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By adopting device-to-device (D2D) communications, user terminals (UTs) can work as relays to help the cell-edge UTs with poor channel conditions obtain better network access experiences. In this paper, we characterize the D2D-assisted relay performance in the context of a cellular uplink scenario, where the UTs close to BS can act as the full-duplex relays. To obtain the system performance metric...
Mobile manipulation tasks in warehouses require robots to grasp and transport objects autonomously. To carry out mobile manipulation tasks autonomously, robot needs integrate several components for perception, planning, grasping, and manipulation. In this paper, we consider the systematic implementation of grasping, transportation and placing by using a mobile robot. We design a mechanical gripper...
Multi-UAS (MAS) flocking requires multiple controllers with connected communication topologies. Real-time deployment of multi-agents is commonly associated with dynamic communication topologies, which has been considered as a challenging topic. This paper proposes a novel low- computation distributed connectivity control method to generate connected communication topologies and maintain the connectivity...
Terrestrial laser scanning (TLS) and mobile laser scanning (MLS) data can be used to obtain abundant and precise side information of trees. Therefore, it can enable extracting individual tree parameters, such as the tree height, crown size, crown base height, and diameter at breast height, and it can provide basic data for forest research and management. This study proposes a technical framework for...
Most research on the visual servoing of mobile manipulators used the assumption that the depth information is already known. In this paper, a visual servoing scheme without the prior knowledge of depth is proposed to regulate a mobile manipulator to a desired pose at eye-to-hand setup. To deal with the nonholonomic constraint of wheeled mobile platform, the Jacobian matrix was combined with the depth-independent...
Cognitive radio systems adaptively adjust their radio parameters based on the feedback from the electromagnetic environment. Therefore, it is expected that cognitive radio systems will have better performance if they are integrated with accurate site-specific propagation modeling. Our group has long standing expertise in propagation modeling utilizing geo-spatial tools and indoor building models,...
As the number of source node increases, the overhead of ordinary multicast routing protocol like ODMRP will increase rapidly. Because every source node will periodically flooding in order to get and refresh the information of networks topology. To reduce the overhead of rebroadcast from the source nodes, we propose an efficient on-demand source based multicast routing protocol (ODSCMP) in Ad Hoc network...
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