Frederic V G Guinand - Academia.edu (original) (raw)
Papers by Frederic V G Guinand
arXiv (Cornell University), Oct 30, 2014
This paper presents a novel decentralized interactive architecture for aerial and ground mobile r... more This paper presents a novel decentralized interactive architecture for aerial and ground mobile robots cooperation. The aerial mobile robot is used to provide a global coverage during an area inspection, while the ground mobile robot is used to provide a local coverage of ground features. We include a human-inthe-loop to provide waypoints for the ground mobile robot to progress safely in the inspected area. The aerial mobile robot follows continuously the ground mobile robot in order to always keep it in its coverage view.
Civil-comp proceedings, Mar 16, 2011
This paper presents an experimental platform and a simulation-based one for the implementation of... more This paper presents an experimental platform and a simulation-based one for the implementation of a method enabling mobile anonymous robots self-localization. The proposed method, theoretically validated in a previous work, is based on the comparison between global information obtained through periodical aerial pictures and local information stemmed from odometry. The process analyzes robots' coordinates evolution between two consecutive pictures and compares these changes with odometric measures. On each picture, robots are anonymous and their identification is impossible without extra information. In this work, measures obtained with actual robots on the experimental platform are compared with the ones obtained on the simulation-based platform reproducing experimental conditions. We show that success rates, defined as the percentage of time robots successfully localize themselves, obtained on both platforms are qualitatively similar while quantitatively different in regard with algorithm performances. Sources responsible for this gap are identified and analyzed. It leads to the conclusion that, in the context of our study, using a simulation-based platform is a valid alternative to actual robots experiments.
HAL (Le Centre pour la Communication Scientifique Directe), Jul 8, 2013
We address the problem of building and maintaining a forest of spanning trees in highly dynamic n... more We address the problem of building and maintaining a forest of spanning trees in highly dynamic networks, in which topological events can occur at any time and any rate, and no stable periods can be assumed. In these harsh environments, we strive to preserve some properties such as cycle-freeness or existence of a unique root in each fragment regardless of the events, so as to keep these fragments functioning uninterruptedly to a possible extent. Our algorithm operates at a coarse-grain level, using atomic pairwise interactions akin to population protocol or graph relabeling systems. The algorithm relies on a perpetual alternation of topology-induced splittings and computation-induced mergings of a forest of trees. Each tree in the forest hosts exactly one token (also called root) that performs a random walk inside the tree, switching parentchild relationships as it crosses edges. When two tokens are located on both sides of a same edge, their trees are merged upon this edge and one token disappears. Whenever an edge that belongs to a tree disappears, its child endpoint regenerates a new token instantly. The main features of this approach is that both merging and splitting are purely localized phenomenons. This paper presents the algorithm and establishes its correctness in arbitrary dynamic networks. We also discuss aspects related to the implementation of this general principle in fine-grain models, as well as embryonic elements of analysis. The characterization of the algorithm performance is left open, both analytically and experimentally.
HAL (Le Centre pour la Communication Scientifique Directe), 2009
International audienceno abstrac
HAL (Le Centre pour la Communication Scientifique Directe), Dec 1, 2022
In this work, we investigate the analysis of generators for dynamic graphs, which are defined as ... more In this work, we investigate the analysis of generators for dynamic graphs, which are defined as graphs whose topology changes over time. We introduce a novel concept, called "sustainability," to qualify the long-term evolution of dynamic graphs. A dynamic graph is considered sustainable if its evolution does not result in a static, empty, or periodic graph. To measure the dynamics of the sets of vertices and edges, we propose a metric, named "Nervousness," which is derived from the Jaccard distance. As an illustration of how the analysis can be conducted, we design a parametrized generator, named D3G3 (Degree-Driven Dynamic Geometric Graphs Generator), which generates dynamic graph instances from an initial geometric graph. The evolution of these instances is driven by two rules that operate on the vertices based on their degree. By varying the parameters of the generator, different properties of the dynamic graphs can be produced. Our results show that in order to ascertain the sustainability of the generated dynamic graphs, it is necessary to study both the evolution of the order and the Nervousness for a given set of parameters.
This paper aims at investigating platform-independent measures to determine the efficiency of a l... more This paper aims at investigating platform-independent measures to determine the efficiency of a load-balancer. Counterpoised curves are proposed as a mean to counterweight the utilization of resources with a penalty due to the migration of tasks. As a proof-of-concept, experiments were conducted on the sandpile load-balancer showing that its maximum counterpoised efficiency is reached at 80% of the peak performance of the system.
Parallel and Distributed Processing Techniques and Applications, 1999
Advanced Robotics, Jan 28, 2017
We present in this paper a Fuzzy Logic Controller (FLC) combined with a predictive algorithm to t... more We present in this paper a Fuzzy Logic Controller (FLC) combined with a predictive algorithm to track an Unmanned Ground Vehicle (UGV), using an Unmanned Aerial Vehicle (UAV). The UAV is equipped with a down facing camera. The video flow is sent continuously to a ground station to be processed in order to extract the location of the UGV and send the commands back to the UAV to follow autonomously the UGV. To emulate an experienced UAVs pilot, we propose a fuzzy-logic sets of rules. Double Exponential Smoothing Algorithm (DES) is used to filter the measurements and give the predictive value of the UGV pose. The FLC inputs are the filtered UGV position in the image plan and the derivative of its predicted value. The outputs are pitch and roll commands to be sent to the UAV. We show the efficiency of the proposed controller experimentally, and discuss the improvement of the tracking results compared to our previous work.
Lecture Notes in Computer Science, 2017
In this paper we consider Maximal Lifetime Coverage Problem in Wireless Sensor Networks which is ... more In this paper we consider Maximal Lifetime Coverage Problem in Wireless Sensor Networks which is formulated as a scheduling problem related to activity of sensors equipped at battery units and monitoring a two-dimensional space in time. The problem is known as an NP-hard and to solve it we propose two heuristics which use specific knowledge about the problem. The first one is proposed by us stochastic greedy algorithm and the second one is metaheuristic known as Simulated Annealing. The performance of both algorithms is verified by a number of numerical experiments. Comparison of the results show that while both algorithms provide results of similar quality, but greedy algorithm is slightly better in the sense of computational time complexity.
International Journal of High Performance Computing Applications, Feb 1, 2006
In this paper we study the scheduling of multiple divisible loads on a star network of processors... more In this paper we study the scheduling of multiple divisible loads on a star network of processors. We show that this problem is computationally hard. Special cases solvable in polynomial time are identified.
HAL (Le Centre pour la Communication Scientifique Directe), Oct 15, 2003
On considère des simulations distribuées sur un ensemble de ressources de calcul. Elles sont comp... more On considère des simulations distribuées sur un ensemble de ressources de calcul. Elles sont composées d'un grand nombre d'entités informatiques communicantes en perpétuelle évolution (objets, acteurs, agents. . .). À l'aide d'un algorithme fourmi nous détectons les organisations présentes afin de rapprocher par migration les entités qui les constituent, en respectant l'équilibrage de charge. Nous utilisons un graphe dynamique de communication pour modéliser les applications. Plusieurs colonies de fourmis, chacune d'une couleur distincte représentant une ressource (ex : un processeur), entrent en compétition pour marquer les sommets du graphe en utilisant des phéromones colorées. Lorsque la couleur d'un sommet change, cela signifie que l'entité correspondante peut éventuellement migrer, ceci en fonction des contraintes de l'application.
HAL (Le Centre pour la Communication Scientifique Directe), Jul 8, 2013
We address the problem of building and maintaining a forest of spanning trees in highly dynamic n... more We address the problem of building and maintaining a forest of spanning trees in highly dynamic networks, in which topological events can occur at any time and any rate, and no stable periods can be assumed. In these harsh environments, we strive to preserve some properties such as cycle-freeness or existence of a unique root in each fragment regardless of the events, so as to keep these fragments functioning uninterruptedly to a possible extent. Our algorithm operates at a coarse-grain level, using atomic pairwise interactions akin to population protocol or graph relabeling systems. The algorithm relies on a perpetual alternation of topology-induced splittings and computation-induced mergings of a forest of trees. Each tree in the forest hosts exactly one token (also called root) that performs a random walk inside the tree, switching parentchild relationships as it crosses edges. When two tokens are located on both sides of a same edge, their trees are merged upon this edge and one token disappears. Whenever an edge that belongs to a tree disappears, its child endpoint regenerates a new token instantly. The main features of this approach is that both merging and splitting are purely localized phenomenons. This paper presents the algorithm and establishes its correctness in arbitrary dynamic networks. We also discuss aspects related to the implementation of this general principle in fine-grain models, as well as embryonic elements of analysis. The characterization of the algorithm performance is left open, both analytically and experimentally.
HAL (Le Centre pour la Communication Scientifique Directe), 2009
International audienceno abstrac
Springer eBooks, 2020
When a disaster occurs, during a long period of time people suffer to have no means to communicat... more When a disaster occurs, during a long period of time people suffer to have no means to communicate with their relatives. The presented work aims at proposing a solution composed of a ground station located nearby the damaged area coupled with a swarm of drones. The ground station plays the role of a gateway between cellular networks, that are still up but out of reach of people, with drones that carry messages from and to people located in the disastered region. We analyze the possibility of deploying drones with fixed positions and a more flexible solution allowing drones to move but at the cost of intermittent communications, allowing only sms-like messages. We show that using the same number of drones, allowing drones to move improves dramatically the coverage of people with respect to a FANET in which drones stay at a fixed position. We also show that even for a very restricted number of drones, for reasonnable communication ranges, almost all the people benefit from an important average connected time.
Ad hoc networks, May 1, 2019
Lecture Notes in Computer Science, 2017
The use of general descriptive names, registered names, trademarks, service marks, etc. in this p... more The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
This paper presents three methods for anonymous mobile robots localization within a global frame.... more This paper presents three methods for anonymous mobile robots localization within a global frame. An aerial camera takes, at regular time intervals, pictures of the area in which robots are moving. The camera determines the coordinates of each robot. Each robot receives the whole set of coordinates extracted from each picture. Mobile Robots are all identical, they do not have any identifier and they can neither communicate with each other nor they can detect themselves. The first localization method is based on the analysis of the angular variation between two images. The second method relies on the analysis of the distances stemmed from three successive pictures. The last one determines if there exists an orientation allowing a specific robot to travel the path between two successive positions. A simulation plateform using augmented reality and the multi-robot software Player-Stage are presented. This plateform is used for validating the different localization methods. Tests and results are presented and compared. CONFIDENTIAL. Limited circulation. For review only.
arXiv (Cornell University), Oct 30, 2014
This paper presents a novel decentralized interactive architecture for aerial and ground mobile r... more This paper presents a novel decentralized interactive architecture for aerial and ground mobile robots cooperation. The aerial mobile robot is used to provide a global coverage during an area inspection, while the ground mobile robot is used to provide a local coverage of ground features. We include a human-inthe-loop to provide waypoints for the ground mobile robot to progress safely in the inspected area. The aerial mobile robot follows continuously the ground mobile robot in order to always keep it in its coverage view.
Civil-comp proceedings, Mar 16, 2011
This paper presents an experimental platform and a simulation-based one for the implementation of... more This paper presents an experimental platform and a simulation-based one for the implementation of a method enabling mobile anonymous robots self-localization. The proposed method, theoretically validated in a previous work, is based on the comparison between global information obtained through periodical aerial pictures and local information stemmed from odometry. The process analyzes robots' coordinates evolution between two consecutive pictures and compares these changes with odometric measures. On each picture, robots are anonymous and their identification is impossible without extra information. In this work, measures obtained with actual robots on the experimental platform are compared with the ones obtained on the simulation-based platform reproducing experimental conditions. We show that success rates, defined as the percentage of time robots successfully localize themselves, obtained on both platforms are qualitatively similar while quantitatively different in regard with algorithm performances. Sources responsible for this gap are identified and analyzed. It leads to the conclusion that, in the context of our study, using a simulation-based platform is a valid alternative to actual robots experiments.
HAL (Le Centre pour la Communication Scientifique Directe), Jul 8, 2013
We address the problem of building and maintaining a forest of spanning trees in highly dynamic n... more We address the problem of building and maintaining a forest of spanning trees in highly dynamic networks, in which topological events can occur at any time and any rate, and no stable periods can be assumed. In these harsh environments, we strive to preserve some properties such as cycle-freeness or existence of a unique root in each fragment regardless of the events, so as to keep these fragments functioning uninterruptedly to a possible extent. Our algorithm operates at a coarse-grain level, using atomic pairwise interactions akin to population protocol or graph relabeling systems. The algorithm relies on a perpetual alternation of topology-induced splittings and computation-induced mergings of a forest of trees. Each tree in the forest hosts exactly one token (also called root) that performs a random walk inside the tree, switching parentchild relationships as it crosses edges. When two tokens are located on both sides of a same edge, their trees are merged upon this edge and one token disappears. Whenever an edge that belongs to a tree disappears, its child endpoint regenerates a new token instantly. The main features of this approach is that both merging and splitting are purely localized phenomenons. This paper presents the algorithm and establishes its correctness in arbitrary dynamic networks. We also discuss aspects related to the implementation of this general principle in fine-grain models, as well as embryonic elements of analysis. The characterization of the algorithm performance is left open, both analytically and experimentally.
HAL (Le Centre pour la Communication Scientifique Directe), 2009
International audienceno abstrac
HAL (Le Centre pour la Communication Scientifique Directe), Dec 1, 2022
In this work, we investigate the analysis of generators for dynamic graphs, which are defined as ... more In this work, we investigate the analysis of generators for dynamic graphs, which are defined as graphs whose topology changes over time. We introduce a novel concept, called "sustainability," to qualify the long-term evolution of dynamic graphs. A dynamic graph is considered sustainable if its evolution does not result in a static, empty, or periodic graph. To measure the dynamics of the sets of vertices and edges, we propose a metric, named "Nervousness," which is derived from the Jaccard distance. As an illustration of how the analysis can be conducted, we design a parametrized generator, named D3G3 (Degree-Driven Dynamic Geometric Graphs Generator), which generates dynamic graph instances from an initial geometric graph. The evolution of these instances is driven by two rules that operate on the vertices based on their degree. By varying the parameters of the generator, different properties of the dynamic graphs can be produced. Our results show that in order to ascertain the sustainability of the generated dynamic graphs, it is necessary to study both the evolution of the order and the Nervousness for a given set of parameters.
This paper aims at investigating platform-independent measures to determine the efficiency of a l... more This paper aims at investigating platform-independent measures to determine the efficiency of a load-balancer. Counterpoised curves are proposed as a mean to counterweight the utilization of resources with a penalty due to the migration of tasks. As a proof-of-concept, experiments were conducted on the sandpile load-balancer showing that its maximum counterpoised efficiency is reached at 80% of the peak performance of the system.
Parallel and Distributed Processing Techniques and Applications, 1999
Advanced Robotics, Jan 28, 2017
We present in this paper a Fuzzy Logic Controller (FLC) combined with a predictive algorithm to t... more We present in this paper a Fuzzy Logic Controller (FLC) combined with a predictive algorithm to track an Unmanned Ground Vehicle (UGV), using an Unmanned Aerial Vehicle (UAV). The UAV is equipped with a down facing camera. The video flow is sent continuously to a ground station to be processed in order to extract the location of the UGV and send the commands back to the UAV to follow autonomously the UGV. To emulate an experienced UAVs pilot, we propose a fuzzy-logic sets of rules. Double Exponential Smoothing Algorithm (DES) is used to filter the measurements and give the predictive value of the UGV pose. The FLC inputs are the filtered UGV position in the image plan and the derivative of its predicted value. The outputs are pitch and roll commands to be sent to the UAV. We show the efficiency of the proposed controller experimentally, and discuss the improvement of the tracking results compared to our previous work.
Lecture Notes in Computer Science, 2017
In this paper we consider Maximal Lifetime Coverage Problem in Wireless Sensor Networks which is ... more In this paper we consider Maximal Lifetime Coverage Problem in Wireless Sensor Networks which is formulated as a scheduling problem related to activity of sensors equipped at battery units and monitoring a two-dimensional space in time. The problem is known as an NP-hard and to solve it we propose two heuristics which use specific knowledge about the problem. The first one is proposed by us stochastic greedy algorithm and the second one is metaheuristic known as Simulated Annealing. The performance of both algorithms is verified by a number of numerical experiments. Comparison of the results show that while both algorithms provide results of similar quality, but greedy algorithm is slightly better in the sense of computational time complexity.
International Journal of High Performance Computing Applications, Feb 1, 2006
In this paper we study the scheduling of multiple divisible loads on a star network of processors... more In this paper we study the scheduling of multiple divisible loads on a star network of processors. We show that this problem is computationally hard. Special cases solvable in polynomial time are identified.
HAL (Le Centre pour la Communication Scientifique Directe), Oct 15, 2003
On considère des simulations distribuées sur un ensemble de ressources de calcul. Elles sont comp... more On considère des simulations distribuées sur un ensemble de ressources de calcul. Elles sont composées d'un grand nombre d'entités informatiques communicantes en perpétuelle évolution (objets, acteurs, agents. . .). À l'aide d'un algorithme fourmi nous détectons les organisations présentes afin de rapprocher par migration les entités qui les constituent, en respectant l'équilibrage de charge. Nous utilisons un graphe dynamique de communication pour modéliser les applications. Plusieurs colonies de fourmis, chacune d'une couleur distincte représentant une ressource (ex : un processeur), entrent en compétition pour marquer les sommets du graphe en utilisant des phéromones colorées. Lorsque la couleur d'un sommet change, cela signifie que l'entité correspondante peut éventuellement migrer, ceci en fonction des contraintes de l'application.
HAL (Le Centre pour la Communication Scientifique Directe), Jul 8, 2013
We address the problem of building and maintaining a forest of spanning trees in highly dynamic n... more We address the problem of building and maintaining a forest of spanning trees in highly dynamic networks, in which topological events can occur at any time and any rate, and no stable periods can be assumed. In these harsh environments, we strive to preserve some properties such as cycle-freeness or existence of a unique root in each fragment regardless of the events, so as to keep these fragments functioning uninterruptedly to a possible extent. Our algorithm operates at a coarse-grain level, using atomic pairwise interactions akin to population protocol or graph relabeling systems. The algorithm relies on a perpetual alternation of topology-induced splittings and computation-induced mergings of a forest of trees. Each tree in the forest hosts exactly one token (also called root) that performs a random walk inside the tree, switching parentchild relationships as it crosses edges. When two tokens are located on both sides of a same edge, their trees are merged upon this edge and one token disappears. Whenever an edge that belongs to a tree disappears, its child endpoint regenerates a new token instantly. The main features of this approach is that both merging and splitting are purely localized phenomenons. This paper presents the algorithm and establishes its correctness in arbitrary dynamic networks. We also discuss aspects related to the implementation of this general principle in fine-grain models, as well as embryonic elements of analysis. The characterization of the algorithm performance is left open, both analytically and experimentally.
HAL (Le Centre pour la Communication Scientifique Directe), 2009
International audienceno abstrac
Springer eBooks, 2020
When a disaster occurs, during a long period of time people suffer to have no means to communicat... more When a disaster occurs, during a long period of time people suffer to have no means to communicate with their relatives. The presented work aims at proposing a solution composed of a ground station located nearby the damaged area coupled with a swarm of drones. The ground station plays the role of a gateway between cellular networks, that are still up but out of reach of people, with drones that carry messages from and to people located in the disastered region. We analyze the possibility of deploying drones with fixed positions and a more flexible solution allowing drones to move but at the cost of intermittent communications, allowing only sms-like messages. We show that using the same number of drones, allowing drones to move improves dramatically the coverage of people with respect to a FANET in which drones stay at a fixed position. We also show that even for a very restricted number of drones, for reasonnable communication ranges, almost all the people benefit from an important average connected time.
Ad hoc networks, May 1, 2019
Lecture Notes in Computer Science, 2017
The use of general descriptive names, registered names, trademarks, service marks, etc. in this p... more The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
This paper presents three methods for anonymous mobile robots localization within a global frame.... more This paper presents three methods for anonymous mobile robots localization within a global frame. An aerial camera takes, at regular time intervals, pictures of the area in which robots are moving. The camera determines the coordinates of each robot. Each robot receives the whole set of coordinates extracted from each picture. Mobile Robots are all identical, they do not have any identifier and they can neither communicate with each other nor they can detect themselves. The first localization method is based on the analysis of the angular variation between two images. The second method relies on the analysis of the distances stemmed from three successive pictures. The last one determines if there exists an orientation allowing a specific robot to travel the path between two successive positions. A simulation plateform using augmented reality and the multi-robot software Player-Stage are presented. This plateform is used for validating the different localization methods. Tests and results are presented and compared. CONFIDENTIAL. Limited circulation. For review only.