arXiv subjects

Luca Davoli

Publications and source records attributed to Luca Davoli.

3 recordsLinked to original sources

arXiv2023

Redundant and Loosely Coupled LiDAR-Wi-Fi Integration for Robust Global Localization in Autonomous Mobile Robotics

This paper presents a framework addressing the challenge of global localization in autonomous mobile robotics by integrating LiDAR-based descriptors and Wi-Fi fingerprinting in a pre-mapped environment. This is motivated by the increasing demand for reliable localization in complex scenarios, such as urban areas or underground mines, requiring robust systems able to overcome limitations faced by traditional Global Navigation Satellite System (GNSS)-based localization methods. By leveraging the complementary strengths of LiDAR and Wi-Fi sensors used to generate predictions and evaluate the confidence of each prediction as an indicator of potential degradation, we propose a redundancy-based approach that enhances the system's overall robustness and accuracy. The proposed framework allows independent operation of the LiDAR and Wi-Fi sensors, ensuring system redundancy. By combining the predictions while considering their confidence levels, we achieve enhanced and consistent performance in localization tasks.

cs.RO↗

arXiv2015

Traffic Engineering with Segment Routing: SDN-based Architectural Design and Open Source Implementation

Traffic Engineering (TE) in IP carrier networks is one of the functions that can benefit from the Software Defined Networking paradigm. By logically centralizing the control of the network, it is possible to "program" per-flow routing based on TE goals. Traditional per-flow routing requires a direct interaction between the SDN controller and each node that is involved in the traffic paths. Depending on the granularity and on the temporal properties of the flows, this can lead to scalability issues for the amount of routing state that needs to be maintained in core network nodes and for the required configuration traffic. On the other hand, Segment Routing (SR) is an emerging approach to routing that may simplify the route enforcement delegating all the configuration and per-flow state at the border of the network. In this work we propose an architecture that integrates the SDN paradigm with SR-based TE, for which we have provided an open source reference implementation. We have designed and implemented a simple TE/SR heuristic for flow allocation and we show and discuss experimental results.

cs.NI↗

arXiv2015

PMSR - Poor Man's Segment Routing, a minimalistic approach to Segment Routing and a Traffic Engineering use case

The current specification of the Segment Routing (SR) architecture requires enhancements to the intra-domain routing protocols (e.g. OSPF and IS-IS) so that the nodes can advertise the Segment Identifiers (SIDs). We propose a simpler solution called PMSR (Poor Man's Segment Routing), that does not require any enhancement to routing protocol. We compare the procedures of PMSR with traditional SR, showing that PMSR can reduce the operation and management complexity. We analyze the set of use cases in the current SR drafts and we claim that PMSR can support the large majority of them. Thanks to the drastic simplification of the Control Plane, we have been able to develop an Open Source prototype of PMSR. In the second part of the paper, we consider a Traffic Engineering use case, starting from a traditional flow assignment optimization problem which allocates hop-by-hop paths to flows. We propose a SR path assignment algorithm and prove that it is optimal with respect to the number of segments allocated to a flow.

cs.NI↗