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The location of node is a research focus in wireless sensor networks (WSNs), and it is the foundation of the service based on the node location. In this paper, we propose a new localization method to improve the moving-baseline localization(MBL) performance by using second-order system. This method takes advantage of precise properties of MBL. We improve the localization accuracy by accurate fitting...
This paper addresses the optimal kinematic control problem of the mobile manipulators. A computationally simple class of the Jacobian transpose control algorithms is proposed for the end-effector trajectory tracking. These controllers use a new non-singular Terminal Sliding Mode (TSM) manifold, as being a non-linear integral mapping of the second order with respect to the task space tracking error...
A method of planning sub-optimal trajectory for two mobile manipulators moving the common rigid object is presented. The robotic task is to move the object to a final location in the workspace. Trajectory planning problem is solved using a leader-follower approach. The motions are planned in order to avoid manipulators singularities. Mechanical constraints of the robots are taken into consideration...
Modeling and filtering of a mobile object stochastic trajectory on the basis of fractal Wiener process taking into account the Hurst indicator are offered. For numerical realization of this processes the wavelet based decomposition is used. The peculiarities of trajectory parameters estimation by using Kalman filter and the wavelet algorithm are investigated. The illustrating examples are given.
A method of trajectory planning with regards to control constraints for mobile manipulator working in the workspace including obstacles is presented. The task of the robot is to reach a specified end-effector position with high manipulability measure of the holonomic arm. The motion is planned in such a way to guarantee that mechanical and collision constraints are satisfied. To ensure fulfillment...
In this study, the motion of an inverted pendulum mobile platform is extended to omnidirectional motion. omnidirectional motion is implemented by a drive unit constructed from paired mecanum wheels. The mechanism of the omnidirectional drive unit replaces the two parallel wheels of the inverted pendulum mobile platform and extends its motion to an omnidirectional motion. The mechanism of the omnidirectional...
The increasing diffusion of smart devices opens to a new era for collecting large quantities of data from urban areas. Sensing information can be collected by using existing network infrastructures, but also by adopting small, cheap and configurable aerial vehicles, namely drones. Our work focusses on studying how to optimize their adoption for smart city applications designed to gather sensing data...
We present in this paper a technique for Loitering detection based on the analysis of activity zones of the monitored area. Activity zones are learnt online employing a soft computing-based algorithm which takes as input the trajectory of object mobiles appearing on the scene. Statistical properties on zone occupancy and transition between zones makes it possible to discover abnormalities without...
Distributed mobile robotics (DMR) involves teams of networked robots navigating in a physical space to achieve tasks in a coordinated fashion. A major challenge in DMR is to program the ensemble of robots with formal guarantees and high assurance of correct operation. To this end, we introduce DRONA, a framework for building reliable DMR applications. This paper makes three central contributions:...
The emergence of vehicular-Ad-Hoc network and Vehicular Cloud Computing bring about potential for building powerful vehicular crowd-sensing system. Current research for modern crowd-sensing focuses on large scale applications such as urban sensing, public safety, traffic or environmental monitoring for governments or enterprises. Thus, to the best of our knowledge, there is no effort on extending...
Ubiquitous deployment of low-cost mobile positioning devices and the widespread use of high-speed wireless networks enable massive collection of large-scale trajectory data of individuals moving on road networks. Trajectory data mining finds numerous applications including understanding users' historical travel preferences and recommending places of interest to new visitors. Privacy-preserving trajectory...
Due to the sparse distribution of road video surveillance cameras, precise trajectory tracking for vehicles remains a challenging task. To the best of our knowledge, none of the previous research considered using on-road taxicabs as mobile video surveillance cameras and road traffic flow patterns, therefore not suitable for recovering trajectories of vehicles. With this insight, we model the travel...
In this paper, we consider user location privacy in mobile edge clouds (MECs). MECs are small clouds deployed at the network edge to offer cloud services close to mobile users, and many solutions have been proposed to maximize service locality by migrating services to follow their users. Co-location of a user and his service, however, implies that a cyber eavesdropper observing service migrations...
Features of a solution for an inverse kinematic problem for manipulators with the PUMA scheme, which have constructive movement restrictions in corresponding mobility degrees, are considered. A method which by means of additional (redundant) mobility degrees of manipulators doesn't allow advance unpredictable exit of any mobility degree to the restrictions leading to sharp decrease in accuracy if...
Mobile network operators can track subscribers via passive or active monitoring of device locations. The recorded trajectories offer an unprecedented outlook on the activities of large user populations, which enables developing new networking solutions and services, and scaling up studies across research disciplines. Yet, the disclosure of individual trajectories raises significant privacy concerns:...
In Mobile Sensor Networks (MSNs), limited transmission range of the sensor nodes requires nodes to collaborate with each other in order to send their data to the Base Station (BS) which acts as a gateway between the network and the remote user. However, nodes may fail arbitrarily due to battery depletion, hardware malfunction, or an external damage. Such failures may partition the network into multiple...
Wireless communication by leveraging the use of low-altitude unmanned aerial vehicles (UAVs) has received significant interests recently due to its low-cost and flexibility in providing wireless connectivity in areas without infrastructure coverage. This paper studies a UAV-enabled mobile relaying system, where a high-mobility UAV is deployed to assist in the information transmission from a ground...
The performance of mobile networks is significantly influenced by the mobility patterns of wireless device holders. Human mobility models, which yields synthetic trajectories with essential mobility patterns of crowd, are important for the research and development of mobile networks. However, traditional models are often perceived as not realistic for depicting urban context (such as urban hotspots...
Compared with conventional travel data such as GPS data, detector data and float car data, call detail record data from the cell phone communication not only cost low but also has a large scale which demonstrate it is the best way to collect travel information for studying macroscopic travel activities. This paper presents a complete method to discover hot path and travel feature in a traffic network...
Cloudlet based network provides a platform to offloading the traffic workload generated by mobile devices. It can significantly reduce the access delay for mobile application users. However, the high dynamic mobility of users brings significant challenges to the service provisioning for mobile applications, especially for the delay-sensitive big data applications. To increase the overall admitted...
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