This study examines the random waypoint model widely used in the simulation studies of mobile ad hoc networks. Our findings show that this model fails to provide a steady state in that the average nodal speed consistently decreases over time, and therefore should not be directly used for simulation. We show how unreliable results can be obtained by using this model. In particular, certain ad ho...

The present paper compares the effect of different waypoint parameters on the flight performance of a special autonomous indoor UAV (unmanned aerial vehicle) fusing ultrasonic, inertial, pressure and optical sensors for 3D positioning and controlling. The investigated parameters are the acceptance threshold for reaching a waypoint as well as the maximal waypoint step size or block size. The eff...

Cooperative multi-agent path planning around a common location has many applications, and has received significant attention from the research community. Our research is motivated by the need for groups of autonomous vehicles or mobile robots to collaboratively plan efficient paths around shared navigational coordinates (waypoints) in a distributed and decentralized manner. Our ongoing research...

Motivated by applications in which a nonholonomic robotic vehicle should sequentially hit a series of waypoints in the presence of stochastic drift, we formulate a new version of the Dubins vehicle traveling salesperson problem. In our approach, we first compute the minimum expected time feedback control to hit one waypoint based on the Hamilton-Jacobi-Bellman equation. Next, minimum expected t...

This paper proposes a novel approach for a Constructive Self-Organizing Map (SOM) based world modeling for search and rescue operations in disaster environments. In our approach, nodes of the self organizing network consist of victim and waypoint classes where victim denotes a human being waiting to be rescued and waypoint denotes a free space that can be reached from the entrance of debris. Th...

This paper investigates and undertakes simulation based study of Adhoc routing protocols in wireless sensor networks. In this paper we have compared the performance of two routing protocol Bellman, DSR, and ZRP using random waypoint mobility model and changing the node density with varying number of source node. We have analyzed the performance of protocols for varying network load and mobility...

Small unmanned air vehicles are limited in sensor weight and power such that detection and avoidance of unknown obstacles during flight is difficult. This paper presents a low power low weight method of detection using a laser range finder. In addition, a rapidly-exploring random tree algorithm to generate waypoint paths around obstacles known a priori is presented, and a dynamic geometric algo...

The random waypoint model is a frequently used mobility model for simulation–based studies of wireless ad hoc networks. This paper investigates the spatial node distribution that results from using this model. We show and interpret simulation results on a square and circular system area, derive an analytical expression of the expected node distribution in one dimension, and give an approximatio...