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In this paper, we address the minimum power broadcast problem in wireless networks. Assuming nodes are equipped with omni-directional antennas, the inherently broadcast nature of wireless networks can be exploited to compute power efficient routing trees. We propose a 2-stage cluster-merge algorithm for computing minimum power broadcast trees. The cluster(More)
Wireless multicast/broadcast sessions, unlike wired networks , inherently reaches several nodes with a single transmission. For omnidirectional wireless broadcast to a node, all nodes closer will also be reached. Heuristics for constructing minimum power trees in wireless networks have been proposed by Wieselthier et al [1] and Stojmenovic et al [2]. In(More)
— We consider the problem of maximizing the time-to-first-failure, defined as the time till the first node in the network runs out of battery energy, in energy constrained broadcast wireless networks. We discuss a greedy algorithm and prove that it solves the problem optimally for a broadcast application , in polynomial time, provided the complete power(More)
—A robust control design is proposed for the lane-keeping and obstacle avoidance of semiautonomous ground vehicles. A robust Model Predictive Controller (MPC) is used in order to enforce safety constraints with minimal control intervention. An uncertain driver model is used to obtain sets of predicted vehicle trajectories in closed-loop with the predicted(More)
— This paper presents the design of an active safety system for prevention of unintended roadway departures. In normal driving conditions, the driver fully commands the vehicle while the safety system corrects the driver's steering and braking action in case there's a risk that the vehicle unintentionally departs the road. A model of the driver's nominal(More)
— We consider the problem of minimum power bidi-rectional topology optimization in wireless networks with sectored antennas. We first develop a mixed integer linear programming model for optimal solution of the problem with sectored antennas. Subsequently, we discuss a centralized heuristic algorithm which is based on Kruskal's algorithm for the minimum(More)
Wireless multicast/broadcast sessions, unlike wired networks , inherently reaches several nodes with a single transmission. For omnidirectional wireless broadcast to a node, all nodes closer will also be reached. An algorithm for constructing the minimum power tree in wireless networks was first proposed by Wieselthier et al.. The broadcast incremental(More)
  • I Kassabalidis, M A El-Sharkawi, R J Marks Ii, P Arabshahi, A A Gray
  • 2001
– Swarm intelligence, as demonstrated by natural biological swarms, has numerous powerful properties desirable in many engineering systems, such as network routing. In addition, new paradigms for designing autonomous and scalable systems may result from analytically understanding and extending the design principles and operations exhibited by intelligent(More)
— A hierarchical control framework for the obstacle avoidance of autonomous and semi-autonomous ground vehicles is presented. The high-level planner is based on motion primitives created from a four-wheel nonlinear dynamic model. Parametrized clothoids and drifting maneuvers are used to improve vehicle agility. The low-level tracks the planned trajectory(More)