Paper presents simulation and operation of a mobile robot using GPS in navigation. It is used SLAM algorithm to obtain a map, a path planner algorithm called Wavefront, and a VHF navigation obstacle evasion algorithm. A Player/Stage is utilized in simulation and the real navigation of a mobile robot is tested.

A Simplified Multifractal Model for Self-Similar Traffic Flows in High-Speed Computer Networks

This article explores the required amount of time series points from a high-speed traffic network to accurately estimate the Hurst exponent. The methodology consists in designing an experiment using estimators that are applied to time series, followed by addressing the minimum amount of points required to obtain accurate estimates of the Hurst exponent in real-time. The methodology addresses the exhaustive analysis of the Hurst exponent considering bias behavior, standard deviation, mean square error, and convergence using fractional Gaussian noise signals with stationary increases. Our results show that the Whittle estimator successfully estimates the Hurst exponent in series with few points. Based on the results obtained, a minimum length for the time series is empirically proposed. Finally, to validate the results, the methodology is applied to real traffic captures in a high-speed network based on the IEEE 802.3ab standard.

A novel constructive mathematical model based on the multifractal formalism in order to accurately characterizing the localized fluctuations present in the course of traffic flows today high-speed computer networks is presented. The proposed model has the target to analyze self-similar second-order time series representative of traffic flows in terms of their roughness and impulsivity.

This paper presents an extension of the models used to generate fractal traffic flows in high-speed computer networks by means of the formulation of a model that considers the use of one-dimensional chaotic maps. Based on the disaggregation of the temporal series generated, a valid explanation of behavior of the values of Hurst exponent is proposed and the feasibility of their control from the parameters of the proposed model is shown.