Related papers: Evasion Paths in Mobile Sensor Networks
Provable safety is one of the most critical challenges in automated driving. The behavior of numerous traffic participants in a scene cannot be predicted reliably due to complex interdependencies and the indiscriminate behavior of humans.…
In this paper, we consider pursuit-evasion and probabilistic consequences of some geometric notions for bounded and suitably regular domains in Euclidean space that are CAT(kappa) for some kappa > 0. These geometric notions are useful for…
Even in the absence of clocks, time bounds on the duration of actions enable the use of time for distributed coordination. This paper initiates an investigation of coordination in such a setting. A new communication structure called a…
We study the problem of tracking an object moving through a network of wireless sensors. In order to conserve energy, the sensors may be put into a sleep mode with a timer that determines their sleep duration. It is assumed that an asleep…
Random walks represent an important tool for probing the structural and dynamical properties of networks and modeling transport and diffusion processes on networks. However, when individuals' movement becomes dictated by more complicated…
Unlike GNSS, which is vulnerable to jamming and spoofing due to its inherently weak received power, eLoran exhibits robustness owing to its high field strength. Therefore, the eLoran system can maintain reliable operation even in scenarios…
This work addresses the issue of motion compensation and pattern tracking in event camera data. An event camera generates asynchronous streams of events triggered independently by each of the pixels upon changes in the observed intensity.…
Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…
Wireless sensor networks are an important technology for making distributed autonomous measures in hostile or inaccessible environments. Among the challenges they pose, the way data travel among them is a relevant issue since their…
In [3] the radius of convergence of the generating function of the collision local time of two independent copies of an irreducible, symmetric and transient random walk on Zd, d \geq 1, was studied. Two versions were considered: z1, the…
Suppose an agent asserts that it will move through an environment in some way. When the agent executes its motion, how does one verify the claim? The problem arises in a range of contexts including in validating safety claims about robot…
A detection system, modeled in a graph, is composed of "detectors" positioned at a subset of vertices in order to uniquely locate an ``intruder" at any vertex. \emph{Identifying codes} use detectors that can sense the presence or absence of…
We propose two novel algorithms for distributed and location-free boundary recognition in wireless sensor networks. Both approaches enable a node to decide autonomously whether it is a boundary node, based solely on connectivity information…
We consider the problem of detecting a random walk on a graph, based on observations of the graph nodes. When visited by the walk, each node of the graph observes a signal of elevated mean, which we assume can be different across different…
Coverage problem in wireless sensor networks measures how well a region or parts of it is sensed by the deployed sensors. Definition of coverage metric depends on its applications for which sensors are deployed. In this paper, we introduce…
Given a mapped environment, we formulate the problem of visually tracking and following an evader using a probabilistic framework. In this work, we consider a non-holonomic robot with a limited visibility depth sensor in an indoor…
In this paper, we study Dirac-type theorems for an inhomogenous random graph (G) whose edge probabilities are not necessarily all the same. We obtain sufficient conditions for the existence of Hamiltonian paths and perfect matchings, in…
Simultaneously sensing and resolving the position of measurands along an optical fiber enables numerous opportunities, especially for application in environments where massive sensor deployment is not feasible. Despite significant progress…
We consider the problem of inferring the topology of a network using the measurements available at the end nodes, without cooperation from the internal nodes. To this end, we provide a simple method to obtain path interference which…
Sensors are the key to environmental monitoring, which impart benefits to smart cities in many aspects, such as providing real-time air quality information to assist human decision-making. However, it is impractical to deploy massive…