Deploy and search strategy for multi-agent systems using Voronoi partitions

In this paper we analyze a deploy and search strategy for multi-agent systems. Mobile agents equipped with sensors carry out search operation in the search space. The lack of information about the search space is modeled as an uncertainty density distribution over the space, and is assumed to be known to the agents a priori. In each step, the agents deploy themselves in an optimal way so as to maximize per step reduction in the uncertainty density. We analyze the proposed strategy for convergence and spatial distributedness. The control law moving the agents has been analyzed for stability and convergence using LaSalle's invariance principle, and for spatial distributedness under a few realistic constraints on the control input such as constant speed, limit on maximum speed, and also sensor range limits. The simulation experiments show that the strategy successfully reduces the average uncertainty density below the required level.

Low-Complexity Detection and Performance in Multi-Gigabit High Spectral Efficiency Wireless Systems

Recently, we reported a low-complexity likelihood ascent search (LAS) detection algorithm for large MIMO systems with several tens of antennas that can achieve high spectral efficiencies of the order of tens to hundreds of bps/Hz. Through simulations, we showed that this algorithm achieves increasingly near SISO AWGN performance for increasing number of antennas in Lid. Rayleigh fading. However, no bit error performance analysis of the algorithm was reported. In this paper, we extend our work on this low-complexity large MIMO detector in two directions: i) We report an asymptotic bit error probability analysis of the LAS algorithm in the large system limit, where N-t, N-r -> infinity keeping N-t = N-r, where N-t and N-r are the number of transmit and receive antennas, respectively. Specifically, we prove that the error performance of the LAS detector for V-BLAST with 4-QAM in i.i.d. Rayleigh fading converges to that of the maximum-likelihood (ML) detector as N-t, N-r -> infinity keeping N-t = N-r ii) We present simulated BER and nearness to capacity results for V-BLAST as well as high-rate non-orthogonal STBC from Division Algebras (DA), in a more realistic spatially correlated MIMO channel model. Our simulation results show that a) at an uncoded BER of 10(-3), the performance of the LAS detector in decoding 16 x 16 STBC from DA with N-t = = 16 and 16-QAM degrades in spatially correlated fading by about 7 dB compared to that in i.i.d. fading, and 19) with a rate-3/4 outer turbo code and 48 bps/Hz spectral efficiency, the performance degrades by about 6 dB at a coded BER of 10(-4). Our results further show that providing asymmetry in number of antennas such that N-r > N-t keeping the total receiver array length same as that for N-r = N-t, the detector is able to pick up the extra receive diversity thereby significantly improving the BER performance.

Automated Multi-Agent Search Using Centroidal Voronoi Configuration

This paper addresses the problem of automated multiagent search in an unknown environment. Autonomous agents equipped with sensors carry out a search operation in a search space, where the uncertainty, or lack of information about the environment, is known a priori as an uncertainty density distribution function. The agents are deployed in the search space to maximize single step search effectiveness. The centroidal Voronoi configuration, which achieves a locally optimal deployment, forms the basis for the proposed sequential deploy and search strategy. It is shown that with the proposed control law the agent trajectories converge in a globally asymptotic manner to the centroidal Voronoi configuration. Simulation experiments are provided to validate the strategy. Note to Practitioners-In this paper, searching an unknown region to gather information about it is modeled as a problem of using search as a means of reducing information uncertainty about the region. Moreover, multiple automated searchers or agents are used to carry out this operation optimally. This problem has many applications in search and surveillance operations using several autonomous UAVs or mobile robots. The concept of agents converging to the centroid of their Voronoi cells, weighted with the uncertainty density, is used to design a search strategy named as sequential deploy and search. Finally, the performance of the strategy is validated using simulations.

Antenna Selection for Next Generation IEEE 802.16 Mobile Stations

The IEEE 802.16/WiMAX standard has fully embraced multi-antenna technology and can, thus, deliver robust and high transmission rates and higher system capacity. Nevertheless,due to its inherent form-factor constraints and cost concerns, a WiMAX mobile station (MS) should preferably contain fewer radio frequency (RF) chains than antenna elements.This is because RF chains are often substantially more expensive than antenna elements. Thus, antenna selection, wherein a subset of antennas is dynamically selected to connect to the limited RF chains for transceiving, is a highly appealing performance enhancement technique for multi-antenna WiMAX terminals.In this paper, a novel antenna selection protocol tailored for next-generation IEEE 802.16 mobile stations is proposed. As demonstrated by the extensive OPNET simulations, the proposed protocol delivers a significant performance improvement over conventional 802.16 terminals that lack the antenna selection capability. Moreover, the new protocol leverages the existing signaling methods defined in 802.16, thereby incurring a negligible signaling overhead and requiring only diminutive modifications of the standard. To the best of our knowledge, this paper represents the first effort to support antenna selection capability in IEEE 802.16 mobile stations.

Capacity Optimizing Hop Distance in a Mobile Ad Hoc Network with Power Control

In a dense multi-hop network of mobile nodes capable of applying adaptive power control, we consider the problem of finding the optimal hop distance that maximizes a certain throughput measure in bit-metres/sec, subject to average network power constraints. The mobility of nodes is restricted to a circular periphery area centered at the nominal location of nodes. We incorporate only randomly varying path-loss characteristics of channel gain due to the random motion of nodes, excluding any multi-path fading or shadowing effects. Computation of the throughput metric in such a scenario leads us to compute the probability density function of random distance between points in two circles. Using numerical analysis we discover that choosing the nearest node as next hop is not always optimal. Optimal throughput performance is also attained at non-trivial hop distances depending on the available average network power.

Performance of a class of multi-robot deploy and search strategies based on centroidal voronoi configurations

This article considers a class of deploy and search strategies for multi-robot systems and evaluates their performance. The application framework used is deployment of a system of autonomous mobile robots equipped with required sensors in a search space to gather information. The lack of information about the search space is modelled as an uncertainty density distribution. The agents are deployed to maximise single-step search effectiveness. The centroidal Voronoi configuration, which achieves a locally optimal deployment, forms the basis for sequential deploy and search (SDS) and combined deploy and search (CDS) strategies. Completeness results are provided for both search strategies. The deployment strategy is analysed in the presence of constraints on robot speed and limit on sensor range for the convergence of trajectories with corresponding control laws responsible for the motion of robots. SDS and CDS strategies are compared with standard greedy and random search strategies on the basis of time taken to achieve reduction in the uncertainty density below a desired level. The simulation experiments reveal several important issues related to the dependence of the relative performances of the search strategies on parameters such as the number of robots, speed of robots and their sensor range limits.

Generalized bidirectional multi-pair multi-antennawireless network coding

In this paper, we focus on increasing the throughput and diversity of network coded MIMO transmissions in bidirectional multi-pair wireless relay networks. All nodes have multi-antenna capability. Pairs of nodes want to exchange messages via a relay having multi-antenna and encoding/decoding capability. Nodes transmit their messages to the relay in the first (MAC) phase. The relay decodes all the messages and XORs them and broadcasts the XORed message in the second (BC) phase. We develop a generalized framework for bidirectional multi-pair multi-antenna wireless network coding, which models different MIMO transmission schemes including spatial multiplexing (V-BLAST), orthogonal STBC (OSTBC), and non-orthogonal STBC (NO-STBC) in a unified way. Enhanced throughputs are achieved by allowing all nodes to simultaneously transmit at their full rate. High diversity orders are achieved through the use of NO-STBCs, characterized by full rate and full transmit diversity. We evaluate and compare the performance of VBLAST, OSTBC, and NO-STBC schemes in one-dimensional 1-pair linear network (one pair of nodes and a relay) and two-dimensional 2-pair `cross' network (two pairs of nodes and a relay).

Mobile agent based TCP attacker identification in MANET using the traffic history (MAITH)

TCP attacks are the major problem faced by Mobile Ad hoc Networks (MANETs) due to its limited network and host resources. Attacker traceback is a promising solution which allows a victim to identify the exact location of the attacker and hence enables the victim to take proper countermeasure near attack origins, for forensics and to discourage attackers from launching the attacks. However, attacker traceback in MANET is a challenging problem due to dynamic network topology, limited network and host resources such as memory, bandwidth and battery life. We introduce a novel method of TCP attacker Identification in MANET using the Traffic History - MAITH. Based on the comprehensive evaluation based on simulations, we showed that MAITH can successfully track down the attacker under diverse mobile multi-hop network environment with low communication, computation, and memory overhead.

Optimal capacity relay node placement in a multi-hop network on a line

We use information theoretic achievable rate formulas for the multi-relay channel to study the problem of optimal placement of relay nodes along the straight line joining a source node and a destination node. The achievable rate formulas that we utilize are for full-duplex radios at the relays and decode-and-forward relaying. For the single relay case, and individual power constraints at the source node and the relay node, we provide explicit formulas for the optimal relay location and the optimal power allocation to the source-relay channel, for the exponential and the power-law path-loss channel models. For the multiple relay case, we consider exponential path-loss and a total power constraint over the source and the relays, and derive an optimization problem, the solution of which provides the optimal relay locations. Numerical results suggest that at low attenuation the relays are mostly clustered close to the source in order to be able to cooperate among themselves, whereas at high attenuation they are uniformly placed and work as repeaters. We also prove that a constant rate independent of the attenuation in the network can be achieved by placing a large enough number of relay nodes uniformly between the source and the destination, under the exponential path-loss model with total power constraint.

Measurement Based Impromptu Deployment of a Multi-Hop Wireless Relay Network

We study the problem of optimal sequential (''as-you-go'') deployment of wireless relay nodes, as a person walks along a line of random length (with a known distribution). The objective is to create an impromptu multihop wireless network for connecting a packet source to be placed at the end of the line with a sink node located at the starting point, to operate in the light traffic regime. In walking from the sink towards the source, at every step, measurements yield the transmit powers required to establish links to one or more previously placed nodes. Based on these measurements, at every step, a decision is made to place a relay node, the overall system objective being to minimize a linear combination of the expected sum power (or the expected maximum power) required to deliver a packet from the source to the sink node and the expected number of relay nodes deployed. For each of these two objectives, two different relay selection strategies are considered: (i) each relay communicates with the sink via its immediate previous relay, (ii) the communication path can skip some of the deployed relays. With appropriate modeling assumptions, we formulate each of these problems as a Markov decision process (MDP). We provide the optimal policy structures for all these cases, and provide illustrations of the policies and their performance, via numerical results, for some typical parameters.

Race Detection for Android Applications

Programming environments for smartphones expose a concurrency model that combines multi-threading and asynchronous event-based dispatch. While this enables the development of efficient and feature-rich applications, unforeseen thread interleavings coupled with non-deterministic reorderings of asynchronous tasks can lead to subtle concurrency errors in the applications. In this paper, we formalize the concurrency semantics of the Android programming model. We further define the happens-before relation for Android applications, and develop a dynamic race detection technique based on this relation. Our relation generalizes the so far independently studied happens-before relations for multi-threaded programs and single-threaded event-driven programs. Additionally, our race detection technique uses a model of the Android runtime environment to reduce false positives. We have implemented a tool called DROIDRACER. It generates execution traces by systematically testing Android applications and detects data races by computing the happens-before relation on the traces. We analyzed 1 5 Android applications including popular applications such as Facebook, Twitter and K-9 Mail. Our results indicate that data races are prevalent in Android applications, and that DROIDRACER is an effective tool to identify data races.