This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closed-loop behavior is adaptive, distributed, asynchronous, and verifiably correct.

Coverage control for mobile sensing networks

This work is concerned with the problem of experiment design for the efficient identification of a linear single input, single output dynamic system from input-output data in the presence of disturbances. The experimenter is allowed to select certain factors under his control (input signal, output filter, sampling times), subject to suitable constraints, in order to maximise information from an experiment. A frequency domain approach to the test signal/sampling rate design problem is adopted and the cost criterion is chosen to be a suitable convex scalar function of the inverse Fisher information matrix. A geometrical approach to the design problem is developed for beth continuous-tlme and discrete-time systems, based on the theory of Tchebycheff systems and their associated moment spaces. Conditions are derived for the existence of certain minimal representations of the optimal input spectrum, leading to a reduction in the dimension of the design optimization problem. In particular, for a restricted class of model structures, the optima/ input spectrum contains the minimum number of frequencies consistent with a persistently exciting signal. A class of sequential design algorithms is proposed with proven global convergence to a D-optlmal design. Comparison is made of the computational efficiency of a number of these algorithms.

Lecture notes in control and information sciences

[서평]「Component Software」 - Beyond Object-Oriented Programming -

A system for sharing and processing road condition information includes a number of road condition information computer systems within individual vehicles or devices and a virtual road condition information server on a mobile network. The road condition information computer systems are each connected through a peer-to-peer radio, cellular, Wi-Fi, or other similar communications network, and which each operate with a database for displaying road maps, with a database storing average speed data for directions of travel along roadways, and with a location sensor used to determine the location and average speed of the vehicle or device, which are transmitted to other vehicles. The virtual server returns average speed data for road segments, which is displayed on the road maps. The system includes sharing average speed data calculated as well average speed data received from the plurality of vehicles to other vehicles, thereby enhancing the real-time communication of road condition data.

System for transmitting, processing, receiving, and displaying traffic information

Ad hoc networks can be used not only as data carriers for mobile devices but also as providers of a new class of services specific to ubiquitous computing environments. Building services in ad hoc networks, however, is challenging due to the rapidly changing operating contexts, which often lead to situations where a node hosting a certain service becomes unsuitable for hosting the service execution any longer. We propose a novel model of service provisioning in ad hoc networks based on the concept of context- aware migratory services. Unlike a regular service that executes always on the same node, a migratory service can migrate to different nodes in the network in order to accomplish its task. The migration is triggered by changes of the operating context, and it occurs transparently to the client application. We designed and implemented a framework for developing migratory services. We built TJam, a proof-of-concept migratory service that predicts traffic jams in a given region of a highway by using only car-to-car short-range wireless communication. The experimental results obtained over an ad hoc network of personal digital assistants (PDAs) show the effectiveness of our approach in the presence of frequent disconnections. We also present simulation results that demonstrate the benefits of migratory services in large-scale networks compared to a statically centralized approach.

/pdf/context-aware-migratory-services-in-ad-hoc-networks-535ni9rhxb.pdf

Context-Aware Migratory Services in Ad Hoc Networks

It is becoming clear that location-aware intelligent transportation systems will be one of the most promising upcoming applications for next generation vehicles. The driving force behind this is the introduction of pervasive high performance wireless networks and location sensing technologies, such as GPS and roadside detection systems. Intelligent transportation systems utilise inter-vehicle cooperation without human assistance to provide autonomous vehicle navigation from a given source to a predetermined destination. The resultant sentient vehicles are 'context-aware' autonomous cars that form cooperative 'flotillas' of peers using mobile ad hoc network environments (MANETs). In this paper we report on our experiences of building a component framework based middleware architecture designed to meet the challenges of such environments. We show how such a framework can be used to engineer a proof of concept cooperating sentient vehicle application, and highlight the research challenges raised.

/pdf/cooperating-sentient-vehicles-for-next-generation-39xscsp3gs.pdf

Cooperating sentient vehicles for next generation automobiles

With advances in sensor-based computing and mobile communication, people have started to explore ubiquitous or pervasive computing systems that aim to have computing devices literally available everywhere, making them disappear into the physical environment. Novel ubiquitous computing applications such as intelligent vehicles, smart buildings, and traffic management have special properties that traditional computing applications do not possess, such as context-awareness, massive decentralisation, autonomous behaviour, adaptivity, proactivity, and innate collaboration. In this paper we argue that these require a new computational model and middleware that can reflect the autonomy and spontaneity of cooperative entities. The EU funded CORTEX project proposes the sentient object model to support the construction of such large-scale applications. We report on a flexible, run-time reconfigurable component based middleware that we have used to engineer the sentient object programming paradigm. We demonstrate the appropriateness of the novel computational model and validity of the middleware by constructing a proof of concept demonstrator based on the notion of autonomous cooperating vehicles.

/pdf/novel-component-middleware-for-building-dependable-sentient-2tp7flwyt9.pdf

Novel component middleware for building dependable sentient computing applications

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Cooperating sentient vehicles for next generation automobiles

Novel component middleware for building dependable sentient computing applications