14 results on '"Hossein Nourkhiz Mahjoub"'
Search Results
2. Cooperative Time and Energy-Optimal Lane Change Maneuvers for Connected Automated Vehicles
- Author
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Hossein Nourkhiz Mahjoub, Shigenobu Saigusa, Amin Tahmasbi-Sarvestani, Christos G. Cassandras, Yasir Khudhair Al-Nadawi, and Rui Chen
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Computer science ,Control theory ,Mechanical Engineering ,Automotive Engineering ,Control (management) ,Phase (waves) ,Energy consumption ,Safety constraints ,Optimal control ,Energy (signal processing) ,Computer Science Applications - Abstract
We derive optimal control policies for a Connected Automated Vehicle (CAV) cooperating with neighboring CAVs in order to implement a lane change maneuver consisting of a longitudinal phase where the CAV properly positions itself relative to the cooperating neighbors and a lateral phase where it safely changes lanes. For the first phase, we optimize the maneuver time subject to safety constraints and subsequently minimize the associated surrogate energy consumption of all cooperating vehicles in this maneuver. For the second phase, we jointly optimize time and energy approximation and provide three different solution methods including a real-time approach based on Control Barrier Functions (CBFs). We prove structural properties of the optimal policies which simplify the solution derivations and, in the case of the longitudinal maneuver, lead to analytical optimal control expressions. The solutions, when they exist, are guaranteed to satisfy safety constraints for all vehicles involved in the maneuver. Simulation results where the controllers are implemented show their effectiveness in terms of significant performance improvements compared to maneuvers performed by human-driven vehicles.
- Published
- 2022
3. Connected Vehicle-Based Advanced Detection of 'Slow-Down' Events on Freeways
- Author
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Yasir Khudhair Al-Nadawi, Shigenobu Saigusa, Matthew Barth, Hossein Nourkhiz Mahjoub, Zhouqiao Zhao, Laith Daman, and Guoyuan Wu
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Computer science ,Event (computing) ,Range (aeronautics) ,Real-time computing ,Energy consumption ,Traffic flow ,Set (psychology) ,Collision ,Maintenance engineering ,Host (network) - Abstract
From the perspective of an individual vehicle, the prediction of a “slow-down” or shockwave event on a freeway can help the driver reduce potential collision risks, enhance the driving experience, and reduce the cost of energy consumption and vehicle maintenance. From the perspective of traffic management, shockwave prediction may help regulate traffic flow effectively and allow for the response to (non-recurrent) incidents in a timely manner. In this paper, two real-time prediction algorithms are proposed and investigated, which are based on the high-resolution information provided from a set of connected vehicles within the communication range of the host vehicle. Both methods are able to predict the “slow-down” event under high traffic density at 3.51 seconds (on average) earlier than its occurrence. Both algorithm performances degrade with the decrease of the traffic density and penetration rate of the connected vehicles.
- Published
- 2021
4. Composite <tex-math notation='LaTeX'>$\alpha-\mu$ </tex-math> Based DSRC Channel Model Using Large Data Set of RSSI Measurements
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Hossein Nourkhiz Mahjoub, Amin Tahmasbi-Sarvestani, Yaser P. Fallah, and Shah Mohammed Osman Gani
- Subjects
050210 logistics & transportation ,Vehicular ad hoc network ,Computer science ,Mechanical Engineering ,05 social sciences ,Real-time computing ,Dedicated short-range communications ,Computer Science Applications ,Network simulation ,Fading distribution ,0502 economics and business ,Automotive Engineering ,Fading ,Communications protocol ,Communication channel ,Network analysis - Abstract
Channel modeling is essential for design and performance evaluation of numerous protocols in vehicular networks. In this paper, we study and provide results for large- and small-scale modeling of communication channel in dense vehicular networks. We first propose an approach to remove the effect of fading on deterministic part of the large-scale model and verify its accuracy using a single transmitter-receiver scenario. Two-ray model is then utilized for path-loss characterization and its parameters are derived from the empirical data based on a newly proposed method. Afterward, we use α -μ distribution to model the fading behavior of vehicular networks for the first time, and validate its precision by Kolmogorov-Smirnov(K-S) goodness-of-fit test. To this end, the significantly better performance of utilizing α - μ distribution over the most adopted fading distribution in the vehicular channels literature, i.e., Nakagami-m, in terms of passing K-S test has been investigated and statistically verified in this paper. A large received signal strength indicator (RSSI) data set from a measurement campaign is used to evaluate our claims. Moreover, the whole model is implemented in a reliable discrete event network simulator which is widely used in the academic and industrial research for network analysis, i.e., network simulator-3 (ns-3), to show the outcome of the proposed model in the presence of upper layer network protocols.
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- 2019
5. An Adaptive Forward Collision Warning Framework Design Based on Driver Distraction
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Hadi Kazemi, Yaser P. Fallah, Hossein Nourkhiz Mahjoub, and Seyed Mehdi Iranmanesh
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050210 logistics & transportation ,Artificial neural network ,Computer science ,Mechanical Engineering ,05 social sciences ,Yaw ,Advanced driver assistance systems ,02 engineering and technology ,Collision ,Computer Science Applications ,CAN bus ,Acceleration ,Distraction ,Adaptive system ,0502 economics and business ,Automotive Engineering ,0202 electrical engineering, electronic engineering, information engineering ,020201 artificial intelligence & image processing ,Simulation - Abstract
Forward Collision Warning (FCW) is a promising Advanced Driver Assistance System (ADAS) to mitigate rear-end collisions. The deterministic FCW approaches may occasionally lead to the issuance of annoying false warnings, as they cannot be individualized for different drivers. This application oversight, which may cause the driver to deactivate the system, has been tackled with some adaptive methods. However, driver distraction, which is one of the most influential driver-specific factors on FCW warnings acceptability, has not been considered yet and is analyzed in this paper for the first time. Specifically, the adaptive FCW method proposed in this paper generates the warnings by continuously comparing Time Headway with a flexible threshold. The core of the proposed threshold updating mechanism is a real-time monitoring of the driver reactions against the previously generated warnings using the available indicators such as braking history. This method considers the driver distraction in parallel to fine-tune the calculated threshold in accordance with driver cognitive state. In order to incorporate the driver distraction in the system framework, a learning-based approach is designed which continuously estimates driver distraction by the virtue of different available Controller Area Network (CAN) bus time series, such as throttle pedal position, velocity, acceleration, and yaw rate. Neural network, as a widely adopted classification method, is nominated to detect driver distraction. The framework performance is evaluated over two realistic driving datasets. An approximately 80% false warning reduction is observed in analyzed safe scenarios, while no critical warning is missed in the dangerous ones.
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- 2018
6. Representing Realistic Human Driver Behaviors using a Finite Size Gaussian Process Kernel Bank
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Yaser P. Fallah, Hossein Nourkhiz Mahjoub, Arash Raftari, Rodolfo Valiente, and Syed K. Mahmud
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Signal Processing (eess.SP) ,Networking and Internet Architecture (cs.NI) ,FOS: Computer and information sciences ,Vehicular ad hoc network ,Computer science ,Reliability (computer networking) ,Distributed computing ,Inference ,020206 networking & telecommunications ,020302 automobile design & engineering ,Context (language use) ,02 engineering and technology ,Dedicated short-range communications ,Computer Science - Networking and Internet Architecture ,symbols.namesake ,0203 mechanical engineering ,Kernel (statistics) ,Scalability ,FOS: Electrical engineering, electronic engineering, information engineering ,0202 electrical engineering, electronic engineering, information engineering ,symbols ,Electrical Engineering and Systems Science - Signal Processing ,Gaussian process - Abstract
The performance of cooperative vehicular applications is tightly dependent on the reliability of the underneath Vehicle-to-Everything (V2X) communication technology. V2X standards, such as Dedicated Short-Range Communications (DSRC) and Cellular-V2X (C-V2X), which are passing their research phase before being mandated in the US, are supposed to serve as reliable circulatory systems for the time-critical information in vehicular networks; however, they are still heavily suffering from scalability issues in real traffic scenarios. The technology-agnostic notion of Model-Based Communications (MBC) has been proposed in our previous works as a promising paradigm to address the scalability issue and its performance, while acquiring different modeling strategies, has been vastly studied. In this work, the modeling capabilities of a powerful non-parametric Bayesian inference scheme, i.e., Gaussian Processes (GPs), is investigated within the MBC context with more details. Our observations reveal an important potential strength of GP-based MBC scheme, i.e., its capability of accurately modeling different driving behavioral patterns by utilizing only a limited size GP kernel bank. This interesting aspect of integrating GP inference with MBC framework, which has been verified in this work using realistic driving data sets, introduces this architecture as a strong and appealing candidate to address the scalability challenge. The results confirm that our proposed approach over-performs the state of the art research in terms of the required communication rate and GP kernel bank size., Accepted in IEEE VNC 2019
- Published
- 2020
7. A Stochastic Hybrid Structure for Predicting Disturbances in Mixed Automated and Human-Driven Vehicular Scenarios
- Author
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Hossein Nourkhiz Mahjoub, Mohammadreza Davoodi, Yaser P. Fallah, and Javad Mohammadpour Velni
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Structure (mathematical logic) ,0209 industrial biotechnology ,Computer science ,020208 electrical & electronic engineering ,Control engineering ,02 engineering and technology ,Bayesian inference ,symbols.namesake ,020901 industrial engineering & automation ,Cooperative Adaptive Cruise Control ,Control and Systems Engineering ,Robustness (computer science) ,0202 electrical engineering, electronic engineering, information engineering ,symbols ,Trajectory ,Baseline (configuration management) ,Gaussian process - Abstract
In this work, we introduce a stochastic prediction method which can be utilized in applications such as cooperative adaptive cruise control (CACC) to predict interfering vehicles’ movements. One of the main criteria in the design of automated vehicle systems is their robustness against the disturbances resulted from the non-homogeneity of the vehicular environment. The non-homogeneity is mainly due to the human-driven and automated/autonomous vehicles co-existence. It is therefore imperative for the automated applications to be designed with the capability of handling the uncertain behaviors of human-driven vehicles in a robust manner. This paper presents a method for vehicle movements time-series forecasting using a powerful non-parametric Bayesian inference method, namely Gaussian Processes. The proposed methodology is evaluated using realistic vehicle trajectory data from NGSIM dataset and is shown to provide more accurate results compared to baseline methods that use constant velocity coasting.
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- 2019
8. V2X System Architecture Utilizing Hybrid Gaussian Process-based Model Structures
- Author
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Hossein Nourkhiz Mahjoub, Yaser P. Fallah, Behrad Toghi, and S M Osman Gani
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Signal Processing (eess.SP) ,FOS: Computer and information sciences ,Computer Science - Machine Learning ,Computer science ,Distributed computing ,Bayesian inference ,Machine Learning (cs.LG) ,Vehicle dynamics ,symbols.namesake ,Scalability ,FOS: Electrical engineering, electronic engineering, information engineering ,Systems architecture ,symbols ,Electrical Engineering and Systems Science - Signal Processing ,Hidden Markov model ,Gaussian process ,Selection (genetic algorithm) ,Communication channel - Abstract
Scalable communication is of utmost importance for reliable dissemination of time-sensitive information in cooperative vehicular ad-hoc networks (VANETs), which is, in turn, an essential prerequisite for the proper operation of the critical cooperative safety applications. The model-based communication (MBC) is a recently-explored scalability solution proposed in the literature, which has shown a promising potential to reduce the channel congestion to a great extent. In this work, based on the MBC notion, a technology-agnostic hybrid model selection policy for Vehicle-to-Everything (V2X) communication is proposed which benefits from the characteristics of the non-parametric Bayesian inference techniques, specifically Gaussian Processes. The results show the effectiveness of the proposed communication architecture on both reducing the required message exchange rate and increasing the remote agent tracking precision., Accepted for Oral Presentation at the 13th IEEE Systems Conference (SysCon 2019)
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- 2019
9. Implementation and Evaluation of a Cooperative Vehicle-to-Pedestrian Safety Application
- Author
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Hossein Nourkhiz Mahjoub, Yaser P. Fallah, Oubada Abuchaar, Ehsan Moradi-Pari, and Amin Tahmasbi-Sarvestani
- Subjects
FOS: Computer and information sciences ,050210 logistics & transportation ,Situation awareness ,Standardization ,Computer science ,Mechanical Engineering ,05 social sciences ,Interoperability ,020206 networking & telecommunications ,Crash ,02 engineering and technology ,Pedestrian ,Computer security ,computer.software_genre ,Dedicated short-range communications ,Computer Science Applications ,Computer Science - Computers and Society ,Computers and Society (cs.CY) ,0502 economics and business ,Automotive Engineering ,0202 electrical engineering, electronic engineering, information engineering ,Collision detection ,Collaboration ,computer - Abstract
While the development of Vehicle-to-Vehicle (V2V) safety applications based on Dedicated Short-Range Communications (DSRC) has been extensively undergoing standardization for more than a decade, such applications are extremely missing for Vulnerable Road Users (VRUs). Nonexistence of collaborative systems between VRUs and vehicles was the main reason for this lack of attention. Recent developments in Wi-Fi Direct and DSRC-enabled smartphones are changing this perspective. Leveraging the existing V2V platforms, we propose a new framework using a DSRC-enabled smartphone to extend safety benefits to VRUs. The interoperability of applications between vehicles and portable DSRC enabled devices is achieved through the SAE J2735 Personal Safety Message (PSM). However, considering the fact that VRU movement dynamics, response times, and crash scenarios are fundamentally different from vehicles, a specific framework should be designed for VRU safety applications to study their performance. In this article, we first propose an end-to-end Vehicle-to-Pedestrian (V2P) framework to provide situational awareness and hazard detection based on the most common and injury-prone crash scenarios. The details of our VRU safety module, including target classification and collision detection algorithms, are explained next. Furthermore, we propose and evaluate a mitigating solution for congestion and power consumption issues in such systems. Finally, the whole system is implemented and analyzed for realistic crash scenarios.
- Published
- 2018
10. A Learning-Based Framework for Two-Dimensional Vehicle Maneuver Prediction over V2V Networks
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Amin Tahmasbi-Sarvestani, Hossein Nourkhiz Mahjoub, Yaser P. Fallah, and Hadi Kazemi
- Subjects
FOS: Computer and information sciences ,050210 logistics & transportation ,0209 industrial biotechnology ,Computer Science - Machine Learning ,Situation awareness ,Artificial neural network ,Computer science ,business.industry ,Network packet ,05 social sciences ,Yaw ,Automotive industry ,Machine Learning (stat.ML) ,02 engineering and technology ,Machine Learning (cs.LG) ,Computer Science - Robotics ,020901 industrial engineering & automation ,Cooperative Adaptive Cruise Control ,Statistics - Machine Learning ,0502 economics and business ,Trajectory ,business ,Robotics (cs.RO) ,Simulation ,Block (data storage) - Abstract
Situational awareness in vehicular networks could be substantially improved utilizing reliable trajectory prediction methods. More precise situational awareness, in turn, results in notably better performance of critical safety applications, such as Forward Collision Warning (FCW), as well as comfort applications like Cooperative Adaptive Cruise Control (CACC). Therefore, vehicle trajectory prediction problem needs to be deeply investigated in order to come up with an end to end framework with enough precision required by the safety applications' controllers. This problem has been tackled in the literature using different methods. However, machine learning, which is a promising and emerging field with remarkable potential for time series prediction, has not been explored enough for this purpose. In this paper, a two-layer neural network-based system is developed which predicts the future values of vehicle parameters, such as velocity, acceleration, and yaw rate, in the first layer and then predicts the two-dimensional, i.e. longitudinal and lateral, trajectory points based on the first layer's outputs. The performance of the proposed framework has been evaluated in realistic cut-in scenarios from Safety Pilot Model Deployment (SPMD) dataset and the results show a noticeable improvement in the prediction accuracy in comparison with the kinematics model which is the dominant employed model by the automotive industry. Both ideal and nonideal communication circumstances have been investigated for our system evaluation. For non-ideal case, an estimation step is included in the framework before the parameter prediction block to handle the drawbacks of packet drops or sensor failures and reconstruct the time series of vehicle parameters at a desirable frequency.
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- 2018
11. A Driver Behavior Modeling Structure Based on Non-Parametric Bayesian Stochastic Hybrid Architecture
- Author
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Yaser P. Fallah, Hossein Nourkhiz Mahjoub, and Behrad Toghi
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Signal Processing (eess.SP) ,050210 logistics & transportation ,Vehicular ad hoc network ,Computer science ,Distributed computing ,05 social sciences ,Bayesian probability ,Nonparametric statistics ,020302 automobile design & engineering ,Context (language use) ,Systems and Control (eess.SY) ,02 engineering and technology ,Bayesian inference ,symbols.namesake ,0203 mechanical engineering ,Hybrid system ,0502 economics and business ,FOS: Electrical engineering, electronic engineering, information engineering ,symbols ,Computer Science - Systems and Control ,Electrical Engineering and Systems Science - Signal Processing ,Intelligent transportation system ,Gaussian process - Abstract
Heterogeneous nature of the vehicular networks, which results from the co-existence of human-driven, semi-automated, and fully autonomous vehicles, is a challenging phenomenon toward the realization of the intelligent transportation systems with an acceptable level of safety, comfort, and efficiency. Safety applications highly suffer from communication resource limitations, specifically in dense and congested vehicular networks. The idea of model-based communication (MBC) has been recently proposed to address this issue. In this work, we propose Gaussian Process-based Stochastic Hybrid System with Cumulative Relevant History (CRH-GP-SHS) framework, which is a hierarchical stochastic hybrid modeling structure, built upon a non-parametric Bayesian inference method, i.e. Gaussian processes. This framework is proposed in order to be employed within the MBC context to jointly model driver/vehicle behavior as a stochastic object. Non-parametric Bayesian methods relieve the limitations imposed by non-evolutionary model structures and enable the proposed framework to properly capture different stochastic behaviors. The performance of the proposed CRH-GP-SHS framework at the inter-mode level has been evaluated over a set of realistic lane change maneuvers from NGSIM-US101 dataset. The results show a noticeable performance improvement for GP in comparison to the baseline constant speed model, specifically in critical situations such as highly congested networks. Moreover, an augmented model has also been proposed which is a composition of GP and constant speed models and capable of capturing the driver behavior under various network reliability conditions., This work has been accepted in 2018 IEEE Connected and Automated Vehicles Symposium (CAVS 2018)
- Published
- 2018
12. A Learning-based Stochastic MPC Design for Cooperative Adaptive Cruise Control to Handle Interfering Vehicles
- Author
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Amin Tahmasbi-Sarvestani, Hossein Nourkhiz Mahjoub, Hadi Kazemi, and Yaser P. Fallah
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Control and Optimization ,Computer science ,Stochastic process ,Stochastic modelling ,Advanced driver assistance systems ,Control engineering ,Systems and Control (eess.SY) ,Cooperative Adaptive Cruise Control ,Artificial Intelligence ,Automotive Engineering ,FOS: Electrical engineering, electronic engineering, information engineering ,Trajectory ,Computer Science - Systems and Control ,Cruise control ,Collision avoidance ,Block (data storage) - Abstract
Vehicle to Vehicle (V2V) communication has a great potential to improve reaction accuracy of different driver assistance systems in critical driving situations. Cooperative Adaptive Cruise Control (CACC), which is an automated application, provides drivers with extra benefits such as traffic throughput maximization and collision avoidance. CACC systems must be designed in a way that are sufficiently robust against all special maneuvers such as cutting-into the CACC platoons by interfering vehicles or hard braking by leading cars. To address this problem, a Neural- Network (NN)-based cut-in detection and trajectory prediction scheme is proposed in the first part of this paper. Next, a probabilistic framework is developed in which the cut-in probability is calculated based on the output of the mentioned cut-in prediction block. Finally, a specific Stochastic Model Predictive Controller (SMPC) is designed which incorporates this cut-in probability to enhance its reaction against the detected dangerous cut-in maneuver. The overall system is implemented and its performance is evaluated using realistic driving scenarios from Safety Pilot Model Deployment (SPMD)., 10 pages, Submitted as a journal paper at T-IV
- Published
- 2018
13. Multiple Access in Cellular V2X: Performance Analysis in Highly Congested Vehicular Networks
- Author
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Jayanthi Rao, Hossein Nourkhiz Mahjoub, M. O. Mughal, Sushanta Das, Yaser P. Fallah, Saifuddin, and Behrad Toghi
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Networking and Internet Architecture (cs.NI) ,FOS: Computer and information sciences ,Vehicular ad hoc network ,business.industry ,Network packet ,Computer science ,020206 networking & telecommunications ,020302 automobile design & engineering ,02 engineering and technology ,Unified system ,Computer Science - Networking and Internet Architecture ,High fidelity ,0203 mechanical engineering ,General partnership ,Scalability ,0202 electrical engineering, electronic engineering, information engineering ,Performance indicator ,Latency (engineering) ,business ,Computer network - Abstract
Vehicle-to-everything (V2X) communication enables vehicles, roadside vulnerable users, and infrastructure facilities to communicate in an ad-hoc fashion. Cellular V2X (C-V2X), which was introduced in the 3rd generation partnership project (3GPP) release 14 standard, has recently received significant attention due to its perceived ability to address the scalability and reliability requirements of vehicular safety applications. In this paper, we provide a comprehensive study of the resource allocation of the C-V2X multiple access mechanism for high-density vehicular networks, as it can strongly impact the key performance indicators such as latency and packet delivery rate. Phenomena that can affect the communication performance are investigated and a detailed analysis of the cases that can cause possible performance degradation or system limitations, is provided. The results indicate that a unified system configuration may be necessary for all vehicles, as it is mandated for IEEE 802.11p, in order to obtain the optimum performance. In the end, we show the inter-dependence of different parameters on the resource allocation procedure with the aid of our high fidelity simulator., Comment: Accepted to the IEEE Vehicular Networking Conference (VNC 2018), Taipei, Taiwan
- Published
- 2018
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14. A throughput optimization framework with delay constraints for backbone WMNs
- Author
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Hossein Nourkhiz Mahjoub
- Subjects
Wireless mesh network ,Computer science ,business.industry ,Quality of service ,ComputerSystemsOrganization_COMPUTER-COMMUNICATIONNETWORKS ,Constrained optimization ,Upper and lower bounds ,Computer Science::Performance ,Transmission (telecommunications) ,Computer Science::Networking and Internet Architecture ,Bandwidth (computing) ,business ,Throughput (business) ,Jitter ,Computer network - Abstract
Backbone wireless mesh networking concept has been developed in order to provide higher bandwidth, better QoS (less delay and jitter) and larger coverage range compared with previous network types. These factors should be balanced in an appropriate way in order to satisfy mentioned goals. In this paper an optimization framework has been proposed in order to maximize throughput according to upper bound allowable delay. Problem has been studied in two cases with fixed and variable duration transmission intervals and results have been compared. Also secondary interference avoidance constraints based on IEEE 802.11 MAC protocol model have been discussed.
- Published
- 2009
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