malfunctioning processor. We consider the problem of placing detectors at a subset of vertices in $G$…