• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.948-954
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• 1999

In this paper, we propose a cooperative motion planning algorithm for two tightly-coupled mobile robots. Specifically, the considered cooperative work is that two mobile robots should transfer a long rigid object along a predefined path. To resolve the problem, we introduce a master-slave concept for two obile robots having the same structure. According to the velocity of the master robot and the positions of two robots on the path, the velocity of the slave robot is determined. The slave normally tracks the master's motion, but in case that the velocity of the slave exceeds the velocity limit, the roles of the robots should be interchanged. The effectiveness of the proposed algorithm is proved by computer simulations.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.24 no.11
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• pp.1550-1553
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• 2020

In this paper, we maximize the lifetime of a multi-hop path through a cooperative wireless energy sharing scheme between constituent nodes in a wireless multi-hop communication. Considering a bidirectional multi-hop communication environment, we present an optimization problem to maximize path lifetime by adjusting the amount of energy each node needs to share with its neighboring nodes. On the basis of solidarity property, i.e., the lifetime of the multi-hop path is maximized when the lifetimes of all nodes are the same, we convert the considered optimization problem into a linear programming problem and solve it easily. Simulation result shows that the proposed two-way wireless energy sharing method maximizes the path lifetime of multi-hop communications and approximately doubles the path lifetime compared with the one-way energy sharing method.

• Journal of Advanced Navigation Technology
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• v.15 no.5
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• pp.839-844
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• 2011

Various technologies such as infrared light, ultrasonic waves, RFID, GPS, UWB, and signal indicators have been incorporated in the location tracking system. However, such pre-existing systems require location recognition in shadow areas. This study proposes a location tracking system that utilizes Cooperative Spectrum Sensing. Cooperative Spectrum Sensing is not only able to track the location and path of moving objects but also recognize when objects breakaway from the path set by sensors and guide them back. In addition, it has the advantage of being more efficient in terms of frequency usage. It is able to automatically fix power transmission and frequency modulation for transmission cognitive users to an optimum level within the range that does not cause interference for primary users.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.8
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• pp.1444-1451
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• 2016

This paper proposes a Tabu search algorithm to minimize the required energy to send data between a source and a destination using the cooperative communication in wireless ad hoc networks. As the number of nodes in wireless ad hoc networks increases, the amount of calculation for establishing the path between nodes would be too much increased. To obtain the optimal cooperative path within a reasonable computation time, we propose a new Tabu search algorithm for a high-density wireless network. In order to make a search more efficient, we propose some efficient neighborhoods generating operations of the Tabu search algorithm. We evaluate those performances through some experiments in terms of the minimum energy required to send data between a source and a destination as well as the execution time of the proposed algorithm. The comparison results show that the proposed algorithm outperforms other existing algorithms.

• Journal of electromagnetic engineering and science
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• v.6 no.3
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• pp.176-181
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• 2006

Signal distortion due to the path loss, shadow, and multi-path fading is very serious in radio channel. In this paper, we propose CDMA-OFDM cooperative communication system based on DFP(Decode and Forward Protocol) to overcome these phenomena using spread spectrum technique, orthogonal sub-carrier, and the space diversity. We simulated proposed system under Rayleigh flat fading channel environment. A variety of simulation results reveal the cooperation can provide performance gain of up to 12 dB over direct communications in ideal inter-user case at BER of $10^{-3}$. And we can also confirm variation of diversity effect as channel environment changes.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.6
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• pp.687-693
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• 2012

In this paper, we propose a optimal deployment method for cooperative exploration of swarm robots. The proposed method consists of two parts such as optimal deployment and path planning. The optimal area deployment is proposed by the K-mean Algorithm and Voronoi tessellation. The path planning is proposed by the potential field method and A* Algorithm. Finally, the numerical experiments demonstrate the effectiveness and feasibility of the proposed method.

• International journal of advanced smart convergence
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• v.12 no.4
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• pp.8-19
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• 2023

This paper presents advancement in multi- unmanned aerial vehicle (UAV) cooperative area surveillance, focusing on optimizing UAV route planning through the application of genetic algorithms. Addressing the complexities of comprehensive coverage, two real-time dynamic path planning methods are introduced, leveraging genetic algorithms to enhance surveillance efficiency while accounting for flight constraints. These methodologies adapt multi-UAV routes by encoding turning angles and employing coverage-driven fitness functions, facilitating real-time monitoring optimization. The paper introduces a novel path planning model for scenarios where UAVs navigate collaboratively without predetermined destinations during regional surveillance. Empirical evaluations confirm the effectiveness of the proposed methods, showcasing improved coverage and heightened efficiency in multi-UAV path planning. Furthermore, we introduce innovative optimization strategies, (Foresightedness and Multi-step) offering distinct trade-offs between solution quality and computational time. This research contributes innovative solutions to the intricate challenges of cooperative area surveillance, showcasing the transformative potential of genetic algorithms in multi-UAV technology. By enabling smarter route planning, these methods underscore the feasibility of more efficient, adaptable, and intelligent cooperative surveillance missions.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.46 no.6
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• pp.19-25
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• 2009

The performance of a cognitive radio system with cooperative diversity which includes the direct and indirect path is analysed. The selection relay cooperation which selects the best relay, the relay with the best received signal-to-noise ratio(SNR) in destination node, is considered and derived the performance degradation caused by the CSI(Channel State Information) delay analytically. Numerical examples show that the cooperative diversity which have the direct and the indirect paths effectively improves the system performance in Rayleigh fading; the performance improves 4.4 dB with 1/10 of SNR of the indirect path. And the system performance is more degraded with the less frequency acquisition probability and with the high CSI delay.

• Journal of electromagnetic engineering and science
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• v.10 no.4
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• pp.270-275
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• 2010

In a conventional opportunistic transmit (COT) cooperative relaying system, only the relays that receive signal-to-noise ratio (SNR) from the source and that exceed the threshold transmit to the destination. The COT system, however, only considers the SNR of the source-relay (S-R) path regardless that the SNR of the relay-destination (R-D) path is the opportunistic transmission condition. For that reason, it is not guaranteed that all the transmitted signals from relays exceed the threshold at the destination. Therefore we propose a double opportunistic transmit (DOT) cooperative relaying system - when both of the received SNR from a source and from a destination exceed the threshold, the relay transmits to the destination. It is shown that the proposed DOT system reduces power consumption by 6.9, 20.9, 32.4, and 41.4 % for K =3, 5, 7, and 9, respectively under the given condition of $P_{out}=1{\times}10^{-3}$ and $\overline{\gamma}_{SR}/\Gamma_{SR}$=30 dB, compared to the COT system. We noticed that the performance of the DOT system is superior to that of the COT system for the identical number of active transmit relays under the same condition of the normalized average SNR of $\overline{\gamma}_{RD}/\Gamma_{RD}$.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.81-82
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• 2006

Most work on cooperative diversity has assumed that the cooperating group (source and partners) and the associated average channel conditions between terminals (source, partners, and destination) are predetermined. In practical situations, however, it is important to develop the efficient algorithms for assigning the terminals with good inter-user channels for cooperating groups. In this paper, we propose the partner assignment algorithm for cooperative diversity in mobile communication systems. The proposed partner assignment algorithm is investigated by using the path loss model for mobile communication systems. Numerical results show that the proposed partner assignment algorithm provides the comparable probability of cooperative transmission to the partner assignment algorithm using exhaustive search. The probability of cooperative transmission increases with the number of users, which gives potential benefits of practical implementation to user cooperation in mobile communication systems.