Question: Data-Driven Networking: Tapping into the "Unreasonable Effectiveness of Data" for Network Design Optimization

This paper introduces Performance-oriented Congestion Control (PCC), a reimagined approach to congestion control that addresses the long-standing performance issues plaguing TCP and its derivatives. The core argument is that the traditional TCP architecture is inherently flawed due to its direct coupling of packet-level events with control responses, without assessing the actual performance outcomes of these actions. PCC represents a paradigm shift by introducing a novel architecture where each sender constantly monitors the relationship between its actions and the empirically observed performance results. This allows senders to systematically choose actions that lead to high performance consistently. The paper provides theoretical proof that PCC achieves a stable and equitable equilibrium. When tested in various real-world and demanding scenarios, PCC exhibits a consistent and often tenfold improvement in performance compared to TCP, with superior fairness and stability. Notably, PCC does not necessitate any modifications to router hardware or packet formats, making it a versatile solution for enhancing network performance.

The essence of PCC lies in its data-driven approach, which contrasts sharply with the conventional methods that rely on predefined reactions to packet events without considering the broader impact on network performance. By enabling each sender to continuously evaluate the effectiveness of its actions based on empirical data, PCC ensures that network resources are utilized more efficiently and fairly. This results in a significant enhancement in performance, stability, and fairness, particularly in challenging network environments. The absence of a need for router hardware upgrades or new packet formats makes PCC an attractive option for network administrators seeking to improve network performance without extensive infrastructure changes.

Data Mining is taking out of hidden patterns from huge database. It is commonly used in a marketing, surveillance, fraud detection and scientific discovery. In data mining, machine learning is mainly focused as research which is automatically learnt to recognize complex patterns and make intelligent decisions based on data. Nowadays traffic accidents are the major causes of death and injuries in this world. Roadway patterns are useful in the development of

Despite their exponential growth, home and small office/home office networks continue to be poorly managed. Consequently, security of hosts in most home networks is easily compromised and these hosts are in turn used for largescale malicious activities without the home users’ knowledge. We argue that the advent of Software Defined Networking (SDN) provides a unique opportunity to effectively detect and contain network security problems in home and home office networks. We show how four prominent traffic anomaly detection algorithms can be implemented in an SDN context using Openflow compliant switches and NOX as a controller. Our experiments indicate that these algorithms are significantly more accurate in identifying malicious activities in the home networks as compared to the ISP. Furthermore, the efficiency analysis of our SDN implementations on a programmable home network router indicates that the anomaly detectors can operate at line rates without introducing any performance penalties for the home network traffic.

Firewalls are among the most pervasive network security mechanisms, deployed extensively from the borders of networks to end systems. The complexity of modern firewall policies has raised the computational requirements for firewall implementations, potentially limiting the throughput of networks. Administrators currently rely on ad hoc solutions to firewall optimization. To address this problem, a few automatic firewall optimization techniques have been proposed, but there has been no general approach to evaluate the optimality of these techniques. In this paper we present a general framework for rule-based firewall optimization. We give a precise formulation of firewall optimization as an integer programming problem and show that our framework produces optimal reordered rule sets that are semantically equivalent to the original rule set. Our framework considers the complex interactions among the rules in firewall configurations and relies on a novel partitioning of the packet space defined by the rules themselves. For validation, we employ this framework on real firewall rule sets for a quantitative evaluation of existing heuristic approaches. Our results indicate that the framework is general and faithfully captures performance benefits of firewall optimization heuristics.

This paper presents the design of the Named-data Link State Routing protocol (NLSR), a routing protocol for Named Data Networking (NDN). Since NDN uses names to identify and retrieve data, NLSR propagates reachability to name prefixes instead of IP prefixes. Moreover, NLSR differs from IP-based link-state routing protocols in two fundamental ways. First, NLSR uses Interest/Data packets to disseminate routing updates, directly benefiting from NDN's data authenticity. Second, NLSR produces a list of ranked forwarding options for each name prefix to facilitate NDN's adaptive forwarding strategies. In this paper we discuss NLSR's main design choices on (1) a hierarchical naming scheme for routers, keys, and routing updates, (2) a hierarchical trust model for routing within a single administrative domain, (3) a hop-by-hop synchronization protocol to replace the traditional network-wide flooding for routing update dissemination, and (4) a simple way to rank multiple forwarding options. Compared with IP-based link state routing, NLSR offers more efficient update dissemination, built-in update authentication, and native support of multipath forwarding.

Network Service Providers should offer provisioning services with guaranteed Quality of Service (QoS), specifically adapted to the characteristics of the applications running on their network. In this paper we propose the Network Control Layer (NCL), a software framework solution based on Software Defined Networks (SDN), OpenFlow and Network as a Service (NaaS) paradigms. It addresses a major innovation area in the field of network control and management providing on-demand end-to-end network provisioning services with guaranteed QoS, based on the specific requirements of on-top running interactive applications. The NCL implementation is based on the OpenNaaS framework, and it includes mechanisms for network status monitoring and SDN switches configuration based on the interactive applications' QoS network requirements. We demonstrate NCL's utility in the context of control plane models making use of a practical use case.

RouteFlow is a platform for providing virtual IP routing services in OpenFlow networks. During the first year of development, we came across some use cases that might be interesting pursuing in addition to a number of lessons learned worth sharing. In this paper, we will discuss identified requirements and architectural and implementation changes made to shape RouteFlow into a more robust solution for Software Defined networking (SDN). This paper addresses topics of interest to the SDN community, such as development issues involving layered applications on top of network controllers, ease of configuration, and network visualization. In addition, we will present the first publicly known use case with multiple, heterogeneous OpenFlow controllers to implement a centralized routing control function, demonstrating how IP routing as a service can be provided for different network domains under a single central control. Finally, performance comparisons and a real testbed were used as means of validating the implementation.

Convolutional Neural Networks (CNN) are verycomputation-intensive. Recently, a lot of CNN accelerators based on the CNN intrinsic parallelism are proposed. However, we observed that there is a big mismatch between the parallel types supported by computing engine and the dominant parallel types of CNN workloads. This mismatch seriously degrades resource utilization of existing accelerators. In this paper, we propose aflexible dataflow architecture (FlexFlow) that can leverage the complementary effects among feature map, neuron, and synapse parallelism to mitigate the mismatch. We evaluated our design with six typical practical workloads, it acquires 2-10x performance speedup and 2.5-10x power efficiency improvement compared with three state-of-the-art accelerator architectures. Meanwhile, FlexFlow is highly scalable with growing computing engine scale.

With the advancement of information and communication technology, data are being generated at an exponential rate via various instruments and collected at an unprecedented scale. Such large volume of data generated is referred to as big data, which now are revolutionizing all aspects of our life ranging from enterprises to individuals, from science communities to governments, as they exhibit great potentials to improve efficiency of enterprises and the quality of life. To obtain nontrivial patterns and derive valuable information from big data, a fundamental problem is how to properly place the collected data by different users to distributed clouds and to efficiently analyze the collected data to save user costs in data storage and processing, particularly the cost savings of users who share data. By doing so, it needs the close collaborations among the users, by sharing and utilizing the big data in distributed clouds due to the complexity and volume of big data. Since computing, storage and bandwidth resources in a distributed cloud usually are limited, and such resource provisioning typically is expensive, the collaborative users require to make use of the resources fairly. In this paper, we study a novel collaboration- and fairness-aware big data management problem in distributed cloud environments that aims to maximize the system throughout, while minimizing the operational cost of service providers to achieve the system throughput, subject to resource capacity and user fairness constraints. We first propose a novel optimization framework for the problem. We then devise a fast yet scalable approximation algorithm based on the built optimization framework. We also analyze the time complexity and approximation ratio of the proposed algorithm. We finally conduct experiments by simulations to evaluate the performance of the proposed algorithm. Experimental results demonstrate that the proposed algorithm is promising, and outperforms other heuristics.

Network protocols are usually tested in operational networks or in simulated environments. With the former approach it is not easy to set and control the various operational parameters such as bandwidth, delays, queue sizes. Simulators are easier to control, but they are often only an approximate model of the desired setting, especially for what regards the various traffic generators (both producers and consumers) and their interaction with the protocol itself.In this paper we show how a simple, yet flexible and accurate network simulator - dummynet - can be built with minimal modifications to an existing protocol stack, allowing experiments to be run on a standalone system. dummynet works by intercepting communications of the protocol layer under test and simulating the effects of finite queues, bandwidth limitations and communication delays. It runs in a fully operational system, hence allowing the use of real traffic generators and protocol implementations, while solving the problem of simulating unusual environments. With our tool, doing experiments with network protocols is as simple as running the desired set of applications on a workstation.A FreeBSD implementation of dummynet, targeted to TCP, is available from the author. This implementation is highly portable and compatible with other BSD-derived systems, and takes less than 300 lines of kernel code.

In this paper, we consider a robust network control problem. We consider linear unstable and uncertain discrete time plants with a network between the sensors and controller and the controller and plant. We investigate two defining characteristics of network controlled systems and the impact of uncertainty on these. Namely, the minimum data rates required for the two networks and the tolerable data drop out in the form of packet losses. We are able to derive sufficient conditions in terms of the minimum data rate and minimum packet arrival rate to ensure stability of the closed loop system. I. I NTRODUCTION Recently, networked control systems (NCS) have gained great attention from both the control community and the network and communication community. When compared with classical feedback control system, networked control systems have many advantages. For example, they can reduce the system wiring, make the system easy to operate and maintain and later diagnose in case of malfunctioning, and increase system agility [16]. In spite of the great advantages that the networked control architecture brings, inserting a network in between the plant and the controller introduces many problems as well. For instance, zero-delayed sensing and actuation, perfect information and synchronization are no longer guaranteed in the new system architecture as only finite bandwidth is available and packet drops and delays may occur due to network traffic conditions. These must be revisited and analyzed before any practical networked control systems are built. In the past decade, many researchers have spent effort on those issues and a number of significant results were obtained and many are in progress. Many of the aforementioned issues are studied separately. Tatikonda [15] and Sahai [11] have presented some interesting results in the area of control under communication constraints. Specifically, Tatikonda gave a necessary and sufficient condition on the channel data rate such that a noiseless LTI system in the closed loop is asymptotically stable. He also gave rate results for stabilizing a noisy LTI system over the digital channel. Sahai proposed the notion of anytime capacity to deal with real time estimation and control for a networked control system. In our companion paper [13], the authors have considered various rate issues under finite bandwidth, packet drops and finite controls. The effect of pacekt loss and delay on state Control and Dynamical Systems, California Institute of Technology; Pasadena, CA 91125. Email:{shiling, epstein, murray }@cds.caltech.edu; Tel: (626) 395-2313, Fax: (626) 796-8914. Work supported in part by NSF ITR grant CCR-0326554. The authors are equally contributed to this work. estimation was studied by the work of Sinopoli, et. al. in [2]. It has further been investigated by many researchers including the present authors in [12] and [5]. One of the hallmarks of a good control system design is that the closed loop remain stable in the presence of uncertainty [3], [4]. While the researchers in [7] studied the problem of LQG control across a packet dropping networks, not many have considered the norm bounded uncertainty investigated in the present paper. We examine the impact of a norm bounded uncertainty on the network control system and provide sufficient conditions for stability in terms of the minimum data rates and packet arrival rates for the networks. The paper is organized as follows. In Section II, we present the mathematical model of the closed loop system and state our assumptions. In Section III, we state the sufficient conditions for closed loop stability for the case where a network connects the sensors to the controller. In Section IV, we state the sufficient stability conditions where in addition there is a network between the controller and the plant. For both sections we obtain results for scalar and general vector cases. Conclusions and future work are given in the last section. II. PROBLEM SET UP We consider linear discrete time systems with a norm bounded uncertainty in the A matrix. We will investigate two NCS that we will define by the type of networks embedded in the control loop. The first NCS considered has a network between the measurement sensors and the controller, with the controller then directly connected to the actuators/plant. The second NCS will also include a network between the controller and the actuators/plant. These two network types and depicted in Figures 1 and 2. The networks are defined in terms of their data rates and probability of dropping packets. We would consider any packet delays as losses, i. ., we do not use delayed packets for estimation or control. The following equations represent the closed loop system for NCS I (Figure 1). xk+1 = (A + ∆k)xk + Buk (1) yk = λkCxk (2) wherexk ∈ IR is the state of the system, uk ∈ IR is the control input,yk ∈ IR is the output of the system, and λk are Bernoulli i.i.d random variable with parameter λ, i.e., E[λk] = λ for all k. ∆k satisfies∆k ∆k ≤ KI for all k. We also assume the initial condition x0 ∈ IR is bounded. The matrix A is assumed to be unstable without loss of generality as for any matrix A, we can always do some state transformation to decompose the states into stable ones and


Question: Data-Driven Networking: Tapping into the "Unreasonable Effectiveness of Data" for Enhanced Network Design

This document introduces an innovative method for implementing end-to-end congestion control in multi-user networks, diverging from traditional protocols where each endpoint's response to congestion signals is manually crafted. Instead, the authors have created a program known as Remy, designed to automatically generate congestion-control algorithms for network endpoints.

Remy operates by incorporating the protocol designer's prior knowledge or assumptions about the network, along with a specific objective the algorithm should strive to attain, such as high throughput and reduced queuing delay. Subsequently, Remy devises a distributed algorithm—the control rules for autonomous endpoints—that endeavors to fulfill this objective.

Simulation studies using ns-2 have shown that algorithms generated by Remy outperform manually-designed end-to-end techniques, including established protocols like TCP Cubic, Compound, and Vegas. Remarkably, Remy's algorithms also surpass methods that necessitate substantial in-network modifications, such as XCP and Cubic-over-sfqCoDel (stochastic fair queueing with CoDel for active queue management), in many instances.

Remy is versatile, capable of producing algorithms for networks with a variety of parameter knowledge levels. This ranges from environments where certain parameters are precisely known beforehand, such as data centers, to those where prior knowledge is less exact, like cellular networks. The document also explores how the performance of Remy-generated algorithms is influenced by the specificity of the initial knowledge and the implications when real-world conditions deviate from the assumptions made during the design phase.

In this paper an evaluation of an SDN emulation tool called Mininet is conducted. Tests were conducted to study Mininnet limitations related to the simulation environment, resource capabilities. To evaluate the later, the scalability of Mininet in term of creating many topologies is tested with varying number of nodes and two different environment scenarios. Results show that the simulation environment has a remarkable effect on the required time for building a topology, for instance, the powerful resources scenario needed only 0.19 sec, whereas, 5.611 sec were needed when the resources were less. However, the required time were increased in both scenarios when the number of nodes was increased into 242.842 and 3718.117 sec for the powerful and less capabilities resources respectively.

Consensus protocols are the foundation for building many fault-tolerant distributed systems and services. This paper posits that there are significant performance benefits to be gained by offering consensus as a network service (CAANS). CAANS leverages recent advances in commodity networking hardware design and programmability to implement consensus protocol logic in network devices. CAANS provides a complete Paxos protocol, is a dropin replacement for software-based implementations of Paxos, makes no restrictions on network topologies, and is implemented in a higher-level, data-plane programming language, allowing for portability across a range of target devices. At the same time, CAANS significantly increases throughput and reduces latency for consensus operations. Consensus logic executing in hardware can transmit consensus messages at line speed, with latency only slightly higher than simply forwarding packets. Report Info

Software-defined networking provides abstractions and a flexible architecture for the easy configuration of network devices, based on the decoupling of the data and control planes. This separation has the potential to considerably simplify the implementation of resilience functionality (e.g., traffic classification, anomaly detection, traffic shaping) in future networks. Although software-defined networking in general, and OpenFlow as its primary realisation, provide such abstractions, support is still needed for orchestrating a collection of OpenFlow-enabled services that must cooperate to implement network-wide resilience. In this paper, we describe a resilience management framework that can be readily applied to this problem. An important part of the framework are policy-controlled management patterns that describe how to orchestrate individual resilience services, implemented as OpenFlow applications.

Software-Defined Networking (SDN) is transforming the networking ecosystem. SDN allows network operators to easily and quickly introduce new services and flexibly adapt to their requirements, while simplifying the network management to reduce the cost of operation, maintenance and deployment. On the other hand, mobility is a key aspect for the future mobile networks. In this context, Distributed Mobility Management (DMM) has been recently introduced as a new trend to overcome the limitations of the today's mobility management protocols which are highly centralized and hierarchical. Driven from the fact that DMM and SDN share the same principle in which the data and control plane are decoupled, we propose a DMM solution based on SDN architecture called S-DMM. This solution offers a lot of advantages including no need to deploy any mobility-related component at the access router, independence of the underlying technologies, and per-flow mobility support. On one hand, the numerical results prove that S-DMM is more scalable than the legacy DMM. On the other hand, the experiment results from a real implementation show that S-DMM comes at no performance penalty (in terms of handover latency and end-to-end delay) compared to legacy DMM, yet at a slightly better management cost, which makes S-DMM a promising candidate for a mobility management solution in the context of 5G networks.

The main purpose of Software Defined Networking (SDN) is to allow network engineers to respond quickly to changing network industrial requirements. This network technology focuses on making network as adaptable and active as virtual server. SDN is physical separation of Control plane from Data plane and control plane is centralized to manage underlying infrastructure. Hence, the SDN permit network administrator to adjust wide traffic flow from centralized control console without having to touch Switches and Routers, and can provide the services to wherever they are needed in the network. As in SDN the control plane is disassociated from underlying forwarding plane, however, susceptible to many security challenges like Denial of Service (DoS) attack, Distributed DoS (DDoS) attack, Volumetric attack. In this paper, we highlight some security challenges and evaluate some security solutions.

The Distributed Rate Limiting (DRL) paradigm is a recently proposed mechanism for decentralized control of cloud-based services. DRL is a simple and efficient approach to resolve the issues of pricing and resource control/engineering of cloud based services. The existing DRL schemes focus on very specific performance metrics (such as loss rate and fair-share) and their design heavily depends on the assumption that the traffic is generated by elastic TCP sources. In this paper we tackle the DRL problem for general workloads and performance metrics and propose an analytic framework for the design of stable DRL algorithms. The closed-form nature of our results allows simple design rules which, together with extremely low communication overhead, makes the presented algorithms practical and easy to deploy with guaranteed convergence properties under a wide range of possible scenarios.

Future functions of vehicles to make driving safer, more comfortable and more exciting rely on suitable in-vehicle networks. Legacy Ethernet extended by AVB to meet recent and future requirements is discussed as a proper candidate. Investigation of its forwarding, synchronization and resource reservation mechanisms are an important prerequisite for the object: The progressive vehicle integration unleashing its whole potential as an in-vehicle network. This paper focuses on AVB's forwarding policy by using Network Calculus as a theory for calculating worst case delays.

The fundamental feature of an OpenFlow network is that the controller is responsible for the initial establishment of every flow by contacting related switches. Thus the performance of the controller could be a bottleneck. This paper shows how this fundamental problem is addressed by parallelism. The state of the art OpenFlow controller, called NOX, achieves a simple programming model for control function development by having a single-threaded event-loop. Yet NOX has not considered exploiting parallelism. We propose Maestro which keeps the simple programming model for programmers, and exploits parallelism in every corner together with additional throughput optimization techniques. We experimentally show that the throughput of Maestro can achieve near linear scalability on an eight core server machine. Keywords-OpenFlow, network management, multithreading, performance optimization

The applicability of network-based computing depends on the availability of the underlying network bandwidth. However, network resources are shared and the available network bandwidth varies with time. There is no satisfactory solution available for network performance predictions. In this research, we propose, design, and implement the NBP (network bandwidth predictor) for rapid network performance prediction. NBP is a new system that employs a neural network based approach for network bandwidth forecasting. This system is designed to integrate with most advanced technologies. It employs the NWS (network weather service) monitoring subsystem to measure the network traffic, and provides an improved, more accurate performance prediction than that of NWS, especially with applications with a network usage pattern. The NBP system has been tested on real time data collected by NWS monitoring subsystem and on trace files. Experimental results confirm that NBP has an improved prediction.

With the emergence of Internet-of-Things (IoT), there is now growing interest to simplify wireless network controls. This is a very challenging task, comprising information acquisition, information analysis, decision-making, and action implementation on large scale IoT networks. Resulting in research to explore the integration of software-defined networking (SDN) and IoT for a simpler, easier, and strain less network control. SDN is a promising novel paradigm shift which has the capability to enable a simplified and robust programmable wireless network serving an array of physical objects and applications. This paper starts with the emergence of SDN and then highlights recent significant developments in the wireless and optical domains with the aim of integrating SDN and IoT. Challenges in SDN and IoT integration are also discussed from both security and scalability perspectives.


Question: Data-Driven Networking: Tapping into the "Unreasonable Effectiveness of Data" for Network Design Optimization

This paper offers an extensive empirical analysis of the leading algorithms for the stochastic multi-armed bandit problem, a critical model for exploring the balance between exploration and exploitation in reinforcement learning. Despite a robust theoretical foundation for these algorithms, empirical validation of their efficacy is often lacking. Our investigation reveals three key insights. Firstly, basic heuristics, such as -greedy and Boltzmann exploration, consistently outperform algorithms with strong theoretical backing across a majority of settings, often by a substantial margin. Secondly, the performance of these algorithms is highly sensitive to the parameters of the bandit problem. We pinpoint the conditions under which each algorithm excels and falters, revealing characteristics that current theory does not account for, but which can be leveraged in the practical design of heuristics. Thirdly, we observe that the relative performance of the algorithms is significantly influenced by the number of bandit arms and the reward variance. This insight can guide future empirical evaluations and inform algorithm selection. In the paper's latter section, we focus on a crucial application area for bandit algorithms: clinical trials. Despite the field's historical role in driving research on multi-armed bandits, bandit algorithms have not been rigorously evaluated as tools for treatment allocation. By simulating a real 2001-2002 clinical trial using actual data, we demonstrate that an adaptive trial design employing bandit algorithms could have resulted in the successful treatment of at least 50% more patients, while simultaneously minimizing adverse effects and enhancing patient retention. Importantly, the trial would still have achieved a high level of statistical confidence in identifying the most effective treatment. Our results highlight the potential of bandit algorithms as a superior alternative to conventional adaptive treatment allocation strategies in clinical trials.

The applicability of network-based computing depends on the availability of the underlying network bandwidth. However, network resources are shared and the available network bandwidth varies with time. There is no satisfactory solution available for network performance predictions. In this research, we propose, design, and implement the NBP (network bandwidth predictor) for rapid network performance prediction. NBP is a new system that employs a neural network based approach for network bandwidth forecasting. This system is designed to integrate with most advanced technologies. It employs the NWS (network weather service) monitoring subsystem to measure the network traffic, and provides an improved, more accurate performance prediction than that of NWS, especially with applications with a network usage pattern. The NBP system has been tested on real time data collected by NWS monitoring subsystem and on trace files. Experimental results confirm that NBP has an improved prediction.

Graphs (networks) are very common data structures which are handled in computers. Diagrams are widely used to represent the graph structures visually in many information systems. In order to automatically draw the diagrams which are, for example, state graphs, data-flow graphs, Petri nets, and entity-relationship diagrams, basic graph drawing algorithms are required. The state of the art in automatic drawing is surveyed comprehensively in [7,19]. There have been only a few algorithms for general undirected graphs. This paper presents a simple but successful algorithm for drawing undirected graphs and weighted graphs. The basic idea of our algorithm is as follows. We regard the desirable "geometric" (Euclidean) distance between two vertices in the drawing as the "graph theoretic" distance between them in the corresponding graph. We introduce a virtual dynamic system in which every two vertices are connected by a "spring" of such desirable length. Then, we regard the optimal layout of vertices as the state in which the total spring energy of the system is minimal. The "spring" idea for drawing general graphs was introduced in [6], and similar methods were used for drawing planar graphs with fixed boundary [2,20]. This paper brings a new significant result in graph drawing based on the spring model.

Many problems in industry — and in the social, natural, information, and medical sciences — involve discrete data and benefit from approaches from subjects such as network science, information theory, optimization, probability, and statistics. Because the study of networks is concerned explicitly with connectivity between different entities, it has become very prominent in industrial settings, and this importance has been accentuated further amidst the modern data deluge. In this commentary, we discuss the role of network analysis in industrial and applied mathematics, and we give several examples of network science in industry. We focus, in particular, on discussing a physical-applied-mathematics approach to the study of networks. 1 ar X iv :1 70 3. 06 84 3v 2 [ cs .S I] 1 4 Se p 20 17 The Role of Network Analysis in Industrial and Applied Mathematics: A Physical-Applied-Mathematics Perspective Mason A. Porter and Sam D. Howison Department of Mathematics, University of California, Los Angeles, Los Angeles, California 90095, USA Mathematical Institute, University of Oxford, Oxford OX2 6GG, UK CABDyN Complexity Centre, University of Oxford, Oxford OX1 1HP, UK

Three experimental environments traditionally support network and distributed systems research: network emulators, network simulators, and live networks. The continued use of multiple approaches highlights both the value and inadequacy of each. Netbed, a descendant of Emulab, provides an experimentation facility that integrates these approaches, allowing researchers to configure and access networks composed of emulated, simulated, and wide-area nodes and links. Netbed's primary goals are ease of use, control, and realism, achieved through consistent use of virtualization and abstraction.By providing operating system-like services, such as resource allocation and scheduling, and by virtualizing heterogeneous resources, Netbed acts as a virtual machine for network experimentation. This paper presents Netbed's overall design and implementation and demonstrates its ability to improve experimental automation and efficiency. These, in turn, lead to new methods of experimentation, including automated parameter-space studies within emulation and straightforward comparisons of simulated, emulated, and wide-area scenarios.

To effectively manage large-scale data centers and utility clouds, operators must understand current system and application behaviors. This requires continuous, real-time monitoring along with on-line analysis of the data captured by the monitoring system, i.e., integrated monitoring and analytics -- Monalytics [28]. A key challenge with such integration is to balance the costs incurred and associated delays, against the benefits attained from identifying and reacting to, in a timely fashion, undesirable or non-performing system states. This paper presents a novel, flexible architecture for Monalytics in which such trade-offs are easily made by dynamically constructing software overlays called Distributed Computation Graphs (DCGs) to implement desired analytics functions. The prototype of Monalytics implementing this flexible architecture is evaluated with motivating use cases in small scale data center experiments, and a series of analytical models is used to understand the above trade-offs at large scales. Results show that the approach provides the flexibility needed to meet the demands of autonomic management at large scale with considerably better performance/cost than traditional and brute force solutions.

Software Defined Networks (SDNs) based on the OpenFlow (OF) protocol export controlplane programmability of switched substrates. As a result, rich functionality in traffic management, load balancing, routing, firewall configuration, etc. that may pertain to specific flows they control, may be easily developed. In this paper we extend these functionalities with an efficient and scalable mechanism for performing anomaly detection and mitigation in SDN architectures. Flow statistics may reveal anomalies triggered by large scale malicious events (typically massive Distributed Denial of Service attacks) and subsequently assist networked resource owners/operators to raise mitigation policies against these threats. First, we demonstrate that OF statistics collection and processing overloads the centralized control plane, introducing scalability issues. Second, we propose a modular architecture for the separation of the data collection process from the SDN control plane with the employment of sFlow monitoring data. We then report experimental results that compare its performance against native OF approaches that use standard flow table statistics. Both alternatives are evaluated using an entropy-based method on high volume real network traffic data collected from a university campus network. The packet traces were fed to hardware and software OF devices in order to assess flow-based datagathering and related anomaly detection options. We subsequently present experimental results that demonstrate the effectiveness of the proposed sFlow-based mechanism compared to the native OF approach, in terms of overhead imposed on usage of system resources. Finally, we conclude by demonstrating that once a network anomaly is detected and identified, the OF protocol can effectively mitigate it via flow table modifications. 2013 Elsevier B.V. All rights reserved.

Training deep neural networks generally requires massive amounts of data and is very computation intensive. We show here that it may be possible to circumvent the expensive gradient descent procedure and derive the parameters of a neural network directly from properties of the training data. We show that, near convergence, the gradient descent equations for layers close to the input can be linearized and become stochastic equations with noise related to the covariance of data for each class. We derive the distribution of solutions to these equations and discover that it is related to a “supervised principal component analysis.” We implement these results on image datasets MNIST, CIFAR10 and CIFAR100 and find that, indeed, pretrained layers using our findings performs comparable or superior to neural networks of the same size and architecture trained with gradient descent. Moreover, our pretrained layers can often be calculated using a fraction of the training data, owing to the quick convergence of the covariance matrix. Thus, our findings indicate that we can cut the training time both by requiring only a fraction of the data used for gradient descent, and by eliminating layers in the costly backpropagation step of the training. Additionally, these findings partially elucidate the inner workings of deep neural networks and allow us to mathematically calculate optimal solutions for some stages of classification problems, thus significantly boosting our ability to solve such problems efficiently.

Analyzing interconnection structures among the data through the use of graph algorithms and graph analytics has been shown to provide tremendous value in many application domains. However, graphs are not the primary choice for how most data is currently stored, and users who want to employ graph analytics are forced to extract data from their data stores, construct the requisite graphs, and then use a specialized engine to write and execute their graph analysis tasks. This cumbersome and costly process not only raises barriers in using graph analytics, but also makes it hard to explore and identify hidden or implicit graphs in the data. Here we demonstrate a system, called GRAPHGEN, that enables users to declaratively specify graph extraction tasks over relational databases, visually explore the extracted graphs, and write and execute graph algorithms over them, either directly or using existing graph libraries like the widely used NetworkX Python library. We also demonstrate how unifying the extraction tasks and the graph algorithms enables significant optimizations that would not be possible otherwise.

Network virtualization allows for an abstraction between user and physical resources by letting a given physical infrastructure to be shared by multiple service providers. However, network virtualization presents some challenges, such as, efficient resource management, fast provisioning and scalability. By separating a network's control logic from the underlying routers and switches, software defined networking (SDN) promises an unprecedented simplification in network programmability, management and innovation by service providers, and hence, its control model presents itself as a candidate solution to the challenges in network virtualization. In this paper, we use the SDN control plane to efficiently manage resources in virtualized networks by dynamically adjusting the virtual network (VN) to substrate network (SN) mappings based on network status. We extend an SDN controller to monitor the resource utilisation of VNs, as well as the average loading of SN links and switches, and use this information to proactively add or remove flow rules from the switches. Simulations show that, compared with three state-of-art approaches, our proposal improves the VN acceptance ratio by about 40% and reduces VN resource costs by over 10%.

Software-defined networking (SDN) has generated tremendous interest from both academia and industry. SDN aims at simplifying network management while enabling researchers to experiment with network protocols on deployed networks. This article is a distillation of the state of the art of SDN in the context of wireless networks. We present an overview of the major design trends and highlight key differences between them.


Question: Detecting parking spaces using a radar-generated target list.

This paper introduces an innovative approach to multi-object tracking of vehicles, utilizing high-resolution radars in a multi-sensor setup. The rapid advancements in automotive radar technology have significantly enhanced sensor resolution, providing a richer and more detailed environmental image with multiple measurements per object. This enhancement, however, presents new challenges for tracking systems, necessitating the development of algorithms capable of fully leveraging the additional information. These algorithms must effectively resolve measurement-to-object association ambiguities in complex, cluttered environments, particularly when multiple objects are present. Moreover, in multi-sensor configurations designed to achieve redundancy and expanded fields of view, the information from various sensors must be seamlessly integrated. To address these challenges, a Labeled Multi-Bernoulli filter is proposed for the tracking of multiple vehicles using multiple high-resolution radars. This filter, grounded in finite-set statistics, represents a pioneering Monte Carlo implementation that tackles these issues in a fully probabilistic manner. Its performance is rigorously assessed using radar data collected from an experimental vehicle, showcasing its capability to handle the intricacies of multi-object tracking in high-resolution radar environments.

This article discusses a new idea called cognitive radar. Three ingredients are basic to the constitution of cognitive radar: 1) intelligent signal processing, which builds on learning through interactions of the radar with the surrounding environment; 2) feedback from the receiver to the transmitter, which is a facilitator of intelligence; and 3) preservation of the information content of radar returns, which is realized by the Bayesian approach to target detection through tracking. All three of these ingredients feature in the echo-location system of a bat, which may be viewed as a physical realization (albeit in neurobiological terms) of cognitive radar. Radar is a remote-sensing system that is widely used for surveillance, tracking, and imaging applications, for both civilian and military needs. In this article, we focus on future possibilities of radar with particular emphasis on the issue of cognition. As an illustrative case study along the way, we consider the problem of radar surveillance applied to an ocean environment.

In this paper we describe a new technique for the creation of featurebased stochastic maps using standard Polaroid sonar sensors. The fundamental contributions of our proposal are: (1) a perceptual grouping process that permits the robust identification and localization of environmental features, such as straight segments and corners, from the sparse and noisy sonar data; (2) a map joining technique that allows the system to build a sequence of independent limited-size stochastic maps and join them in a globally consistent way; (3) a robust mechanism to determine which features in a stochastic map correspond to the same environment feature, allowing the system to update the stochastic map accordingly, and perform tasks such as revisiting and loop closing. We demonstrate the practicality of this approach by building a geometric map of a medium size, real indoor environment, with several people moving around the robot. Maps built from laser data for the same experiment are provided for comparison. KEY WORDS—map building, local maps, data association, sonar sensors, Hough transform

Electronic toll collection transponders, e.g., E-ZPass, are a widely-used wireless technology. About 70% to 89% of the cars in US have these devices, and some states plan to make them mandatory. As wireless devices however, they lack a basic function: a MAC protocol that prevents collisions. Hence, today, they can be queried only with directional antennas in isolated spots. However, if one could interact with e-toll transponders anywhere in the city despite collisions, it would enable many smart applications. For example, the city can query the transponders to estimate the vehicle flow at every intersection. It can also localize the cars using their wireless signals, and detect those that run a red-light. The same infrastructure can also deliver smart street-parking, where a user parks anywhere on the street, the city localizes his car, and automatically charges his account. This paper presents Caraoke, a networked system for delivering smart services using e-toll transponders. Our design operates with existing unmodified transponders, allowing for applications that communicate with, localize, and count transponders, despite wireless collisions. To do so, Caraoke exploits the structure of the transponders' signal and its properties in the frequency domain. We built Caraoke reader into a small PCB that harvests solar energy and can be easily deployed on street lamps. We also evaluated Caraoke on four streets on our campus and demonstrated its capabilities.

This paper introduces a new real-time traffic light recognition system for on-vehicle camera applications. This approach has been tested with good results in urban scenes. Thanks to the use of our generic “Adaptive Templates” it would be possible to recognize different kinds of traffic lights from various countries.

This paper addresses automatic interpretation of images of outdoor scenes. The method allows instances of objects from a number of generic classes to be identi ed: vegetation, buildings, vehicles, roads, etc., thereby enabling image databases to be queried on scene content. The feature set is based, in part, on psychophysical principles and includes measures of colour, texture and shape. Using a large database of ground-truth labelled images, a neural network is trained as a pattern classi er. The method is demonstrated on a large test set to provide highly accurate image interpretations, with over 90% of the image area labelled correctly. Scene Understanding Object Recognition Classi cation Image Segmentation Neural Networks

Lane estimation plays a central role for Driver Assistance Systems, therefore many approaches have been proposed to measure its performance. However, no commonly agreed metric exists. In this work, we first present a detailed survey of the current measures. Most of them apply pixel-level benchmarks on camera images and require a time-consuming and fault-prone labeling process. Moreover, these metrics cannot be used to assess other sources such as the detected guardrails, curbs or other vehicles. Therefore, we introduce an efficient and sensor-independent metric, which provides an objective and intuitive self-assessment for the entire road estimation process at multiple levels: individual detectors, lane estimation itself, and the target applications (e.g., lane keeping system). Our metric does not require a high labeling effort and can be used both online and offline. By selecting the evaluated points in specific distances, it can be applied to any road model representation. By comparing in 2D vehicle coordinate system, two possibilities exist to generate the ground-truth: the human-driven path or the expensive alternative with DGPS and detailed maps. This paper applies both methods and reveals that the human-driven path also qualifies for this task and it is applicable to scenarios without GPS signal, e.g., tunnel. Although the lateral offset between reference and detection is widely used in the majority of works, this paper shows that another criterion, the angle deviation, is more appropriate. Finally, we compare our metric with other state-of-the-art metrics using real data recordings from different scenarios.

Autonomously searching for hazardous radiation sources requires the ability of the aerial and ground systems to understand the scene they are scouting. In this paper, we present systems, algorithms, and experiments to perform radiation search using unmanned aerial vehicles (UAV) and unmanned ground vehicles (UGV) by employing semantic scene segmentation. The aerial data is used to identify radiological points of interest, generate an orthophoto along with a digital elevation model (DEM) of the scene, and perform semantic segmentation to assign a category (e.g . road, grass) to each pixel in the orthophoto. We perform semantic segmentation by training a model on a dataset of images we collected and annotated, using the model to perform inference on images of the test area unseen to the model, and then refining the results with the DEM to better reason about category predictions at each pixel. We then use all of these outputs to plan a path for a UGV carrying a LiDAR to map the environment and avoid obstacles not present during the flight, and a radiation detector to collect more precise radiation measurements from the ground. Results of the analysis for each scenario tested favorably. We also note that our approach is general and has the potential to work for a variety of different sensing tasks.

In order to reduce the great number of parking incidences and other collisions in low speed scenarios, an obstacle avoidance algorithm is proposed. Since collision avoidance can be achieved by sole braking when driving slowly this algorithm's objective is a comfort orientated braking routine. Therefore, an optimization problem is formulated leading to jerk and time optimal trajectories for braking. In addition to that, based on the prediction of the future vehicle motion, this algorithm compensates for a significant actuator time delay. Using an occupancy grid for representing the static vehicle environment and the current driving state, possible collision points are determined not only for the vehicle front or rear, but also for both vehicle sides, where no sensors are located. The algorithm's performance is demonstrated in a real-world scenario.

In this paper we present an approach to enhance existing maps with fine grained segmentation categories such as parking spots and sidewalk, as well as the number and location of road lanes. Towards this goal, we propose an efficient approach that is able to estimate these fine grained categories by doing joint inference over both, monocular aerial imagery, as well as ground images taken from a stereo camera pair mounted on top of a car. Important to this is reasoning about the alignment between the two types of imagery, as even when the measurements are taken with sophisticated GPS+IMU systems, this alignment is not sufficiently accurate. We demonstrate the effectiveness of our approach on a new dataset which enhances KITTI [8] with aerial images taken with a camera mounted on an airplane and flying around the city of Karlsruhe, Germany.

125 years after Bertha Benz completed the first overland journey in automotive history, the Mercedes Benz S-Class S 500 INTELLIGENT DRIVE followed the same route from Mannheim to Pforzheim, Germany, in fully autonomous manner. The autonomous vehicle was equipped with close-to-production sensor hardware and relied solely on vision and radar sensors in combination with accurate digital maps to obtain a comprehensive understanding of complex traffic situations. The historic Bertha Benz Memorial Route is particularly challenging for autonomous driving. The course taken by the autonomous vehicle had a length of 103 km and covered rural roads, 23 small villages and major cities (e.g. downtown Mannheim and Heidelberg). The route posed a large variety of difficult traffic scenarios including intersections with and without traffic lights, roundabouts, and narrow passages with oncoming traffic. This paper gives an overview of the autonomous vehicle and presents details on vision and radar-based perception, digital road maps and video-based self-localization, as well as motion planning in complex urban scenarios.


Question: Detecting parking spaces using a radar-generated target list.

This paper presents an innovative method for the rapid computation of occupancy grid maps using both lidar and radar sensors, aimed at creating precise representations of the static environment crucial for advanced driver-assistance systems. The proposed technique harnesses the Graphics Processing Unit (GPU) to address the challenges associated with traditional occupancy grid computation in automotive contexts. This results in the generation of highly detailed grid maps in mere milliseconds, preserving sensor accuracy. Notably, when dealing with lower-resolution radar sensors, the paper demonstrates the feasibility of employing super-resolution algorithms to attain the precision comparable to higher-resolution lidar scanners. Additionally, the paper introduces a histogram-based method for detecting road boundaries utilizing data from both lidar and radar sensors, further enhancing the system's capabilities.

Modeling and tracking the driving environment is a complex problem due to the heterogeneous nature of the real world. In many situations, modeling the obstacles and the driving surfaces can be achieved by the use of geometrical objects, and tracking becomes the problem of estimating the parameters of these objects. In the more complex cases, the scene can be modeled and tracked as an occupancy grid. This paper presents a novel occupancy grid tracking solution based on particles for tracking the dynamic driving environment. The particles will have a dual nature-they will denote hypotheses, as in the particle filtering algorithms, but they will also be the building blocks of our modeled world. The particles have position and speed, and they can migrate in the grid from cell to cell, depending on their motion model and motion parameters, but they will be also created and destroyed using a weighting-resampling mechanism that is specific to particle filtering algorithms. The tracking algorithm will be centered on particles, instead of cells. An obstacle grid derived from processing a stereovision-generated elevation map is used as measurement information, and the measurement model takes into account the uncertainties of the stereo reconstruction. The resulting system is a flexible real-time tracking solution for dynamic unstructured driving environments.

The virtual validation of automated driving functions requires meaningful simulation models of environment perception sensors such as radar, lidar, and cameras. There does not yet exist an unrivaled standard for perception sensor models, and radar especially lacks modeling approaches that consistently produce realistic results. In this paper, we present measurements that exemplify challenges in the development of meaningful radar sensor models. We highlight three major challenges: multi-path propagation, separability, and sensitivity of radar cross section to the aspect angle. We also review previous work addressing these challenges and suggest further research directions towards meaningful automotive radar simulation models.

Human Vision system is the most complex and accurate system. In order to extract better features about Synthetic Aperture Radar (SAR) targets, a SAR automatic target recognition (ATR) algorithm based on human visual cortical system is proposed. This algorithm contains three stages: (1) Image preprocessing (we use a Kuan filter to do the enhancement and an adaptive Intersecting Cortical Model (ICM) to do the segmentation) (2) Feature extraction using a sparse autoencoder. (3) Classification using a softmax regression classifier. Experiment result of MSTAR public data shows a better performance of recognition.

Automotive radar systems utilizing the millimeterwave band have been developed 2) since they can detect targets even in bad weather. In the automotive radar systems, linear polarization inclined 45 degrees is utilized in order to avoid mutual radio interference between them. The antenna for the automotive radar systems is required to have high efficiency, which means high gain against for an aperture area determined by the size of a radar sensor, in order to detect the targets at a long distance. In addition, low profile is required not to spoil the appearance of a car. Ease of manufacturing is also one of the significant factors in order to install the automotive radar systems in popular cars. As candidate antennas for the automotive radar systems, a slotted waveguide array antenna and a triplate-type array antenna have been studied. These antennas have low profile and high efficiency 7

Reliable traffic light detection is one crucial key component for autonomous driving in urban areas. This includes the extraction of direction arrows contained within the traffic lights as an autonomous car will need this information for selecting the traffic light corresponding to its current lane. Current state of the art traffic light detection systems are not able to provide such information. Within this work we present a hierarchical traffic light detection algorithm, which is able to detect traffic lights and determine their state and contained direction information within one CNN forward pass. This Hierarchical DeepTLR (HDTLR) outperforms current state of the art traffic light detection algorithms in state aware detection and can detect traffic lights with direction information down to a size of 4 pixel in width at a frequency of 12 frames per second.

This article discusses a new idea called cognitive radar. Three ingredients are basic to the constitution of cognitive radar: 1) intelligent signal processing, which builds on learning through interactions of the radar with the surrounding environment; 2) feedback from the receiver to the transmitter, which is a facilitator of intelligence; and 3) preservation of the information content of radar returns, which is realized by the Bayesian approach to target detection through tracking. All three of these ingredients feature in the echo-location system of a bat, which may be viewed as a physical realization (albeit in neurobiological terms) of cognitive radar. Radar is a remote-sensing system that is widely used for surveillance, tracking, and imaging applications, for both civilian and military needs. In this article, we focus on future possibilities of radar with particular emphasis on the issue of cognition. As an illustrative case study along the way, we consider the problem of radar surveillance applied to an ocean environment.

For application in a short range ground based surveillance radar a combination between frequency modulated continuous wave (FMCW) transmit signals and a receive antenna array system is considered in this paper. The target echo signal is directly down converted by the instantaneous transmit frequency. The target range R will be estimated based on the measured frequency shift fB between transmit and receive signal. Due to an extremely short chirp duration Tchirp, the target radial velocity υτ has only a very small influence to the measured frequency shift fB. Therefore the radial velocity υτ will not be measured inside a single FMCW chirp but in a sequence of chirp signals and inside each individual range gate. Finally, the target azimuth angle is calculated utilizing the receive antenna array and applying a digital beamforming scheme. Furthermore, in order to unambiguously measure even high radial velocities, a variable chirp duration is proposed on a dwell to dwell basis.

This paper describes an algorithm to detect the road lane boundary for a driver who changes lane as ‘access road’, ‘passing lane’, ‘approach ramp’, etc. The proposed algorithm starts with binarization and labeling for the image. The binary image is generated by adaptive threshold. The binary image is labeled recursively to blobs. From each blob, the algorithm analyses principal axes calculated by Eigen value and vector. Those are based on the covariance matrix of pixel distribution for the blobs. Then it shows intersection points by the combination of each long principal axis. Among intersection points, the highest density cluster is selected to a dominant vanishing point as the parallel road lines. In experiments of road line detection from the urban road image, the proposed method shows the effectiveness of lane boundary detection in the rate of more than 94.3%.

Vehicle parking monitoring and management has become a big challenge for educational institutions with increasing enrollments, high percentage of vehicle ownership and decreasing parking supply which in result triggering blockage of vehicle, congestion, wastage of time and money. In university campuses particularly in Kingdom of Saudi Arabia, vehicle parking monitoring and management problem is getting worse and more frustrating due to the fact that majority of students, faculty and staff members own cars and drive through them to the university campuses. These common problems include finding out people (evidence) who are responsible for the damages (hitting, scraping, scratching and dents) to other cars and the blockage of car due to wrong car parking which takes much time to locate the owner of the car. Moreover, locating or forgetting their car park location another difficulty that is often faced by the students, faculty and staff members. The existing cameras located at the parking lots are only for video surveillance and cannot help in such situations as there is a lack of proper vehicle parking monitoring and management system. To cope with above mentioned problems and to ensure a better parking experience by accommodating increasing number of vehicles in a proper convenient manner, we propose a smart vehicle parking monitoring and management system called CampusSense. In CampusSense, Automatic Number Plate Recognition (ANPR) cameras and android based mobile application is developed to efficiently monitor, manage and protect the parking facilities at university campuses. Parking problems around the university campus faced by the students, faculty and staff members are analyzed by conducting a survey.

The market for driver assistance systems based on millimeter-wave radar sensor technology is gaining momentum. In the near future, the full range of newly introduced car models will be equipped with radar based systems which leads to high volume production with low cost potential. This paper provides background and an overview of the state of the art of millimeter-wave technology for automotive radar applications, including two actual silicon based fully integrated radar chips. Several advanced packaging concepts and antenna systems are presented and discussed in detail. Finally measurement results of the fully integrated radar front ends are shown.


Question: Detecting parking spaces using a radar-generated target list.

Creating Detailed Maps with Wide-Angle Sonar Technology

This paper explores the innovative use of wide-angle sonar technology for generating high-resolution maps, particularly relevant for underwater navigation and exploration. Unlike traditional sonar systems that have limited fields of view, wide-angle sonar offers an expanded perspective, enabling the creation of more detailed and comprehensive maps of the underwater environment. The technology operates by emitting sound waves across a broader area, which then bounce off surfaces and return to the receiver, providing a wealth of data about the surroundings. This data is processed to create high-resolution maps that can reveal intricate details of the seabed, including topography, underwater structures, and potential hazards. The application of wide-angle sonar is not only beneficial for military and scientific research but also holds promise for commercial activities such as fishing, oil and gas exploration, and marine conservation. By offering a more expansive view, this technology can significantly enhance safety and efficiency in various underwater operations.

This paper considers the perpendicular reverse parking problem of front wheel steering vehicles. Relationships between the widths of the parking aisle and the parking place, as well as the parameters and initial position of the vehicle for planning a collision-free reverse perpendicular parking in one maneuver are first presented. Two types of steering controllers (bang-bang and saturated tanh-type controllers) for straightline tracking are proposed and evaluated. It is demonstrated that the saturated controller, which is continuous, achieves also quick steering avoiding chattering and can be successfully used in solving parking problems. Simulation results and first experimental tests confirm the effectiveness of the proposed control scheme.

In the near future, humans will be relieved from parking. Major improvements in autonomous driving allow the realization of automated valet parking (AVP). It enables the vehicle to drive to a parking spot and park itself. This paper presents a review of the intelligent vehicles literature on AVP. An overview and analysis of the core components of AVP such as the platforms, sensor setups, maps, localization, perception, environment model, and motion planning is provided. Leveraging the potential of AVP, high density parking (HDP) is reviewed as a future research direction with the capability to either reduce the necessary space for parking by up to 50 % or increase the capacity of future parking facilities. Finally, a synthesized view discussing the remaining challenges in automated valet parking and the technological requirements for high density parking is given.

Advanced driver assistance systems (ADASs), and particularly pedestrian protection systems (PPSs), have become an active research area aimed at improving traffic safety. The major challenge of PPSs is the development of reliable on-board pedestrian detection systems. Due to the varying appearance of pedestrians (e.g., different clothes, changing size, aspect ratio, and dynamic shape) and the unstructured environment, it is very difficult to cope with the demanded robustness of this kind of system. Two problems arising in this research area are the lack of public benchmarks and the difficulty in reproducing many of the proposed methods, which makes it difficult to compare the approaches. As a result, surveying the literature by enumerating the proposals one--after-another is not the most useful way to provide a comparative point of view. Accordingly, we present a more convenient strategy to survey the different approaches. We divide the problem of detecting pedestrians from images into different processing steps, each with attached responsibilities. Then, the different proposed methods are analyzed and classified with respect to each processing stage, favoring a comparative viewpoint. Finally, discussion of the important topics is presented, putting special emphasis on the future needs and challenges.

Due to the development of economy and technology, the people's demands on cars are growing and so are the problems, such as finding stolen car, banning violation and parking lot management. It will be time-consuming and low-efficiency if we do those jobs only by human because of the limitation of human being's concentration. Therefore, it has been a popular topic to develop intelligent monitoring system under new video technology within a decade. There are still many rooms for future development and application in the car license detection and recognition fields. For finding stolen car, we can integrate car license detection system and road monitoring system to analyze the videos and trace the objects, so we can gain high-efficiency and low-cost results. For parking lot management system, we can have the result of access management and automatic charge to reduce the human resource through car license recognition system. Automated toll of highway can be done through car license recognition system as well. Because the car license recognition system is mostly applied to security monitoring field and business purposes, the demand of the accuracy is quite strict. There are causes which make the inaccuracy of the license recognition, such as the lack of video resolution, too small license due to the distance and the light and shadow. We will discuss the license recognition system and how to use apply the super-resolution to overcome those above problems.

The Multilook Cross Correlation (MLCC) is one of the most reliable algorithms used for Doppler ambiguity number estimation of the Doppler centroid parameter. However, the existing MLCC algorithm is only suitable for low contrast scenes. In high contrast scenes, the estimated result is not reliable, and the error is unacceptable. Besides, the Doppler centroid estimation processing time is long and can only be used in offline processing. In this paper, we introduce a modified MLCC algorithm that has better sensitivity which is suitable not only for low contrast scenes, but also for high contrast scenes. In addition, the modified MLCC algorithm can be implemented on parallel signal processing units for better time efficiency. Experiments with RADARSAT-1 data show that the modified algorithm works well in both high and low contrast scenes.

Developing on-board automotive driver assistance systems aiming to alert drivers about driving environments, and possible collision with other vehicles has attracted a lot of attention lately. In these systems, robust and reliable vehicle detection is a critical step. This paper presents a review of recent vision-based on-road vehicle detection systems. Our focus is on systems where the camera is mounted on the vehicle rather than being fixed such as in traffic/driveway monitoring systems. First, we discuss the problem of on-road vehicle detection using optical sensors followed by a brief review of intelligent vehicle research worldwide. Then, we discuss active and passive sensors to set the stage for vision-based vehicle detection. Methods aiming to quickly hypothesize the location of vehicles in an image as well as to verify the hypothesized locations are reviewed next. Integrating detection with tracking is also reviewed to illustrate the benefits of exploiting temporal continuity for vehicle detection. Finally, we present a critical overview of the methods discussed, we assess their potential for future deployment, and we present directions for future research.

In urban environments, moving obstacles detection and free space determination are key issues for driving assistance systems and autonomous vehicles. When using lidar sensors scanning in front of the vehicle, uncertainty arises from ignorance and errors. Ignorance is due to the perception of new areas and errors come from imprecise pose estimation and noisy measurements. Complexity is also increased when the lidar provides multi-echo and multi-layer information. This paper presents an occupancy grid framework that has been designed to manage these different sources of uncertainty. A way to address this problem is to use grids projected onto the road surface in global and local frames. The global one generates the mapping and the local one is used to deal with moving objects. A credibilist approach is used to model the sensor information and to do a global fusion with the world-fixed map. Outdoor experimental results carried out with a precise positioning system show that such a perception strategy increases significantly the performance compared to a standard approach.

This technical report describes Team MIT's approach to the DARPA Urban Challenge. We have developed a novel strategy for using many inexpensive sensors, mounted on the vehicle periphery, and calibrated with a new crossmodal calibration technique. Lidar, camera, and radar data streams are processed using an innovative, locally smooth state representation that provides robust perception for real time autonomous control. A resilient planning and control architecture has been developed for driving in traffic, comprised of an innovative combination of wellproven algorithms for mission planning, situational planning, situational interpretation, and trajectory control. These innovations are being incorporated in two new robotic vehicles equipped for autonomous driving in urban environments, with extensive testing on a DARPA site visit course. Experimental results demonstrate all basic navigation and some basic traffic behaviors, including unoccupied autonomous driving, lane following using purepursuit control and our local frame perception strategy, obstacle avoidance using kinodynamic RRT path planning, Uturns, and precedence evaluation amongst other cars at intersections using our situational interpreter. We are working to extend these approaches to advanced navigation and traffic scenarios. † Executive Summary This technical report describes Team MIT's approach to the DARPA Urban Challenge. We have developed a novel strategy for using many inexpensive sensors, mounted on the vehicle periphery, and calibrated with a new cross-modal calibration technique. Lidar, camera, and radar data streams are processed using an innovative, locally smooth state representation that provides robust perception for real-time autonomous control. A resilient planning and control architecture has been developed for driving in traffic, comprised of an innovative combination of well-proven algorithms for mission planning, situational planning, situational interpretation, and trajectory control. These innovations are being incorporated in two new robotic vehicles equipped for autonomous driving in urban environments, with extensive testing on a DARPA site visit course. Experimental results demonstrate all basic navigation and some basic traffic behaviors, including unoccupied autonomous driving, lane following using pure-pursuit control and our local frame perception strategy, obstacle avoidance using kino-dynamic RRT path planning, U-turns, and precedence evaluation amongst other cars at intersections using our situational interpreter. We are working to extend these approaches to advanced navigation and traffic scenarios. DISCLAIMER: The information contained in this paper does not represent the official policies, either expressed or implied, of the Defense Advanced Research Projects Agency (DARPA) or the Department of Defense. DARPA does not guarantee the accuracy or reliability of the information in this paper. Additional support …

Development of radar technology is now rapidly. One of them is Step Frequency Continuous Wave Radar (SFCW Radar). SFCW radar can be used for various purposes. SFCW radar consists of antenna, control unit, signal processing unit. The radar advantages compared to the other radar are this radar is easier to implement and more widely within the range of radar. In this research that will be done is design SFCW radar. There are several stages to be performed in this research. At first, the simulation will be done using Matlab®. This simulation will determine the parameters needed to obtain an appropriate resolution. The second, simulations is performed by using GNU radio. This simulation will be adjusted to the parameters that have been previously designed by Matlab®. Both of the results will be analyzed. Input signal is complex. Simulation results for 5kHz-1.285MHz will display in graph. Graph will show location of the object in 5 m, 1km, and 1.1km depend on initial design.

The knowledge about lanes and the exact position on the road is fundamental for many advanced driver assistance systems. In this paper, a novel iterative histogram based approach with occupancy grids for the detection of multiple lanes is proposed. In highway scenarios, our approach is highly suitable to determine the correct number of all existing lanes on the road. Additionally, the output of the laserscannner based lane detection is fused with a production-available vision based system. It is shown that both sensor systems perfectly complement each other to increase the robustness of a lane tracking system. The achieved accuracy of the fusion system, the laserscannner and video based system is evaluated with a highly accurate DGPS to investigate the performance with respect to lateral vehicle control applications.


Question: Detecting parking space availability using radar-generated target lists.

This paper introduces a real-time method for identifying parked vehicles utilizing radar data, essential for autonomous parking systems. The approach involves the creation of an occupancy grid from radar information, followed by object detection using techniques inspired by computer vision. To distinguish between two primary types of parking—parallel and cross—the system employs two specialized random forest classifiers. The classifiers' effectiveness is assessed, alongside the system's overall capability to accurately identify parked vehicles in practical, real-world situations. The robustness of the method is demonstrated through its ability to handle diverse scenarios, showcasing its potential for integration into autonomous parking technologies.

The RoadGraph is a graph based environmental model for driver assistance systems. It integrates information from different sources like digital maps, onboard sensors and V2X communication into one single model about the vehicle's environment. At the moment of information aggregation some function independent situation analysis is done. In this paper we look at techniques for lane-precise map-matching even with moderate GPS reception using distinct information sources. We also analyze the concepts of aggregating objects from different sources with a-priori knowledge of the street-layout. Results of this novelty approach are shown.

Among the most important research in Intelligent Transportation Systems (ITS) is the development of systems that automatically monitor traffic flow at intersections. Rather than being based on global flow analysis as is currently done, these automatic monitoring systems should be based on local analysis of the behavior of each vehicle at the intersection. The systems should be able to identify each vehicle and track its behavior, and to recognize situations or events that are likely to result from a chain of such behavior. The most difficult problem associated with vehicle tracking is the occlusion effect among vehicles. In order to solve this problem we have developed an algorithm, referred to as spatio-temporal Markov random field (MRF), for traffic images at intersections. This algorithm models a tracking problem by determining the state of each pixel in an image and its transit, and how such states transit along both the – image axes as well as the time axes. Vehicles, of course, are of various shapes and they move in random fashion, thereby leading to full or partial occlusion at intersections. Despite these complications, our algorithm is sufficiently robust to segment and track occluded vehicles at a high success rate of 93%–96%. This success has led to the development of an extendable robust event recognition system based on the hidden Markov model (HMM). The system learns various event behavior patterns of each vehicle in the HMM chains and then, using the output from the tracking system, identifies current event chains. The current system can recognize bumping, passing, and jamming. However, by including other event patterns in the training set, the system can be extended to recognize those other events, e.g., illegal U-turns or reckless driving. We have implemented this system, evaluated it using the tracking results, and demonstrated its effectiveness.

Despite the availability of lane departure and lane keeping systems for highway assistance, unmarked and winding rural roads still pose challenges to lane recognition systems. To detect an upcoming curve as soon as possible, the viewing range of image-based lane recognition systems has to be extended. This is done by evaluating 3D information obtained from stereo vision or imaging radar in this paper. Both sensors deliver evidence grids as the basis for road course estimation. Besides known Kalman Filter approaches, Particle Filters have recently gained interest since they offer the possibility to employ cues of a road, which can not be described as measurements needed for a Kalman Filter approach. We propose to combine both principles and their benefits in a Kalman Particle Filter. The comparison between the results gained from this recently published filter scheme and the classical approaches using real world data proves the advantages of the Kalman Particle Filter.

We perform fast vehicle detection from traffic surveillance cameras. A novel deep learning framework, namely Evolving Boxes, is developed that proposes and refines the object boxes under different feature representations. Specifically, our framework is embedded with a light-weight proposal network to generate initial anchor boxes as well as to early discard unlikely regions; a fine-turning network produces detailed features for these candidate boxes. We show intriguingly that by applying different feature fusion techniques, the initial boxes can be refined for both localization and recognition. We evaluate our network on the recent DETRAC benchmark and obtain a significant improvement over the state-of-the-art Faster RCNN by 9.5% mAP. Further, our network achieves 9–13 FPS detection speed on a moderate commercial GPU.

This paper presents the Radar and IR sensor fusion method for objection detection. The infrared camera parameter calibration with Levenberg-Marquardt (LM) optimization method is proposed based on the Radar ranging data represented by Cartesian coordinate compared with 6 fusion methods. The proposed method firstly performs the estimation of the intrinsic parameter matrix of infrared camera with some optical trick. Then the method searches the extrinsic parameters using the generative approach. The initial angle and translation of the extrinsic parameters are optimized by the LM method with the geometrical cost function. In the experiments, the performance of proposed method outperforms by a maximum 13 times the performance of the other baseline methods on the averaged Euclidian distance error. In future work, the angular noise of the Radar information will be improved and the proposed method will provide the effective proposals for the deep neural network.

Driving an automobile autonomously on rural roads requires knowledge about the geometry of the road. Furthermore, knowledge about the meaning of each lane of the road is needed in order to decide which lane should be taken and if the vehicle can do a lane change. This paper addresses the problem of extracting additional information about lanes. The information is extracted from the types of road-markings. The type of lane border markings is estimated in order to find out if a lane change is allowed. Arrows, which are painted on the road, are extracted and classified in order to determine the meaning of a lane such as a turn off lane.

In order to reduce the great number of parking incidences and other collisions in low speed scenarios, an obstacle avoidance algorithm is proposed. Since collision avoidance can be achieved by sole braking when driving slowly this algorithm's objective is a comfort orientated braking routine. Therefore, an optimization problem is formulated leading to jerk and time optimal trajectories for braking. In addition to that, based on the prediction of the future vehicle motion, this algorithm compensates for a significant actuator time delay. Using an occupancy grid for representing the static vehicle environment and the current driving state, possible collision points are determined not only for the vehicle front or rear, but also for both vehicle sides, where no sensors are located. The algorithm's performance is demonstrated in a real-world scenario.

Modeling and tracking the driving environment is a complex problem due to the heterogeneous nature of the real world. In many situations, modeling the obstacles and the driving surfaces can be achieved by the use of geometrical objects, and tracking becomes the problem of estimating the parameters of these objects. In the more complex cases, the scene can be modeled and tracked as an occupancy grid. This paper presents a novel occupancy grid tracking solution based on particles for tracking the dynamic driving environment. The particles will have a dual nature-they will denote hypotheses, as in the particle filtering algorithms, but they will also be the building blocks of our modeled world. The particles have position and speed, and they can migrate in the grid from cell to cell, depending on their motion model and motion parameters, but they will be also created and destroyed using a weighting-resampling mechanism that is specific to particle filtering algorithms. The tracking algorithm will be centered on particles, instead of cells. An obstacle grid derived from processing a stereovision-generated elevation map is used as measurement information, and the measurement model takes into account the uncertainties of the stereo reconstruction. The resulting system is a flexible real-time tracking solution for dynamic unstructured driving environments.

Unmanned Aerial Vehicles (UAVs) are becoming an attractive solution for road traffic monitoring because of their mobility, low cost, and broad view range. Up to now, existing traffic monitoring systems based on UAVs only use one UAV with fixed trajectory to extract information about vehicles. In this paper, we propose a road traffic monitoring system using multiple UAVs. We develop a method to generate adaptive UAVs trajectories, which is based on the tracking of moving points in the UAV field of view. Also we generate UAVs trajectories using mobility models that are usually used to model vehicles mobility. UAVs monitor the traffic on a city road, they are responsible for collecting and sending, in real time, vehicle information to a traffic processing center for traffic regulation purposes. We show that the performance of our system is better than the performance of the fixed UAV trajectory traffic monitoring system in terms of coverage rates and events detection rates.

Detection of traversable road regions, positive and negative obstacles, and water hazards is a fundamental task for autonomous driving vehicles, especially in off-road environment. This paper proposes an efficient method, called Lidar-histogram. It can be used to integrate the detection of traversable road regions, obstacles and water hazards into one single framework. The weak assumption of the Lidar-histogram is that a decent-sized area in front of the vehicle is flat. The Lidar-histogram is derived from an efficient organized map of Lidar point cloud, called Lidar-imagery, to index, describe and store Lidar data. The organized point-cloud map can be easily obtained by indexing the original unordered 3D point cloud to a Lidar-specific 2D coordinate system. In the Lidar-histogram representation, the 3D traversable road plane in front of vehicle can be projected as a straight line segment, and the positive and negative obstacles are projected above and below the line segment, respectively. In this way, the problem of detecting traversable road and obstacles is converted into a simple linear classification task in 2D space. Experiments have been conducted in different kinds of off-road and urban scenes, and we have obtained very promising results.