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1.
I
NT
RO
D
UCT
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O
N
Of
f
ices
an
d
p
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b
lic
b
u
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in
g
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in
m
a
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w
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f
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[
1
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in
f
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d
in
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s
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ts
.
T
h
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u
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.
T
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in
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Me
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av
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at
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en
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s
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as
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ad
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[
2
-
4
]
,
in
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tial
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its
[
5
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o
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w
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[
6
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p
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T
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latter
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
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K
A
T
elec
o
m
m
u
n
C
o
m
p
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t E
l
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tr
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w
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mb
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o
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d
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ta
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r
n
a
vig
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tio
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…
(
N
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m
s
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c
h
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B
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ian
f
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lter
[
7
-
9
]
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r
f
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zz
y
to
o
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tain
th
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b
est
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y
w
it
h
t
h
e
Vo
r
o
n
o
i
d
iag
r
a
m
a
n
d
t
h
e
s
h
o
r
test
p
ath
alg
o
r
it
h
m
.
Ou
r
p
r
o
p
o
s
ed
co
m
b
in
a
tio
n
o
f
n
et
w
o
r
k
m
o
d
el
an
d
t
h
e
s
h
o
r
te
s
t p
ath
a
lg
o
r
it
h
m
h
a
s
ac
h
iev
ed
th
e
i
n
te
n
d
ed
g
o
als,
th
at
to
f
i
n
d
th
e
s
h
o
r
tes
t
an
d
s
af
est
r
o
u
tes
d
u
r
in
g
e
m
er
g
e
n
c
y
ev
ac
u
atio
n
.
T
h
e
r
esid
en
t
i
s
s
u
p
p
o
s
ed
to
o
b
tain
ap
p
r
o
p
r
iate
in
f
o
r
m
atio
n
w
h
ic
h
co
u
ld
lead
th
em
f
r
o
m
o
n
e
ar
ea
in
to
o
th
er
s
p
o
ts
u
p
to
th
ey
at
t
ain
th
e
r
ef
er
s
ec
u
r
e
p
lace
th
r
o
u
g
h
th
i
s
m
o
d
el.
T
h
e
r
o
u
te
d
ir
ec
tio
n
id
ea
o
n
in
d
o
o
r
n
av
i
g
atio
n
s
h
all
ex
a
m
i
n
e
s
e
v
er
al
ele
m
en
ts
[
1
0
]
in
cl
u
d
in
g
a
p
ar
ticu
lar
b
u
ild
in
g
m
ap
d
atab
ase
m
o
d
el,
th
e
h
u
m
a
n
r
ed
ep
lo
y
m
e
n
t
m
o
v
e
m
e
n
t
an
d
an
y
t
y
p
ica
l
r
eq
u
ir
e
m
en
t to
a
u
s
er
.
2.
3
D
G
RAP
H
I
CA
L
M
O
DE
L
S
Desig
n
p
la
n
i
n
h
er
ited
b
y
m
ai
n
l
y
t
h
e
m
ap
d
atab
ases
b
u
ild
u
p
o
n
2
D
g
r
ap
h
ical
v
i
s
u
a
lizatio
n
[
1
0
]
.
X3
D
f
o
r
3
D
v
is
u
ali
s
atio
n
w
h
ich
i
s
3
D
g
r
ap
h
ic
s
s
ta
n
d
ar
d
o
r
its
p
r
ed
ec
ess
o
r
v
ir
tu
al
r
ea
lit
y
m
o
d
ell
in
g
la
n
g
u
a
g
e
(
VR
M
L
)
is
a
n
o
th
er
w
a
y
to
r
ep
r
esen
t t
h
e
m
ap
d
atab
ases
[
1
1
]
.
Yet
th
i
s
m
o
d
el
h
as a
s
h
o
r
tco
m
i
n
g
w
h
ic
h
it c
o
u
ld
n
o
t
s
p
ec
if
y
t
h
e
s
e
m
an
tics
o
f
a
g
iv
en
b
u
ild
in
g
.
So
lid
lear
n
i
n
g
o
f
m
ap
o
b
j
ec
ts
is
n
ee
d
ed
th
a
n
o
n
l
y
th
e
ir
to
p
o
lo
g
ical
r
elatio
n
s
h
ip
to
p
r
o
p
o
s
e
a
n
av
i
g
atio
n
v
ie
w
o
f
a
b
u
ild
i
n
g
[
1
0
]
.
C
it
y
G
M
L
,
i
n
d
u
s
tr
y
f
o
u
n
d
atio
n
clas
s
es,
a
n
d
g
r
ee
n
b
u
ild
in
g
XM
L
m
o
d
els
m
a
y
r
es
o
lv
e
th
is
p
r
o
b
le
m
.
E
x
p
lai
n
ed
b
y
[
1
2
]
,
th
ese
m
o
d
el
s
co
m
b
i
n
ati
o
n
m
a
y
b
e
u
s
ed
to
r
ep
r
esen
t
th
e
b
u
ild
in
g
f
ab
r
ic
in
to
d
ee
p
er
m
o
d
el,
w
h
ic
h
in
c
lu
d
e
a
g
eo
m
e
tr
ical
m
o
d
el
an
d
a
lo
g
ical
m
o
d
el.
E
x
tr
ac
tio
n
o
f
a
clea
r
p
ath
to
g
u
id
e
th
e
r
o
u
te
i
s
h
ar
d
if
o
n
l
y
a
p
p
ly
i
n
g
a
g
eo
m
etr
ical
m
o
d
el.
C
o
n
s
eq
u
en
tl
y
,
s
in
ce
th
e
lo
g
ical
m
o
d
el
m
a
y
b
e
p
r
o
jecte
d
w
it
h
ea
s
e,
th
e
n
t
h
is
m
o
d
el
is
s
elec
ted
to
u
s
e
f
r
o
m
a
r
o
u
te
n
o
d
e
to
an
o
th
er
n
o
d
e
[
1
2
]
.
L
i
k
ew
i
s
e
,
t
h
e
m
a
p
d
e
p
i
c
t
i
o
n
s
h
a
l
l
b
e
i
n
t
h
e
2
-
d
i
m
e
n
s
i
o
n
m
o
d
e
l
t
o
p
r
o
d
u
c
e
r
o
u
t
e
g
u
i
d
a
n
c
e
s
h
o
r
t
l
y
.
T
o
m
a
k
e
a
d
e
c
i
s
i
o
n
i
n
e
x
i
g
e
n
c
e
c
i
r
c
u
m
s
t
a
n
c
e
s
i
s
n
o
t
a
d
e
q
u
a
t
e
i
f
o
n
l
y
e
m
p
l
o
y
e
d
t
h
e
b
u
i
l
d
i
n
g
s
p
a
t
i
a
l
i
n
f
o
r
m
a
t
i
o
n
.
S
e
v
e
r
a
l
s
u
p
p
l
e
m
e
n
t
a
r
y
d
e
l
i
b
e
r
a
t
i
o
n
s
s
h
a
l
l
b
e
h
i
g
h
l
i
g
h
t
e
d
i
n
t
h
e
p
r
o
c
e
s
s
t
o
a
s
s
i
s
t
w
e
l
l
d
e
c
i
s
i
o
n
-
m
a
k
i
n
g
.
3.
NE
T
WO
RK
ANA
L
YSI
S
T
o
ch
o
o
s
e
th
e
o
p
tim
u
m
r
o
u
te
f
o
r
e
m
er
g
e
n
c
y
cir
cu
m
s
tan
ce
s
o
n
in
d
o
o
r
n
av
ig
at
io
n
i
n
t
h
is
s
tu
d
y
,
w
e
p
r
o
p
o
s
ed
a
n
et
w
o
r
k
d
esi
g
n
a
n
d
d
ev
elo
p
ed
alth
o
u
g
h
i
n
v
e
s
ti
g
ate
an
d
s
i
m
u
late
e
x
is
ti
n
g
s
h
o
r
test
p
ath
al
g
o
r
ith
m
.
T
h
r
ee
n
et
w
o
r
k
m
o
d
els,
i.e
.
,
ad
j
u
s
tin
g
li
n
e
alg
o
r
it
h
m
[
1
3
]
,
Vo
r
o
n
o
i
d
iag
r
a
m
[
1
4
]
,
an
d
Qu
ad
tr
ee
[
1
5
,
1
6
]
h
av
e
b
ee
n
an
al
y
s
ed
as
in
p
u
t
f
o
r
s
h
o
r
test
p
ath
alg
o
r
ith
m
,
co
m
b
in
e
d
w
i
th
li
n
k
co
s
t,
to
g
en
er
ate
ev
ac
u
at
io
n
g
u
id
an
ce
.
B
ased
o
n
av
ailab
le
n
et
w
o
r
k
m
o
d
el
s
,
w
e
h
a
v
e
n
o
ticed
,
o
n
th
e
o
n
e
h
a
n
d
,
Qu
ad
tr
ee
h
as
a
d
r
aw
b
ac
k
i.e
.
f
all
th
r
o
u
g
h
in
v
elo
cit
y
co
n
s
eq
u
e
n
ce
o
f
p
ea
k
co
m
p
le
x
it
y
.
Ho
w
e
v
er
,
it
h
as
g
o
o
d
ac
cu
r
ac
y
s
i
n
ce
t
h
is
m
o
d
el
is
h
i
g
h
l
y
s
p
ec
if
ied
.
F
u
r
th
er
m
o
r
e,
"
m
o
v
e
in
to
co
r
r
id
o
r
"
is
ad
o
p
te
d
b
y
ad
j
u
s
tin
g
li
n
e
al
g
o
r
it
h
m
an
d
Vo
r
o
n
o
i
d
iag
r
a
m
i
s
s
i
m
p
ler
a
n
d
f
aster
t
h
a
n
Q
u
ad
tr
ee
.
Nev
er
th
e
less
,
b
et
w
ee
n
a
ll
t
h
e
n
et
w
o
r
k
s
,
ad
j
u
s
tin
g
l
in
e
alg
o
r
ith
m
h
a
s
t
h
e
w
o
r
s
t
n
et
w
o
r
k
ac
c
u
r
ac
y
t
h
an
th
e
o
t
h
er
.
Hen
ce
,
b
ased
o
n
s
p
ee
d
an
d
ac
cu
r
ac
y
,
t
h
e
Vo
r
o
n
o
i
d
ia
g
r
a
m
is
th
e
p
r
i
m
e
s
elec
tio
n
f
o
r
th
e
n
et
w
o
r
k
m
o
d
el.
T
h
is
d
iag
r
a
m
r
ep
r
esen
ts
a
s
u
b
d
iv
is
io
n
o
f
s
p
ac
e
in
to
r
e
g
io
n
s
w
h
o
s
e
p
o
in
t
s
ar
e
clo
s
er
to
a
g
en
er
ati
n
g
v
er
te
x
t
h
an
a
n
y
o
th
er
ele
m
en
t.
C
e
n
ter
lin
e
al
g
o
r
ith
m
s
u
s
in
g
t
h
e
Vo
r
o
n
o
i
d
iag
r
a
m
b
eg
in
b
y
s
a
m
p
li
n
g
th
e
p
o
l
y
g
o
n
b
o
u
n
d
ar
y
a
n
d
co
n
s
tr
u
ct
in
g
th
e
Vo
r
o
n
o
i
d
iag
r
am
.
T
h
e
in
t
er
s
ec
tio
n
s
b
et
w
ee
n
th
e
Vo
r
o
n
o
i
ed
g
e
s
co
n
v
er
g
e
to
th
e
p
o
l
y
g
o
n
ce
n
ter
li
n
e,
as
th
e
b
o
u
n
d
ar
y
s
a
m
p
li
n
g
r
ate
is
i
n
cr
ea
s
ed
.
On
e
p
r
o
b
le
m
w
it
h
t
h
is
m
et
h
o
d
is
th
e
d
i
f
f
icu
lt
y
i
n
j
o
in
in
g
ce
n
ter
li
n
e
s
e
g
m
e
n
ts
f
r
o
m
s
ep
ar
ate
b
u
t a
d
j
ac
en
t
h
all
w
a
y
p
o
l
y
g
o
n
s
.
4.
SH
O
RT
E
ST
P
A
T
H
AL
G
O
RIT
H
M
Hav
i
n
g
ch
o
s
en
t
h
e
n
et
w
o
r
k
d
iag
r
a
m
,
th
e
n
e
x
t
lo
g
ica
l
s
tep
is
to
ch
o
o
s
e
th
e
b
est
s
h
o
r
test
p
ath
alg
o
r
ith
m
f
o
r
th
i
s
i
n
d
o
o
r
n
av
i
g
atio
n
.
F
iv
e
al
g
o
r
ith
m
s
,
i.e
.
,
Dij
k
s
tr
a
[
1
7
]
,
Flo
y
d
-
W
ar
s
h
all
[
1
8
-
2
0
]
,
A*
Sear
c
h
[
2
1
]
,
B
ell
m
an
-
Fo
r
d
[
2
2
]
,
an
d
J
o
h
n
s
o
n
’
s
[
2
3
]
h
av
e
b
ee
n
ta
k
e
n
i
n
to
co
n
s
id
er
atio
n
i
n
th
i
s
p
r
o
j
ec
t.
A*
Sear
c
h
i
s
t
h
e
b
est
s
h
o
r
test
p
at
h
alg
o
r
it
h
m
w
h
ic
h
co
u
ld
p
r
o
v
id
e
th
e
to
p
ac
cu
r
ac
y
.
I
t
w
o
r
k
s
m
ec
h
an
i
s
m
b
a
s
ed
o
n
E
u
clid
ea
n
d
is
ta
n
ce
to
th
e
d
esti
n
atio
n
n
o
d
e
s
an
s
f
o
r
ec
asti
n
g
t
h
e
en
tire
n
et
w
o
r
k
.
Hen
ce
,
th
er
e
p
o
s
s
ib
l
y
s
o
m
e
ca
s
es
w
h
er
eu
pon
th
e
o
p
ti
m
u
m
r
o
u
te
w
o
u
ld
b
e
d
is
p
lace
d
.
Fu
r
th
er
m
o
r
e,
Flo
y
d
-
W
ar
s
h
al
alg
o
r
ith
m
is
w
ea
k
in
co
n
s
eq
u
e
n
ce
o
f
n
3
co
m
p
le
x
it
y
.
T
o
ca
lcu
late
th
e
o
p
ti
m
u
m
r
o
u
te,
Dij
k
s
tr
a,
B
ell
m
an
-
Fo
r
d
an
d
J
o
h
n
s
o
n
’
s
al
g
o
r
ith
m
m
i
g
h
t
b
e
g
r
ea
t
p
r
ef
er
en
ce
s
.
Ne
v
er
t
h
eles
s
,
th
e
Dij
k
s
tr
a
a
l
g
o
r
ith
m
h
as
a
b
ett
er
ac
h
iev
e
m
e
n
t
th
a
n
t
h
e
o
t
h
er
s
.
W
e
d
o
n
'
t
e
m
p
lo
y
n
eg
at
iv
e
w
ei
g
h
ts
f
r
o
m
Dij
k
s
tr
a
in
o
u
r
s
t
u
d
y
s
i
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5.
RE
S
E
ARCH
M
O
DE
L
S
Fig
u
r
e
1
s
h
o
w
s
th
e
r
esear
c
h
m
o
d
el
o
n
th
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s
a
f
est
a
n
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s
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o
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est
r
o
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te.
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h
e
n
et
w
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m
o
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el
is
p
r
o
d
u
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d
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et
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y
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o
m
a
2
D
b
u
ild
in
g
en
v
ir
o
n
m
e
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tr
an
s
f
o
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at
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r
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at
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ir
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ith
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et
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co
n
j
o
in
ed
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it
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lin
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co
s
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as
a
n
in
p
u
t.
B
ased
o
n
th
e
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u
ild
i
n
g
f
o
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t
h
r
o
u
g
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it
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er
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h
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t i
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y
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e
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ce
d
b
y
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i
s
co
n
d
itio
n
.
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h
is
p
ar
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o
f
th
e
p
ap
er
d
is
cu
s
s
e
s
h
o
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o
r
tes
t
an
d
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e
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a
f
est
r
o
u
t
e
is
d
ef
in
ed
.
T
h
e
m
a
in
co
n
s
id
er
atio
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o
f
r
o
u
te
g
u
id
a
n
ce
d
u
r
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e
e
m
er
g
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p
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d
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cu
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ac
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.
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ter
m
o
f
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o
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te
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u
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ce
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u
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ated
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a
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d
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er
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ad
ap
tiv
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to
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et
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n
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itio
n
.
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x
t,
th
e
s
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o
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tes
t
r
o
u
te
is
n
o
t
al
w
a
y
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th
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f
e
s
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r
o
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te
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u
r
in
g
em
er
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y
ti
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e.
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h
er
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o
r
e,
in
ter
m
o
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ac
cu
r
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,
th
e
g
e
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er
ated
r
o
u
te
m
u
s
t
av
o
i
d
d
an
g
er
o
u
s
p
lace
s
.
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ac
h
ed
g
e
o
f
th
e
n
et
w
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k
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r
ep
r
esen
t
ed
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h
ip
f
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n
ctio
n
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h
at
co
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m
a
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ac
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in
g
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.
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t
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g
en
er
ali
s
ed
b
ased
o
n
t
h
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ca
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o
n
ical
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ep
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tio
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f
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zz
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ian
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lar
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m
b
er
s
to
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ef
in
e
th
e
s
h
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test
r
o
u
te.
T
h
is
m
et
h
o
d
is
m
o
r
e
ef
f
icie
n
t
b
ec
au
s
e
th
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s
u
m
m
in
g
o
p
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d
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n
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o
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zz
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er
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ca
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e
in
a
n
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s
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n
d
s
tr
aig
h
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m
a
n
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er
.
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ar
a
m
eter
s
th
a
t
m
a
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in
v
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ed
in
d
eter
m
i
n
i
n
g
th
e
ca
lcu
lat
i
o
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o
f
s
af
es
t
p
ath
.
T
h
e
s
elec
tio
n
is
b
ased
o
n
t
h
e
r
eu
s
es
o
f
th
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e
x
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g
al
g
o
r
ith
m
an
d
as
w
e
ll
as
b
ased
o
n
tec
h
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ica
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an
al
y
s
is
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n
d
ec
o
n
o
m
ic
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s
id
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.
Fig
u
r
e
1
.
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f
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ec
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if
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t s
w
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tch
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u
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d
er
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y
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d
itio
n
6.
RE
SU
L
T
S
T
h
e
f
o
llo
w
i
n
g
p
r
esen
ts
t
h
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an
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s
an
d
d
esig
n
w
h
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tar
ted
f
r
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re
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p
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o
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in
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u
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in
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ap
,
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e
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er
ati
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u
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d
in
g
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et
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k
,
an
d
g
e
n
er
atin
g
s
h
o
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test
p
ath
.
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h
is
s
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tio
n
i
s
i
n
ten
d
ed
to
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e
in
s
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t
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to
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e
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s
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er
atin
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.
6
.
1
.
P
re
-
pro
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s
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ing
bu
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g
m
a
p
F
o
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a
n
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n
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e
h
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R
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.
6
.
2
.
G
ener
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t
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building
ne
t
w
o
r
k
T
h
e
b
u
il
d
in
g
n
e
tw
o
r
k
ca
n
b
e
g
e
n
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at
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b
y
p
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r
f
o
r
m
i
n
g
s
o
m
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t
e
p
s
.
F
r
o
m
th
e
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as
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m
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p
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h
a
d
c
r
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d
a
p
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ly
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o
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w
h
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r
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p
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en
ts
r
o
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m
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d
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b
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r
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f
th
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u
i
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in
g
a
s
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h
o
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in
Fig
u
r
e
2
.
A
f
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r
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g
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h
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p
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ly
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w
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V
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.
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F
ig
u
r
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3
.
N
e
x
t
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c
r
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a
t
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t
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(
d
e
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a
s
s
h
o
w
n
in
F
ig
u
r
e
4
.
L
as
t
ly
,
w
e
c
r
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a
t
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d
a
n
e
tw
o
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k
t
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in
a
d
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a
b
a
s
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u
s
in
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th
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p
g
r
_
c
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ea
t
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T
o
p
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l
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y
f
u
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t
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r
o
m
p
g
R
o
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N
e
t
w
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k
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p
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y
’
s
t
a
b
l
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s
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w
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in
F
ig
u
r
e
5
.
T
h
e
c
o
s
t
an
d
m
u
l
t
i
p
l
i
e
r
c
o
lu
m
n
w
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ll
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ef
in
e
th
e
li
n
k
c
o
s
t
.
I
n
th
e
ev
en
t
o
f
d
is
as
t
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y
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im
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f
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i
n
a
p
p
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o
p
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t
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m
a
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s
.
M
an
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as
e
s
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h
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v
i
c
tim
s
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ly
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w
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w
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m
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en
Evaluation Warning : The document was created with Spire.PDF for Python.
T
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l
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lace
s
.
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en
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eter
m
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tes
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s
in
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d
ev
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r
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e
[
2
4
]
.
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h
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ated
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An
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ith
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t
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ter
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.
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u
rn
o
m
o
,
e
t
a
l.
"
De
v
e
lo
p
m
e
n
t
o
f
tri
a
n
g
u
lar
a
rra
y
e
ig
h
t
p
a
tch
e
s
a
n
ten
n
a
s
f
o
r
c
ircu
lar
ly
-
p
o
l
a
rize
d
sy
n
th
e
ti
c
a
p
e
rtu
re
ra
d
a
r
se
n
so
r,
"
T
EL
KO
M
NIKA
T
e
lec
o
mm
u
n
ica
ti
o
n
Co
mp
u
ti
n
g
El
e
c
tro
n
ics
a
n
d
C
o
n
tr
o
l
,
v
o
l
.
1
8
,
n
o
.
2
,
pp.
6
3
1
-
639
,
2
0
2
0
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
V
o
r
o
n
o
i d
ia
g
r
a
m
w
ith
fu
z
z
y
n
u
mb
er a
n
d
s
en
s
o
r
d
a
ta
in
a
n
i
n
d
o
o
r
n
a
vig
a
tio
n
…
(
N
a
n
n
a
S
u
r
ya
n
a
)
1997
[5
]
M
.
N.
M
u
h
a
m
m
a
d
,
e
t
a
l.
,
"
In
d
o
o
r
p
e
d
e
strian
trac
k
in
g
u
sin
g
c
o
n
su
m
e
r
-
g
ra
d
e
in
e
rti
a
l
se
n
so
rs
w
it
h
P
ZT
D
h
e
a
d
in
g
c
o
rre
c
ti
o
n
,
"
IEE
E
S
e
n
s
o
rs
J
o
u
r
n
a
l
,
v
o
l.
1
8
,
n
o
.
1
2
,
p
p
.
5
1
6
4
-
5
1
7
2
,
2
0
1
8
.
[6
]
X
.
T
ian
,
e
t
a
l.
,
"
Op
ti
m
iza
ti
o
n
o
f
fin
g
e
rp
rin
ts
re
p
o
rti
n
g
stra
teg
y
f
o
r
WL
A
N
in
d
o
o
r
l
o
c
a
li
z
a
ti
o
n
,
"
I
EE
E
T
ra
n
sa
c
ti
o
n
s
o
n
M
o
b
il
e
C
o
mp
u
t
in
g
,
v
o
l
.
1
7
,
n
o
.
2
,
p
p
.
3
9
0
-
4
0
3
,
2
0
1
7
.
[7
]
W
.
W
a
n
g
,
W
e
i
-
S
h
in
n
Ku
,
"
D
y
n
a
m
ic
in
d
o
o
r
n
a
v
ig
a
ti
o
n
w
it
h
b
a
y
e
sia
n
f
il
ters
,
"
S
IGS
PA
T
IAL
S
p
e
c
ia
l
,
v
o
l.
8
,
n
o
.
3
,
p
p
.
9
-
1
0
,
2
0
1
7
.
[8
]
O.
Ka
lt
io
k
a
ll
io
,
R.
Ho
ste
tt
ler,
N.
P
a
tw
a
ri,
"
A
No
v
e
l
Ba
y
e
sia
n
F
il
ter
f
o
r
RS
S
-
b
a
se
d
De
v
ice
-
f
re
e
Lo
c
a
li
z
a
ti
o
n
a
n
d
T
ra
c
k
in
g
,
"
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
M
o
b
il
e
C
o
mp
u
t
in
g
,
p
p
.
1
-
1
6
,
2
0
1
9
.
[9
]
J.
Hw
a
n
g
,
e
t
a
l.
,
"
De
v
e
lo
p
m
e
n
t
o
f
e
rro
r
re
d
u
c
ti
o
n
m
o
d
e
l
u
sin
g
B
a
y
e
sia
n
f
il
ter
f
o
r
A
UV
n
a
v
ig
a
ti
n
g
u
n
d
e
r
m
o
v
in
g
ice
,
"
IEE
E/
OES
A
u
to
n
o
m
o
u
s
U
n
d
e
rwa
ter
Veh
icle
W
o
rk
sh
o
p
(
AUV)
,
p
p
.
1
-
6
,
2
0
1
8
.
[1
0
]
P
ierre
-
Yv
e
s G
il
li
é
ro
n
,
e
t
a
l
.
,
"
In
d
o
o
r
n
a
v
ig
a
ti
o
n
p
e
rf
o
r
m
a
n
c
e
a
n
a
l
y
sis,"
Pro
c
e
e
d
in
g
s
o
f
th
e
8
t
h
Eu
r
o
p
e
a
n
n
a
v
ig
a
ti
o
n
c
o
n
fer
e
n
c
e
GNS
S
.
No
.
CONF
,
p
p
.
1
-
9
,
2
0
0
4
.
[1
1
]
U.
Ru
e
p
p
e
l,
K.
M
.
S
tu
e
b
b
e
.
,
"
BI
M
-
b
a
se
d
in
d
o
o
r
-
e
m
e
r
g
e
n
c
y
-
n
a
v
i
g
a
ti
o
n
-
sy
ste
m
f
o
r
c
o
m
p
lex
b
u
il
d
i
n
g
s,"
T
sin
g
h
u
a
sc
ien
c
e
a
n
d
tec
h
n
o
lo
g
y
,
v
o
l.
1
3
,
n
o
.
S
1
,
p
p
.
3
6
2
-
3
6
7
,
2
0
0
8
.
[1
2
]
S
.
P
u
,
S
.
Zl
a
tan
o
v
a
.
,
"
Ev
a
c
u
a
ti
o
n
ro
u
te
c
a
lcu
latio
n
o
f
in
n
e
r
b
u
il
d
i
n
g
s,"
Ge
o
-
in
fo
rm
a
ti
o
n
f
o
r
d
isa
ste
r
ma
n
a
g
e
me
n
t
,
S
p
rin
g
e
r,
Be
rli
n
,
He
id
e
l
b
e
rg
,
p
p
.
1
1
4
3
-
1
1
6
1
,
2
0
0
5
.
[1
3
]
F
.
L
y
a
rd
e
t,
J.
G
rimm
e
r,
M
.
M
u
h
l
h
a
u
se
r,
"
Co
INS:
Co
n
tex
t
se
n
siti
v
e
in
d
o
o
r
n
a
v
ig
a
ti
o
n
sy
ste
m
,
"
Ei
g
h
t
h
IE
EE
In
ter
n
a
t
io
n
a
l
S
y
mp
o
si
u
m o
n
M
u
l
t
ime
d
ia
(
IS
M
'0
6
)
,
p
p
.
2
0
9
-
2
1
8
,
2
0
0
6
.
[1
4
]
J.
L
iu
,
e
t
a
l.
,
"
S
e
m
i
-
a
u
to
m
a
ted
p
ro
c
e
ss
in
g
a
n
d
r
o
u
ti
n
g
w
it
h
in
in
d
o
o
r
stru
c
tu
re
s
f
o
r
e
m
e
rg
e
n
c
y
re
sp
o
n
se
a
p
p
l
ica
ti
o
n
s,"
Cy
b
e
r
S
e
c
u
rity,
S
it
u
a
ti
o
n
M
a
n
a
g
e
me
n
t,
a
n
d
Imp
a
c
t
Asse
ss
me
n
t
II;
a
n
d
Vi
su
a
l
An
a
lytics
fo
r
Ho
me
la
n
d
De
fen
se
a
n
d
S
e
c
u
rity II
,
v
o
l.
7
7
0
9
,
p
p
.
7
7
0
9
0
Z
,
2
0
1
0
.
[1
5
]
H.
S
a
m
e
t,
"
T
h
e
q
u
a
d
tree
a
n
d
r
e
late
d
h
iera
rc
h
ica
l
d
a
ta
stru
c
t
u
r
e
s,"
ACM
Co
mp
u
ti
n
g
S
u
rv
e
y
s
,
v
o
l.
1
6
,
n
o
.
2
,
p
p
.
1
8
7
-
2
6
0
,
1
9
8
4
.
[1
6
]
M
.
M
e
ij
e
rs,
S
.
Zl
a
tan
o
v
a
,
N.
P
f
e
if
e
r,
"
3
D
g
e
o
in
f
o
r
m
a
ti
o
n
in
d
o
o
rs:
stru
c
tu
ri
n
g
f
o
r
e
v
a
c
u
a
ti
o
n
,
"
Pro
c
e
e
d
in
g
s
o
f
Ne
x
t
g
e
n
e
ra
ti
o
n
3
D city mo
d
e
ls
,
v
o
l.
6
,
p
.
1
1
-
1
6
,
2
0
0
5
.
[1
7
]
E.
W
.
Dijk
stra
,
"
A
n
o
te
o
n
tw
o
p
ro
b
lem
s
in
c
o
n
n
e
x
io
n
w
it
h
g
ra
p
h
s,"
Nu
me
risc
h
e
ma
t
h
e
ma
ti
k
,
v
o
l.
1
,
n
o
.
1
,
p
p
.
2
6
9
-
2
7
1
,
1
9
5
9
.
[1
8
]
R.
W
.
F
lo
y
d
,
"
A
l
g
o
rit
h
m
9
7
:
sh
o
r
tes
t
p
a
th
,
"
Co
mm
u
n
ica
t
io
n
s o
f
th
e
ACM
,
v
o
l.
5
,
n
o
.
6
,
1
9
6
2
.
[1
9
]
S
.
W
a
rsh
a
ll
,
"
A
th
e
o
re
m
o
n
b
o
o
le
a
n
m
a
tri
c
e
s,"
J
o
u
rn
a
l
o
f
t
h
e
ACM
,
v
o
l.
9
,
n
o
.
1
,
p
p
.
1
1
-
1
2
,
1
9
6
2
.
[2
0
]
K.
G
u
ten
sc
h
w
a
g
e
r,
e
t
a
l.
,
"
T
h
e
sh
o
rtes
t
p
a
th
:
C
o
m
p
a
riso
n
o
f
d
if
fe
re
n
t
a
p
p
ro
a
c
h
e
s
a
n
d
im
p
lem
e
n
tatio
n
s
f
o
r
th
e
a
u
t
o
m
a
ti
c
ro
u
ti
n
g
o
f
v
e
h
icle
s,"
Pro
c
e
e
d
in
g
s
o
f
th
e
2
0
1
2
W
in
ter
S
im
u
la
ti
o
n
C
o
n
fer
e
n
c
e
(
W
S
C)
IEE
E
,
p
p
.
1
-
1
2
,
2
0
1
2
.
[2
1
]
P
.
E.
Ha
rt,
N.
J.
Nilss
o
n
,
B.
Ra
p
h
a
e
l,
"
A
f
o
r
m
a
l
b
a
sis
f
o
r
th
e
h
e
u
r
isti
c
d
e
term
in
a
ti
o
n
o
f
m
in
i
m
u
m
c
o
st
p
a
th
s,"
IE
E
E
tra
n
sa
c
ti
o
n
s
o
n
S
y
ste
ms
S
c
ien
c
e
a
n
d
Cy
b
e
rn
e
ti
c
s
,
v
o
l.
4
,
n
o
.
2
,
p
p
.
1
0
0
-
1
0
7
,
1
9
6
8
.
[2
2
]
Y
.
H
u
a
n
g
,
H
.
S
h
e
n
g
,
J
.
C
h
e
n
,
"
I
n
t
e
l
l
ig
e
n
t
C
o
n
g
e
s
t
i
o
n
A
v
o
i
d
a
n
c
e
A
lg
o
r
i
t
h
m
a
n
d
S
y
s
t
e
m
-
A
p
p
l
i
c
a
t
i
o
n
o
f
Da
t
a
Vi
t
a
l
i
z
a
t
i
o
n
,
"
1
4
t
h
I
E
E
E
/
A
C
M
I
n
t
e
r
n
a
t
i
o
n
a
l
S
y
m
p
o
s
i
u
m
o
n
C
l
u
s
t
e
r
,
C
l
o
u
d
a
n
d
G
r
i
d
C
o
m
p
u
t
i
n
g
,
p
p
.
8
4
7
-
8
5
6
,
2
0
1
4
.
[2
3
]
D.
B.
Jo
h
n
s
o
n
,
"
Ef
f
i
c
ien
t
a
lg
o
rit
h
m
s
f
o
r
sh
o
rtes
t
p
a
th
s
in
sp
a
rse
n
e
tw
o
rk
s,"
J
o
u
rn
a
l
o
f
t
h
e
ACM
,
v
o
l.
2
4
,
n
o
.
1
,
p
p
.
1
-
1
3
,
1
9
7
7
.
[2
4
]
W
.
Ru
a
n
,
e
t
a
l.
,
"
De
v
ice
-
f
re
e
i
n
d
o
o
r
lo
c
a
li
z
a
ti
o
n
a
n
d
trac
k
in
g
th
ro
u
g
h
h
u
m
a
n
-
o
b
jec
t
in
tera
c
ti
o
n
s,"
IEE
E
1
7
t
h
in
ter
n
a
t
io
n
a
l
sy
m
p
o
siu
m
o
n
a
w
o
rld
o
f
wire
les
s,
mo
b
il
e
a
n
d
mu
lt
i
me
d
ia
n
e
tw
o
rk
s (
W
o
W
M
o
M
)
,
p
p
.
1
-
9
,
2
0
1
6
.
[2
5
]
S
.
De
n
is,
e
t
a
l.
,
"
M
u
lt
i
-
f
re
q
u
e
n
c
y
su
b
-
1
G
Hz
ra
d
io
to
m
o
g
ra
p
h
i
c
ima
g
in
g
in
a
c
o
m
p
lex
in
d
o
o
r
e
n
v
iro
n
m
e
n
t,
"
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
o
n
I
n
d
o
o
r P
o
sit
io
n
in
g
a
n
d
In
d
o
o
r Na
v
i
g
a
ti
o
n
(
IPI
N)
,
p
p
.
1
-
8
,
2
0
1
7
.
Evaluation Warning : The document was created with Spire.PDF for Python.