In this paper, we study the stationary node distribution of a variation of the Random Waypoint mobility model, in which nodes move in a smooth way following one randomly chosen Manhattan path connecting two points. We provide analytical results for the spatial node stationary distribution of this model. As an application, we exploit this result to derive an upper bound on the transmission range...

We consider the Dynamic Map Visitation Problem (DMVP), in which a team of agents must visit a collection of critical locations as quickly as possible, in an environment that may change rapidly and unpredictably during the agents’ navigation. We apply recent formulations of time-varying graphs (TVGs) to DMVP, shedding new light on the computational hierarchy R ⊃ B ⊃ P of TVG classes by analyzing...

— Domain Name System (DNS) can be deployed in the network as a Location Manager (LM) for mobility management. The suitability of DNS as a LM can be measured on how successfully it can serve to locate a mobile host. In this paper, we developed an analytical model to measure the performance of DNS as LM for mobility management techniques with IP Diversity support based on success rate which takes...

In this paper, we solve a long standing open problem by presenting two versions of the well-known random waypoint mobility model in bounded regions generating a uniform steadystate node spatial distribution. In the first version, named temporal-RWP, we exploit the temporal dimension of node mobility and achieve uniformity by continuously changing the speed of a mobile node as a function of its ...

Non-speech audio navigation systems can be very effective mobility aids for persons with either temporary or permanent vision loss. Sound design has certainly been shown to be important in such devices [e.g. 1]. In this study we consider the added factor of capture radius. The capture radius of an auditory beacon is defined as the range at which the system considers a user to have reached the w...

This paper digs into the relationship between cages and grasps of a rigid body. In particular, it considers the use of cages as waypoints to grasp an object. We introduce the concept of pregrasping cages, caging configurations from which an object can be grasped without first breaking the cage. For two-fingered manipulators, all cages are pregrasping cages and, consequently, useful waypoints to...

The benefits of legged locomotion shown in nature overcome challenges such as obstacles or terrain smoothness typically encountered with wheeled vehicles. This paper evaluates the benefits of using optimal control on a single leg hopper during the entire hopping motion. Basic control without considering physical constraints is implemented through handtuned PD controllers following the Raibert c...

This paper describes the application of binary neural networks, in particular the Advanced Distributed Associative Memory (ADAM) to the recognition of features in images, in particular it describes how infra-red images of the ground can be scanned for extraction of road features, urban and field areas. The paper then shows how a hierarchical organization of such networks can be used to quickly ...