Search results for "Collision avoidance"
showing 10 items of 24 documents
Collision Avoidance with Potential Fields Based on Parallel Processing of 3D-Point Cloud Data on the GPU
2014
In this paper we present an experimental study on real-time collision avoidance with potential fields that are based on 3D point cloud data and processed on the Graphics Processing Unit (GPU). The virtual forces from the potential fields serve two purposes. First, they are used for changing the reference trajectory. Second they are projected to and applied on torque control level for generating according nullspace behavior together with a Cartesian impedance main control loop. The GPU algorithm creates a map representation that is quickly accessible. In addition, outliers and the robot structure are efficiently removed from the data, and the resolution of the representation can be easily ad…
Revisit of RTS/CTS Exchange in High-Speed IEEE 802.11 Networks
2005
IEEE 802.11 medium access control (MAC), called distributed coordination function (DCF), provides two different access modes, namely, 2-way (basic access) and 4-way (RTS/CTS) handshaking. The 4-way handshaking has been introduced in order to combat the hidden terminal phenomenon. It has been also proved that such a mechanism can be beneficial even in the absence of hidden terminals, because of the collision time reduction. We analyze the effectiveness of the RTS/CTS access mode, in current 802.11b and 802.11a networks. Since the rates employed for control frame transmissions can be much lower than the rate employed for data frames, the assumption on the basis of the 4-way handshaking introd…
A Comparison of Algorithms for Path Planning of Industrial Robots
2008
In this paper, the path planning problem for industrial robots in environ- ments with obstacles has been solved using four algorithms that implement different methodologies. Our objective is to analyze the characteristics of these algorithms. Consequently, the results (solutions) obtained with each of them are compared through the analysis of three operational parameters that are relevant to determine the qualities of the solutions. These parameters are: the computational time, the distance travelled by the robot and the number of generated configurations. One of the algorithms can be catalogued as indirect and the other three are variations of a direct method. The four algorithms have been…
Wireless MAC Processor Networking: A Control Architecture for Expressing and Implementing High-Level Adaptation Policies in WLANs
2013
The current proliferation of unplanned wireless local area networks (WLANs) is creating the need for implementing different adaptation strategies to improve network performance under mutating and evolving interference scenarios. In this article, we envision a new solution for expressing and implementing high-level adaptation policies in WLANs, in contrast to the current approaches based on vendor-specific implementations. We exploit the hardware abstraction interface recently proposed by the wireless medium access control (MAC) processor (WMP) architecture and some flow-control concepts similar to the Openflow model for defining MAC adaptation policies. A simple control architecture for dis…
Enable concurrent transmissions with beamforming for broadband wireless access in CSMA/CA-based WLANs
2014
In CSMA/CA based wireless local networks, two stations are not allowed to transmit at the same time due to interference generated to each other, resulting in degraded throughput. Concurrent transmission, which enables simultaneous transmission of two or more stations under certain conditions, is able to overcome this problem, leading to enhanced channel utilization efficiency. Different from earlier work on this topic which focuses on omni-direction concurrent transmission, we introduce in this paper beamforming into a co-channel concurrent transmission scheme and investigate the benefits of concurrency with beamforming. The circumstances for concurrent transmission and frame scheduling are…
DTMC modeling for performance evaluation of DW-MAC in wireless sensor networks
2016
Synchronized duty cycling (DC) aligns sensor nodes to wake up at the same time in order to reduce idle listening for medium access control (MAC) in wireless sensor networks (WSNs). Demand wakeup MAC (DW-MAC) is a popular synchronous DC MAC protocol which allows nodes to compete and transmit multiple packets in one operational cycle. This multiple packet transmission (MPT) feature makes DW-MAC more energy efficient when comparing with other existing single time competition based protocols such as sensor MAC (S-MAC). In the literature, no analytical model exists to evaluate the performance of DW-MAC. In this paper, we develop two associated discrete time Markov chain (DTMC) models and incorpo…
Data-based modeling of vehicle collision by LPV-ARMAX model approach
2013
Vehicle crash are considered to be events with high complexity from the mathematical points of view. The high experiment cost and huge time-consumption make the establishment of a mathematical model of vehicle crash which can simplify the analysis process in great demand. In this work, we present the application of LPV-ARMAX model to simulate the car-to-pole collision with different initial impact velocities. The parameters of the LPV-ARMAX are assumed to be functions of the initial impact velocities. Instead of establishing a set of LTI models for vehicle crashes with various impact velocities, the LPV-ARMAX model is comparatively simple and applicable to predict the responses of new colli…
Collision Avoidance in Wake-Up Radio Enabled WSNs: Protocol and Performance Evaluation
2018
In wake-up radio (WuR) enabled wireless sensor networks (WSNs), the envisaged application scenarios are primarily targeted at low traffic load conditions. When applying WuR to medium or heavy traffic load scenarios, however, collisions among wake-up calls (WuCs) may happen, resulting in a lower packet delivery ratio (PDR). In this paper, we propose a media access control protocol for WuR- enabled WSN that is capable of avoiding WuC collisions by activating a contention-based collision avoidance mechanism for WuC transmissions. The performance of the proposed protocol is evaluated by a Markov chain based mathematical model and is compared with a WuR protocol that performs only clear channel as…
Collision Avoidance Problem for an Ekranoplan
2008
Decentralized Coordination System for Multiple AGVs in a Structured Environment
2011
Abstract In this paper, we propose a decentralized coordination algorithm for safe and efficient management of a group of mobile robots following predefined paths in a dynamic industrial environment. The proposed algorithm is based on shared resources and proved to guarantee ordered traffic flows avoiding collisions and deadlocks. In consistency with the model of distributed robotic systems (DRS), no centralized mechanism, synchronized clock, shared memory or ground support is needed. A local inter-robot communication is required among a small number of spatially adjacent robotic units.