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Abstruct-Fault detection and isolation is a crucial and challenging task in the automatic control of large complex systems. We propose a discrete-event system (DES) approach to the problem of failure diagnosis. We introduce two related notions of diagnosability of DES's in the framework of formal languages and compare diagnosability with the related notions(More)
This paper studies the design of layer-2 protocols for a vehicle to send safety messages to other vehicles. The target is to send vehicle safety messages with high reliability and low delay. The communication is one-to-many, local, and geo-significant. The vehicular communication network is ad-hoc, highly mobile, and with large numbers of contending nodes.(More)
In this paper, we present an algorithm for routing in wireless ad hoc networks using information about geographical location of the nodes. We assume each node knows its geographical position and the position of the node to which it wants to send a packet. Initially, the nodes only know their neighbors but over time they discover other nodes in the network.(More)
—This paper describes the vision-based control of a small autonomous aircraft following a road. The computer vision system detects natural features of the scene and tracks the roadway in order to determine relative yaw and lateral displacement between the aircraft and the road. Using only the vision measurements and onboard inertial sensors, a control(More)
In certain discrete event applications it may be desirable to find a particular controller , within the set of acceptable controllers, which optimizes some quantitative performance measure. In this paper we propose a theory of optimal control to meet such design requirements for deterministic systems. The discrete event system (DES) is modeled by a formal(More)
— The Wireless Token Ring Protocol (WTRP) is a medium access control protocol for wireless networks in Intelligent Transportation Systems. It supports quality of service in terms of bounded latency and reserved bandwidth. WTRP is efficient in the sense that it reduces the number of retransmissions due to collisions. It is fair in the sense that each station(More)
Dedicated Short Range Communication (DSRC) wireless band, allocated by the FCC for vehicular communication, constitutes the basis for one of the first vehicular ad-hoc networks/systems that is likely to be deployed. Therefore, it is important to characterize the physical properties of the DSRC channel.In this work we propose that due to the complexity,(More)