For finding a shortest path in a network the bidirectional A* algorithm is a widely known algorithm. An A* instance requires a heuristic estimate, a real-valued function on the set of nodes. The version of bidirectional A* that is considered the most appropriate in literature hitherto, uses so-called balanced heuristic estimates. This means that the two estimates of the two directions are in ba...

Using a circular contour integral representation for the generalized Marcum-Q function, ( ), we derive a new closed-form formula for the moment generating function (MGF) of the output signal power of a dual-diversity selection combiner (SC) in bivariate (correlated) Nakagamifading with positive integer fading severity index. This result involves only elementary functions and holds for any value...

We present subdivision next-event estimation (SNEE) for unbiased Monte Carlo simulation of subsurface scattering. Our technique is designed to sample high frequency illumination through geometrically complex interfaces with highly directional scattering lobes enclosing a scattering medium. This case is difficult to sample and a common source of image noise. We explore the idea of exploiting the...

In the large area of autonomous robot navigation, encompassing map creation, path planning, and self-localization, we develop the idea of a simple autonomous agent relying only on vision information. Our integrated navigation system replicates some functions of natural systems, as using little a-priori knowledge, on board computation, no omni-directional vision. Since our goal is essentially to...

Physically based rendering needs numerical models from real measurements, or analytical models from material definitions, of the Bi-directional Reflectance Distribution Function (BRDF). However, measured BRDF data sets are too large and provide no functionalities to be practically used in Monte Carlo path tracing algorithms. In this paper, we present a wavelet based generic BRDF model suitable ...

We present a novel direction based shortest path search algorithm to guide evacuees during an emergency. It uses opportunistic communications (oppcomms) with low-cost wearable mobile nodes that can exchange packets at close range of a few to some tens of meters without help of an infrastructure. The algorithm seeks the shortest path to exits which are safest with regard to a hazard, and is inte...

This paper shows results of narrowband path loss measurements in a typical urban and suburban mobile-tomobile radio environment at 900 MHz band. The measurements were made with two omni-directional antennas with a transmitter and a receiver antenna height of 1.5 meters. The results of measurements provide practical values for path loss exponent and standard deviation of shadowing in a nonline-o...

An algorithm is described for solving the node-to-set disjoint paths problem in bi-rotator graphs, which are obtained by making each edge of a rotator graph bi-directional. The algorithm is of polynomial order of n for an n-bi-rotator graph. It is based on recursion and divided into three cases according to the distribution of destination nodes in the classes into which the nodes in a bi-rotato...

A hierarchical robot navigation system has been developed and implemented on a range of real and simulated mobile robots for two independent research applications. One application is a study on emotion-modulated navigation. The other is an investigation of heterogeneous multi-robot navigation. The navigation framework shared by the various implementations is described. A multi-layered architect...

This paper presents a full processing path from 3D-object scanning to its virtual representation with special focus on museum documentation and virtual reality applications. Measurement technique is based on opto-numerical approach using structured light projection. The processing path consists of three main steps: filtering and preparing 3D-clouds of points, merging of directional measurements...