Unpredicted Trajectories of an Automated Guided Vehicle with Chaos

2012 ◽  
pp. 318-325
Author(s):  
Magda Judith Morales Tavera ◽  
Omar Lengerke ◽  
Max Suell Dutra
Keyword(s):  
Mobile Robot ◽  
Intelligent Transportation Systems ◽  
Vehicular Networks ◽  
Initial Conditions ◽  
Transportation Systems ◽  
Automated Guided Vehicle ◽  
Topological Transitivity ◽  
Chaotic Motions ◽  
Sensitive Dependence ◽  
Scanning Motion

Intelligent Transportation Systems (ITS) are the future of transportation. As a result of emerging standards, vehicles will soon be able to talk to one another as well as their environment. A number of applications will be made available for vehicular networks that improve the overall safety of the transportation infrastructure. This chapter develops a method to impart chaotic motions to an Automated Guided Vehicle (AGV). The chaotic AGV implies a mobile robot with a controller that ensures chaotic motions. This kind of motion is characterized by the topological transitivity and the sensitive dependence on initial conditions. Due the topological transitivity, the mobile robot is guaranteed to scan the whole connected workspace. For scanning motion, the chaotic robot neither requires a map of the workspace nor plans global motions. It only requires the measurement of the workspace boundary when it comes close to it.

scholarly journals Unpredicted Trajectories of an Automated Guided Vehicle with Chaos

Robotics ◽  
2013 ◽  
pp. 1012-1019
Author(s):  
Magda Judith Morales Tavera ◽  
Omar Lengerke ◽  
Max Suell Dutra
Keyword(s):  
Mobile Robot ◽  
Intelligent Transportation Systems ◽  
Vehicular Networks ◽  
Initial Conditions ◽  
Transportation Systems ◽  
Automated Guided Vehicle ◽  
Topological Transitivity ◽  
Chaotic Motions ◽  
Sensitive Dependence ◽  
Scanning Motion

Intelligent Transportation Systems (ITS) are the future of transportation. As a result of emerging standards, vehicles will soon be able to talk to one another as well as their environment. A number of applications will be made available for vehicular networks that improve the overall safety of the transportation infrastructure. This chapter develops a method to impart chaotic motions to an Automated Guided Vehicle (AGV). The chaotic AGV implies a mobile robot with a controller that ensures chaotic motions. This kind of motion is characterized by the topological transitivity and the sensitive dependence on initial conditions. Due the topological transitivity, the mobile robot is guaranteed to scan the whole connected workspace. For scanning motion, the chaotic robot neither requires a map of the workspace nor plans global motions. It only requires the measurement of the workspace boundary when it comes close to it.

scholarly journals On some kinds of dense orbits in general nonautonomous dynamical systems

2020 ◽  
Vol 7 (1) ◽  
pp. 163-175
Author(s):  
Mehdi Pourbarat
Keyword(s):  
Dynamical Systems ◽  
Initial Conditions ◽  
Point Of View ◽  
Topological Conjugacy ◽  
Topological Transitivity ◽  
Nonautonomous Systems ◽  
Nonautonomous Dynamical Systems ◽  
Sensitive Dependence ◽  
Dense Orbits

AbstractWe study the theory of universality for the nonautonomous dynamical systems from topological point of view related to hypercyclicity. The conditions are provided in a way that Birkhoff transitivity theorem can be extended. In the context of generalized linear nonautonomous systems, we show that either one of the topological transitivity or hypercyclicity give sensitive dependence on initial conditions. Meanwhile, some examples are presented for topological transitivity, hypercyclicity and topological conjugacy.

scholarly journals A Survey on Fault Tolerance Techniques for Wireless Vehicular Networks

Electronics ◽  
2019 ◽  
Vol 8 (11) ◽  
pp. 1358 ◽  
Author(s):  
João Almeida ◽  
João Rufino ◽  
Muhammad Alam ◽  
Joaquim Ferreira
Keyword(s):  
Fault Tolerance ◽  
Intelligent Transportation Systems ◽  
Vehicular Networks ◽  
Road Traffic ◽  
Fault Tolerant ◽  
Human Life ◽  
Transportation Systems ◽  
Vehicular Communications ◽  
Self Driving Cars ◽  
Meta Analyses

Future intelligent transportation systems (ITS) hold the promise of supporting the operation of safety-critical applications, such as cooperative self-driving cars. For that purpose, the communications among vehicles and with the road-side infrastructure will need to fulfil the strict real-time guarantees and challenging dependability requirements. These safety requisites are particularly important in wireless vehicular networks, where road traffic presents several threats to human life. This paper presents a systematic survey on fault tolerance techniques in the area of vehicular communications. The work provides a literature review of publications in journals and conferences proceedings, available through a set of different search databases (IEEE Xplore, Web of Science, Scopus and ScienceDirect). A systematic method, based on the preferred reporting items for systematic reviews and meta-analyses (PRISMA) Statement was conducted in order to identify the relevant papers for this survey. After that, the selected articles were analysed and categorised according to the type of redundancy, corresponding to three main groups (temporal, spatial and information redundancy). Finally, a comparison of the core features among the different solutions is presented, together with a brief discussion regarding the main drawbacks of the existing solutions, as well as the necessary steps to provide an integrated fault-tolerant approach to the future vehicular communications systems.

Vehicular Networks to Intelligent Transportation Systems

2018 ◽  
pp. 297-315 ◽  
Author(s):  
Felipe Cunha ◽  
Guilherme Maia ◽  
Heitor S. Ramos ◽  
Bruno Perreira ◽  
Clayson Celes ◽  
...  
Keyword(s):  
Intelligent Transportation Systems ◽  
Vehicular Networks ◽  
Intelligent Transportation ◽  
Transportation Systems

Information Fusion for Localization Within Vehicular Networks

2011 ◽  
Vol 64 (3) ◽  
pp. 401-416 ◽  
Author(s):  
Mahmoud Efatmaneshnik ◽  
Allison Kealy ◽  
Asghar Tabatabei Balaei ◽  
Andrew G. Dempster
Keyword(s):  
Intelligent Transportation Systems ◽  
Vehicular Networks ◽  
Transportation Systems ◽  
Cooperative Positioning ◽  
Dedicated Short Range Communications ◽  
Location Determination ◽  
Moving Vehicles ◽  
Map Data ◽  
Safety Applications ◽  
Navigation Information

Cooperative positioning (CP) is a localization technique originally developed for use across wireless sensor networks. With the emergence of Dedicated Short Range Communications (DSRC) infrastructure for use in Intelligent Transportation Systems (ITS), CP techniques can now be adapted for use in location determination across vehicular networks. In vehicular networks, the technique of CP fuses GPS positions with additional sensed information such as inter-vehicle distances between the moving vehicles to determine their location within a neighbourhood. This paper presents the results obtained from a research study undertaken to demonstrate the capabilities of DSRC for meeting the positioning accuracies of road safety applications. The results show that a CP algorithm that fully integrates both measured/sensed data as well as navigation information such as map data can meet the positioning requirements of safety related applications of DSRC (<0·5 m). This paper presents the results of a Cramer Rao Lower Bound analysis which is used to benchmark the performance of the CP algorithm developed. The Kalman Filter (KF) models used in the CP algorithm are detailed and results obtained from integrating GPS positions, inter-vehicular ranges and information derived from in-vehicle maps are then discussed along with typical results as determined through a variety of network simulation studies.

scholarly journals Analysis of Mobile Edge Computing for Vehicular Networks

Sensors ◽  
2019 ◽  
Vol 19 (6) ◽  
pp. 1303 ◽  
Author(s):  
Zachary Lamb ◽  
Dharma Agrawal
Keyword(s):  
Cellular Networks ◽  
Data Storage ◽  
Intelligent Transportation Systems ◽  
Vehicular Networks ◽  
Vehicular Ad Hoc Networks ◽  
Transportation Systems ◽  
Edge Computing ◽  
Test Bed ◽  
And Storage ◽  
Cloud Resources

Vehicular ad-hoc Networks (VANETs) are an integral part of intelligent transportation systems (ITS) that facilitate communications between vehicles and the internet. More recently, VANET communications research has strayed from the antiquated DSRC standard and favored more modern cellular technologies, such as fifth generation (5G). The ability of cellular networks to serve highly mobile devices combined with the drastically increased capacity of 5G, would enable VANETs to accommodate large numbers of vehicles and support range of applications. The addition of thousands of new connected devices not only stresses the cellular networks, but also the computational and storage requirements supporting the applications and software of these devices. Autonomous vehicles, with numerous on-board sensors, are expected to generate large amounts of data that must be transmitted and processed. Realistically, on-board computing and storage resources of the vehicle cannot be expected to handle all data that will be generated over the vehicles lifetime. Cloud computing will be an essential technology in VANETs and will support the majority of computation and long-term data storage. However, the networking overhead and latency associated with remote cloud resources could prove detrimental to overall network performance. Edge computing seeks to reduce the overhead by placing computational resources nearer to the end users of the network. The geographical diversity and varied hardware configurations of resource in a edge-enabled network would require careful management to ensure efficient resource utilization. In this paper, we introduce an architecture which evaluates available resources in real-time and makes allocations to the most logical and feasible resource. We evaluate our approach mathematically with the use of a multi-criteria decision analysis algorithm and validate our results with experiments using a test-bed of cloud resources. Results demonstrate that an algorithmic ranking of physical resources matches very closely with experimental results and provides a means of delegating tasks to the best available resource.

Analyzing Devaney Chaos of a Sine–Cosine Compound Function System

2018 ◽  
Vol 28 (14) ◽  
pp. 1850176 ◽  
Author(s):  
Hegui Zhu ◽  
Wentao Qi ◽  
Jiangxia Ge ◽  
Yuelin Liu
Keyword(s):  
Chaotic Behavior ◽  
Initial Conditions ◽  
Function System ◽  
Topological Transitivity ◽  
One Dimensional ◽  
Devaney’S Chaos ◽  
Chebyshev Map ◽  
Sensitive Dependence ◽  
Sine Map ◽  
The One

The one-dimensional Sine map and Chebyshev map are classical chaotic maps, which have clear chaotic characteristics. In this paper, we establish a chaotic framework based on a Sine–Cosine compound function system by analyzing the existing one-dimensional Sine map and Chebyshev map. The sensitive dependence on initial conditions, topological transitivity and periodic-point density of this chaotic framework is proved, showing that the chaotic framework satisfies Devaney’s chaos definition. In order to illustrate the chaotic behavior of the chaotic framework, we propose three examples, called Cosine–Polynomial (C–P) map, Sine–Tangent (S–T) map and Sine–Exponent (S–E) map, respectively. Then, we evaluate the chaotic behavior with Sine map and Chebyshev map by analyzing bifurcation diagrams, Lyapunov exponents, correlation dimensions, Kolmogorov entropy and [Formula: see text] complexity. Experimental results show that the chaotic framework has better unpredictability and more complex chaotic behaviors than the classical Sine map and Chebyshev map. The results also verify the effectiveness of the theoretical analysis of the proposed chaotic framework.

scholarly journals Software-Defined Network-Based Vehicular Networks: A Position Paper on Their Modeling and Implementation

Sensors ◽  
2019 ◽  
Vol 19 (17) ◽  
pp. 3788 ◽  
Author(s):  
Lionel Nkenyereye ◽  
Lewis Nkenyereye ◽  
S. M. Riazul Islam ◽  
Yoon-Ho Choi ◽  
Muhammad Bilal ◽  
...  
Keyword(s):  
Intelligent Transportation Systems ◽  
Vehicular Networks ◽  
Vehicular Ad Hoc Networks ◽  
Ad Hoc ◽  
Mobile Network ◽  
Vehicular Network ◽  
Transportation Systems ◽  
Software Defined Networks ◽  
Network Systems ◽  
Hoc Networks

There is a strong devotion in the automotive industry to be part of a wider progression towards the Fifth Generation (5G) era. In-vehicle integration costs between cellular and vehicle-to-vehicle networks using Dedicated Short Range Communication could be avoided by adopting Cellular Vehicle-to-Everything (C-V2X) technology with the possibility to re-use the existing mobile network infrastructure. More and more, with the emergence of Software Defined Networks, the flexibility and the programmability of the network have not only impacted the design of new vehicular network architectures but also the implementation of V2X services in future intelligent transportation systems. In this paper, we define the concepts that help evaluate software-defined-based vehicular network systems in the literature based on their modeling and implementation schemes. We first overview the current studies available in the literature on C-V2X technology in support of V2X applications. We then present the different architectures and their underlying system models for LTE-V2X communications. We later describe the key ideas of software-defined networks and their concepts for V2X services. Lastly, we provide a comparative analysis of existing SDN-based vehicular network system grouped according to their modeling and simulation concepts. We provide a discussion and highlight vehicular ad-hoc networks’ challenges handled by SDN-based vehicular networks.

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