A versatile architecture is presented to implement autonomous vehicles. The focus idea consists of a set of standalone modules, called wireless robotic components wireless robotic components (WRCs). Each component performs a particular function by means of a radio modem interface, a processing unit, and a sensor/actuator. The components interact through a coordinator that redirects asynchronous requests to the appropriate WRCs, configuring a built-in network. The WRC architecture has been tested in marine and terrestrial platforms to perform tasks of waypoint and wall following. Results show that the tested system complies with adaptability and portability that allow conforming a variety of autonomous vehicles.

We study large deviation principles for a model of wireless networks consisting of Poisson point processes of transmitters and receivers. To each transmitter we associate a family of connectable receivers whose signal-to-interference-and-noise ratio is larger than a certain connectivity threshold. First, we show a large deviation principle for the empirical measure of connectable receivers associated with transmitters in large boxes. Second, making use of the observation that the receivers connectable to the origin form a Cox point process, we derive a large deviation principle for the rescaled process of these receivers as the connection threshold tends to 0. Finally, we show how these results can be used to develop importance sampling algorithms that substantially reduce the variance for the estimation of probabilities of certain rare events such as users being unable to connect.

Given two independent Poisson point processes Φ(1), Φ(2) in , the AB Poisson Boolean model is the graph with the points of Φ(1) as vertices and with edges between any pair of points for which the intersection of balls of radius 2r centered at these points contains at least one point of Φ(2). This is a generalization of the AB percolation model on discrete lattices. We show the existence of percolation for all d ≥ 2 and derive bounds for a critical intensity. We also provide a characterization for this critical intensity when d = 2. To study the connectivity problem, we consider independent Poisson point processes of intensities n and τn in the unit cube. The AB random geometric graph is defined as above but with balls of radius r. We derive a weak law result for the largest nearest-neighbor distance and almost-sure asymptotic bounds for the connectivity threshold.

Directionally convex ordering is a useful tool for comparing the dependence structure of random vectors, which also takes into account the variability of the marginal distributions. It can be extended to random fields by comparing all finite-dimensional distributions. Viewing locally finite measures as nonnegative fields of measure values indexed by the bounded Borel subsets of the space, in this paper we formulate and study directionally convex ordering of random measures on locally compact spaces. We show that the directionally convex order is preserved under some of the natural operations considered on random measures and point processes, such as deterministic displacement of points, independent superposition, and thinning, as well as independent, identically distributed marking. Further operations on Cox point processes such as position-dependent marking and displacement of points are shown to preserve the order. We also examine the impact of the directionally convex order on the second moment properties, in particular on clustering and on Palm distributions. Comparisons of Ripley's functions and pair correlation functions, as well as examples, seem to indicate that point processes higher in the directionally convex order cluster more. In our main result we show that nonnegative integral shot noise fields with respect to the directionally convex ordered random measures inherit this ordering from the measures. Numerous applications of this result are shown, in particular to comparison of various Cox processes and some performance measures of wireless networks, in both of which shot noise fields appear as key ingredients. We also mention a few pertinent open questions.

Continuum percolation models in which pairs of points of a two-dimensional Poisson point process are connected if they are within some range of each other have been extensively studied. This paper considers a variation in which a connection between two points depends not only on their Euclidean distance, but also on the positions of all other points of the point process. This model has been recently proposed to model interference in radio communications networks. Our main result shows that, despite the infinite-range dependencies, percolation occurs in the model when the density λ of the Poisson point process is greater than the critical density value λc of the independent model, provided that interference from other nodes can be sufficiently reduced (without vanishing).

In this paper, we analyze a queueing system characterized by a space-time arrival process of customers served by a countable set of servers. Customers arrive at points in space and the server stations have space-dependent processing rates. The workload is seen as a Radon measure and the server stations can adapt their power allocation to the current workload. We derive the stability region of the queueing system in the usual stationary ergodic framework. The analysis of this stability region gives some counter-intuitive results. Some specific subclasses of policy are also studied. Wireless communications networks is a natural field of application for the model.

We consider the problem of scheduling the transmissions of multiple data users (flows) sharing the same wireless channel (server). The unique feature of this problem is the fact that the capacity (service rate) of the channel varies randomly with time and asynchronously for different users. We study a scheduling policy called the exponential scheduling rule, which was introduced in an earlier paper. Given a system with N users, and any set of positive numbers {an}, n = 1, 2,…, N, we show that in a heavy-traffic limit, under a nonrestrictive ‘complete resource pooling’ condition, this algorithm has the property that, for each time t, it (asymptotically) minimizes maxnanq̃n(t), where q̃n(t) is the queue length of user n in the heavy-traffic regime.

We consider a processing system, composed of several parallel queues and a processor, which operates in a time-varying environment that fluctuates between various states or modes. The service rate at each queue depends on the processor bandwidth allocated to it, as well as the environment mode. Each queue is driven by a job traffic flow, which may also depend on the environment mode. Dynamic processor scheduling policies are investigated for maximizing the system throughput, by adapting to queue backlogs and the environment mode. We show that allocating the processor bandwidth to the queues, so as to maximize the projection of the service rate vector onto a linear function of the workload vector, can keep the system stable under the maximum possible traffic load. The analysis of the system dynamics is first done under very general assumptions, addressing rate stability and flow conservation on individual traffic and environment evolution traces. The connection with stochastic stability is later discussed for stationary and ergodic traffic and environment processes. Various extensions to feed-forward networks of such nodes, the multi-processor case, etc., are also discussed. The approach advances the methodology of trace-based modelling of queueing structures. Applications of the model include bandwidth allocation in wireless channels with fluctuating interference and allocation of switching bandwidth to traffic flows in communication networks with fluctuating congestion levels.