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Cognitive radio technology gives secondary users chances that they can use specific spectrum of the primary user when the primary user doesn't use it. This paper proposes the algorithm that maximizes the benefit of the primary user considering spectrum price and auction period by using the auction game theory. According to the ratio of spectrum that secondary users bid, primary user allocates spectrum to secondary users. In the process of repeated auction, the primary user gets to find the optimal price of spectrum. Using the price and the proposed utility function of primary user, we derive the optimal auction period. At the same time, the primary user finally determines the price of spectrum appropriate for the optimal period. ※ 본 연구는 2011년도 정부(교육과학기술부)의 재원으로 한국연구재단의 지원을 받아 수행된 기초사업연구임 (No.2011-0021152) First Author：인하대학교 정보통신공학과 멀티미디어 통신망 연구실,

This is the fourth volume of the successful series Robot Operating Systems: The Complete Reference, providing a comprehensive overview of robot operating systems (ROS), which is currently the main development framework for robotics applications, as well as the latest trends and contributed systems. The book is divided into four parts: Part 1 features two papers on navigation, discussing SLAM and path planning. Part 2 focuses on the integration of ROS into quadcopters and their control. Part 3 then discusses two emerging applications for robotics: cloud robotics, and video stabilization. Part 4 presents tools developed for ROS; the first is a practical alternative to the roslaunch system, and the second is related to penetration testing. This book is a valuable resource for ROS users and wanting to learn more about ROS capabilities and features.

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