Related papers: Evasion Paths in Mobile Sensor Networks

The limited or no protection for civilian Global Navigation Satellite System (GNSS) signals makes spoofing attacks relatively easy. With modern mobile devices often featuring network interfaces, state-of-the-art signals of opportunity (SOP)…

We consider the motion-planning problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time…

This paper deals with the accomplishment of total area coverage of an arbitrary region using sensors with a finite sensing radius of rs. For a given region, we aim to obtain a deterministic placement of sensors which, apart from ensuring…

This paper studies remote state estimation in the presence of an eavesdropper. A sensor transmits local state estimates over a packet dropping link to a remote estimator, while an eavesdropper can successfully overhear each sensor…

Random walks are the simplest way to explore or search a graph, and have revealed a very useful tool to investigate and characterize the structural properties of complex networks from the real world, e.g. they have been used to identify the…

In this paper we analyze a variant of the pursuit-evasion game on a graph $G$ where the intruder occupies a vertex, is allowed to move to adjacent vertices or remain in place, and is 'invisible' to the searcher, meaning that the searcher…

We consider a crucial aspect of self-organization of a sensor network consisting of a large set of simple sensor nodes with no location hardware and only very limited communication range. After having been distributed randomly in a given…

This paper extends the family of gap-based local planners to unknown dynamic environments through generating provable collision-free properties for hierarchical navigation systems. Existing perception-informed local planners that operate in…

We study the probability that a random walk started inside a subgraph of a larger graph exits that subgraph (or, equivalently, hits the exterior boundary of the subgraph). Considering the chance a random walk started in the subgraph never…

In the era of the proliferation of Geo-Spatial Data, induced by the diffusion of GPS devices, the map matching problem still represents an important and valuable challenge. The process of associating a segment of the underlying road network…

This paper analyzes the meeting time between a pair of pursuer and evader performing random walks on digraphs. The existing bounds on the meeting time usually work only for certain classes of walks and cannot be used to formulate…

The wide spread use of positioning and photographing devices gives rise to a deluge of traffic trajectory data (e.g., vehicle passage records and taxi trajectory data), with each record having at least three attributes: object ID, location…

The dynamical discrete web is a system of one-dimensional coalescing random walks that evolves in an extra dynamical time parameter. At any deterministic dynamical time, the paths behave as coalescing simple symmetric random walks. This…

Temporal information is increasingly available as part of large network data sets. This information reveals sequences of link activations between network entities, which can expose underlying processes in the data. Examples include the…

This paper addresses path set planning that yields important applications in robot manipulation and navigation such as path generation for deformable object keypoints and swarms. A path set refers to the collection of finite agent paths to…

Bifurcations in dynamical systems characterize qualitative changes in the system behavior. Therefore, their detection is important because they can signal the transition from normal system operation to imminent failure. While standard…

A sufficiently connected topology linking the constituent units of a complex system is usually seen as a prerequisite for the emergence of collective phenomena such as synchronization. We present a random network of heterogeneous phase…

An effective approach for energy conservation in wireless sensor networks is scheduling sleep intervals for extraneous nodes while the remaining nodes stay active to provide continuous service. For the sensor network to operate successfully…

We present a new framework for the crucial challenge of self-organization of a large sensor network. The basic scenario can be described as follows: Given a large swarm of immobile sensor nodes that have been scattered in a polygonal…

In the real-world, self-driving vehicles are required to achieve steering maneuvers in both uncontrolled and uncertain environments while maintaining high levels of safety and passengers' comfort. Ignoring these requirements would…