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Most consumer-level low-cost unmanned aerial vehicles (UAVs) have limited battery power and long charging time. Due to these energy constraints, they cannot accomplish many practical tasks, such as monitoring a sport or political event for…
This dissertation is a study on the design and analysis of novel, optimal routing and rate control algorithms in wireless, mobile communication networks. Congestion control and routing algorithms upto now have been designed and optimized…
With the recent development of technology, wireless sensor networks are becoming an important part of many applications such as health and medical applications, military applications, agriculture monitoring, home and office applications,…
In Wireless Sensor Network (WSN) sensor nodes are deployed to sense useful data from environment. Sensors are energy-constrained devices. To prolong the sensor network lifetime, now a days mobile robots (sometimes refer as data sink, data…
This paper presents a new algorithm to track mobile objects in different scene conditions. The main idea of the proposed tracker includes estimation, multi-features similarity measures and trajectory filtering. A feature set (distance,…
A wireless sensor network consists of light-weight, low power, small size sensor nodes. Routing in wireless sensor networks is a demanding task. This demand has led to a number of routing protocols which efficiently utilize the limited…
Object detection and segmentation are two core modules of an autonomous vehicle perception system. They should have high efficiency and low latency while reducing computational complexity. Currently, the most commonly used algorithms are…
Mobile wireless sensors are increasingly recognized as a valuable tool for monitoring critical infrastructures. An important use case is the discovery of leaks and inflows in pipe networks using a swarm of floating sensor nodes. While…
Detecting traversable road areas ahead a moving vehicle is a key process for modern autonomous driving systems. A common approach to road detection consists of exploiting color features to classify pixels as road or background. These…
Successful deployment of mobile robots in unstructured domains requires an understanding of the environment and terrain to avoid hazardous areas, getting stuck, and colliding with obstacles. Traversability estimation--which predicts where…
The objective of this paper is to propose a systematic analysis of the sensor coverage of automated vehicles. Due to an unlimited number of possible traffic situations, a selection of scenarios to be tested must be applied in the safety…
Object detection is a computer vision task that has become an integral part of many consumer applications today such as surveillance and security systems, mobile text recognition, and diagnosing diseases from MRI/CT scans. Object detection…
This paper investigates coverage control for visual sensor networks based on gradient descent techniques on matrix manifolds. We consider the scenario that networked vision sensors with controllable orientations are distributed over 3-D…
Coverage is one of the main quality of service of a wirelessnetwork. $k$-coverage, that is to be covered simultaneously by $k$network nodes, is synonym of reliability and numerous applicationssuch as multiple site MIMO features, or…
A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…
Low-power chemical sensors deployed on mobile platforms make it possible to monitor pollutant concentrations across large urban areas. However, chemical sensors are prone to drift (e.g., aging, damage, poisoning) and have to be calibrated…
A wireless sensor network (WSN) has important applications such as remote environmental monitoring and target tracking. This has been enabled by the availability, particularly in recent years, of sensors that are smaller, cheaper, and…
In this paper, we consider the problem of planning a path for a robot to monitor a known set of features of interest in an environment. We represent the environment as a graph with vertex weights and edge lengths. The vertices represent…
A new method for estimating the relative positions of location-unaware nodes from the location-aware nodes and the received signal strength (RSS) between the nodes, in a wireless sensor network (WSN), is proposed. In the method, a…
Line coverage is the task of servicing a given set of one-dimensional features in an environment. It is important for the inspection of linear infrastructure such as road networks, power lines, and oil and gas pipelines. This paper…